LPV Control of Current Source Inverter synchronized with the grid

Power inverters are widely used in grid connected applications, specially with the increasing use of renewable energies, to improve power quality and increase efficiency. However some parameter associated to the grid and/or the inverters, such as the grid frequency, needs to be known or properly estimated. This estimation introduces an uncertainty in the system and suffer transients due to the estimator. Linear Parameter Varying (LPV) control can be used to account for those uncertainties. This paper presents a feedback control based on a LPV control law to improve the power quality of a grid connected Current Source Inverter (CSI), significantly reducing the total harmonic distortion (THD) of the grid generator current. A linear model of the interconnection is presented, where the frequency of the grid is assumed variable being estimated together with its phase through a Phase Locked Loop (PLL). The LPV control law is implemented through state feedback achieving both, harmonic suppression and reference tracking, using the estimation of the frequency of the PLL. Implicitly, this allows for the estimation of the magnitude and phase of the harmonic distortion canceling it up to the CSI current limit. An analytic proof of the filtering guarantees of the method is presented along with simulation results that show the practical viability of this technique. It is shown that this control approach is capable of an appealing adaptation to changes in the frequency of the power grid with a low computational burden being able to also cope with disturbances in the estimation of the frequency due to the PLL.Fil: Ghersin, Alejandro Simon. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Instituto Tecnológico de Buenos Aires; ArgentinaFil: Cossutta, Pablo Martín. Instituto Tecnológico de Buenos Aires. Facultad de Ingeniería. Departamento de Electrónica. Centro de Investigación y Desarrollo en Electrónica Industrial; ArgentinaFil: Aguirre, Miguel Pablo. Instituto Tecnológico de Buenos Aires. Facultad de Ingeniería. Departamento de Electrónica. Centro de Investigación y Desarrollo en Electrónica Industrial; Argentin

Cluster space linear parameter varying control of robot formations

Within the Cluster Space robot formation control scheme, a new approach is presented where a cascaded control scheme is proposed. On one hand, a simple secondary (inner) loop is used to control the formation’s velocity in Robot Space, while on the other hand a quasi-LPV (Linear Parameter Varying) approach is employed for the design of the main (outer) control loop where the geometry and kinematics of the problem are captured by the LPV formulation. Certain aspects of the design such as stability are tackled, and the use of parameter-dependent weighting functions is discussed through a design example tested in simulations in order to illustrate the use of the method.Fil: Ghersin, Alejandro Simon. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Giribet, Juan Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaFil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaXXIII Congress of the Chilean Association of Automatic ControlConcepciónChileInstitute of Electrical and Electronics EngineersThe Geoscience and Remote Sensing Societ

Analysis and design of a tilted rotor hexacopter for fault tolerance

A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory.Fil: Giribet, Juan Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaFil: Sanchez Peña, Ricardo Salvador. Instituto Tecnológico de Buenos Aires. Departamento de Matemática. Centro de Sistemas y Control; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Ghersin, Alejandro Simon. Instituto Tecnologico de Buenos Aires. Fac de Ingenieria. Dto de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin

Diseño, construcción, simulación 3D y control LPV de un cuadricóptero de forma variante

En este trabajo se propone el diseño lineal de parámetros variantes (LPV) para el control de un cuadricóptero cuyos brazos pueden moverse respecto del eje vertical del vehículo, cambiando su forma de acuerdo a requerimientos de misión. El trabajo presenta el desarrollo del simulador multicuerpo y del algoritmo de control junto con una introducción al método LPV, mostrando con su utilización. Además, se presenta una explicación detallada del prototipo construido hasta el momento para las pruebas.Fil: Ghersin, Alejandro Simon. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Giribet, Juan Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaFil: Pose Claudio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaFil: Mas, Ignacio Agustin. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Instituto Tecnológico de Buenos Aires; ArgentinaX Jornadas Argentinas de RobóticaNeuquénArgentinaComité de la Jornadas Argentinas de Robótic

Experimental validation of a fault tolerant hexacopter with tilted rotors

Recently, research reporting the advantages of flying with tilted-motor multicopters has surfaced. Particularly, it has been theoretically proven that in the case of a complete failure of one of the motors in a hexagon-shaped hexacopter, complete altitude and attitude control can be maintained. In this work, these theoretical results are experimentally validated.Fil: Giribet, Juan Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaFil: Pose, Claudio Daniel. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; ArgentinaFil: Ghersin, Alejandro Simon. Instituto Tecnologico de Buenos Aires. Fac de Ingenieria. Dto de Electronica; ArgentinaFil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires. Departamento de Matemática. Centro de Sistemas y Control; Argentin