COA based robust output feedback UPFC controller design

Energy Technology Data Exchange (ETDEWEB)

Shayeghi, H., E-mail: hshayeghi@gmail.co [Technical Engineering Department, University of Mohaghegh Ardabili, Ardabil (Iran, Islamic Republic of); Shayanfar, H.A. [Center of Excellence for Power System Automation and Operation, Electrical Engineering Department, Iran University of Science and Technology, Tehran (Iran, Islamic Republic of); Jalilzadeh, S.; Safari, A. [Technical Engineering Department, Zanjan University, Zanjan (Iran, Islamic Republic of)

2010-12-15

In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) using chaotic optimization algorithm (COA) is developed. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from the local optimum, is a promising tool for the engineering applications. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a COA based on Lozi map. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization problem introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through non-linear time-domain simulation and some performance indices studies. The results analysis reveals that the designed COA based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems.

Wide-Area Robust Decentralized Coordinated Control of HVDC Power System Based on Polytopic System Theory

Directory of Open Access Journals (Sweden)

Shiyun Xu

2015-01-01

Full Text Available The present study proposes a hierarchical wide-area decentralized coordinated control framework for HVDC power system that is robust to multiple operating conditions. The upper level wide-area coordinated controller is designed in the form of dynamic output feedback control that coordinates the lower level HVDC supplementary controller, PSS, and SVC. In order to enhance the robustness of the designed controller under various operating conditions, the polytopic model is introduced such that the closed-loop control system can be operated under strong damping mode in virtue of the stability criterion based on damping ratio. Simulation results demonstrate that the proposed controller design algorithm is capable of enhancing the system damping over four different conditions.

TCSC Nonlinear Adaptive Damping Controller Design Based on RBF Neural Network to Enhance Power System Stability

DEFF Research Database (Denmark)

Yao, Wei; Fang, Jiakun; Zhao, Ping

2013-01-01

the characteristics of the conventional PID, but adjust the parameters of PID controller online using identified Jacobian information from RBFNN. Hence, it has strong adaptability to the variation of the system operating condition. The effectiveness of the proposed controller is tested on a two-machine five-bus power...... system and a four-machine two-area power system under different operating conditions in comparison with the lead-lag damping controller tuned by evolutionary algorithm (EA). Simulation results show that the proposed damping controller achieves good robust performance for damping the low frequency......In this paper, a nonlinear adaptive damping controller based on radial basis function neural network (RBFNN), which can infinitely approximate to nonlinear system, is proposed for thyristor controlled series capacitor (TCSC). The proposed TCSC adaptive damping controller can not only have...

Performance and robustness of hybrid model predictive control for controllable dampers in building models

Science.gov (United States)

Johnson, Erik A.; Elhaddad, Wael M.; Wojtkiewicz, Steven F.

2016-04-01

A variety of strategies have been developed over the past few decades to determine controllable damping device forces to mitigate the response of structures and mechanical systems to natural hazards and other excitations. These "smart" damping devices produce forces through passive means but have properties that can be controlled in real time, based on sensor measurements of response across the structure, to dramatically reduce structural motion by exploiting more than the local "information" that is available to purely passive devices. A common strategy is to design optimal damping forces using active control approaches and then try to reproduce those forces with the smart damper. However, these design forces, for some structures and performance objectives, may achieve high performance by selectively adding energy, which cannot be replicated by a controllable damping device, causing the smart damper performance to fall far short of what an active system would provide. The authors have recently demonstrated that a model predictive control strategy using hybrid system models, which utilize both continuous and binary states (the latter to capture the switching behavior between dissipative and non-dissipative forces), can provide reductions in structural response on the order of 50% relative to the conventional clipped-optimal design strategy. This paper explores the robustness of this newly proposed control strategy through evaluating controllable damper performance when the structure model differs from the nominal one used to design the damping strategy. Results from the application to a two-degree-of-freedom structure model confirms the robustness of the proposed strategy.

Robust Design of LCL-Filters for Active Damping in Grid Converters

DEFF Research Database (Denmark)

Alzola, Rafael Pena; Liserre, Marco; Blaabjerg, Frede

2013-01-01

Grid converters require a simple inductor or an LCL-filter to limit the current ripples. The LCL-filter is nowadays the preferred solution as it allows lower inductance values. In order to solve the stability concerns, active damping is preferred to passive damping since it does not use dissipative...... elements. However, large variations in the grid inductance and resonances arising from parallel converters may still compromise the system stability. This calls for a robust design of LCL-filters with active damping. This paper proposes a design flow with little iteration for two well-known methods, namely...... lead-lag network and current capacitor feedback. The proposed formulas for the resonance frequency, grid and converter inductance ratio, and capacitance of the LCL-filter allow calculating all the LCL-filter parameters. An estimation for the achieved Total Harmonic Distortion (THD) of the grid current...

High-performance feedback-type active damping of LCL-filtered voltage source converters

DEFF Research Database (Denmark)

Wang, Xiongfei; Blaabjerg, Frede; Loh, Poh Chiang

2015-01-01

a generalized impedance-based model of grid current control with feedback-type active damping. Then, a controller design method based on the z-domain root contours and frequency-domain passivity theorem is proposed. It not only allows a co-design of the grid current controller and damping controller......Active damping of LCL-filter resonance based on single-state feedback control is widely used with voltage source converters. Its robustness against grid impedance variation has always been a major concern with its controller design. To deal with this issue, this paper begins by developing......, but ensures also a robust stabilization against the grid parameters variations. For illustration, the approach is applied to design three single-state feedback-damping schemes, and their damping robustness are compared under both inductive and resonant grid impedances. Experimental results validate...

Robust state feedback controller design of STATCOM using chaotic optimization algorithm

Directory of Open Access Journals (Sweden)

Safari Amin

2010-01-01

Full Text Available In this paper, a new design technique for the design of robust state feedback controller for static synchronous compensator (STATCOM using Chaotic Optimization Algorithm (COA is presented. The design is formulated as an optimization problem which is solved by the COA. Since chaotic planning enjoys reliability, ergodicity and stochastic feature, the proposed technique presents chaos mapping using Lozi map chaotic sequences which increases its convergence rate. To ensure the robustness of the proposed damping controller, the design process takes into account a wide range of operating conditions and system configurations. The simulation results reveal that the proposed controller has an excellent capability in damping power system low frequency oscillations and enhances greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions shows that the phase based controller is superior compare to the magnitude based controller.

Comparison among nonlinear excitation control strategies used for damping power system oscillations

International Nuclear Information System (INIS)

Leon, A.E.; Solsona, J.A.; Valla, M.I.

2012-01-01

Highlights: ► A description and comparison of nonlinear control strategies for synchronous generators are presented. ► Advantages of using nonlinear controllers are emphasized against the use of classical PSSs. ► We find that a particular selection of IDA gains achieve the same performance that FL controllers. - Abstract: This work is focused on the problem of power system stability. A thorough description of nonlinear control strategies for synchronous generator excitation, which are designed for damping oscillations and improving transient stability on power systems, is presented along with a detailed comparison among these modern strategies and current solutions based on power system stabilizers. The performance related to damping injection in each controller, critical time enhancement, robustness against parametric uncertainties, and control signal energy consumption is analyzed. Several tests are presented to validate discussions on various advantages and disadvantages of each control strategy.

Double-beam cantilever structure with embedded intelligent damping block: Dynamics and control

Science.gov (United States)

Szmidt, Tomasz; Pisarski, Dominik; Bajer, Czesław; Dyniewicz, Bartłomiej

2017-08-01

In this paper a semi-active method to control the vibrations of twin beams connected at their tips by a smart damping element is investigated. The damping element can be made of a magnetorheological elastomer or a smart material of another type, for instance vacuum packed particles. What is crucial is the ability to modify the storage and loss moduli of the damping block by means of devices attached directly to the vibrating structure. First, a simple dynamical model of the system is proposed. The continuous model is discretized using the Galerkin procedure. Then, a practical state-feedback control law is developed. The control strategy aims at achieving the best instantaneous energy dissipation of the system. Numerical simulations confirm its effectiveness in reducing free vibrations. The proposed control strategy appears to be robust in the sense that its application does not require any knowledge of the initial conditions imposed on the structure, and its performance is better than passive solutions, especially for the system induced in the first mode.

PSS and TCSC damping controller coordinated design using PSO in multi-machine power system

Energy Technology Data Exchange (ETDEWEB)

Shayeghi, H., E-mail: hshayeghi@gmail.co [Technical Engineering Department, University of Mohaghegh Ardabili, Ardabil (Iran, Islamic Republic of); Safari, A.; Shayanfar, H.A. [Center of Excellence for Power System Automation and Operation, Electrical Engineering Department, Iran University of Science and Technology, Tehran (Iran, Islamic Republic of)

2010-12-15

The paper develops a new design procedure for simultaneous coordinated designing of the thyristor controlled series capacitor (TCSC) damping controller and power system stabilizer (PSS) in multi-machine power system. The coordinated design problem of PSS and TCSC damping controllers over a wide range of loading conditions is converted to an optimization problem with the time domain-based objective function that is solved by a particle swarm optimization (PSO) technique which has a strong ability to find the most optimistic results. By minimizing the proposed fitness function in which oscillatory characteristics between areas are included and thus the interactions among the TCSC controller and PSS under transient conditions in the multi-machine power system are improved. To ensure the robustness of the proposed stabilizers, the design process takes a wide range of operating conditions into account. The effectiveness of the proposed controller is demonstrated through the nonlinear time-domain simulation and some performance indices studies. The results of these studies show that the proposed coordinated controllers have an excellent capability in damping power system inter-area oscillations and enhance greatly the dynamic stability of the power system. Moreover, it is superior to both the uncoordinated designed stabilizers of the PSS and the TCSC damping controller.

A new robust adaptive controller for vibration control of active engine mount subjected to large uncertainties

International Nuclear Information System (INIS)

Fakhari, Vahid; Choi, Seung-Bok; Cho, Chang-Hyun

2015-01-01

This work presents a new robust model reference adaptive control (MRAC) for vibration control caused from vehicle engine using an electromagnetic type of active engine mount. Vibration isolation performances of the active mount associated with the robust controller are evaluated in the presence of large uncertainties. As a first step, an active mount with linear solenoid actuator is prepared and its dynamic model is identified via experimental test. Subsequently, a new robust MRAC based on the gradient method with σ-modification is designed by selecting a proper reference model. In designing the robust adaptive control, structured (parametric) uncertainties in the stiffness of the passive part of the mount and in damping ratio of the active part of the mount are considered to investigate the robustness of the proposed controller. Experimental and simulation results are presented to evaluate performance focusing on the robustness behavior of the controller in the face of large uncertainties. The obtained results show that the proposed controller can sufficiently provide the robust vibration control performance even in the presence of large uncertainties showing an effective vibration isolation. (paper)

Wide Area Coordinated Control of Multi-FACTS Devices to Damp Power System Oscillations

Directory of Open Access Journals (Sweden)

Shiyun Xu

2017-12-01

Full Text Available Aiming at damping the inter-area oscillations of power systems, the present study proposes a wide-area decentralized coordinated control framework, where the upper-level controller is designed to coordinate the lower-level multiple FACTS devices. Based on the polytopic differential inclusion method, the derived controller adopts a decentralized structure and it is guaranteed to be robust to meet the demand of operation under multiple operating conditions. Since time delay of wide area signal transmission is inevitable, in what follows, the quantum evolution algorithm (QEA method is introduced to find an optimal solution of the time-delay coordinated controller. In this regard, the stability of the system with a prescribed time delay is guaranteed and the system damping ratio is increased. Effectiveness and applicability of the proposed controller design methods have been demonstrated through numerical simulations.

Robust fast controller design via nonlinear fractional differential equations.

Science.gov (United States)

Zhou, Xi; Wei, Yiheng; Liang, Shu; Wang, Yong

2017-07-01

A new method for linear system controller design is proposed whereby the closed-loop system achieves both robustness and fast response. The robustness performance considered here means the damping ratio of closed-loop system can keep its desired value under system parameter perturbation, while the fast response, represented by rise time of system output, can be improved by tuning the controller parameter. We exploit techniques from both the nonlinear systems control and the fractional order systems control to derive a novel nonlinear fractional order controller. For theoretical analysis of the closed-loop system performance, two comparison theorems are developed for a class of fractional differential equations. Moreover, the rise time of the closed-loop system can be estimated, which facilitates our controller design to satisfy the fast response performance and maintain the robustness. Finally, numerical examples are given to illustrate the effectiveness of our methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Design of output feedback UPFC controller for damping of electromechanical oscillations using PSO

Energy Technology Data Exchange (ETDEWEB)

Shayeghi, H. [Technical Engineering Dept., Univ. of Mohaghegh Ardabili, Ardabil (Iran); Shayanfar, H.A. [Center of Excellence for Power Automation and Operation, Electrical Engineering Dept., Iran Univ. of Science and Technology, Tehran (Iran); Jalilzadeh, S.; Safari, A. [Technical Engineering Dept., Zanjan Univ., Zanjan (Iran)

2009-10-15

In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) is developed. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a particle swarm optimization technique (PSO) that has a strong ability to find the most optimistic results. Only local and available state variables are adopted as the input signals of each controller for the decentralized design. Thus, structure of the designed UPFC controller is simple and easy to implement. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through nonlinear time-domain simulation and some performance indices studies. The results analysis reveals that the designed PSO-based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions show that the {delta}{sub E} based controller is superior to both the m{sub B} based controller and conventional power system stablizer. (author)

Power Oscillation Damping from VSC-HVDC Connected Offshore Wind Power Plants

DEFF Research Database (Denmark)

Zeni, Lorenzo; Eriksson, Robert; Goumalatsos, Spyridon

2016-01-01

The implementation of power oscillation damping service on offshore wind power plants connected to onshore grids by voltage-source-converter-based high voltage direct current transmission is discussed. Novel design guidelines for damping controllers on voltage-source converters and wind power plant...... regarding real wind power plants are discussed: 1) robustness against control/communication delays; 2) limitations due to mechanical resonances in wind turbine generators; 3) actual capability of wind power plants to provide damping without curtailing production; and 4) power-ramp rate limiters....... controllers are derived, using phasor diagrams and a test network model and are then verified on a generic power system model. The effect of voltage regulators is analyzed, which is important for selecting the most robust damping strategy. Furthermore, other often disregarded practical implementation aspects...

Robust multi-model control of an autonomous wind power system

Energy Technology Data Exchange (ETDEWEB)

Cutululis, Nicolas Antonio; Hansen, Anca Daniela; Soerensen, Poul [Risoe National Lab., Wind Energy Dept., Roskilde (Denmark); Ceanga, Emil [' Dunarea de Jos' Univ., Faculty of Electrical Engineering, Galati (Romania)

2006-07-01

This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. (Author)

Robust multi-model control of an autonomous wind power system

Science.gov (United States)

Cutululis, Nicolas Antonio; Ceanga, Emil; Hansen, Anca Daniela; Sørensen, Poul

2006-09-01

This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. Copyright

ANFIS based UPFC supplementary controller for damping low frequency oscillations in power systems

Directory of Open Access Journals (Sweden)

M. Sobha

2007-12-01

Full Text Available An adaptive neuro- fuzzy inference system (ANFIS based supplementary Unified Power Flow Controller (UPFC to superimpose the damping function on the control signal of UPFC is proposed. By using a hybrid learning procedure, the proposed ANFIS construct an input –output mapping based on stipulated input-output data pairs. The linguistic rules, considering the dependence of the plant output on the controlling signal are used to build the initial fuzzy inference structure. On the basis of linearized Philips-Hefron model of power system installed with UPFC, the damping function of the UPFC with various alternative UPFC control signals are investigated. In the simulations under widely varying operating conditions and system parameters, ANFIS based controller yields improved performance when compared with constant gain controller, based on phase compensation technique. To validate the robustness of the proposed technique, the approach is integrated to a multi-machine power system and the nonlinear simulation results are presented

Applying fractional order PID to design TCSC-based damping controller in coordination with automatic generation control of interconnected multi-source power system

Directory of Open Access Journals (Sweden)

Javad Morsali

2017-02-01

Full Text Available In this paper, fractional order proportional-integral-differential (FOPID controller is employed in the design of thyristor controlled series capacitor (TCSC-based damping controller in coordination with the secondary integral controller as automatic generation control (AGC loop. In doing so, the contribution of the TCSC in tie-line power exchange is extracted mathematically for small load disturbance. Adjustable parameters of the proposed FOPID-based TCSC damping controller and the AGC loop are optimized concurrently via an improved particle swarm optimization (IPSO algorithm which is reinforced by chaotic parameter and crossover operator to obtain a globally optimal solution. The powerful FOMCON toolbox is used along with MATLAB for handling fractional order modeling and control. An interconnected multi-source power system is simulated regarding the physical constraints of generation rate constraint (GRC nonlinearity and governor dead band (GDB effect. Simulation results using FOMCON toolbox demonstrate that the proposed FOPID-based TCSC damping controller achieves the greatest dynamic performance under different load perturbation patterns in comparison with phase lead-lag and classical PID-based TCSC damping controllers, all in coordination with the integral AGC. Moreover, sensitivity analyses are performed to show the robustness of the proposed controller under various uncertainty scenarios.

Design and Analysis of Robust Active Damping for LCL Filters using Digital Notch Filters

DEFF Research Database (Denmark)

Yao, Wenli; Yang, Yongheng; Zhang, Xiaobin

2017-01-01

Resonant poles of LCL filters may challenge the entire system stability especially in digital-controlled Pulse Width Modulation (PWM) inverters. In order to tackle the resonance issues, many active damping solutions have been reported. For instance, a notch filter can be employed to damp the reso......Resonant poles of LCL filters may challenge the entire system stability especially in digital-controlled Pulse Width Modulation (PWM) inverters. In order to tackle the resonance issues, many active damping solutions have been reported. For instance, a notch filter can be employed to damp...... the resonance, where the notch frequency should be aligned exactly to the resonant frequency of the LCL filter. However, parameter variations of the LCL filter as well as the time delay appearing in digital control systems will induce resonance drifting, and thus break this alignment, possibly deteriorating...... the original damping. In this paper, the effectiveness of the notch filter based active damping is firstly explored, considering the drifts of the resonant frequency. It is revealed that, when the resonant frequency drifts away from its nominal value, the phase lead or lag introduced by the notch filter may...

Robust hopping based on virtual pendulum posture control

International Nuclear Information System (INIS)

Sharbafi, Maziar A; Ahmadabadi, Majid Nili; Yazdanpanah, Mohammad J; Maufroy, Christophe; Seyfarth, Andre

2013-01-01

A new control approach to achieve robust hopping against perturbations in the sagittal plane is presented in this paper. In perturbed hopping, vertical body alignment has a significant role for stability. Our approach is based on the virtual pendulum concept, recently proposed, based on experimental findings in human and animal locomotion. In this concept, the ground reaction forces are pointed to a virtual support point, named virtual pivot point (VPP), during motion. This concept is employed in designing the controller to balance the trunk during the stance phase. New strategies for leg angle and length adjustment besides the virtual pendulum posture control are proposed as a unified controller. This method is investigated by applying it on an extension of the spring loaded inverted pendulum (SLIP) model. Trunk, leg mass and damping are added to the SLIP model in order to make the model more realistic. The stability is analyzed by Poincaré map analysis. With fixed VPP position, stability, disturbance rejection and moderate robustness are achieved, but with a low convergence speed. To improve the performance and attain higher robustness, an event-based control of the VPP position is introduced, using feedback of the system states at apexes. Discrete linear quartic regulator is used to design the feedback controller. Considerable enhancements with respect to stability, convergence speed and robustness against perturbations and parameter changes are achieved. (paper)

Analysis and design of robust decentralized controllers for nonlinear systems

Energy Technology Data Exchange (ETDEWEB)

Schoenwald, D.A.

1993-07-01

Decentralized control strategies for nonlinear systems are achieved via feedback linearization techniques. New results on optimization and parameter robustness of non-linear systems are also developed. In addition, parametric uncertainty in large-scale systems is handled by sensitivity analysis and optimal control methods in a completely decentralized framework. This idea is applied to alleviate uncertainty in friction parameters for the gimbal joints on Space Station Freedom. As an example of decentralized nonlinear control, singular perturbation methods and distributed vibration damping are merged into a control strategy for a two-link flexible manipulator.

