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The purpose of this paper is to obtain on-line trained Artificial Neural Network Controller for PMSM multi-mass high dynamic drive. Structure of the controller with training algorithm and idea of Kalman Filter as observer are shortly described. The Resilient Back Propagation algorithm (RPROP) was chosen for ANN training process. There is assumed rotor position can be sufficient to the possibility...
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to implement inverse dynamics on a torque controlled robot. By modeling electrical actuators offline, inverting such model and estimating the friction...
This paper proposes an improved Sliding Mode Observer (SMO). Compared with the traditional SMO, it can estimate position and speed information of the rotor more accurately. Its stability is proved by Lyapunov Stability. A control scheme of Permanent Magnet Synchronous Motor (PMSM) under Direct Torque Control (DTC) is designed, using the improved SMO as the feedback of speed information. The results...
In this study, a Fault Tolerant Control (FTC) based Sliding Mode Control (SMC) strategy has been proposed to improve control performance of Permanent Magnet Synchronous Motor (PMSM) drive. The proposed SMC has proved its effectiveness through the different studies. The advantage that makes such an important approach is its robustness versus the parametric and the load torque disturbances. However,...
Mining- and industrial sectors consumed close to 40% of the total energy produced in the world during 2013. Cooling systems account for approximately one quarter of the total electricity consumption of a typical deep-level mine. However, most mine cooling systems lack integrated management and efficient, optimised control.
This paper studies the problem of attitude control for spacecraft with parameter uncertainties and unknown external disturbance. A linear active disturbance rejection controller (LADRC) with three channels for attitude control for spacecraft is designed to actively compensate for the disturbance and improve the system robustness. Finally, the simulation results demonstrate that LADRC is effective...
We propose in this paper an adaptive robust fuzzy observer to estimate flux and to identify the load torque for Induction Machine's (IM) applications. Indeed, using a fuzzy IM model, we develop the structure of an observer where we consider the load torque as an unknown input. Sufficient conditions are presented to ensure the asymptotic convergence of the flux and the load torque errors estimation...
This paper presents a robust flatness-based control strategy in combination with a nonlinear reduced-order state and disturbance observer for tracking control of a hydrostatic transmission, which is typically used in the drive trains of working machines. The corresponding control-oriented system model is characterized by unknown lumped disturbances: the leakage volume flow and the torque acting on...
This paper presents a predictive energy management for plug-in hybrid vehicles, feasible for the implementation on an electronic control unit. An optimal reference trajectory for the battery's state of charge is calculated by solving a hybrid optimal control problem that considers continuous controls as well as discrete decisions, such as the switching between drive modes. The problem is solved via...
In this paper keeping position and zero torque (KP-ZT) control of switched reluctance motor (SRM) drives is proposed to avoid any movement when used for charging reactor in electric vehicles. A sliding mode position control technique as an outer loop and zero torque control method as an inner loop are used to attain this. Whereas, power factor correction (PFC) and voltage regulation is achieved with...
This paper presents an application of sliding mode controllers obtained via amplified linear quadratic regulator (ALQR) strategy to a hover with three degrees of freedom. The purpose of the designed control system is to track reference trajectories and ensure performance and stability in spite of disturbance, noise and unmodeled dynamics. Simulations were performed using MATLAB/Simulink in order to...
The paper presents a new robust predictive speed controller with soft-switched controls. The proposed control structure is based on the predictive controller off-line calculated for different values of the unknown parameter. Then, depending on the parameter estimates soft switching approach follows between the MPC control laws. A preliminary point discusses the problems of motion control of the drive...
A speed sensorless torque control method for permanent magnet synchronous generator (PMSG) based on super-twisting sliding mode observer (STSMO) is proposed in this paper. Active back electromotive force (BEMF) can be obtained based on the STSMO. With the observed active BEMF, the rotor position angle and the speed are estimated by a phase-locked loop. Besides, a stator flux and electromagnetic torque...
This paper presents the application of H-infinity controller for speed control of variable speed wind turbine system. For constant Wind speed and blade pitch angle aerodynamic torque coming from wind is constant, with the increase in demanded electrical torque the rotor speed decrease. Preferred function of the wind turbine is to keep the turbine speed close to rated speed and also the output power...
This paper present a combined field orientation and backstepping control. This method is an elegant approach for nonlinear super twisting sliding-mode control of an induction motor. The objective is to improve the speed control, the rotor flux control and the rejection of load torque disturbances and parameter variations. Simulation results are given to show the performance obtained with this kind...
This paper proposes a robust fault tolerant controller design for an underwater hydraulic propulsion system. We design servo-valve controller of hydraulic thruster which is tolerant of faults and robust against disturbances. We assume oil-leakage and contamination faults as parametric variation of the servo-valve and disturbance infow in it. To design the robust fault tolerant controller, we introduce...
A series elastic actuator (SEA) consists of a system with an intrinsically compliant mechanism, and introduces the possibility of external force/torque sensing and control. However, this mechanism is also known to reduce torque servo-control bandwidth and to separate link-side dynamics from actuator-side dynamics. The conventional solution to overcoming reduced actuation bandwidth and separated link...
With the capacity of wind turbine developing towards high power, permanent magnet synchronous generator (PMSG) based direct-drive wind power generation system (WPGS) is drawing more and more attentions. In order to improve the reliability and efficiency, as well as the cost-performance ratio of this type of WPGS, speed sensorless torque control is usually demanded. The conventional mathematic models...
The analysis of the conceptual spring mass model for running reveals swing-leg placement policies that generate very robust locomotion in unobserved terrain with large changes in ground height. However, while this theoretical result suggests a potential for large improvements on the robustness of running machines, it has so far not been demonstrated on a physical robot. Here we address this implementation...
This paper is concerned with Fault Detection and Isolation for induction motors. A new procedure for the calculation of the ARR (Analytical Redundancy Relations) is presented. This method is based on the elimination of the unknown variables (states, unknown inputs, …) in the model equations. Simulation results are presented in normal situation and in presence of a speed sensor fault.
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