Optimal Design of Complex Passive-Damping Systems for Vibration Control of Large Structures: An Energy-to-Peak Approach

Directory of Open Access Journals (Sweden)

Francisco Palacios-Quiñonero

2014-01-01

Full Text Available We present a new design strategy that makes it possible to synthesize decentralized output-feedback controllers by solving two successive optimization problems with linear matrix inequality (LMI constraints. In the initial LMI optimization problem, two auxiliary elements are computed: a standard state-feedback controller, which can be taken as a reference in the performance assessment, and a matrix that facilitates a proper definition of the main LMI optimization problem. Next, by solving the second optimization problem, the output-feedback controller is obtained. The proposed strategy extends recent results in static output-feedback control and can be applied to design complex passive-damping systems for vibrational control of large structures. More precisely, by taking advantages of the existing link between fully decentralized velocity-feedback controllers and passive linear dampers, advanced active feedback control strategies can be used to design complex passive-damping systems, which combine the simplicity and robustness of passive control systems with the efficiency of active feedback control. To demonstrate the effectiveness of the proposed approach, a passive-damping system for the seismic protection of a five-story building is designed with excellent results.

Damped least square based genetic algorithm with Gaussian distribution of damping factor for singularity-robust inverse kinematics

International Nuclear Information System (INIS)

Phuoc, Le Minh; Lee, Suk Han; Kim, Hun Mo; Martinet, Philippe

2008-01-01

Robot inverse kinematics based on Jacobian inversion encounters critical issues of kinematic singularities. In this paper, several techniques based on damped least squares are proposed to lead robot pass through kinematic singularities without excessive joint velocities. Unlike other work in which the same damping factor is used for all singular vectors, this paper proposes a different damping coefficient for each singular vector based on corresponding singular value of the Jacobian. Moreover, a continuous distribution of damping factor following Gaussian function guarantees the continuous in joint velocities. A genetic algorithm is utilized to search for the best maximum damping factor and singular region, which used to require ad hoc searching in other works. As a result, end effector tracking error, which is inherited from damped least squares by introducing damping factors, is minimized. The effectiveness of our approach is compared with other methods in both non-redundant robot and redundant robot

Damped least square based genetic algorithm with Gaussian distribution of damping factor for singularity-robust inverse kinematics

Energy Technology Data Exchange (ETDEWEB)

Phuoc, Le Minh; Lee, Suk Han; Kim, Hun Mo [Sungkyunkwan University, Suwon (Korea, Republic of); Martinet, Philippe [Blaise Pascal University, Clermont-Ferrand Cedex (France)

2008-07-15

Robot inverse kinematics based on Jacobian inversion encounters critical issues of kinematic singularities. In this paper, several techniques based on damped least squares are proposed to lead robot pass through kinematic singularities without excessive joint velocities. Unlike other work in which the same damping factor is used for all singular vectors, this paper proposes a different damping coefficient for each singular vector based on corresponding singular value of the Jacobian. Moreover, a continuous distribution of damping factor following Gaussian function guarantees the continuous in joint velocities. A genetic algorithm is utilized to search for the best maximum damping factor and singular region, which used to require ad hoc searching in other works. As a result, end effector tracking error, which is inherited from damped least squares by introducing damping factors, is minimized. The effectiveness of our approach is compared with other methods in both non-redundant robot and redundant robot

Controlled damping of a physical pendulum: experiments near critical conditions

International Nuclear Information System (INIS)

Gonzalez, Manuel I; Bol, Alfredo

2006-01-01

This paper presents an experimental device for the study of damped oscillatory motion along with three associated experiments. Special emphasis is given on both didactic aspects and the interactivity of the experimental set-up, in order to assist students in understanding fundamental aspects of damped oscillatory motion and allow them to directly compare their experimental results with the well-known theory they can find in textbooks. With this in mind, a physical pendulum was selected with an eddy-current damping system that allows the damping conditions to be controlled with great precision. The three experiments examine accurate control of damping, frequency shift near critical damping and the transition from underdamped to overdamped conditions

The damped wave equation with unbounded damping

Science.gov (United States)

Freitas, Pedro; Siegl, Petr; Tretter, Christiane

2018-06-01

We analyze new phenomena arising in linear damped wave equations on unbounded domains when the damping is allowed to become unbounded at infinity. We prove the generation of a contraction semigroup, study the relation between the spectra of the semigroup generator and the associated quadratic operator function, the convergence of non-real eigenvalues in the asymptotic regime of diverging damping on a subdomain, and we investigate the appearance of essential spectrum on the negative real axis. We further show that the presence of the latter prevents exponential estimates for the semigroup and turns out to be a robust effect that cannot be easily canceled by adding a positive potential. These analytic results are illustrated by examples.

Vibration and Damping Analysis of Composite Fiber Reinforced Wind Blade with Viscoelastic Damping Control

Directory of Open Access Journals (Sweden)

Tai-Hong Cheng

2015-01-01

Full Text Available Composite materials are increasingly used in wind blade because of their superior mechanical properties such as high strength-to-weight and stiffness-to-weight ratio. This paper presents vibration and damping analysis of fiberreinforced composite wind turbine blade with viscoelastic damping treatment. The finite element method based on full layerwise displacement theory was employed to analyze the damping, natural frequency, and modal loss factor of composite shell structure. The lamination angle was considered in mathematical modeling. The curved geometry, transverse shear, and normal strains were exactly considered in present layerwise shell model, which can depict the zig-zag in-plane and out-of-plane displacements. The frequency response functions of curved composite shell structure and wind blade were calculated. The results show that the damping ratio of viscoelastic layer is found to be very sensitive to determination of magnitude of composite structures. The frequency response functions with variety of thickness of damping layer were investigated. Moreover, the natural frequency, modal loss factor, and mode shapes of composite fiber reinforced wind blade with viscoelastic damping control were calculated.

Unified Power Flow Controller Placement to Improve Damping of Power Oscillations

OpenAIRE

M. Salehi; A. A. Motie Birjandi; F. Namdari

2015-01-01

Weak damping of low frequency oscillations is a frequent phenomenon in electrical power systems. These frequencies can be damped by power system stabilizers. Unified power flow controller (UPFC), as one of the most important FACTS devices, can be applied to increase the damping of power system oscillations and the more effect of this controller on increasing the damping of oscillations depends on its proper placement in power systems. In this paper, a technique based on controllability is pro...

Damping Improvement of Multiple Damping Controllers by Using Optimal Coordinated Design Based on PSS and FACTS-POD in a Multi-Machine Power System

Directory of Open Access Journals (Sweden)

Ali Nasser Hussain

2016-09-01

Full Text Available The aim of this study is to present a comprehensive comparison and assessment of the damping function improvement of power system oscillation for the multiple damping controllers using the simultaneously coordinated design based on Power System Stabilizer (PSS and Flexible AC Transmission System (FACTS devices. FACTS devices can help in the enhancing the stability of the power system by adding supplementary damping controller to the control channel of the FACTS input to implement the task of Power Oscillation Damping (FACT POD controller. Simultaneous coordination can be performed in different ways. First, the dual coordinated designs between PSS and FACTS POD controller or between different FACTS POD controllers are arranged in a multiple FACTS devices without PSS. Second, the simultaneous coordination has been extended to triple coordinated design among PSS and different FACTS POD controllers. The parameters of the damping controllers have been tuned in the individual controllers and coordinated designs by using a Chaotic Particle Swarm Optimization (CPSO algorithm that optimized the given eigenvalue-based objective function. The simulation results for a multi-machine power system show that the dual coordinated design provide satisfactory damping performance over the individual control responses. Furthermore, the triple coordinated design has been shown to be more effective in damping oscillations than the dual damping controllers.

Hybrid Active/Passive Control of Sound Radiation from Panels with Constrained Layer Damping and Model Predictive Feedback Control

Science.gov (United States)

Cabell, Randolph H.; Gibbs, Gary P.

2000-01-01

make the controller adaptive. For example, a mathematical model of the plant could be periodically updated as the plant changes, and the feedback gains recomputed from the updated model. To be practical, this approach requires a simple plant model that can be updated quickly with reasonable computational requirements. A recent paper by the authors discussed one way to simplify a feedback controller, by reducing the number of actuators and sensors needed for good performance. The work was done on a tensioned aircraft-style panel excited on one side by TBL flow in a low speed wind tunnel. Actuation was provided by a piezoelectric (PZT) actuator mounted on the center of the panel. For sensing, the responses of four accelerometers, positioned to approximate the response of the first radiation mode of the panel, were summed and fed back through the controller. This single input-single output topology was found to have nearly the same noise reduction performance as a controller with fifteen accelerometers and three PZT patches. This paper extends the previous results by looking at how constrained layer damping (CLD) on a panel can be used to enhance the performance of the feedback controller thus providing a more robust and efficient hybrid active/passive system. The eventual goal is to use the CLD to reduce sound radiation at high frequencies, then implement a very simple, reduced order, low sample rate adaptive controller to attenuate sound radiation at low frequencies. Additionally this added damping smoothes phase transitions over the bandwidth which promotes robustness to natural frequency shifts. Experiments were conducted in a transmission loss facility on a clamped-clamped aluminum panel driven on one side by a loudspeaker. A generalized predictive control (GPC) algorithm, which is suited to online adaptation of its parameters, was used in single input-single output and multiple input-single output configurations. Because this was a preliminary look at the potential

PID motion control tuning rules in a damping injection framework

NARCIS (Netherlands)

Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano

2013-01-01

This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety

Controllable outrigger damping system for high rise building with MR dampers

Science.gov (United States)

Wang, Zhihao; Chang, Chia-Ming; Spencer, Billie F., Jr.; Chen, Zhengqing

2010-04-01

A novel energy dissipation system that can achieve the amplified damping ratio for a frame-core tube structures is explored, where vertical dampers are equipped between the outrigger and perimeter columns. The modal characteristics of the structural system with linear viscous dampers are theoretically analyzed from the simplified finite element model by parametric analysis. The result shows that modal damping ratios of the first several modes can increase a lot with this novel damping system. To improve the control performance of system, the semi-active control devices, magnetorheological (MR) dampers, are adopted to develop a controllable outrigger damping system. The clipped optimal control with the linear-quadratic Gaussian (LQG) acceleration feedback is adopted in this paper. The effectiveness of both passive and semi-active control outrigger damping systems is evaluated through the numerical simulation of a representative tall building subjected to two typical earthquake records.

A hybrid firefly algorithm and pattern search technique for SSSC based power oscillation damping controller design

Directory of Open Access Journals (Sweden)

Srikanta Mahapatra

2014-12-01

Full Text Available In this paper, a novel hybrid Firefly Algorithm and Pattern Search (h-FAPS technique is proposed for a Static Synchronous Series Compensator (SSSC-based power oscillation damping controller design. The proposed h-FAPS technique takes the advantage of global search capability of FA and local search facility of PS. In order to tackle the drawback of using the remote signal that may impact reliability of the controller, a modified signal equivalent to the remote speed deviation signal is constructed from the local measurements. The performances of the proposed controllers are evaluated in SMIB and multi-machine power system subjected to various transient disturbances. To show the effectiveness and robustness of the proposed design approach, simulation results are presented and compared with some recently published approaches such as Differential Evolution (DE and Particle Swarm Optimization (PSO. It is observed that the proposed approach yield superior damping performance compared to some recently reported approaches.

Improved Power System Stability Using Backtracking Search Algorithm for Coordination Design of PSS and TCSC Damping Controller.

Science.gov (United States)

Niamul Islam, Naz; Hannan, M A; Mohamed, Azah; Shareef, Hussain

2016-01-01

Power system oscillation is a serious threat to the stability of multimachine power systems. The coordinated control of power system stabilizers (PSS) and thyristor-controlled series compensation (TCSC) damping controllers is a commonly used technique to provide the required damping over different modes of growing oscillations. However, their coordinated design is a complex multimodal optimization problem that is very hard to solve using traditional tuning techniques. In addition, several limitations of traditionally used techniques prevent the optimum design of coordinated controllers. In this paper, an alternate technique for robust damping over oscillation is presented using backtracking search algorithm (BSA). A 5-area 16-machine benchmark power system is considered to evaluate the design efficiency. The complete design process is conducted in a linear time-invariant (LTI) model of a power system. It includes the design formulation into a multi-objective function from the system eigenvalues. Later on, nonlinear time-domain simulations are used to compare the damping performances for different local and inter-area modes of power system oscillations. The performance of the BSA technique is compared against that of the popular particle swarm optimization (PSO) for coordinated design efficiency. Damping performances using different design techniques are compared in term of settling time and overshoot of oscillations. The results obtained verify that the BSA-based design improves the system stability significantly. The stability of the multimachine power system is improved by up to 74.47% and 79.93% for an inter-area mode and a local mode of oscillation, respectively. Thus, the proposed technique for coordinated design has great potential to improve power system stability and to maintain its secure operation.

Improved Power System Stability Using Backtracking Search Algorithm for Coordination Design of PSS and TCSC Damping Controller.

Directory of Open Access Journals (Sweden)

Naz Niamul Islam

Full Text Available Power system oscillation is a serious threat to the stability of multimachine power systems. The coordinated control of power system stabilizers (PSS and thyristor-controlled series compensation (TCSC damping controllers is a commonly used technique to provide the required damping over different modes of growing oscillations. However, their coordinated design is a complex multimodal optimization problem that is very hard to solve using traditional tuning techniques. In addition, several limitations of traditionally used techniques prevent the optimum design of coordinated controllers. In this paper, an alternate technique for robust damping over oscillation is presented using backtracking search algorithm (BSA. A 5-area 16-machine benchmark power system is considered to evaluate the design efficiency. The complete design process is conducted in a linear time-invariant (LTI model of a power system. It includes the design formulation into a multi-objective function from the system eigenvalues. Later on, nonlinear time-domain simulations are used to compare the damping performances for different local and inter-area modes of power system oscillations. The performance of the BSA technique is compared against that of the popular particle swarm optimization (PSO for coordinated design efficiency. Damping performances using different design techniques are compared in term of settling time and overshoot of oscillations. The results obtained verify that the BSA-based design improves the system stability significantly. The stability of the multimachine power system is improved by up to 74.47% and 79.93% for an inter-area mode and a local mode of oscillation, respectively. Thus, the proposed technique for coordinated design has great potential to improve power system stability and to maintain its secure operation.

Robust Two Degrees-of-freedom Single-current Control Strategy for LCL-type Grid-Connected DG System under Grid-Frequency Fluctuation and Grid-impedance Variation

DEFF Research Database (Denmark)

Zhou, Leming; Chen, Yandong; Luo, An

2016-01-01

-of-freedom single-current control (RTDOF-SCC) strategy is proposed, which mainly includes the synchronous reference frame quasi-proportional-integral (SRFQPI) control and robust grid-current-feedback active damping (RGCFAD) control. The proposed SRFQPI control can compensate the local-loads reactive power......, and regulate the instantaneous grid current without steady-state error regardless of the fundamental frequency fluctuation. Simultaneously, the proposed RGCFAD control effectively damps the LCL-resonance peak regardless of the grid-impedance variation, and further improves both transient and steady...

CONTROL OF BAGRAS (Eucalyptus deglupta DAMPING-OFF BY FUNGICIDES

Directory of Open Access Journals (Sweden)

EMILIO O. ANINO

2000-01-01

Full Text Available Selected fungicides were tested to control damp ing-off affecting bagras seedlings in the Central Nursery of the Paper Industries Corporation of the Philippines (PICOP, Surigao del Sur, Philippines. The fungicides, at three concentrations each, were applie d once before seed sowing to control pre-emergence damping-off and applied again after germination to cont rol post-emergence damping-off. Ajax detergent (2g/l H2O, Benlate (0.5 g/1 H2O, Brassicol (1.5 gv'l H 2O, and Fungitox (1.0 g/1 H2O provided the best level of control against the disease. Ajax detergent is the most practical among the best chemicals because it is cheap, locally available, not a heal th hazard, and less polluting.

Model Predictive Vibration Control Efficient Constrained MPC Vibration Control for Lightly Damped Mechanical Structures

CERN Document Server

Takács, Gergely

2012-01-01

Real-time model predictive controller (MPC) implementation in active vibration control (AVC) is often rendered difficult by fast sampling speeds and extensive actuator-deformation asymmetry. If the control of lightly damped mechanical structures is assumed, the region of attraction containing the set of allowable initial conditions requires a large prediction horizon, making the already computationally demanding on-line process even more complex. Model Predictive Vibration Control provides insight into the predictive control of lightly damped vibrating structures by exploring computationally efficient algorithms which are capable of low frequency vibration control with guaranteed stability and constraint feasibility. In addition to a theoretical primer on active vibration damping and model predictive control, Model Predictive Vibration Control provides a guide through the necessary steps in understanding the founding ideas of predictive control applied in AVC such as: ·         the implementation of ...

Robustness Improvement of Superconducting Magnetic Energy Storage System in Microgrids Using an Energy Shaping Passivity-Based Control Strategy

Directory of Open Access Journals (Sweden)

Rui Hou

2017-05-01

Full Text Available Superconducting magnetic energy storage (SMES systems, in which the proportional-integral (PI method is usually used to control the SMESs, have been used in microgrids for improving the control performance. However, the robustness of PI-based SMES controllers may be unsatisfactory due to the high nonlinearity and coupling of the SMES system. In this study, the energy shaping passivity (ESP-based control strategy, which is a novel nonlinear control based on the methodology of interconnection and damping assignment (IDA, is proposed for robustness improvement of SMES systems. A step-by-step design of the ESP-based method considering the robustness of SMES systems is presented. A comparative analysis of the performance between ESP-based and PI control strategies is shown. Simulation and experimental results prove that the ESP-based strategy achieves the stronger robustness toward the system parameter uncertainties than the conventional PI control. Besides, the use of ESP-based control method can reduce the eddy current losses of a SMES system due to the significant reduction of 2nd and 3rd harmonics of superconducting coil DC current.

Impedance Stability Assessment of Active Damping Strategies for LCL Grid-Connected Converters

DEFF Research Database (Denmark)

Diaz, Enrique Rodriguez; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

2017-01-01

as a countermeasure. This paper analyses the robustness of the closed-loop dynamics when different active damping strategies are implemented. Due to their readiness and simplicity, the following schemes are considered: 1) filtered capacitor voltage feed-forward and 2) notch filters in cascade with the main current......The use of LCL filters is a well accepted solution to attenuate the harmonics created by the pulsewidth modulation (PWM). However, inherently LCL filters have a resonance region where the unwanted harmonics are amplified, which can compromise instability. Active damping strategies are implemented...... controller. The impedance/admittance stability formulation is used to model the system, which has been proven to be very convenient for the assessment of robustness. The design case study shows that the filtered capacitor voltage feed-forward provides a more robust implementation than the one based...

Nonlinear damping based semi-active building isolation system

Science.gov (United States)

Ho, Carmen; Zhu, Yunpeng; Lang, Zi-Qiang; Billings, Stephen A.; Kohiyama, Masayuki; Wakayama, Shizuka

2018-06-01

Many buildings in Japan currently have a base-isolation system with a low stiffness that is designed to shift the natural frequency of the building below the frequencies of the ground motion due to earthquakes. However, the ground motion observed during the 2011 Tohoku earthquake contained strong long-period waves that lasted for a record length of 3 min. To provide a novel and better solution against the long-period waves while maintaining the performance of the standard isolation range, the exploitation of the characteristics of nonlinear damping is proposed in this paper. This is motivated by previous studies of the authors, which have demonstrated that nonlinear damping can achieve desired performance over both low and high frequency regions and the optimal nonlinear damping force can be realized by closed loop controlled semi-active dampers. Simulation results have shown strong vibration isolation performance on a building model with identified parameters and have indicated that nonlinear damping can achieve low acceleration transmissibilities round the structural natural frequency as well as the higher ground motion frequencies that have been frequently observed during most earthquakes in Japan. In addition, physical building model based laboratory experiments are also conducted, The results demonstrate the advantages of the proposed nonlinear damping technologies over both traditional linear damping and more advanced Linear-Quadratic Gaussian (LQG) feedback control which have been used in practice to address building isolation system design and implementation problems. In comparison with the tuned-mass damper and other active control methods, the proposed solution offers a more pragmatic, low-cost, robust and effective alternative that can be readily installed into the base-isolation system of most buildings.

Design of Weighted Wide Area Damping Controller (WWADC Based PSS for Damping Inter-Area Low Frequency Oscillations

Directory of Open Access Journals (Sweden)

Saleh M. Bamasak

2017-09-01

Full Text Available Wide Area Measurement System (WAMS can extend and effectively improve the power system stabilizers (PSS capability in damping the inter-area low frequency oscillations in interconnected bulk power systems. This paper proposes the implementation of Weighted Wide Area Damping Controller (WWADC in which weighted factors are introduced for each remote feedback signals. Modal analysis approach is implemented for the purpose of identifying the optimal location as well as the input signals’ optimal combination of WWADC. Based on the linearized model, Differential Evolution (DE algorithm is applied to search for optimal controller parameters and optimal weighted factors. The successful application of the proposed approach is achieved in two power networks; the two-area 4-machine system and the IEEE-39 bus 10-machine system. The analysis of the eigenvalue and non-linear time domain simulations indicate that damping the inter-area oscillations and improving the system stability irrespective of the severity and the location of the disturbances can be effectively achieved by WADC

Power system damping - Structural aspects of controlling active power

Energy Technology Data Exchange (ETDEWEB)

Samuelsson, O.

1997-04-01

Environmental and economical aspects make it difficult to build new power lines and to reinforce existing ones. The continued growth in demand for electric power must therefore to a great extent be met by increased loading of available lines. A consequence is that power system damping is reduced, leading to a risk of poorly damped power oscillations between the generators. This thesis proposes the use of controlled active loads to increase damping of such electro-mechanical oscillations. The focus is on structural aspects of controller interaction and of sensor and actuator placement. On-off control based on machine frequency in a single machine infinite bus system is analysed using energy function analysis and phase plane plots. An on-off controller with estimated machine frequency as input has been implemented. At a field test it damped oscillations of a 0.9 MW hydro power generator by controlling a 20kW load. The linear analysis uses two power system models with three and twenty-three machines respectively. Each damper has active power as output and local bus frequency or machine frequency as input. The power system simulator EUROSTAG is used both for generation of the linearized models and for time simulations. Measures of active power mode controllability and phase angle mode observability are obtained from the eigenvectors of the differential-algebraic models. The geographical variation in the network of these quantities is illustrated using the resemblance to bending modes of flexible mechanical structures. Eigenvalue sensitivities are used to determine suitable damper locations. A spring-mass equivalent to an inter-area mode provides analytical expressions, that together with the concept of impedance matching explain the structural behaviour of the power systems. For large gains this is investigated using root locus plots. 64 refs, 99 figs, 20 tabs

Modelling and Vibration Control of Beams with Partially Debonded Active Constrained Layer Damping Patch

Science.gov (United States)

SUN, D.; TONG, L.

2002-05-01

A detailed model for the beams with partially debonded active constraining damping (ACLD) treatment is presented. In this model, the transverse displacement of the constraining layer is considered to be non-identical to that of the host structure. In the perfect bonding region, the viscoelastic core is modelled to carry both peel and shear stresses, while in the debonding area, it is assumed that no peel and shear stresses be transferred between the host beam and the constraining layer. The adhesive layer between the piezoelectric sensor and the host beam is also considered in this model. In active control, the positive position feedback control is employed to control the first mode of the beam. Based on this model, the incompatibility of the transverse displacements of the active constraining layer and the host beam is investigated. The passive and active damping behaviors of the ACLD patch with different thicknesses, locations and lengths are examined. Moreover, the effects of debonding of the damping layer on both passive and active control are examined via a simulation example. The results show that the incompatibility of the transverse displacements is remarkable in the regions near the ends of the ACLD patch especially for the high order vibration modes. It is found that a thinner damping layer may lead to larger shear strain and consequently results in a larger passive and active damping. In addition to the thickness of the damping layer, its length and location are also key factors to the hybrid control. The numerical results unveil that edge debonding can lead to a reduction of both passive and active damping, and the hybrid damping may be more sensitive to the debonding of the damping layer than the passive damping.

Effects of high-frequency damping on iterative convergence of implicit viscous solver

Science.gov (United States)

Nishikawa, Hiroaki; Nakashima, Yoshitaka; Watanabe, Norihiko

2017-11-01

This paper discusses effects of high-frequency damping on iterative convergence of an implicit defect-correction solver for viscous problems. The study targets a finite-volume discretization with a one parameter family of damped viscous schemes. The parameter α controls high-frequency damping: zero damping with α = 0, and larger damping for larger α (> 0). Convergence rates are predicted for a model diffusion equation by a Fourier analysis over a practical range of α. It is shown that the convergence rate attains its minimum at α = 1 on regular quadrilateral grids, and deteriorates for larger values of α. A similar behavior is observed for regular triangular grids. In both quadrilateral and triangular grids, the solver is predicted to diverge for α smaller than approximately 0.5. Numerical results are shown for the diffusion equation and the Navier-Stokes equations on regular and irregular grids. The study suggests that α = 1 and 4/3 are suitable values for robust and efficient computations, and α = 4 / 3 is recommended for the diffusion equation, which achieves higher-order accuracy on regular quadrilateral grids. Finally, a Jacobian-Free Newton-Krylov solver with the implicit solver (a low-order Jacobian approximately inverted by a multi-color Gauss-Seidel relaxation scheme) used as a variable preconditioner is recommended for practical computations, which provides robust and efficient convergence for a wide range of α.

GOES-R active vibration damping controller design, implementation, and on-orbit performance

Science.gov (United States)

Clapp, Brian R.; Weigl, Harald J.; Goodzeit, Neil E.; Carter, Delano R.; Rood, Timothy J.

2018-01-01

GOES-R series spacecraft feature a number of flexible appendages with modal frequencies below 3.0 Hz which, if excited by spacecraft disturbances, can be sources of undesirable jitter perturbing spacecraft pointing. To meet GOES-R pointing stability requirements, the spacecraft flight software implements an Active Vibration Damping (AVD) rate control law which acts in parallel with the nadir point attitude control law. The AVD controller commands spacecraft reaction wheel actuators based upon Inertial Measurement Unit (IMU) inputs to provide additional damping for spacecraft structural modes below 3.0 Hz which vary with solar wing angle. A GOES-R spacecraft dynamics and attitude control system identified model is constructed from pseudo-random reaction wheel torque commands and IMU angular rate response measurements occurring over a single orbit during spacecraft post-deployment activities. The identified Fourier model is computed on the ground, uplinked to the spacecraft flight computer, and the AVD controller filter coefficients are periodically computed on-board from the Fourier model. Consequently, the AVD controller formulation is based not upon pre-launch simulation model estimates but upon on-orbit nadir point attitude control and time-varying spacecraft dynamics. GOES-R high-fidelity time domain simulation results herein demonstrate the accuracy of the AVD identified Fourier model relative to the pre-launch spacecraft dynamics and control truth model. The AVD controller on-board the GOES-16 spacecraft achieves more than a ten-fold increase in structural mode damping for the fundamental solar wing mode while maintaining controller stability margins and ensuring that the nadir point attitude control bandwidth does not fall below 0.02 Hz. On-orbit GOES-16 spacecraft appendage modal frequencies and damping ratios are quantified based upon the AVD system identification, and the increase in modal damping provided by the AVD controller for each structural mode is

Damping-tunable energy-harvesting vehicle damper with multiple controlled generators: Design, modeling and experiments

Science.gov (United States)

Xie, Longhan; Li, Jiehong; Li, Xiaodong; Huang, Ledeng; Cai, Siqi

2018-01-01

Hydraulic dampers are used to decrease the vibration of a vehicle, where vibration energy is dissipated as heat. In addition to resulting in energy waste, the damping coefficient in hydraulic dampers cannot be changed during operation. In this paper, an energy-harvesting vehicle damper was proposed to replace traditional hydraulic dampers. The goal is not only to recover kinetic energy from suspension vibration but also to change the damping coefficient during operation according to road conditions. The energy-harvesting damper consists of multiple generators that are independently controlled by switches. One of these generators connects to a tunable resistor for fine tuning the damping coefficient, while the other generators are connected to a control and rectifying circuit, each of which both regenerates electricity and provides a constant damping coefficient. A mathematical model was built to investigate the performance of the energy-harvesting damper. By controlling the number of switched-on generators and adjusting the value of the external tunable resistor, the damping can be fine tuned according to the requirement. In addition to the capability of damping tuning, the multiple controlled generators can output a significant amount of electricity. A prototype was built to test the energy-harvesting damper design. Experiments on an MTS testing system were conducted, with results that validated the theoretical analysis. Experiments show that changing the number of switched-on generators can obviously tune the damping coefficient of the damper and simultaneously produce considerable electricity.

Model predictive control of an air suspension system with damping multi-mode switching damper based on hybrid model

Science.gov (United States)

Sun, Xiaoqiang; Yuan, Chaochun; Cai, Yingfeng; Wang, Shaohua; Chen, Long

2017-09-01

This paper presents the hybrid modeling and the model predictive control of an air suspension system with damping multi-mode switching damper. Unlike traditional damper with continuously adjustable damping, in this study, a new damper with four discrete damping modes is applied to vehicle semi-active air suspension. The new damper can achieve different damping modes by just controlling the on-off statuses of two solenoid valves, which makes its damping adjustment more efficient and more reliable. However, since the damping mode switching induces different modes of operation, the air suspension system with the new damper poses challenging hybrid control problem. To model both the continuous/discrete dynamics and the switching between different damping modes, the framework of mixed logical dynamical (MLD) systems is used to establish the system hybrid model. Based on the resulting hybrid dynamical model, the system control problem is recast as a model predictive control (MPC) problem, which allows us to optimize the switching sequences of the damping modes by taking into account the suspension performance requirements. Numerical simulations results demonstrate the efficacy of the proposed control method finally.

Biomolecular ligands screening using radiation damping difference WaterLOGSY spectroscopy

International Nuclear Information System (INIS)

Sun Peng; Jiang Xianwang; Jiang Bin; Zhang Xu; Liu Maili

2013-01-01

Water-ligand observed via gradient spectroscopy (WaterLOGSY) is a widely used nuclear magnetic resonance method for ligand screening. The crucial procedure for the effectiveness of WaterLOGSY is selective excitation of the water resonance. The selective excitation is conventionally achieved by using long selective pulse, which causes partial saturation of the water magnetization leading to reduction of sensitivity, in addition to time consuming and error prone. Therefore, many improvements have been made to enhance the sensitivity and robustness of the method. Here we propose an alternative selective excitation scheme for WaterLOGSY by utilizing radiation damping effect. The pulse scheme starts simply with a hard inversion pulse, instead of selective pulse or pulse train, followed by a pulse field gradient to control the radiation damping effect. The rest parts of the pulse scheme are similar to conventional WaterLOGSY. When the gradient pulse is applied immediately after the inversion pulse, the radiation damping effect is suppressed, and all of the magnetization is inversed. When the gradient pulse and the inversion pulse are about 10–20 ms apart, the radiation damping effect remains active and drives the water magnetization toward +z-axis, resulting in selective non-inversion of the water magnetization. By taking the differences of the spectra obtained under these two conditions, one should get the result of WaterLOGSY. The method is demonstrated to be simple, robust and sensitive for ligand screening

Active Magnetic Bearings Stiffness and Damping Identification from Frequency Characteristics of Control System

Directory of Open Access Journals (Sweden)

Chaowu Jin

2016-01-01

Full Text Available At present, the stiffness and damping identification for active magnetic bearings (AMBs are still in the stage of theoretical analysis. The theoretical analysis indicates that if the mechanical structure and system parameters are determined, AMBs stiffness and damping are only related to frequency characteristic of control system, ignoring operating condition. More importantly, few verification methods are proposed. Considering the shortcomings of the theoretical identification, this paper obtains these coefficients from the experiment by using the magnetic bearing as a sine exciter. The identification results show that AMBs stiffness and damping have a great relationship with the control system and rotating speed. Specifically, at low rotating speed, the stiffness and damping can be obtained from the rotor static suspension by adding the same excitation frequency. However, at high speed, different from the static suspension situation, the AMBs supporting coefficients are not only related to the frequency characteristics of control system, but also related to the system operating conditions.

Robust Manufacturing Control

CERN Document Server

2013-01-01

This contributed volume collects research papers, presented at the CIRP Sponsored Conference Robust Manufacturing Control: Innovative and Interdisciplinary Approaches for Global Networks (RoMaC 2012, Jacobs University, Bremen, Germany, June 18th-20th 2012). These research papers present the latest developments and new ideas focusing on robust manufacturing control for global networks. Today, Global Production Networks (i.e. the nexus of interconnected material and information flows through which products and services are manufactured, assembled and distributed) are confronted with and expected to adapt to: sudden and unpredictable large-scale changes of important parameters which are occurring more and more frequently, event propagation in networks with high degree of interconnectivity which leads to unforeseen fluctuations, and non-equilibrium states which increasingly characterize daily business. These multi-scale changes deeply influence logistic target achievement and call for robust planning and control ...

Damping control strategies of inter-area low-frequency oscillation for DFIG-based wind farms integrated into a power system

DEFF Research Database (Denmark)

Li, Hui; Liu, Shengquan; Ji, Haiting

2014-01-01

on the power system stabilizer (PSS) control method. Transient simulation on different damping gain coefficients are conducted for justification. Following the OTEF mechanism analysis, an additional fuzzy damping control strategy with the active/reactive power loop is proposed by identifying the oscillation......This study investigates the inter-area low-frequency damping control strategies of a doubly fed induction generator (DFIG)-based wind farm through oscillation transient energy function (OTEF) analysis. Based on the OTEF descent expressions, the feasibility of damping the inter-area low...... oscillation of the wind turbine shaft. The proposed additional fuzzy control strategy with the active/reactive power loop has better damping performance than the presented PSS control, especially for damping the inter-area low-frequency oscillation....

Control Strategies for Islanded Microgrid using Enhanced Hierarchical Control Structure with Multiple Current-Loop Damping Schemes

DEFF Research Database (Denmark)

Han, Yang; Shen, Pan; Zhao, Xin

2017-01-01

In this paper, the modeling, controller design, and stability analysis of the islanded microgrid (MG) using enhanced hierarchical control structure with multiple current loop damping schemes is proposed. The islanded MG is consisted of the parallel-connected voltage source inverters using LCL...... output filters, and the proposed control structure includes: the primary control with additional phase-shift loop, the secondary control for voltage amplitude and frequency restoration, the virtual impedance loops which contains virtual positive- and negative-sequence impedance loops at fundamental...... frequency, and virtual variable harmonic impedance loop at harmonic frequencies, and the inner voltage and current loop controllers. A small-signal model for the primary and secondary controls with additional phase-shift loop is presented, which shows an over-damped feature from eigenvalue analysis...

Robust SMES controller design for stabilization of inter-area oscillation considering coil size and system uncertainties

International Nuclear Information System (INIS)

Ngamroo, Issarachai

2010-01-01

It is well known that the superconducting magnetic energy storage (SMES) is able to quickly exchange active and reactive power with the power system. The SMES is expected to be the smart storage device for power system stabilization. Although the stabilizing effect of SMES is significant, the SMES is quite costly. Particularly, the superconducting magnetic coil size which is the essence of the SMES, must be carefully selected. On the other hand, various generation and load changes, unpredictable network structure, etc., cause system uncertainties. The power controller of SMES which is designed without considering such uncertainties, may not tolerate and loses stabilizing effect. To overcome these problems, this paper proposes the new design of robust SMES controller taking coil size and system uncertainties into account. The structure of the active and reactive power controllers is the 1st-order lead-lag compensator. No need for the exact mathematical representation, system uncertainties are modeled by the inverse input multiplicative perturbation. Without the difficulty of the trade-off of damping performance and robustness, the optimization problem of control parameters is formulated. The particle swarm optimization is used for solving the optimal parameters at each coil size automatically. Based on the normalized integral square error index and the consideration of coil current constraint, the robust SMES with the smallest coil size which still provides the satisfactory stabilizing effect, can be achieved. Simulation studies in the two-area four-machine interconnected power system show the superior robustness of the proposed robust SMES with the smallest coil size under various operating conditions over the non-robust SMES with large coil size.

Robust SMES controller design for stabilization of inter-area oscillation considering coil size and system uncertainties

Science.gov (United States)

Ngamroo, Issarachai

2010-12-01

It is well known that the superconducting magnetic energy storage (SMES) is able to quickly exchange active and reactive power with the power system. The SMES is expected to be the smart storage device for power system stabilization. Although the stabilizing effect of SMES is significant, the SMES is quite costly. Particularly, the superconducting magnetic coil size which is the essence of the SMES, must be carefully selected. On the other hand, various generation and load changes, unpredictable network structure, etc., cause system uncertainties. The power controller of SMES which is designed without considering such uncertainties, may not tolerate and loses stabilizing effect. To overcome these problems, this paper proposes the new design of robust SMES controller taking coil size and system uncertainties into account. The structure of the active and reactive power controllers is the 1st-order lead-lag compensator. No need for the exact mathematical representation, system uncertainties are modeled by the inverse input multiplicative perturbation. Without the difficulty of the trade-off of damping performance and robustness, the optimization problem of control parameters is formulated. The particle swarm optimization is used for solving the optimal parameters at each coil size automatically. Based on the normalized integral square error index and the consideration of coil current constraint, the robust SMES with the smallest coil size which still provides the satisfactory stabilizing effect, can be achieved. Simulation studies in the two-area four-machine interconnected power system show the superior robustness of the proposed robust SMES with the smallest coil size under various operating conditions over the non-robust SMES with large coil size.

PID controller auto-tuning based on process step response and damping optimum criterion.

Science.gov (United States)

Pavković, Danijel; Polak, Siniša; Zorc, Davor

2014-01-01

This paper presents a novel method of PID controller tuning suitable for higher-order aperiodic processes and aimed at step response-based auto-tuning applications. The PID controller tuning is based on the identification of so-called n-th order lag (PTn) process model and application of damping optimum criterion, thus facilitating straightforward algebraic rules for the adjustment of both the closed-loop response speed and damping. The PTn model identification is based on the process step response, wherein the PTn model parameters are evaluated in a novel manner from the process step response equivalent dead-time and lag time constant. The effectiveness of the proposed PTn model parameter estimation procedure and the related damping optimum-based PID controller auto-tuning have been verified by means of extensive computer simulations. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Equal modal damping design for a family of resonant vibration control formats

DEFF Research Database (Denmark)

Krenk, Steen; Høgsberg, Jan Becker

2013-01-01

derivative term in the control coupling can change these properties into balanced position and velocity peaks, respectively. In particular this gives an improved control format based on measurement of structural displacement or deformation. In all cases the optimal calibration in terms of a root locus......The principle of equal modal damping is used to give a unified presentation and calibration of resonant control of structures for different control formats, based on velocity, acceleration–position or position feedback. When introducing a resonant controller the original resonant mode splits...... identification leads to a simple explicit pair of design formulae for controller frequency and damping ratio based on a simple two -degrees-of-freedom system. Unconditional stability is demonstrated for a general multi-degrees-of-freedom system with multiple controllers for the velocity and acceleration...

Adjusting neural additional stabilizers for damping interarea oscillations; Ajuste de estabilizadores suplementares neurais para amortecimento de oscilacoes interareas

Energy Technology Data Exchange (ETDEWEB)

Furini, M.A.; Araujo, P.B. de; Pereira, A.L.S. [Universidade Estadual Paulista (FEIS/UNESP), Ilha Solteira, SP (Brazil). Fac. de Engenharia. Dept. Engenharia Eletrica], Emails: mafurini@aluno.feis.unesp.br, percival@dee.feis.unesp.br, andspa@gmail.com

2009-07-01

This paper aims at analyzing the main operation and design of operationally robust controllers in order to damp the electromechanics oscillations type inter area. For this we used an intelligent control technique based on artificial neural networks, where a multilayer perceptron it was implemented. We used a symmetrical test system of four generators, ten bars and nine transmission lines to verify the performance of the power system stabilizers and power oscillation damping (POD) for the FACTS devices, unified power flow controller (UPFC), designed for neural networks. The results show the superiority in the operation and control of oscillations in power systems using UPFC equipped with the POD.

Development and field tests of a damping controller to mitigate electromechanical oscillations on large diesel generating units

Energy Technology Data Exchange (ETDEWEB)

Nogueira, Fabricio G.; Barreiros, Jose A.L.; Barra, Walter Jr.; Costa, Carlos T. Jr. [Universidade Federal do Para (UFPA), Instituto de Tecnologia, Faculdade de Engenharia Eletrica, Campus Universitario do Guama, CEP: 66075-900, Belem (Brazil); Ferreira, Andre M.D. [Instituto Federal de Educacao, Ciencia e Tecnologia do Para (IFPA), Campus Belem, Departamento de Controle e Processos Industriais, Av. Almirante Barroso, 1155 (Marco), CEP: 66093-020, Belem (Brazil)

2011-02-15

This paper presents the development and field tests of a digital damping controller designed to mitigate intra-plant electromechanical oscillations via the speed governor system of fast acting units. The controller performance is assessed on an 18-MVA diesel generating unit, at Santana Power Plant (Amapa State, Amazon Region at Northern Brazil). In order to design the damping control law, a set of parametric ARX models representing the plant dynamics at several load conditions, are previously identified from data collected on field tests. The damping controller gains are calculated by using the identified ARX models parameters as inputs to a discrete-time pole-placement design method (pole-shifting) and then embedded on a DSP based microcontroller digital system, for field tests assessment. The digital damping controller modulates the diesel engine inlet valve position according to the observed oscillation on the measured electric power, using a PWM device, which is specially developed to this application. The experimental results shown the good performance of the developed controller on damping efficiently the electromechanical oscillations observed between generating units at Santana Power Plant. (author)

Sub-synchronous resonance damping using high penetration PV plant

Science.gov (United States)

Khayyatzadeh, M.; Kazemzadeh, R.

2017-02-01

The growing need to the clean and renewable energy has led to the fast development of transmission voltage-level photovoltaic (PV) plants all over the world. These large scale PV plants are going to be connected to power systems and one of the important subjects that should be investigated is the impact of these plants on the power system stability. Can large scale PV plants help to damp sub-synchronous resonance (SSR) and how? In this paper, this capability of a large scale PV plant is investigated. The IEEE Second Benchmark Model aggregated with a PV plant is utilized as the case study. A Wide Area Measurement System (WAMS) based conventional damping controller is designed and added to the main control loop of PV plant in order to damp the SSR and also investigation of the destructive effect of time delay in remote feedback signal. A new optimization algorithm called teaching-learning-based-optimization (TLBO) algorithm has been used for managing the optimization problems. Fast Furrier Transformer (FFT) analysis and also transient simulations of detailed nonlinear system are considered to investigate the performance of the controller. Robustness of the proposed system has been analyzed by facing the system with disturbances leading to significant changes in generator and power system operating point, fault duration time and PV plant generated power. All the simulations are carried out in MATLAB/SIMULINK environment.

Decentralized Hierarchical Controller Design for Selective Damping of Inter Area Oscillations Using PMU Signals

Directory of Open Access Journals (Sweden)

Ashfaque Ahmed Hashmani

2011-07-01

Full Text Available This paper deals with the decentralized hierarchical PSS (Power System Stabilizer controller design to achieve a better damping of specific inter-area oscillations. The two-level decentralized hierarchical structure consists of two PSS controllers. The first level controller is a local PSS controller for each generator to damp local mode in the area where controller is located. This controller uses only local signals as input signals. The local signal comes from the generator at which the controller is located. The secondary level controller is a multivariable decentralized global PSS controller to damp inter-area modes. This controller uses selected suitable wide area PMU (Phasor Measurement Units signals as inputs. The PMU or global signals are taken from network locations where the oscillations are well observable. The global controller uses only those global input signals in which the assigned single inter-area mode is most observable and is located at a generator that is most effective in controlling the assigned mode. The global controller works mainly in a frequency band given by the natural frequency of the assigned mode. The effectiveness of the resulting hierarchical controller is demonstrated through simulation studies conducted on a test power system.

Robust control design with MATLAB

CERN Document Server

Gu, Da-Wei; Konstantinov, Mihail M

2013-01-01

Robust Control Design with MATLAB® (second edition) helps the student to learn how to use well-developed advanced robust control design methods in practical cases. To this end, several realistic control design examples from teaching-laboratory experiments, such as a two-wheeled, self-balancing robot, to complex systems like a flexible-link manipulator are given detailed presentation. All of these exercises are conducted using MATLAB® Robust Control Toolbox 3, Control System Toolbox and Simulink®. By sharing their experiences in industrial cases with minimum recourse to complicated theories and formulae, the authors convey essential ideas and useful insights into robust industrial control systems design using major H-infinity optimization and related methods allowing readers quickly to move on with their own challenges. The hands-on tutorial style of this text rests on an abundance of examples and features for the second edition: ·        rewritten and simplified presentation of theoretical and meth...

Design of passive piezoelectric damping for space structures. Final Report Ph.D. Thesis

Science.gov (United States)

Hagood, Nesbitt W., IV; Aldrich, Jack B.; Vonflotow, Andreas H.

1994-01-01

Passive damping of structural dynamics using piezoceramic electromechanical energy conversion and passive electrical networks is a relatively recent concept with little implementation experience base. This report describes an implementation case study, starting from conceptual design and technique selection, through detailed component design and testing to simulation on the structure to be damped. About 0.5kg. of piezoelectric material was employed to damp the ASTREX testbed, a 500kg structure. Emphasis was placed upon designing the damping to enable high bandwidth robust feedback control. Resistive piezoelectric shunting provided the necessary broadband damping. The piezoelectric element was incorporated into a mechanically-tuned vibration absorber in order to concentrate damping into the 30 to 40 Hz frequency modes at the rolloff region of the proposed compensator. A prototype of a steel flex-tensional motion amplification device was built and tested. The effective stiffness and damping of the flex-tensional device was experimentally verified. When six of these effective springs are placed in an orthogonal configuration, strain energy is absorbed from all six degrees of freedom of a 90kg. mass. A NASTRAN finite element model of the testbed was modified to include the six-spring damping system. An analytical model was developed for the spring in order to see how the flex-tensional device and piezoelectric dimensions effect the critical stress and strain energy distribution throughout the component. Simulation of the testbed demonstrated the damping levels achievable in the completed system.

Assessment of effect of SSSC stabilizer in different control channels on damping inter-area oscillations

Energy Technology Data Exchange (ETDEWEB)

Shakarami, M.R., E-mail: shakarami@iust.ac.i [Centre of Excellence for Power System Automation and Operation, Department of Electrical Engineering, Iran University of Science and Technology, Narmak, Tehran (Iran, Islamic Republic of); Kazemi, A. [Centre of Excellence for Power System Automation and Operation, Department of Electrical Engineering, Iran University of Science and Technology, Narmak, Tehran (Iran, Islamic Republic of)

2011-03-15

A static synchronous series compensator (SSSC) is one of the series flexible ac transmission system (FACTS) devices that injects a balanced three-phase voltage in quadrature with the transmission line current. There are two channels for controlling of phase and magnitude of the voltage. When the SSSC is used for damping of inter-area oscillations, a SSSC-based stabilizer can be included in both channels. In this paper, the best location and suitable input control signal for SSSC in order to enhance the damping of inter-area oscillations are selected by residue analysis. A method by quadratic mathematic programming has been presented to the design of the stabilizer. By this method, the effect of the stabilizer in both control channels of the SSSC on damping of inter-area oscillations has been assessed. By considering the gain of stabilizer as a criterion, obtained results from studying on a small and a large multi-machine power system show that the stabilizer in the phase control channel is more effective for damping inter-are oscillations.

Robust Self Tuning Controllers

DEFF Research Database (Denmark)

Poulsen, Niels Kjølstad

1985-01-01

The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator...... has several operation modes and a detector for controlling the mode. A special self tuning controller has been developed to regulate plant with changing time delay.......The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator...

Wide area stability analysis and control of interconnected power systems with HVDC and FACTS devices

Energy Technology Data Exchange (ETDEWEB)

Li, Yong

2012-11-01

In order to damp low-frequency oscillations and improve the overall stability of large-scale interconnected power systems, this book investigates the wide-area stability analysis and control methods from different perspectives. The flexible and fast control capability of high-voltage (FACTS) is investigated in detail to implement a wide-area measurement based damping control. A sequential and global mixed optimization method is proposed to simultaneously optimize local and wide area damping controllers. A wide-area robust coordination method is presented to coordinate multiple wide-area damping controllers (WADC). A delay-dependent robust design method is also proposed to handle time-varying delays commonly existing in wide-area signal communication. A closed-loop hardware experiment is used to validate the damping performance. The research activities of this book include power system stability analysis and control, wide-area damping control as well as HVDC and FACTS technologies.

Vibration damping with negative capacitance shunts: theory and experiment

International Nuclear Information System (INIS)

De Marneffe, B; Preumont, A

2008-01-01

This paper analyzes in detail the enhancement of piezoelectric stack transducers by means of the well known 'negative' capacitive shunting. The stability is thoroughly studied: starting from the electrical admittance curve of the transducer, a method is introduced that quantifies the stability margins of the shunted structure. Two different implementations (series vs parallel) are investigated, and the lack of robustness of the parallel one is demonstrated. Next, this technique is experimentally applied on a truss structure. Its performances are compared with those of passive shunt circuits and with those of an active control law, the so-called Integral Force Feedback or IFF. As expected, the damping introduced by the negative capacitance shunt is larger than the damping obtained with the passive shunts; it remains, however, one order of magnitude smaller than that obtained with the IFF

Multimodel Robust Control for Hydraulic Turbine

OpenAIRE

Osuský, Jakub; Števo, Stanislav

2014-01-01

The paper deals with the multimodel and robust control system design and their combination based on M-Δ structure. Controller design will be done in the frequency domain with nominal performance specified by phase margin. Hydraulic turbine model is analyzed as system with unstructured uncertainty, and robust stability condition is included in controller design. Multimodel and robust control approaches are presented in detail on hydraulic turbine model. Control design approaches are compared a...

Magnetic Damping For Maglev

Directory of Open Access Journals (Sweden)

S. Zhu

1998-01-01

Full Text Available Magnetic damping is one of the important parameters that control the response and stability of maglev systems. An experimental study to measure magnetic damping directly is presented. A plate attached to a permanent magnet levitated on a rotating drum was tested to investigate the effect of various parameters, such as conductivity, gap, excitation frequency, and oscillation amplitude, on magnetic damping. The experimental technique is capable of measuring all of the magnetic damping coefficients, some of which cannot be measured indirectly.

An Optimal Reactive Power Control Strategy for a DFIG-Based Wind Farm to Damp the Sub-Synchronous Oscillation of a Power System

Directory of Open Access Journals (Sweden)

Bin Zhao

2014-05-01

Full Text Available This study presents the auxiliary damping control with the reactive power loop on the rotor-side converter of doubly-fed induction generator (DFIG-based wind farms to depress the sub-synchronous resonance oscillations in nearby turbogenerators. These generators are connected to a series capacitive compensation transmission system. First, the damping effect of the reactive power control of the DFIG-based wind farms was theoretically analyzed, and a transfer function between turbogenerator speed and the output reactive power of the wind farms was introduced to derive the analytical expression of the damping coefficient. The phase range to obtain positive damping was determined. Second, the PID phase compensation parameters of the auxiliary damping controller were optimized by a genetic algorithm to obtain the optimum damping in the entire subsynchronous frequency band. Finally, the validity and effectiveness of the proposed auxiliary damping control were demonstrated on a modified version of the IEEE first benchmark model by time domain simulation analysis with the use of DigSILENT/PowerFactory. Theoretical analysis and simulation results show that this derived damping factor expression and the condition of the positive damping can effectively analyze their impact on the system sub-synchronous oscillations, the proposed wind farms reactive power additional damping control strategy can provide the optimal damping effect over the whole sub-synchronous frequency band, and the control effect is better than the active power additional damping control strategy based on the power system stabilizator.

Shape memory alloys as damping materials

International Nuclear Information System (INIS)

Humbeeck, J. van

2000-01-01

Shape memory alloys are gaining an increased interest as passive as well as active damping materials. This damping ability when applied in structural elements can lead to a better noise control, improved life time and even better performance of the envisaged tools. By passive damping, it is understood that the material converts a significant part of unwanted mechanical energy into heat. This mechanical energy can be a (resonance) vibration, impact loading or shock waves. This high damping capacity finds its origin in the thermoelastic martensitic phase due to the hysteretic mobility of martensite-variants or different phase interfaces. The damping capacity increases with increasing amplitude of the applied vibration or impact and is almost frequency independent. Special interest exists moreover for damping extreme large displacements by applying the mechanical hysteresis performed during pseudoelastic loading. This aspect is nowadays very strongly studied as a tool for protecting buildings against earthquakes in seismic active regions. Active damping can be obtained in hybrid composites by controlling the recovery stresses or strains of embedded shape memory alloy wires. This controls the internal energy fo a structure which allows controlled modal modification and tuning of the dynamical properties of structural elements. But also impact damage, acoustic radiation, dynamic shape control can be actively controlled. As a consequence improved fatigue-resistance, better performance and a longer lifetime of the structural elements can be obtained. (orig.)

Test rig with active damping control for the simultaneous evaluation of vibration control and energy harvesting via piezoelectric transducers

International Nuclear Information System (INIS)

Perfetto, S; Rohlfing, J; Infante, F; Mayer, D; Herold, S

2016-01-01

Piezoelectric transducers can be used to harvest electrical energy from structural vibrations in order to power continuously operating condition monitoring systems local to where they operate. However, excessive vibrations can compromise the safe operation of mechanical systems. Therefore, absorbers are commonly used to control vibrations. With an integrated device, the mechanical energy that otherwise would be dissipated can be converted via piezoelectric transducers. Vibration absorbers are designed to have high damping factors. Hence, the integration of transducers would lead to a low energy conversion. Efficient energy harvesters usually have low damping capabilities; therefore, they are not effective for vibration suppression. Thus, the design of an integrated device needs to consider the two conflicting requirements on the damping. This study focuses on the development of a laboratory test rig with a host structure and a vibration absorber with tunable damping via an active relative velocity feedback. A voice coil actuator is used for this purpose. To overcome the passive damping effects of the back electromagnetic force a novel voltage feedback control is proposed, which has been validated both in simulation and experimentally. The aim of this study is to have a test rig ready for the introduction of piezo-transducers and available for future experimental evaluations of the damping effect on the effectiveness of vibration reduction and energy harvesting efficiency. (paper)

Test rig with active damping control for the simultaneous evaluation of vibration control and energy harvesting via piezoelectric transducers

Science.gov (United States)

Perfetto, S.; Rohlfing, J.; Infante, F.; Mayer, D.; Herold, S.

2016-09-01

Piezoelectric transducers can be used to harvest electrical energy from structural vibrations in order to power continuously operating condition monitoring systems local to where they operate. However, excessive vibrations can compromise the safe operation of mechanical systems. Therefore, absorbers are commonly used to control vibrations. With an integrated device, the mechanical energy that otherwise would be dissipated can be converted via piezoelectric transducers. Vibration absorbers are designed to have high damping factors. Hence, the integration of transducers would lead to a low energy conversion. Efficient energy harvesters usually have low damping capabilities; therefore, they are not effective for vibration suppression. Thus, the design of an integrated device needs to consider the two conflicting requirements on the damping. This study focuses on the development of a laboratory test rig with a host structure and a vibration absorber with tunable damping via an active relative velocity feedback. A voice coil actuator is used for this purpose. To overcome the passive damping effects of the back electromagnetic force a novel voltage feedback control is proposed, which has been validated both in simulation and experimentally. The aim of this study is to have a test rig ready for the introduction of piezo-transducers and available for future experimental evaluations of the damping effect on the effectiveness of vibration reduction and energy harvesting efficiency.

Vibration isolation using nonlinear damping implemented by a feedback-controlled MR damper

International Nuclear Information System (INIS)

Ho, C; Lang, Z Q; Billings, S A; Sapiński, B

2013-01-01

The main problem of using a conventional linear damper on a vibration isolation system is that the reduction of the resonant peak in many cases inevitably results in the degradation of the high-frequency transmissibility. Instead of using active control methods which normally depend on the model of the controlled plant and where unmodelled dynamics may induce stability concerns, recent studies have revealed that optimal vibration isolation over a wide frequency range can be achieved by using nonlinear damping. The present study is concerned with the realization of the ideal nonlinear damping characteristic using a feedback-controlled MR damper. Both simulation and experimental studies are conducted to demonstrate the advantages of the simple but effective vibration control strategy. This research work has significant implications for the effective use of MR dampers in the vibration control of a wide range of engineering systems. (paper)

Advances in robust fractional control

CERN Document Server

Padula, Fabrizio

2015-01-01

This monograph presents design methodologies for (robust) fractional control systems. It shows the reader how to take advantage of the superior flexibility of fractional control systems compared with integer-order systems in achieving more challenging control requirements. There is a high degree of current interest in fractional systems and fractional control arising from both academia and industry and readers from both milieux are catered to in the text. Different design approaches having in common a trade-off between robustness and performance of the control system are considered explicitly. The text generalizes methodologies, techniques and theoretical results that have been successfully applied in classical (integer) control to the fractional case. The first part of Advances in Robust Fractional Control is the more industrially-oriented. It focuses on the design of fractional controllers for integer processes. In particular, it considers fractional-order proportional-integral-derivative controllers, becau...

Semi-active control of helicopter vibration using controllable stiffness and damping devices

Science.gov (United States)

Anusonti-Inthra, Phuriwat

Semi-active concepts for helicopter vibration reduction are developed and evaluated in this dissertation. Semi-active devices, controllable stiffness devices or controllable orifice dampers, are introduced; (i) in the blade root region (rotor-based concept) and (ii) between the rotor and the fuselage as semi-active isolators (in the non-rotating frame). Corresponding semi-active controllers for helicopter vibration reduction are also developed. The effectiveness of the rotor-based semi-active vibration reduction concept (using stiffness and damping variation) is demonstrated for a 4-bladed hingeless rotor helicopter in moderate- to high-speed forward flight. A sensitivity study shows that the stiffness variation of root element can reduce hub vibrations when proper amplitude and phase are used. Furthermore, the optimal semi-active control scheme can determine the combination of stiffness variations that produce significant vibration reduction in all components of vibratory hub loads simultaneously. It is demonstrated that desired cyclic variations in properties of the blade root region can be practically achieved using discrete controllable stiffness devices and controllable dampers, especially in the flap and lag directions. These discrete controllable devices can produce 35--50% reduction in a composite vibration index representing all components of vibratory hub loads. No detrimental increases are observed in the lower harmonics of blade loads and blade response (which contribute to the dynamic stresses) and controllable device internal loads, when the optimal stiffness and damping variations are introduced. The effectiveness of optimal stiffness and damping variations in reducing hub vibration is retained over a range of cruise speeds and for variations in fundamental rotor properties. The effectiveness of the semi-active isolator is demonstrated for a simplified single degree of freedom system representing the semi-active isolation system. The rotor

Attractive ellipsoids in robust control

CERN Document Server

Poznyak, Alexander; Azhmyakov, Vadim

2014-01-01

This monograph introduces a newly developed robust-control design technique for a wide class of continuous-time dynamical systems called the “attractive ellipsoid method.” Along with a coherent introduction to the proposed control design and related topics, the monograph studies nonlinear affine control systems in the presence of uncertainty and presents a constructive and easily implementable control strategy that guarantees certain stability properties. The authors discuss linear-style feedback control synthesis in the context of the above-mentioned systems. The development and physical implementation of high-performance robust-feedback controllers that work in the absence of complete information is addressed, with numerous examples to illustrate how to apply the attractive ellipsoid method to mechanical and electromechanical systems. While theorems are proved systematically, the emphasis is on understanding and applying the theory to real-world situations. Attractive Ellipsoids in Robust Control will a...

Novel STATCOM Controller for Mitigating SSR and Damping Power System Oscillations in a Series Compensated Wind Parks

DEFF Research Database (Denmark)

Bak-Jensen, Birgitte; El-Moursi, M. S.; Abdel-Rahman, Mansour Hassan

2010-01-01

This paper addresses implementation issues associated with a novel damping control algorithm for a STATCOM in a series compensated wind park for mitigating SSR (subsynchronous resonance) and damping power system oscillations. The IEEE first benchmark model on subsynchronous resonance is adopted...... the SSR, damping the power system oscillation and enhancing the transient stability margin in response to different SCRs....... in the STATCOM control structure. The performances of the controllers are tested in steady state operation and in response to system contingencies, taking into account the impact of short circuit ratios (SCRs). Simulation results are presented to demonstrate the capability of the controllers for mitigating...

The Crane Robust Control

Directory of Open Access Journals (Sweden)

Marek Hicar

2004-01-01

Full Text Available The article is about a control design for complete structure of the crane: crab, bridge and crane uplift.The most important unknown parameters for simulations are burden weight and length of hanging rope. We will use robustcontrol for crab and bridge control to ensure adaptivity for burden weight and rope length. Robust control will be designed for current control of the crab and bridge, necessary is to know the range of unknown parameters. Whole robust will be splitto subintervals and after correct identification of unknown parameters the most suitable robust controllers will be chosen.The most important condition at the crab and bridge motion is avoiding from burden swinging in the final position. Crab and bridge drive is designed by asynchronous motor fed from frequency converter. We will use crane uplift with burden weightobserver in combination for uplift, crab and bridge drive with cooperation of their parameters: burden weight, rope length and crab and bridge position. Controllers are designed by state control method. We will use preferably a disturbance observerwhich will identify burden weight as a disturbance. The system will be working in both modes at empty hook as well asat maximum load: burden uplifting and dropping down.

Robustness analysis of chiller sequencing control

International Nuclear Information System (INIS)

Liao, Yundan; Sun, Yongjun; Huang, Gongsheng

2015-01-01

Highlights: • Uncertainties with chiller sequencing control were systematically quantified. • Robustness of chiller sequencing control was systematically analyzed. • Different sequencing control strategies were sensitive to different uncertainties. • A numerical method was developed for easy selection of chiller sequencing control. - Abstract: Multiple-chiller plant is commonly employed in the heating, ventilating and air-conditioning system to increase operational feasibility and energy-efficiency under part load condition. In a multiple-chiller plant, chiller sequencing control plays a key role in achieving overall energy efficiency while not sacrifices the cooling sufficiency for indoor thermal comfort. Various sequencing control strategies have been developed and implemented in practice. Based on the observation that (i) uncertainty, which cannot be avoided in chiller sequencing control, has a significant impact on the control performance and may cause the control fail to achieve the expected control and/or energy performance; and (ii) in current literature few studies have systematically addressed this issue, this paper therefore presents a study on robustness analysis of chiller sequencing control in order to understand the robustness of various chiller sequencing control strategies under different types of uncertainty. Based on the robustness analysis, a simple and applicable method is developed to select the most robust control strategy for a given chiller plant in the presence of uncertainties, which will be verified using case studies

Robust hydraulic position controller by a fuzzy state controller

International Nuclear Information System (INIS)

Zhao, T.; Van der Wal, A.J.

1994-01-01

In nuclear industry, one of the most important design considerations of controllers is their robustness. Robustness in this context is defined as the ability of a system to be controlled in a stable way over a wide range of system parameters. Generally the systems to be controlled are linearized, and stability is subsequently proven for this idealized system. By combining classical control theory and fuzzy set theory, a new kind of state controller is proposed and successfully applied to a hydraulic position servo with excellent robustness against variation of system parameters

Robust lyapunov controller for uncertain systems

KAUST Repository

Laleg-Kirati, Taous-Meriem; Elmetennani, Shahrazed

2017-01-01

Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust

Robust design of a 2-DOF GMV controller: a direct self-tuning and fuzzy scheduling approach.

Science.gov (United States)

Silveira, Antonio S; Rodríguez, Jaime E N; Coelho, Antonio A R

2012-01-01

This paper presents a study on self-tuning control strategies with generalized minimum variance control in a fixed two degree of freedom structure-or simply GMV2DOF-within two adaptive perspectives. One, from the process model point of view, using a recursive least squares estimator algorithm for direct self-tuning design, and another, using a Mamdani fuzzy GMV2DOF parameters scheduling technique based on analytical and physical interpretations from robustness analysis of the system. Both strategies are assessed by simulation and real plants experimentation environments composed of a damped pendulum and an under development wind tunnel from the Department of Automation and Systems of the Federal University of Santa Catarina. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Controllable damping of high-Q violin modes in fused silica suspension fibers

Science.gov (United States)

Dmitriev, A. V.; Mescheriakov, S. D.; Tokmakov, K. V.; Mitrofanov, V. P.

2010-01-01

Fused silica fiber suspension of the test masses will be used in the interferometric gravitational wave detectors of the next generation. This allows a significant reduction of losses in the suspension and thermal noise associated with the suspension. Unfortunately, unwanted violin modes may be accidentally excited in the suspension fibers. The Q-factor of the violin modes also exceeds 108. They have a ring-down time that is too long and may complicate the stable control of the interferometer. Results of the investigation of a violin mode active damping system are described. An original sensor and actuator were especially developed to realize the effective coupling of a thin, optically transparent, non-conducting fused silica fiber with an electric circuit. The damping system allowed the changing of the violin mode's damping rate over a wide range.

Design Robust Controller for Rotary Kiln

Directory of Open Access Journals (Sweden)

Omar D. Hernández-Arboleda

2013-11-01

Full Text Available This paper presents the design of a robust controller for a rotary kiln. The designed controller is a combination of a fractional PID and linear quadratic regulator (LQR, these are not used to control the kiln until now, in addition robustness criteria are evaluated (gain margin, phase margin, strength gain, rejecting high frequency noise and sensitivity applied to the entire model (controller-plant, obtaining good results with a frequency range of 0.020 to 90 rad/s, which contributes to the robustness of the system.

A statistical characterization method for damping material properties and its application to structural-acoustic system design

International Nuclear Information System (INIS)

Jung, Byung C.; Lee, Doo Ho; Youn, Byeng D.; Lee, Soo Bum

2011-01-01

The performance of surface damping treatments may vary once the surface is exposed to a wide range of temperatures, because the performance of viscoelastic damping material is highly dependent on operational temperature. In addition, experimental data for dynamic responses of viscoelastic material are inherently random, which makes it difficult to design a robust damping layout. In this paper a statistical modeling procedure with a statistical calibration method is suggested for the variability characterization of viscoelastic damping material in constrained-layer damping structures. First, the viscoelastic material property is decomposed into two sources: (I) a random complex modulus due to operational temperature variability, and (II) experimental/model errors in the complex modulus. Next, the variability in the damping material property is obtained using the statistical calibration method by solving an unconstrained optimization problem with a likelihood function metric. Two case studies are considered to show the influence of the material variability on the acoustic performances in the structural-acoustic systems. It is shown that the variability of the damping material is propagated to that of the acoustic performances in the systems. Finally, robust and reliable damping layout designs of the two case studies are obtained through the reliability-based design optimization (RBDO) amidst severe variability in operational temperature and the damping material

Design of a new adaptive fuzzy controller and its implementation for the damping force control of a magnetorheological damper

International Nuclear Information System (INIS)

Phu, Do Xuan; Shah, Kruti; Choi, Seung-Bok

2014-01-01

This paper presents a new adaptive fuzzy controller and its implementation for the damping force control of a magnetorheological (MR) fluid damper in order to validate the effectiveness of the control performance. An interval type 2 fuzzy model is built, and then combined with modified adaptive control to achieve the desired damping force. In the formulation of the new adaptive controller, an enhanced iterative algorithm is integrated with the fuzzy model to decrease the time of calculation (D Wu 2013 IEEE Trans. Fuzzy Syst. 21 80–99) and the control algorithm is synthesized based on the H ∞ tracking technique. In addition, for the verification of good control performance of the proposed controller, a cylindrical MR damper which can be applied to the vibration control of a washing machine is designed and manufactured. For the operating fluid, a recently developed plate-like particle-based MR fluid is used instead of a conventional MR fluid featuring spherical particles. To highlight the control performance of the proposed controller, two existing adaptive fuzzy control algorithms proposed by other researchers are adopted and altered for a comparative study. It is demonstrated from both simulation and experiment that the proposed new adaptive controller shows better performance of damping force control in terms of response time and tracking accuracy than the existing approaches. (papers)

Impact of Cyber Attacks on High Voltage DC Transmission Damping Control

Directory of Open Access Journals (Sweden)

Rui Fan

2018-04-01

Full Text Available Hybrid AC/HVDC (AC-HVDC grids have evolved to become huge cyber-physical systems that are vulnerable to cyber attacks because of the wide attack surface and increasing dependence on intelligent electronic devices, computing resources and communication networks. This paper, for the first time, studies the impact of cyber attacks on HVDC transmission oscillation damping control.Three kinds of cyber attack models are considered: timing attack, replay attack and false data injection attack. Followed by a brief introduction of the HVDC model and conventional oscillation damping control method, the design of three attack models is described in the paper. These attacks are tested on a modified IEEE New England 39-Bus AC-HVDC system. Simulation results have shown that all three kinds of attacks are capable of driving the AC-HVDC system into large oscillations or even unstable conditions.

Controllable damping of high-Q violin modes in fused silica suspension fibers

Energy Technology Data Exchange (ETDEWEB)

Dmitriev, A V; Mescheriakov, S D; Mitrofanov, V P [Faculty of Physics, Moscow State University, Moscow 119991 (Russian Federation); Tokmakov, K V, E-mail: dmitriev@hbar.phys.msu.r, E-mail: mitr@hbar.phys.msu.r [Present address: Department of Physics, SUPA, University of Strathclyde, Glasgow G4 0NG (United Kingdom)

2010-01-21

Fused silica fiber suspension of the test masses will be used in the interferometric gravitational wave detectors of the next generation. This allows a significant reduction of losses in the suspension and thermal noise associated with the suspension. Unfortunately, unwanted violin modes may be accidentally excited in the suspension fibers. The Q-factor of the violin modes also exceeds 10{sup 8}. They have a ring-down time that is too long and may complicate the stable control of the interferometer. Results of the investigation of a violin mode active damping system are described. An original sensor and actuator were especially developed to realize the effective coupling of a thin, optically transparent, non-conducting fused silica fiber with an electric circuit. The damping system allowed the changing of the violin mode's damping rate over a wide range.

Controllable damping of high-Q violin modes in fused silica suspension fibers

International Nuclear Information System (INIS)

Dmitriev, A V; Mescheriakov, S D; Mitrofanov, V P; Tokmakov, K V

2010-01-01

Fused silica fiber suspension of the test masses will be used in the interferometric gravitational wave detectors of the next generation. This allows a significant reduction of losses in the suspension and thermal noise associated with the suspension. Unfortunately, unwanted violin modes may be accidentally excited in the suspension fibers. The Q-factor of the violin modes also exceeds 10 8 . They have a ring-down time that is too long and may complicate the stable control of the interferometer. Results of the investigation of a violin mode active damping system are described. An original sensor and actuator were especially developed to realize the effective coupling of a thin, optically transparent, non-conducting fused silica fiber with an electric circuit. The damping system allowed the changing of the violin mode's damping rate over a wide range.

Tower Based Load Measurements for Individual Pitch Control and Tower Damping of Wind Turbines

International Nuclear Information System (INIS)

Kumar, A A; Hugues-Salas, O; Savini, B; Keogh, W

2016-01-01

The cost of IPC has hindered adoption outside of Europe despite significant loading advantages for large wind turbines. In this work we presented a method for applying individual pitch control (including for higher-harmonics) using tower-top strain gauge feedback instead of blade-root strain gauge feedback. Tower-top strain gauges offer hardware savings of approximately 50% in addition to the possibility of easier access for maintenance and installation and requiring a less specialised skill-set than that required for applying strain gauges to composite blade roots. A further advantage is the possibility of using the same tower-top sensor array for tower damping control. This method is made possible by including a second order IPC loop in addition to the tower damping loop to reduce the typically dominating 3P content in tower-top load measurements. High-fidelity Bladed simulations show that the resulting turbine spectral characteristics from tower-top feedback IPC and from the combination of tower-top IPC and damping loops largely match those of blade-root feedback IPC and nacelle- velocity feedback damping. Lifetime weighted fatigue analysis shows that the methods allows load reductions within 2.5% of traditional methods. (paper)

Energy Conservation Analysis and Control of Hybrid Active Semiactive Suspension with Three Regulating Damping Levels

Directory of Open Access Journals (Sweden)

Long Chen

2016-01-01

Full Text Available Active suspension has not been popularized for high energy consumption. To address this issue, this paper introduces the concept of a new kind of suspension. The linear motor is considered to be integrated into an adjustable shock absorber to form the hybrid active semiactive suspension (HASAS. To realize the superiority of HASAS, its energy consumption and regeneration mechanisms are revealed. And the system controller which is composed of linear quadratic regulator (LQR controller, mode decision and switch controller, and the sliding mode control based thrust controller is developed. LQR controller is designed to maintain the suspension control objectives, while mode decision and switch controller decides the optimal damping level to tune motor thrust. The thrust controller ensures motor thrust tracking. An adjustable shock absorber with three regulating levels to be used in HASAS is trial produced and tested to obtain its working characteristics. Finally, simulation analysis is made with the experimental three damping characteristics. The impacts of adjustable damping on the motor force and energy consumption are investigated. Simulation results demonstrate the advantages of HASAS in energy conservation with various suspension control objectives. Even self-powered active control and energy regenerated to the power source can be realized.

Performance analysis of conventional PSS and fuzzy controller for damping power system oscillations

OpenAIRE

Banna, Hasan UI; Luna Alloza, Álvaro; Rodríguez Cortés, Pedro; Cabrera Tobar, Ana; Ghorbani, Hamidreza; Ying, Shaoqing

2014-01-01

Electro-mechanical oscillations are produced, in the machines of an interconnected power network, followed by a disturbance or due to high power transfer through weak tie lines. These oscillations should be damped as quickly as possible to ensure the reliable and stable operation of the network. To damp these oscillations different controllers, based on local or wide area signals, have been the subject of many papers. This paper presents the analysis of the performance of Conventional Power S...

Adaptive Critic Nonlinear Robust Control: A Survey.

Science.gov (United States)

Wang, Ding; He, Haibo; Liu, Derong

2017-10-01

Adaptive dynamic programming (ADP) and reinforcement learning are quite relevant to each other when performing intelligent optimization. They are both regarded as promising methods involving important components of evaluation and improvement, at the background of information technology, such as artificial intelligence, big data, and deep learning. Although great progresses have been achieved and surveyed when addressing nonlinear optimal control problems, the research on robustness of ADP-based control strategies under uncertain environment has not been fully summarized. Hence, this survey reviews the recent main results of adaptive-critic-based robust control design of continuous-time nonlinear systems. The ADP-based nonlinear optimal regulation is reviewed, followed by robust stabilization of nonlinear systems with matched uncertainties, guaranteed cost control design of unmatched plants, and decentralized stabilization of interconnected systems. Additionally, further comprehensive discussions are presented, including event-based robust control design, improvement of the critic learning rule, nonlinear H ∞ control design, and several notes on future perspectives. By applying the ADP-based optimal and robust control methods to a practical power system and an overhead crane plant, two typical examples are provided to verify the effectiveness of theoretical results. Overall, this survey is beneficial to promote the development of adaptive critic control methods with robustness guarantee and the construction of higher level intelligent systems.

QFT Framework for Robust Tuning of Power System Stabilizers

DEFF Research Database (Denmark)

Alavi, Seyyed Mohammad Mahdi; Izadi-Zamanabadi, Roozbeh

2005-01-01

This paper discusses the use of conventional quantitative feedback design for Power System Stabilizer (PSS). An appropriate control structure of the PSS that is directly applicable to PSS, is described. Two desired performances are also proposed in order to achieve an overall improvement in damping...... and robustness. The efficiency of the proposed method is demonstrated on Single Machine Infinite Bus (SMIB) power system with level of uncertainty....

The Robust Control Mixer Module Method for Control Reconfiguration

DEFF Research Database (Denmark)

Yang, Z.; Blanke, M.

1999-01-01

into a LTI dynamical system, and furthermore multiple dynamical control mixer modules can be employed in our consideration. The H_{\\infty} control theory is used for the analysis and design of the robust control mixer modules. Finally, one practical robot arm system as benchmark is used to test the proposed......The control mixer concept is efficient in improving an ordinary control system into a fault tolerant one, especially for these control systems of which the real-time and on-line redesign of the control laws is very difficult. In order to consider the stability, performance and robustness...... of the reconfigurated system simultaneously, and to deal with a more general controller reconfiguration than the static feedback mechanism by using the control mixer approach, the robust control mixer module method is proposed in this paper. The form of the control mixer module extends from a static gain matrix...

A New Control Structure for Multi-Terminal dc Grids to Damp Inter-Area Oscillations

DEFF Research Database (Denmark)

Eriksson, Robert

2014-01-01

This article analyzes the control structure of the multi-terminal dc (MTDC) system to damp ac system interarea oscillations through active power modulation. A new control structure is presented that maximizes the relative controllability without the need for communication among the dc terminals....... In point-to-point high voltage dc (HVDC) transmission, the active power modulation of the two terminals occurs in opposite directions. In this case the control direction is given and only needs to be phase compensated to align for maximal damping. In the case of MTDC systems the control direction...... interrelates with the active power modulation share of the dc terminals and the relative controllability depends on this. The new control structure eliminates the need of communication between the dc terminals by performing dc voltage feedback loop shaping. This makes it possible to modulate the power in one...

Generalized stability regions of current control for LCL-filtered grid-connected converters without passive or active damping

DEFF Research Database (Denmark)

Tang, Yi; Yoon, Changwoo; Zhu, Rongwu

2015-01-01

This paper investigates the stability regions of current control for LCL-filtered grid-connected converters, where no active or passive damping is required to stabilize the closed-loop control system. It is already identified in the literature that if the LCL resonance frequency is placed within 1....../6 to 1/2 of the system sampling frequency, the grid current control can be directly used without damping. If the resonance frequency is smaller than 1/6 of the sampling frequency, the converter current control should then be adopted. This paper further extends the analysis to the cases where...... the resonance frequency could be larger than 1/2 of the sampling frequency, and derives the complete stability regions for both grid and converter current control. Interestingly, it is found that for any given LCL-filter design, there will always be one stable current control design without any damping, which...

Nonlinear robust hierarchical control for nonlinear uncertain systems

Directory of Open Access Journals (Sweden)

Leonessa Alexander

1999-01-01

Full Text Available A nonlinear robust control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving nominal system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions, a hierarchical nonlinear robust control strategy is developed that robustly stabilizes a given nonlinear system over a prescribed range of system uncertainty by robustly stabilizing a collection of nonlinear controlled uncertain subsystems. The robust switching nonlinear controller architecture is designed based on a generalized (lower semicontinuous Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized nominal system equilibria. The proposed framework robustly stabilizes a compact positively invariant set of a given nonlinear uncertain dynamical system with structured parametric uncertainty. Finally, the efficacy of the proposed approach is demonstrated on a jet engine propulsion control problem with uncertain pressure-flow map data.

A robust standard deviation control chart

NARCIS (Netherlands)

Schoonhoven, M.; Does, R.J.M.M.

2012-01-01

This article studies the robustness of Phase I estimators for the standard deviation control chart. A Phase I estimator should be efficient in the absence of contaminations and resistant to disturbances. Most of the robust estimators proposed in the literature are robust against either diffuse

Numerical design and test on an assembled structure of a bolted joint with viscoelastic damping

Science.gov (United States)

Hammami, Chaima; Balmes, Etienne; Guskov, Mikhail

2016-03-01

Mechanical assemblies are subjected to many dynamic loads and modifications are often needed to achieve acceptable vibration levels. While modifications on mass and stiffness are well mastered, damping modifications are still considered difficult to design. The paper presents a case study on the design of a bolted connection containing a viscoelastic damping layer. The notion of junction coupling level is introduced to ensure that sufficient energy is present in the joints to allow damping. Static performance is then addressed and it is shown that localization of metallic contact can be used to meet objectives, while allowing the presence of viscoelastic materials. Numerical prediction of damping then illustrates difficulties in optimizing for robustness. Modal test results of three configurations of an assembled structure, inspired by aeronautic fuselages, are then compared to analyze the performance of the design. While validity of the approach is confirmed, the effect of geometric imperfections is shown and stresses the need for robust design.

Use of electro-magnetic damping for vibration control

DEFF Research Database (Denmark)

Stein, George Juraj; Darula, Radoslav; Sorokin, Sergey

2012-01-01

to introduce additional electromagnetic damping into vibrating mechanical system. The hysteretic losses and eddy currents are included in the model, to take into account more realistic dynamic behaviour of the system. The mathematical model of the controller is derived using lumped parameter approach......Vibration of machines is an unwanted phenomenon, and it is usually of interest to eliminate it. There are various means to be used in order to reach the goal, where the utilization of the electromagnet augmented by an external shunt circuit is analyzed in the paper. The magnetic force is used...

Revival and robustness of Bures distance discord under decoherence channels

International Nuclear Information System (INIS)

Shi, Jia-dong; Wang, Dong; Ma, Yang-cheng; Ye, Liu

2016-01-01

In this paper, we demonstrate the revival and robustness of Bures distance discord in comparison with entanglement under local decoherent evolutions. The results show that in depolarizing channel Bures distance discord revives after a dark point of time, while entanglement will damp into death without revival. In addition, in hybrid channel the declining initial condition can enable Bures distance discord to decay more smoothly within a limited time, but speed up the death of entanglement. In this sense, Bures distance discord is typically more robust against decoherence than entanglement. Furthermore, we also provide a geometric interpretation concerning these phenomena. - Highlights: • Bures distance discord is more robust against decoherence than entanglement. • Bures distance discord revives after a dark point of time, while entanglement damps to death. • The initial condition enables Bures distance discord to damp smoothly, but it speeds up the death of entanglement. • A geometric interpretation concerning these phenomena has been provided.

A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control

Science.gov (United States)

Obayashi, Masanao; Uchiyama, Shogo; Kuremoto, Takashi; Kobayashi, Kunikazu

This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H∞ control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.

Feedforward/feedback control synthesis for performance and robustness

Science.gov (United States)

Wie, Bong; Liu, Qiang

1990-01-01

Both feedforward and feedback control approaches for uncertain dynamical systems are investigated. The control design objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant modeling uncertainty. Preshapong of an ideal, time-optimal control input using a 'tapped-delay' filter is shown to provide a rapid maneuver with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. The proposed feedforward/feedback control approach is robust for a certain class of uncertain dynamical systems, since the control input command computed for a given desired output does not depend on the plant parameters.

A Robust H∞ Controller for an UAV Flight Control System

Directory of Open Access Journals (Sweden)

J. López

2015-01-01

Full Text Available The objective of this paper is the implementation and validation of a robust H∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H∞ robust controller in the inner loop, H∞ control methodology is used. The two controllers that conform the outer loop are designed using the H∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

Capacitor Current Feedback-Based Active Resonance Damping Strategies for Digitally-Controlled Inductive-Capacitive-Inductive-Filtered Grid-Connected Inverters

DEFF Research Database (Denmark)

Lorzadeh, Iman; Askarian Abyaneh, Hossein; Savaghebi, Mehdi

2016-01-01

Inductive-capacitive-inductive (LCL)-type line filters are widely used in grid-connected voltage source inverters (VSIs), since they can provide substantially improved attenuation of switching harmonics in currents injected into the grid with lower cost, weight and power losses than their L......-type counterparts. However, the inclusion of third order LCL network complicates the current control design regarding the system stability issues because of an inherent resonance peak which appears in the open-loop transfer function of the inverter control system near the control stability boundary. To avoid...... passive (resistive) resonance damping solutions, due to their additional power losses, active damping (AD) techniques are often applied with proper control algorithms in order to damp the LCL filter resonance and stabilize the system. Among these techniques, the capacitor current feedback (CCF) AD has...

Robust and Adaptive Control With Aerospace Applications

CERN Document Server

Lavretsky, Eugene

2013-01-01

Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems.  The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: ·         case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; ·         detailed background material for each chapter to motivate theoretical developments; ·         realistic examples and simulation data illustrating key features ...

Robust Structured Control Design via LMI Optimization

DEFF Research Database (Denmark)

Adegas, Fabiano Daher; Stoustrup, Jakob

2011-01-01

This paper presents a new procedure for discrete-time robust structured control design. Parameter-dependent nonconvex conditions for stabilizable and induced L2-norm performance controllers are solved by an iterative linear matrix inequalities (LMI) optimization. A wide class of controller...... structures including decentralized of any order, fixed-order dynamic output feedback, static output feedback can be designed robust to polytopic uncertainties. Stability is proven by a parameter-dependent Lyapunov function. Numerical examples on robust stability margins shows that the proposed procedure can...

Muscle Synergy-Driven Robust Motion Control.

Science.gov (United States)

Min, Kyuengbo; Iwamoto, Masami; Kakei, Shinji; Kimpara, Hideyuki

2018-04-01

Humans are able to robustly maintain desired motion and posture under dynamically changing circumstances, including novel conditions. To accomplish this, the brain needs to optimize the synergistic control between muscles against external dynamic factors. However, previous related studies have usually simplified the control of multiple muscles using two opposing muscles, which are minimum actuators to simulate linear feedback control. As a result, they have been unable to analyze how muscle synergy contributes to motion control robustness in a biological system. To address this issue, we considered a new muscle synergy concept used to optimize the synergy between muscle units against external dynamic conditions, including novel conditions. We propose that two main muscle control policies synergistically control muscle units to maintain the desired motion against external dynamic conditions. Our assumption is based on biological evidence regarding the control of multiple muscles via the corticospinal tract. One of the policies is the group control policy (GCP), which is used to control muscle group units classified based on functional similarities in joint control. This policy is used to effectively resist external dynamic circumstances, such as disturbances. The individual control policy (ICP) assists the GCP in precisely controlling motion by controlling individual muscle units. To validate this hypothesis, we simulated the reinforcement of the synergistic actions of the two control policies during the reinforcement learning of feedback motion control. Using this learning paradigm, the two control policies were synergistically combined to result in robust feedback control under novel transient and sustained disturbances that did not involve learning. Further, by comparing our data to experimental data generated by human subjects under the same conditions as those of the simulation, we showed that the proposed synergy concept may be used to analyze muscle synergy

Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

DEFF Research Database (Denmark)

Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

2005-01-01

This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...

A Robust Controller Structure for Pico-Satellite Applications

DEFF Research Database (Denmark)

Kragelund, Martin Nygaard; Green, Martin; Kristensen, Mads

This paper describes the development of a robust controller structure for use in pico-satellite missions. The structure relies on unknown disturbance estimation and use of robust control theory to implement a system that is robust to both unmodeled disturbances and parameter uncertainties. As one...

Transient Performance Improvement of Wind Turbines with Doubly Fed Induction Generators Using Active Damping Control Strategy

Directory of Open Access Journals (Sweden)

Saeed Soleymani

2016-01-01

Full Text Available This paper Analytically investigates the effects of system and controller parameters and operating conditions on the dynamic and transient behavior of wind turbines (WTs with doubly-fed induction generators (DFIGs under voltage dips and wind speed fluctuations. Also, it deals with the design considerations regarding rotor and speed controllers. The poorly damped electrical and mechanical modes of the system are identified, and the effects of system parameters, and speed/rotor controllers on these modes are investigated by modal and sensitivity analyses. The results of theoretical studies are verified by time domain simulations. It is found that the dynamic behavior of the DFIG-based WT under voltage dips is strongly affected by the stator dynamics. Further, it is shown that the closed loop bandwidth of the rotor current control, rotor current damping, DFIG power factor and the rotor back-emf voltages have high impact on the stator modes and consequently on the DFIG dynamic behavior. Moreover, it is shown that the dynamic behavior of DFIG-based WT under wind speed fluctuation is significantly dependent on the bandwidth and damping of speed control loop.

Design of multi-objective damping controller for gate-controlled ...

Indian Academy of Sciences (India)

augment the modulated damping torque of the GCSC against the system uncertainties and non- .... all of the simulation processes from mathematical modelling from current ... system, are performed in the MATLAB/SIMULINK environment.

MVMO-based approach for optimal placement and tuning of supplementary damping controller

NARCIS (Netherlands)

Rueda Torres, J.L.; Gonzalez-Longatt, F.

2015-01-01

This paper introduces an approach based on the Swarm Variant of the Mean-Variance Mapping Optimization (MVMO-S) to solve the multi-scenario formulation of the optimal placement and coordinated tuning of power system supplementary damping controllers (POCDCs). The effectiveness of the approach is

Quantum correlation versus Bell-inequality violation under the amplitude damping channel

Energy Technology Data Exchange (ETDEWEB)

Ma, WenChao; Xu, Shuai; Shi, Jiadong; Ye, Liu, E-mail: yeliu@ahu.edu.cn

2015-11-06

We investigate the quantum correlations including quantum discord and entanglement under the amplitude damping channel. Our analysis results indicate that although the entanglement of initial state is degraded due to decoherence, the distribution trend of entanglement is not to be affected. Moreover, we find that the survival time for entanglement is much longer than for the Bell inequality violation, i.e., as time goes on the Bell inequality violation of final state may be not satisfied while the final state still remains entangled. Especially, although quantum entanglement and quantum discord all decrease under the amplitude damping channel, quantum discord (QD) is reduced significantly slower than entanglement. Therefore, the quantum discord is more robust against amplitude damping in comparison to entanglement measures. Furthermore, we also find that there are mixed states having quantum discord higher than that for pure states for a given degree of Bell's inequality violation. This means that the manipulation of nonclassical correlations via a pure state can result in a larger loss of quantum discord than that via a mixed state. - Highlights: • Entanglement distribution trend is not be affected by the decoherent. • The survival time for entanglement is much longer than for the Bell inequality violation. • The quantum discord is more robust against amplitude damping in comparison entanglement measures.

Off-axis Modal Active Vibration Control Of Rotational Vibrations

NARCIS (Netherlands)

Babakhani, B.; de Vries, Theodorus J.A.; van Amerongen, J.

Collocated active vibration control is an effective and robustly stable way of adding damping to the performance limiting vibrations of a plant. Besides the physical parameters of the Active Damping Unit (ADU) containing the collocated actuator and sensor, its location with respect to the

A Resonant Damping Study Using Piezoelectric Materials

Science.gov (United States)

Min, J. B.; Duffy, K. P.; Choi, B. B.; Morrison, C. R.; Jansen, R. H.; Provenza, A. J.

2008-01-01

Excessive vibration of turbomachinery blades causes high cycle fatigue (HCF) problems requiring damping treatments to mitigate vibration levels. Based on the technical challenges and requirements learned from previous turbomachinery blade research, a feasibility study of resonant damping control using shunted piezoelectric patches with passive and active control techniques has been conducted on cantilever beam specimens. Test results for the passive damping circuit show that the optimum resistive shunt circuit reduces the third bending resonant vibration by almost 50%, and the optimum inductive circuit reduces the vibration by 90%. In a separate test, active control reduced vibration by approximately 98%.

Capacitor Current Feedback-Based Active Resonance Damping Strategies for Digitally-Controlled Inductive-Capacitive-Inductive-Filtered Grid-Connected Inverters

Directory of Open Access Journals (Sweden)

Iman Lorzadeh

2016-08-01

Full Text Available Inductive-capacitive-inductive (LCL-type line filters are widely used in grid-connected voltage source inverters (VSIs, since they can provide substantially improved attenuation of switching harmonics in currents injected into the grid with lower cost, weight and power losses than their L-type counterparts. However, the inclusion of third order LCL network complicates the current control design regarding the system stability issues because of an inherent resonance peak which appears in the open-loop transfer function of the inverter control system near the control stability boundary. To avoid passive (resistive resonance damping solutions, due to their additional power losses, active damping (AD techniques are often applied with proper control algorithms in order to damp the LCL filter resonance and stabilize the system. Among these techniques, the capacitor current feedback (CCF AD has attracted considerable attention due to its effective damping performance and simple implementation. This paper thus presents a state-of-the-art review of resonance and stability characteristics of CCF-based AD approaches for a digitally-controlled LCL filter-based grid-connected inverter taking into account the effect of computation and pulse width modulation (PWM delays along with a detailed analysis on proper design and implementation.

Semi-active Control of Magneto-Rheological Dampers with Negative Stiffness

DEFF Research Database (Denmark)

Bhowmik, Subrata

2009-01-01

performance by introduction of apparent negative damper stiffness. The design of the control strategy aims at maximizing the damping ratio of the critical mode of the structure. Explicit solutions for the complex valued natural frequency of the damped structure and the associated damping ratio are obtained...... sufficiently accurate. This is done by letting the desired force be the input to an inverse Bingham model, which provides the corresponding desired voltage level of the MR damper. Numerical simulations are conducted to demonstrate the performance of the proposed semi-active control strategy with apparent......Effective damping of large and flexible structures by semi-active dampers relies greatly on the control strategy applied, which should combine the robustness of passive devices and the increased damping performance often available from active control. For structural control the Magneto...

Parametric uncertainty modeling for robust control

DEFF Research Database (Denmark)

Rasmussen, K.H.; Jørgensen, Sten Bay

1999-01-01

The dynamic behaviour of a non-linear process can often be approximated with a time-varying linear model. In the presented methodology the dynamics is modeled non-conservatively as parametric uncertainty in linear lime invariant models. The obtained uncertainty description makes it possible...... to perform robustness analysis on a control system using the structured singular value. The idea behind the proposed method is to fit a rational function to the parameter variation. The parameter variation can then be expressed as a linear fractional transformation (LFT), It is discussed how the proposed...... point changes. It is shown that a diagonal PI control structure provides robust performance towards variations in feed flow rate or feed concentrations. However including both liquid and vapor flow delays robust performance specifications cannot be satisfied with this simple diagonal control structure...

Climate variability and vadose zone controls on damping of transient recharge

Science.gov (United States)

Corona, Claudia R.; Gurdak, Jason J.; Dickinson, Jesse; Ferré, T.P.A.; Maurer, Edwin P.

2017-01-01

Increasing demand on groundwater resources motivates understanding of the controls on recharge dynamics so model predictions under current and future climate may improve. Here we address questions about the nonlinear behavior of flux variability in the vadose zone that may explain previously reported teleconnections between global-scale climate variability and fluctuations in groundwater levels. We use hundreds of HYDRUS-1D simulations in a sensitivity analysis approach to evaluate the damping depth of transient recharge over a range of periodic boundary conditions and vadose zone geometries and hydraulic parameters that are representative of aquifer systems of the conterminous United States (U.S). Although the models were parameterized based on U.S. aquifers, findings from this study are applicable elsewhere that have mean recharge rates between 3.65 and 730 mm yr–1. We find that mean infiltration flux, period of time varying infiltration, and hydraulic conductivity are statistically significant predictors of damping depth. The resulting framework explains why some periodic infiltration fluxes associated with climate variability dampen with depth in the vadose zone, resulting in steady-state recharge, while other periodic surface fluxes do not dampen with depth, resulting in transient recharge. We find that transient recharge in response to the climate variability patterns could be detected at the depths of water levels in most U.S. aquifers. Our findings indicate that the damping behavior of transient infiltration fluxes is linear across soil layers for a range of texture combinations. The implications are that relatively simple, homogeneous models of the vadose zone may provide reasonable estimates of the damping depth of climate-varying transient recharge in some complex, layered vadose zone profiles.

Damping in aerospace composite materials

Science.gov (United States)

Agneni, A.; Balis Crema, L.; Castellani, A.

Experimental results are presented on specimens of carbon and Kevlar fibers in epoxy resin, materials used in many aerospace structures (control surfaces and wings in aircraft, large antennas in spacecraft, etc.). Some experimental methods of estimating damping ratios are first reviewed, either in the time domain or in the frequency domain. Some damping factor estimates from experimental tests are then shown; in order to evaluate the effects of the aerospace environment, damping factors have been obtained in a typical range of temperature, namely between +120 C and -120 C, and in the pressure range from room pressure to 10 exp -6 torr. Finally, a theoretical approach for predicting the bounds of the damping coefficients is shown, and prediction data are compared with experimental results.

Robust Parametric Control of Spacecraft Rendezvous

Directory of Open Access Journals (Sweden)

Dake Gu

2014-01-01

Full Text Available This paper proposes a method to design the robust parametric control for autonomous rendezvous of spacecrafts with the inertial information with uncertainty. We consider model uncertainty of traditional C-W equation to formulate the dynamic model of the relative motion. Based on eigenstructure assignment and model reference theory, a concise control law for spacecraft rendezvous is proposed which could be fixed through solving an optimization problem. The cost function considers the stabilization of the system and other performances. Simulation results illustrate the robustness and effectiveness of the proposed control.

Optimal integral force feedback for active vibration control

Science.gov (United States)

Teo, Yik R.; Fleming, Andrew J.

2015-11-01

This paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control of structures and mechanical systems. Benefits of IFF include robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a high-speed confocal microscope.

Observer-Based Robust Control for Hydraulic Velocity Control System

Directory of Open Access Journals (Sweden)

Wei Shen

2013-01-01

Full Text Available This paper investigates the problems of robust stabilization and robust control for the secondary component speed control system with parameters uncertainty and load disturbance. The aim is to enhance the control performance of hydraulic system based on Common Pressure Rail (CPR. Firstly, a mathematical model is presented to describe the hydraulic control system. Then a novel observer is proposed, and an observed-based control strategy is designed such that the closed-loop system is asymptotically stable and satisfies the disturbance attenuation level. The condition for the existence of the developed controller can by efficiently solved by using the MATLAB software. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.

A high-damping magnetorheological elastomer with bi-directional magnetic-control modulus for potential application in seismology

Energy Technology Data Exchange (ETDEWEB)

Yu, Miao, E-mail: yumiao@cqu.edu.cn; Qi, Song; Fu, Jie; Zhu, Mi [Key Lab for Optoelectronic Technology and Systems, Ministry of Education, College of Optoelectronic Engineering, Chongqing University, Chongqing 400044 (China)

2015-09-14

A high-damping magnetorheological elastomer (MRE) with bi-directional magnetic-control modulus is developed. This MRE was synthesized by filling NdFeB particles into polyurethane (PU)/ epoxy (EP) interpenetrating network (IPN) structure. The anisotropic samples were prepared in a permanent magnetic field and magnetized in an electromagnetic field of 1 T. Dynamic mechanical responses of the MRE to applied magnetic fields are investigated through magneto-rheometer, and morphology of MREs is observed via scanning electron microscope (SEM). Test result indicates that when the test field orientation is parallel to that of the sample's magnetization, the shear modulus of sample increases. On the other hand, when the orientation is opposite to that of the sample's magnetization, shear modulus decreases. In addition, this PU/EP IPN matrix based MRE has a high-damping property, with high loss factor and can be controlled by applying magnetic field. It is expected that the high damping property and the ability of bi-directional magnetic-control modulus of this MRE offer promising advantages in seismologic application.

Robust Control of an Ill-Conditioned Aircraft

DEFF Research Database (Denmark)

Breslin, S.G.; Tøffner-Clausen, S.; Grimble, M.J.

1996-01-01

A robust controller is designed for a linear model of an Advanced Short Take-Off and Vertical Landing (ASTOVL) aircraft at one operating point.......A robust controller is designed for a linear model of an Advanced Short Take-Off and Vertical Landing (ASTOVL) aircraft at one operating point....

Robust Control Charts for Time Series Data

NARCIS (Netherlands)

Croux, C.; Gelper, S.; Mahieu, K.

2010-01-01

This article presents a control chart for time series data, based on the one-step- ahead forecast errors of the Holt-Winters forecasting method. We use robust techniques to prevent that outliers affect the estimation of the control limits of the chart. Moreover, robustness is important to maintain

A Robust H ∞ Controller for an UAV Flight Control System.

Science.gov (United States)

López, J; Dormido, R; Dormido, S; Gómez, J P

2015-01-01

The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

Towards a Reactive Power Oscillation Damping Controller for Wind Power Plant Based on Full Converter Wind Turbines

DEFF Research Database (Denmark)

Knüppel, Thyge; Kumar, Sathess; Thuring, Patrik

2012-01-01

In this paper a power oscillation damping controller (POD) based on modulation of reactive power (Q POD) is analyzed where the modular and distributed characteristics of the wind power plant (WPP) are considered. For a Q POD it is essential that the phase of the modulated output is tightly...... contributes to a collective response. This ability is shown with a 150 wind turbine (WT) WPP with all WTs represented, and it is demonstrated that the WPP contributes to the inter-area damping. The work is based on a nonlinear, dynamic model of the 3.6 MW Siemens Wind Power WT....... controlled to achieve a positive damping contribution. It is investigated how a park level voltage, reactive power, and power factor control at different grid strengths interact with the Q POD in terms of a resulting phase shift. A WPP is modular and distributed and a WPP Q POD necessitate that each WT...

Real-time control systems: feedback, scheduling and robustness

Science.gov (United States)

Simon, Daniel; Seuret, Alexandre; Sename, Olivier

2017-08-01

The efficient control of real-time distributed systems, where continuous components are governed through digital devices and communication networks, needs a careful examination of the constraints arising from the different involved domains inside co-design approaches. Thanks to the robustness of feedback control, both new control methodologies and slackened real-time scheduling schemes are proposed beyond the frontiers between these traditionally separated fields. A methodology to design robust aperiodic controllers is provided, where the sampling interval is considered as a control variable of the system. Promising experimental results are provided to show the feasibility and robustness of the approach.

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

Science.gov (United States)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

High-Precision Control of a Piezo-Driven Nanopositioner Using Fuzzy Logic Controllers

Directory of Open Access Journals (Sweden)

Mohammed Altaher

2018-01-01

Full Text Available This paper presents single- and dual-loop fuzzy control schemes to precisely control the piezo-driven nanopositioner in the x- and y-axis directions. Various issues are associated with this control problem, such as low stability margin due to the sharp resonant peak, nonlinear dynamics, parameter uncertainty, etc. As such, damping controllers are often utilised to damp the mechanical resonance of the nanopositioners. The Integral Resonant Controller (IRC is used in this paper as a damping controller to damp the mechanical resonance. A further inherent problem is the hysteresis phenomenon (disturbance, which leads to degrading the positioning performance (accuracy of the piezo-driven stage. The common approach to treat this disturbance is to invoke tracking controllers in a closed-loop feedback scheme in conjunction with the damping controllers. The traditional approach uses the Integral Controller (I or Proportional Integral (PI as a tracking controller, whereas this paper introduces the Proportional and Integral (PI-like Fuzzy Logic Controller (FLC as a tracking controller. The effectiveness of the proposed control schemes over conventional schemes is confirmed through comparative simulation studies, and results are presented. The stability boundaries of the proposed control schemes are determined in the same way as with a conventional controller. Robustness against variations in the resonant frequency of the proposed control schemes is verified.

Robust control charts in statistical process control

NARCIS (Netherlands)

Nazir, H.Z.

2014-01-01

The presence of outliers and contaminations in the output of the process highly affects the performance of the design structures of commonly used control charts and hence makes them of less practical use. One of the solutions to deal with this problem is to use control charts which are robust

Robust lyapunov controller for uncertain systems

KAUST Repository

Laleg-Kirati, Taous-Meriem

2017-02-23

Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust Lyapunov controller includes an inner closed loop Lyapunov controller and an outer closed loop error stabilizer. In another example, a method includes monitoring a system output of a process plant; generating an estimated system control input based upon a defined output reference; generating a system control input using the estimated system control input and a compensation term; and adjusting the process plant based upon the system control input to force the system output to track the defined output reference. An inner closed loop Lyapunov controller can generate the estimated system control input and an outer closed loop error stabilizer can generate the system control input.

Robust control design for the plasma horizontal position control on J-TEXT Tokamak

International Nuclear Information System (INIS)

Yu, W.Z.; Chen, Z.P.; Zhuang, G.; Wang, Z.J.

2013-01-01

It is extremely important for tokamak to control the plasma position during routine discharge. However, the model of plasma in tokamak usually contains much of the uncertainty, such as structured uncertainties and unmodeled dynamics. Compared with the traditional PID control approach, robust control theory is more suitable to handle this problem. In the paper, we propose a H ∞ robust control scheme to control the horizontal position of plasma during the flat-top phase of discharge on Joint Texas Experimental Tokamak (J-TEXT) tokamak. First, the model of our plant for plasma horizontal position control is obtained from the position equilibrium equations. Then the H ∞ robust control framework is used to synthesize the controller. Based on this, an H ∞ controller is designed to minimize the regulation/tracking error. Finally, a comparison study is conducted between the optimized H ∞ robust controller and the traditional PID controller in simulations. The simulation results of the H ∞ robust controller show a significant improvement of the performance with respect to those obtained with traditional PID controller, which is currently used on our machine

Robust Position Control of Electro-mechanical Systems

OpenAIRE

Rong Mei; Mou Chen

2013-01-01

In this work, the robust position control scheme is proposed for the electro-mechanical system using the disturbance observer and backstepping control method. To the external unknown load of the electro-mechanical system, the nonlinear disturbance observer is given to estimate the external unknown load. Combining the output of the developed nonlinear disturbance observer with backstepping technology, the robust position control scheme is proposed for the electro-mechanical system. The stabili...

Closed-Loop and Robust Control of Quantum Systems

Directory of Open Access Journals (Sweden)

Chunlin Chen

2013-01-01

Full Text Available For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA, and reinforcement learning (RL methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H∞ control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.

Closed-loop and robust control of quantum systems.

Science.gov (United States)

Chen, Chunlin; Wang, Lin-Cheng; Wang, Yuanlong

2013-01-01

For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H(∞) control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.

Pole-placement Predictive Functional Control for under-damped systems with real numbers algebra.

Science.gov (United States)

Zabet, K; Rossiter, J A; Haber, R; Abdullah, M

2017-11-01

This paper presents the new algorithm of PP-PFC (Pole-placement Predictive Functional Control) for stable, linear under-damped higher-order processes. It is shown that while conventional PFC aims to get first-order exponential behavior, this is not always straightforward with significant under-damped modes and hence a pole-placement PFC algorithm is proposed which can be tuned more precisely to achieve the desired dynamics, but exploits complex number algebra and linear combinations in order to deliver guarantees of stability and performance. Nevertheless, practical implementation is easier by avoiding complex number algebra and hence a modified formulation of the PP-PFC algorithm is also presented which utilises just real numbers while retaining the key attributes of simple algebra, coding and tuning. The potential advantages are demonstrated with numerical examples and real-time control of a laboratory plant. Copyright © 2017 ISA. All rights reserved.

Identification and robust control of an experimental servo motor.

Science.gov (United States)

Adam, E J; Guestrin, E D

2002-04-01

In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a dc motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, first, a classic closed-loop identification technique is applied and then, the parametrization by internal model control is used. The model uncertainty is evaluated under both parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of a comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed using comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.

Pipe damping

International Nuclear Information System (INIS)

Ware, A.G.

1985-01-01

Studies are being conducted at the Idaho National Engineering Laboratory to determine whether an increase in the damping values used in seismic structural analyses of nuclear piping systems is justified. Increasing the allowable damping would allow fewer piping supports which could lead to safer, more reliable, and less costly piping systems. Test data from availble literature were examined to determine the important parameters contributing to piping system damping, and each was investigated in separate-effects tests. From the combined results a world pipe damping data bank was established and multiple regression analyses performed to assess the relative contributions of the various parameters. The program is being extended to determine damping applicable to higher frequency (33 to 100 Hz) fluid-induced loadings. The goals of the program are to establish a methodology for predicting piping system damping and to recommend revised guidelines for the damping values to be included in analyses

Active vibration control by robust control techniques

International Nuclear Information System (INIS)

Lohar, F.A.

2001-01-01

This paper studies active vibration control of multi-degree-of-freedom system. The control techniques considered are LTR, H/sup 2/ and H/sup infinite/. The results show that LTR controls the vibration but its respective settling time is higher than that of the other techniques. The control performance of H/sup infinite/ control is similar to that of H/sup 2/ control in the case of it weighting functions. However, H/sup infinite/ control is superior to H/sup 2/ control with respect to robustness, steady state error and settling time. (author)

A Design Method of Robust Servo Internal Model Control with Control Input Saturation

OpenAIRE

山田, 功; 舩見, 洋祐

2001-01-01

In the present paper, we examine a design method of robust servo Internal Model Control with control input saturation. First of all, we clarify the condition that Internal Model Control has robust servo characteristics for the system with control input saturation. From this consideration, we propose new design method of Internal Model Control with robust servo characteristics. A numerical example to illustrate the effectiveness of the proposed method is shown.

Improvement of Transient Stability in a Hybrid Power Multi-System Using a Designed NIDC (Novel Intelligent Damping Controller

Directory of Open Access Journals (Sweden)

Ting-Chia Ou

2017-04-01

Full Text Available This paper endeavors to apply a novel intelligent damping controller (NIDC for the static synchronous compensator (STATCOM to reduce the power fluctuations, voltage support and damping in a hybrid power multi-system. In this paper, we discuss the integration of an offshore wind farm (OWF and a seashore wave power farm (SWPF via a high-voltage, alternating current (HVAC electric power transmission line that connects the STATCOM and the 12-bus hybrid power multi-system. The hybrid multi-system consists of a battery energy storage system (BESS and a micro-turbine generation (MTG. The proposed NIDC consists of a designed proportional–integral–derivative (PID linear controller, an adaptive critic network and a proposed functional link-based novel recurrent fuzzy neural network (FLNRFNN. Test results show that the proposed controller can achieve better damping characteristics and effectively stabilize the network under unstable conditions.

Model-reference robust tuning of PID controllers

CERN Document Server

Alfaro, Victor M

2016-01-01

This book presents a unified methodology for the design of PID controllers that encompasses the wide range of different dynamics to be found in industrial processes. This is extended to provide a coherent way of dealing with the tuning of PID controllers. The particular method at the core of the book is the so-called model-reference robust tuning (MoReRT), developed by the authors. MoReRT constitutes a novel and powerful way of thinking of a robust design and taking into account the usual design trade-offs encountered in any control design problem. The book starts by presenting the different two-degree-of-freedom PID control algorithm variations and their conversion relations as well as the indexes used for performance, robustness and fragility evaluation:the bases of the proposed model. Secondly, the MoReRT design methodology and normalized controlled process models and controllers used in the design are described in order to facilitate the formulation of the different design problems and subsequent derivati...

Resilient guaranteed cost control of a power system.

Science.gov (United States)

Soliman, Hisham M; Soliman, Mostafa H; Hassan, Mohammad F

2014-05-01

With the development of power system interconnection, the low-frequency oscillation is becoming more and more prominent which may cause system separation and loss of energy to consumers. This paper presents an innovative robust control for power systems in which the operating conditions are changing continuously due to load changes. However, practical implementation of robust control can be fragile due to controller inaccuracies (tolerance of resistors used with operational amplifiers). A new design of resilient (non-fragile) robust control is given that takes into consideration both model and controller uncertainties by an iterative solution of a set of linear matrix inequalities (LMI). Both uncertainties are cast into a norm-bounded structure. A sufficient condition is derived to achieve the desired settling time for damping power system oscillations in face of plant and controller uncertainties. Furthermore, an improved controller design, resilient guaranteed cost controller, is derived to achieve oscillations damping in a guaranteed cost manner. The effectiveness of the algorithm is shown for a single machine infinite bus system, and then, it is extended to multi-area power system.

Profit enhancement by a set of performance and robustness indices based design of dual-dimensional PODC and PSS2B in smart grids

International Nuclear Information System (INIS)

Shayeghi, H.; Hashemi, Y.

2014-01-01

Highlights: • Design based on a set of performance and robustness criteria can increase profit. • Time delay as uncertainty in smart grid decrease profit. • Design method applied in this paper deal with large structure of controllers. • INSGA-II optimization and FDM method is applied to specify the best solution. - Abstract: Expansion of power systems is accompanied by innovations in smart grid solutions to power system operation and control. Profit enhancement by power oscillation damping controllers (PODC) and acceleration based power system stabilizer (PSS), model PSS2B, designed by the idea of pseudo-spectra based on multi-objective optimization is presented. The contribution of multi-objective functions in respect of performance and robustness criteria in stability enhancement is evaluated by considering the control actions of PODC and PSS2B as an ancillary service (AS). The robustness requirement is achieved by using the idea of pseudo-spectra to handle the changes of power system parameters and time delay introduced by processing of remote signals in the wide-area supplementary damping controller (WASDC). The weighted sum of six objective functions as performance and robustness criteria is selected as low-frequency oscillation damping index (LFODI). Two scenarios for the evaluation of small signal stability as an AS provided by PODC and PSS2B are considered. A multi-objective optimization approach based on LFODI, generation costs is formulated and improved non-dominated sorting genetic algorithm-II (INSGA-II) is employed to solve this problem. Fuzzy decision making (FDM) is used to find the best compromise solution from the set of Pareto-solution obtained by INSGA-II. Comparative analysis of the results of the conventional method and the proposed design method is presented by case study on a modified 2-area 4-machine power system

Synthesis of fixed-architecture, robust H2 and H∞ controllers

Directory of Open Access Journals (Sweden)

Emmanuel G. Collins

2000-01-01

Full Text Available This paper discusses and compares the synthesis of fixed-architecture controllers that guarantee either robust H2 or H∞ performance. The synthesis is accomplished by solving a Riccati equation feasibility problem resulting from mixed structured singular value theory with Popov multipliers. Whereas the algorithm for robust H2 performance had been previously implemented, a major contribution described in this paper is the implementation of the much more complex algorithm for robust H∞ performance. Both robust H2 and H∞, controllers are designed for a benchmark problem and a comparison is made between the resulting controllers and control algorithms. It is found that the numerical algorithm for robust H∞ performance is much more computationally intensive than that for robust H2 performance. Both controllers are found to have smaller bandwidth, lower control authority and to be less conservative than controllers obtained using complex structured singular value synthesis.

A robust PSSs design using PSO in a multi-machine environment

Energy Technology Data Exchange (ETDEWEB)

Shayeghi, H., E-mail: hshayeghi@gmail.co [Technical Engineering Department, University of Mohaghegh Ardabili, Ardabil (Iran, Islamic Republic of); Shayanfar, H.A. [Center of Excellence for Power Automation and Operation, Electrical Engineering Department, Iran University of Science and Technology, Tehran (Iran, Islamic Republic of); Safari, A.; Aghmasheh, R. [Technical Engineering Department, Zanjan University, Zanjan (Iran, Islamic Republic of)

2010-04-15

In this paper, multi-objective design of multi-machine power system stabilizers (PSSs) using particle swarm optimization (PSO) is proposed. The potential of the proposed approach for optimal setting of the widely used conventional lead-lag PSSs has been investigated. The stabilizers are tuned to simultaneously shift the lightly damped and undamped electromechanical modes of all machines to a prescribed zone in the s-plane. The PSSs parameters tuning problem is converted to an optimization problem with the eigenvalue-based multi-objective function comprising the damping factor, and the damping ratio of the lightly damped electromechanical modes, which is solved by a PSO algorithm which has a strong ability to find the most optimistic results. The robustness of the proposed PSO-based PSSs (PSOPSS) is verified on a multi-machine power system under different operating conditions and disturbances. The results of the proposed PSOPSS are compared with the genetic algorithm based tuned PSS and classical PSSs through eigenvalue analysis, nonlinear time-domain simulation and some performance indices to illustrate its robust performance for a wide range of loading conditions.

Robust control synthesis for uncertain dynamical systems

Science.gov (United States)

Byun, Kuk-Whan; Wie, Bong; Sunkel, John

1989-01-01

This paper presents robust control synthesis techniques for uncertain dynamical systems subject to structured parameter perturbation. Both QFT (quantitative feedback theory) and H-infinity control synthesis techniques are investigated. Although most H-infinity-related control techniques are not concerned with the structured parameter perturbation, a new way of incorporating the parameter uncertainty in the robust H-infinity control design is presented. A generic model of uncertain dynamical systems is used to illustrate the design methodologies investigated in this paper. It is shown that, for a certain noncolocated structural control problem, use of both techniques results in nonminimum phase compensation.

Robust on-off pulse control of flexible space vehicles

Science.gov (United States)

Wie, Bong; Sinha, Ravi

1993-01-01

The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.

On Landau damping

KAUST Repository

Mouhot, Clément

2011-09-01

Going beyond the linearized study has been a longstanding problem in the theory of Landau damping. In this paper we establish exponential Landau damping in analytic regularity. The damping phenomenon is reinterpreted in terms of transfer of regularity between kinetic and spatial variables, rather than exchanges of energy; phase mixing is the driving mechanism. The analysis involves new families of analytic norms, measuring regularity by comparison with solutions of the free transport equation; new functional inequalities; a control of non-linear echoes; sharp "deflection" estimates; and a Newton approximation scheme. Our results hold for any potential no more singular than Coulomb or Newton interaction; the limit cases are included with specific technical effort. As a side result, the stability of homogeneous equilibria of the non-linear Vlasov equation is established under sharp assumptions. We point out the strong analogy with the KAM theory, and discuss physical implications. Finally, we extend these results to some Gevrey (non-analytic) distribution functions. © 2011 Institut Mittag-Leffler.

Robust blood-glucose control using Mathematica.

Science.gov (United States)

Kovács, Levente; Paláncz, Béla; Benyó, Balázs; Török, László; Benyó, Zoltán

2006-01-01

A robust control design on frequency domain using Mathematica is presented for regularization of glucose level in type I diabetes persons under intensive care. The method originally proposed under Mathematica by Helton and Merino, --now with an improved disturbance rejection constraint inequality--is employed, using a three-state minimal patient model. The robustness of the resulted high-order linear controller is demonstrated by nonlinear closed loop simulation in state-space, in case of standard meal disturbances and is compared with H infinity design implemented with the mu-toolbox of Matlab. The controller designed with model parameters represented the most favorable plant dynamics from the point of view of control purposes, can operate properly even in case of parameter values of the worst-case scenario.

Parametric Landau damping of space charge modes

Energy Technology Data Exchange (ETDEWEB)

Macridin, Alexandru [Fermilab; Burov, Alexey [Fermilab; Stern, Eric [Fermilab; Amundson, James [Fermilab; Spentzouris, Panagiotis [Fermilab

2016-09-23

Landau damping is the mechanism of plasma and beam stabilization; it arises through energy transfer from collective modes to the incoherent motion of resonant particles. Normally this resonance requires the resonant particle's frequency to match the collective mode frequency. We have identified an important new damping mechanism, parametric Landau damping, which is driven by the modulation of the mode-particle interaction. This opens new possibilities for stability control through manipulation of both particle and mode-particle coupling spectra. We demonstrate the existence of parametric Landau damping in a simulation of transverse coherent modes of bunched accelerator beams with space charge.

Robust Learning Control Design for Quantum Unitary Transformations.

Science.gov (United States)

Wu, Chengzhi; Qi, Bo; Chen, Chunlin; Dong, Daoyi

2017-12-01

Robust control design for quantum unitary transformations has been recognized as a fundamental and challenging task in the development of quantum information processing due to unavoidable decoherence or operational errors in the experimental implementation of quantum operations. In this paper, we extend the systematic methodology of sampling-based learning control (SLC) approach with a gradient flow algorithm for the design of robust quantum unitary transformations. The SLC approach first uses a "training" process to find an optimal control strategy robust against certain ranges of uncertainties. Then a number of randomly selected samples are tested and the performance is evaluated according to their average fidelity. The approach is applied to three typical examples of robust quantum transformation problems including robust quantum transformations in a three-level quantum system, in a superconducting quantum circuit, and in a spin chain system. Numerical results demonstrate the effectiveness of the SLC approach and show its potential applications in various implementation of quantum unitary transformations.

Robust Decentralized Formation Flight Control

Directory of Open Access Journals (Sweden)

Zhao Weihua

2011-01-01

Full Text Available Motivated by the idea of multiplexed model predictive control (MMPC, this paper introduces a new framework for unmanned aerial vehicles (UAVs formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system with control inputs of each UAV subsystem as its periodic inputs. Divided into decentralized subsystems, the whole formation flight system is guaranteed stable if proper terminal cost and terminal constraints are added to each decentralized MPC formulation of the UAV subsystem. The decentralized robust MPC formulation for each UAV subsystem with bounded input disturbances and model uncertainties is also presented. Furthermore, an obstacle avoidance control scheme for any shape and size of obstacles, including the nonapriorily known ones, is integrated under the unified MPC framework. The results from simulations demonstrate that the proposed framework can successfully achieve robust collision-free formation flights.

PID control with robust disturbance feedback control

DEFF Research Database (Denmark)

Kawai, Fukiko; Vinther, Kasper; Andersen, Palle

2015-01-01

Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC...... and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...... compared with an H-infinity controller....

A new electromagnetic shunt damping treatment and vibration control of beam structures

International Nuclear Information System (INIS)

Niu Hongpan; Zhang Xinong; Xie Shilin; Wang Pengpeng

2009-01-01

In this paper a new class of shunted electromagnetic damping treatment is proposed: a non-contact electromagnetic shunt damper (NC-EMSD). The NC-EMSD consists of an electromagnet attached to a host structure, a permanent magnet attached to the fixed boundary and an electrical impedance connected to the terminals of the electromagnet. The electromagnet and the shunt impedance constitute a closed circuit. When the structure vibrates, an induced electromotive force will be produced and results in the electromagnetic force as damping force, which can suppress the vibration of the structure. The model of NC-EMSD is built up based on the equivalent current method. The governing equations of the beam with NC-EMSD are established using Hamilton's principle. The capacitor-matching-inductance (CMI) method and the negative resistive capacitor-matching-inductance (NR-CMI) method are proposed, respectively. Then the vibration control of a cantilever beam with NC-EMSD is simulated and measured by CMI and NR-CMI control methods, respectively. The results show that both the CMI and NR-CMI can attenuate the vibration effectively, and the NR-CMI provides much better control performance than that by CMI. It is indicated as well from the studies that the decrease of either the gap between the magnet pair or the resistance of the shunt impedance contributes to the improvement of control performance

Effect of intermittent feedback control on robustness of human-like postural control system

Science.gov (United States)

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-03-01

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action

Directory of Open Access Journals (Sweden)

Bertrand Tondu

2014-06-01

Full Text Available We analyze the possibility of taking advantage of artificial muscle’s own stiffness and damping, and substituting it for a classic proportional-integral-derivative controller (PID controller an I controller. The advantages are that there would only be one parameter to tune and no need for a dynamic model. A stability analysis is proposed from a simple phenomenological artificial muscle model. Step and sinus-wave tracking responses performed with pneumatic McKibben muscles are reported showing the practical efficiency of the method to combine accuracy and load robustness. In the particular case of the McKibben artificial muscle technology, we suggest that the dynamic performances in stability and load robustness would result from the textile nature of its braided sleeve and its internal friction which do not obey Coulomb’s third law, as verified by preliminary reported original friction experiments. Comparisons are reported between three kinds of braided sleeves made of rayon yarns, plastic, and thin metal wires, whose similar closed-loop dynamic performances are highlighted. It is also experimentally shown that a sleeve braided with thin metal wires can give high accuracy performance, in step as in tracking response. This would be due to a low static friction coefficient combined with a kinetic friction exponentially increasing with speed in accordance with hydrodynamic lubrication theory applied to textile physics.

Robust Control Design for Uncertain Nonlinear Dynamic Systems

Science.gov (United States)

Kenny, Sean P.; Crespo, Luis G.; Andrews, Lindsey; Giesy, Daniel P.

2012-01-01

Robustness to parametric uncertainty is fundamental to successful control system design and as such it has been at the core of many design methods developed over the decades. Despite its prominence, most of the work on robust control design has focused on linear models and uncertainties that are non-probabilistic in nature. Recently, researchers have acknowledged this disparity and have been developing theory to address a broader class of uncertainties. This paper presents an experimental application of robust control design for a hybrid class of probabilistic and non-probabilistic parametric uncertainties. The experimental apparatus is based upon the classic inverted pendulum on a cart. The physical uncertainty is realized by a known additional lumped mass at an unknown location on the pendulum. This unknown location has the effect of substantially altering the nominal frequency and controllability of the nonlinear system, and in the limit has the capability to make the system neutrally stable and uncontrollable. Another uncertainty to be considered is a direct current motor parameter. The control design objective is to design a controller that satisfies stability, tracking error, control power, and transient behavior requirements for the largest range of parametric uncertainties. This paper presents an overview of the theory behind the robust control design methodology and the experimental results.

PDCI Wide-Area Damping Control: PSLF Simulations of the 2016 Open and Closed Loop Test Plan

Energy Technology Data Exchange (ETDEWEB)

Wilches Bernal, Felipe [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Pierre, Brian Joseph [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Elliott, Ryan Thomas [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Schoenwald, David A. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Byrne, Raymond H. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Neely, Jason C. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Trudnowski, Daniel J. [Montana Tech of the Univ. of Montana, Butte, MT (United States); Donnelly, Matthew K. [Montana Tech of the Univ. of Montana, Butte, MT (United States)

2017-03-01

To demonstrate and validate the performance of the wide-are a damping control system, the project plans to conduct closed-loop tests on the PDCI in summer/fall 2016. A test plan details the open and closed loop tests to be conducted on the P DCI using the wide-area damping control system. To ensure the appropriate level of preparedness, simulations were performed in order to predict and evaluate any possible unsafe operations before hardware experiments are attempted. This report contains the result s from these simulations using the power system dynamics software PSLF (Power System Load Flow, trademark of GE). The simulations use the WECC (Western Electricity Coordinating Council) 2016 light summer and heavy summer base cases.

Robust Droop Control of Grid-Connected Inverters

DEFF Research Database (Denmark)

Elkayam, Moria; Kuperman, Alon; Guerrero, Josep M.

2016-01-01

The use of distributed generation in microgrid systems is becoming a popular way to provide a reliable source of electricity to critical loads. Droop control techniques are used in power systems for the synchronization of grid-connected inverters by local measurements of active and reactive powers....... Despite the benefits of distributed generation, the drawback is that large grid-side impedance steps can cause a system to become unstable. A robust control method based on disturbance observer is proposed in this paper. When the proposed robust controller is utilized, closed loop performance remains...

Gain Scheduling Control of an Islanded Microgrid Voltage

Directory of Open Access Journals (Sweden)

Haritza Camblong

2014-07-01

Full Text Available The aim of this research study has been to design a gain scheduling (GS digital controller in order to control the voltage of an islanded microgrid in the presence of fast varying loads (FVLs, and to compare it to a robust controller. The inverter which feeds the microgrid is connected to it through an inductance-capacitor-inductance (LCL filter. The oscillatory and nonlinear behaviour of the plant is analyzed in the whole operating zone. Afterwards, the design of the controllers which contain two loops in cascade are described. The first loop concerns the current control, while the second is linked to the voltage regulation. Two controllers, one defined as Robust and another one as GS controller, are designed for the two loops, emphasizing in their robustness and their ability to damp the oscillatory plant behaviour. To finish, some simulations are carried out to study and compare the two kinds of controllers in different operating points. The results show that both controllers damp the oscillatory behaviour of the plant in closed loop (CL, and that the GS controller ensures a better rejection of current disturbances from FVLs.

Robustness analysis method for orbit control

Science.gov (United States)

Zhang, Jingrui; Yang, Keying; Qi, Rui; Zhao, Shuge; Li, Yanyan

2017-08-01

Satellite orbits require periodical maintenance due to the presence of perturbations. However, random errors caused by inaccurate orbit determination and thrust implementation may lead to failure of the orbit control strategy. Therefore, it is necessary to analyze the robustness of the orbit control methods. Feasible strategies which are tolerant to errors of a certain magnitude can be developed to perform reliable orbit control for the satellite. In this paper, first, the orbital dynamic model is formulated by Gauss' form of the planetary equation using the mean orbit elements; the atmospheric drag and the Earth's non-spherical perturbations are taken into consideration in this model. Second, an impulsive control strategy employing the differential correction algorithm is developed to maintain the satellite trajectory parameters in given ranges. Finally, the robustness of the impulsive control method is analyzed through Monte Carlo simulations while taking orbit determination error and thrust error into account.

Adaptive robust control of the EBR-II reactor

International Nuclear Information System (INIS)

Power, M.A.; Edwards, R.M.

1996-01-01

Simulation results are presented for an adaptive H ∞ controller, a fixed H ∞ controller, and a classical controller. The controllers are applied to a simulation of the Experimental Breeder Reactor II primary system. The controllers are tested for the best robustness and performance by step-changing the demanded reactor power and by varying the combined uncertainty in initial reactor power and control rod worth. The adaptive H ∞ controller shows the fastest settling time, fastest rise time and smallest peak overshoot when compared to the fixed H ∞ and classical controllers. This makes for a superior and more robust controller

Bryan's effect and anisotropic nonlinear damping

Science.gov (United States)

Joubert, Stephan V.; Shatalov, Michael Y.; Fay, Temple H.; Manzhirov, Alexander V.

2018-03-01

In 1890, G. H. Bryan discovered the following: "The vibration pattern of a revolving cylinder or bell revolves at a rate proportional to the inertial rotation rate of the cylinder or bell." We call this phenomenon Bryan's law or Bryan's effect. It is well known that any imperfections in a vibratory gyroscope (VG) affect Bryan's law and this affects the accuracy of the VG. Consequently, in this paper, we assume that all such imperfections are either minimised or eliminated by some known control method and that only damping is present within the VG. If the damping is isotropic (linear or nonlinear), then it has been recently demonstrated in this journal, using symbolic analysis, that Bryan's law remains invariant. However, it is known that linear anisotropic damping does affect Bryan's law. In this paper, we generalise Rayleigh's dissipation function so that anisotropic nonlinear damping may be introduced into the equations of motion. Using a mixture of numeric and symbolic analysis on the ODEs of motion of the VG, for anisotropic light nonlinear damping, we demonstrate (up to an approximate average), that Bryan's law is affected by any form of such damping, causing pattern drift, compromising the accuracy of the VG.

Factors controlling superelastic damping capacity of SMAs

Czech Academy of Sciences Publication Activity Database

Heller, Luděk; Šittner, Petr; Pilch, Jan; Landa, Michal

2009-01-01

Roč. 18, 5-6 (2009), 603-611 ISSN 1059-9495 Institutional research plan: CEZ:AV0Z10100520; CEZ:AV0Z20760514 Keywords : shape memory alloys * superelastic damping * thermomechanical testing Subject RIV: BM - Solid Matter Physics ; Magnetism Impact factor: 0.592, year: 2009

Quadratic Damping

Science.gov (United States)

Fay, Temple H.

2012-01-01

Quadratic friction involves a discontinuous damping term in equations of motion in order that the frictional force always opposes the direction of the motion. Perhaps for this reason this topic is usually omitted from beginning texts in differential equations and physics. However, quadratic damping is more realistic than viscous damping in many…

A robust nonlinear stabilizer as a controller for improving transient stability in micro-grids.

Science.gov (United States)

Azimi, Seyed Mohammad; Afsharnia, Saeed

2017-01-01

This paper proposes a parametric-Lyapunov approach to the design of a stabilizer aimed at improving the transient stability of micro-grids (MGs). This strategy is applied to electronically-interfaced distributed resources (EI-DRs) operating with a unified control configuration applicable to all operational modes (i.e. grid-connected mode, islanded mode, and mode transitions). The proposed approach employs a simple structure compared with other nonlinear controllers, allowing ready implementation of the stabilizer. A new parametric-Lyapunov function is proposed rendering the proposed stabilizer more effective in damping system transition transients. The robustness of the proposed stabilizer is also verified based on both time-domain simulations and mathematical proofs, and an ultimate bound has been derived for the frequency transition transients. The proposed stabilizer operates by deploying solely local information and there are no needs for communication links. The deteriorating effects of the primary resource delays on the transient stability are also treated analytically. Finally, the effectiveness of the proposed stabilizer is evaluated through time-domain simulations and compared with the recently-developed stabilizers performed on a multi-resource MG. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Self-optimizing robust nonlinear model predictive control

NARCIS (Netherlands)

Lazar, M.; Heemels, W.P.M.H.; Jokic, A.; Thoma, M.; Allgöwer, F.; Morari, M.

2009-01-01

This paper presents a novel method for designing robust MPC schemes that are self-optimizing in terms of disturbance attenuation. The method employs convex control Lyapunov functions and disturbance bounds to optimize robustness of the closed-loop system on-line, at each sampling instant - a unique

Computation of robustly stabilizing PID controllers for interval systems.

Science.gov (United States)

Matušů, Radek; Prokop, Roman

2016-01-01

The paper is focused on the computation of all possible robustly stabilizing Proportional-Integral-Derivative (PID) controllers for plants with interval uncertainty. The main idea of the proposed method is based on Tan's (et al.) technique for calculation of (nominally) stabilizing PI and PID controllers or robustly stabilizing PI controllers by means of plotting the stability boundary locus in either P-I plane or P-I-D space. Refinement of the existing method by consideration of 16 segment plants instead of 16 Kharitonov plants provides an elegant and efficient tool for finding all robustly stabilizing PID controllers for an interval system. The validity and relatively effortless application of presented theoretical concepts are demonstrated through a computation and simulation example in which the uncertain mathematical model of an experimental oblique wing aircraft is robustly stabilized.

Damping layout optimization for ship's cabin noise reduction based on statistical energy analysis

Directory of Open Access Journals (Sweden)

WU Weiguo

2017-08-01

Full Text Available An optimization analysis study concerning the damping control of ship's cabin noise was carried out in order to improve the effect and reduce the weight of damping. Based on the Statistical Energy Analysis (SEA method, a theoretical deduction and numerical analysis of the first-order sensitivity analysis of the A-weighted sound pressure level concerning the damping loss factor of the subsystem were carried out. On this basis, a mathematical optimization model was proposed and an optimization program developed. Next, the secondary development of VA One software was implemented through the use of MATLAB, while the cabin noise damping control layout optimization system was established. Finally, the optimization model of the ship was constructed and numerical experiments of damping control optimization conducted. The damping installation region was divided into five parts with different damping thicknesses. The total weight of damping was set as an objective function and the A-weighted sound pressure level of the target cabin was set as a constraint condition. The best damping thickness was obtained through the optimization program, and the total damping weight was reduced by 60.4%. The results show that the damping noise reduction effect of unit weight is significantly improved through the optimization method. This research successfully solves the installation position and thickness selection problems in the acoustic design of damping control, providing a reliable analysis method and guidance for the design.

Active damping based on decoupled collocated control

NARCIS (Netherlands)

Holterman, J.; de Vries, Theodorus J.A.; Auer, Frank; Gardonio, P.; Rafaely, B.

2002-01-01

High-precision machines typically suffer from small but persistent vibrations. As it is difficult to damp these vibrations by passive means, research at the Drebbel Institute at the University of Twente is aimed at the development of an active structural element that can be used for vibration

The effectiveness of robust RMCD control chart as outliers’ detector

Science.gov (United States)

Darmanto; Astutik, Suci

2017-12-01

A well-known control chart to monitor a multivariate process is Hotelling’s T 2 which its parameters are estimated classically, very sensitive and also marred by masking and swamping of outliers data effect. To overcome these situation, robust estimators are strongly recommended. One of robust estimators is re-weighted minimum covariance determinant (RMCD) which has robust characteristics as same as MCD. In this paper, the effectiveness term is accuracy of the RMCD control chart in detecting outliers as real outliers. In other word, how effectively this control chart can identify and remove masking and swamping effects of outliers. We assessed the effectiveness the robust control chart based on simulation by considering different scenarios: n sample sizes, proportion of outliers, number of p quality characteristics. We found that in some scenarios, this RMCD robust control chart works effectively.

Robust Performance And Dissipation of Stochastic Control Systems

DEFF Research Database (Denmark)

Thygesen, Uffe Høgsbro

and topology on the space of supply rates. For instance, we give conditions under which the available storage is a continuous convex function of the supply rate. Dissipation theory in the existing literature applies only to deterministic systems. This is unfortunate since robust control applications typically...... is a prototype of robust adaptive control problems. We show that the optimal (minimax) controller for this problem is finite dimensional but not based on certainty equivalence, and we discuss the heuristic certainty equivalence controller....

Phase compensated gas turbine governor for damping oscillatory modes

Energy Technology Data Exchange (ETDEWEB)

Yee, S.K. [Siemens Transmission and Distribution Limited, Manchester (United Kingdom); Milanovic, J.V. [School of Electrical and Electronic Engineering, University of Manchester, PO Box 88, Manchester M60 1 QD (United Kingdom); Hughes, F.M. [Manchester (United Kingdom)

2009-08-15

With market deregulation, there is constant pressure to utilise existing assets in more effective ways in order to achieve high levels of performance and as governor technologies mature the ability of governors to achieve much more than the standard power-frequency regulation function increases. Thus, this paper has focused on a more active use of governor control for a gas turbine to provide improved system stabilisation and performance via the inclusion of phase compensation in the governor control loop. Due to the decoupled nature of the mechanical power and excitation control loops, performance improvement via governor control does not interfere with generator voltage regulation, which is a drawback of conventional generator damping provision via a power system stabiliser (PSS). In addition, the mechanical power control loop is also less affected by the operating condition of the power system and is hence more robust. It is shown that inclusion of appropriate phase compensation in the governor control loop can improve dynamic and transient stability, either alone or in conjunction with a PSS in the exciter control loop, without adversely interfering with voltage control or changing steady state power-frequency regulation. (author)

The Robust Control Mixer Method for Reconfigurable Control Design By Using Model Matching Strategy

DEFF Research Database (Denmark)

Yang, Z.; Blanke, Mogens; Verhagen, M.

2001-01-01

This paper proposes a robust reconfigurable control synthesis method based on the combination of the control mixer method and robust H1 con- trol techniques through the model-matching strategy. The control mixer modules are extended from the conventional matrix-form into the LTI sys- tem form....... By regarding the nominal control system as the desired model, an augmented control system is constructed through the model-matching formulation, such that the current robust control techniques can be usedto synthesize these dynamical modules. One extension of this method with respect to the performance...... recovery besides the functionality recovery is also discussed under this framework. Comparing with the conventional control mixer method, the proposed method considers the recon gured system's stability, performance and robustness simultaneously. Finally, the proposed method is illustrated by a case study...

Adaptive Flight Control Design with Optimal Control Modification on an F-18 Aircraft Model

Science.gov (United States)

Burken, John J.; Nguyen, Nhan T.; Griffin, Brian J.

2010-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to as the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly; however, a large adaptive gain can lead to high-frequency oscillations which can adversely affect the robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient robustness. A damping term (v) is added in the modification to increase damping as needed. Simulations were conducted on a damaged F-18 aircraft (McDonnell Douglas, now The Boeing Company, Chicago, Illinois) with both the standard baseline dynamic inversion controller and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model.

Robust control design verification using the modular modeling system

International Nuclear Information System (INIS)

Edwards, R.M.; Ben-Abdennour, A.; Lee, K.Y.

1991-01-01

The Modular Modeling System (B ampersand W MMS) is being used as a design tool to verify robust controller designs for improving power plant performance while also providing fault-accommodating capabilities. These controllers are designed based on optimal control theory and are thus model based controllers which are targeted for implementation in a computer based digital control environment. The MMS is being successfully used to verify that the controllers are tolerant of uncertainties between the plant model employed in the controller and the actual plant; i.e., that they are robust. The two areas in which the MMS is being used for this purpose is in the design of (1) a reactor power controller with improved reactor temperature response, and (2) the design of a multiple input multiple output (MIMO) robust fault-accommodating controller for a deaerator level and pressure control problem

Robust power system frequency control

CERN Document Server

Bevrani, Hassan

2014-01-01

This updated edition of the industry standard reference on power system frequency control provides practical, systematic and flexible algorithms for regulating load frequency, offering new solutions to the technical challenges introduced by the escalating role of distributed generation and renewable energy sources in smart electric grids. The author emphasizes the physical constraints and practical engineering issues related to frequency in a deregulated environment, while fostering a conceptual understanding of frequency regulation and robust control techniques. The resulting control strategi

Research on Robust Control Strategies for VSC-HVDC

Science.gov (United States)

Zhu, Kaicheng; Bao, Hai

2018-01-01

In the control system of VSC-HVDC, the phase locked loop provides phase signals to voltage vector control and trigger pulses to generate the required reference phase. The PLL is a typical second-order system. When the system is in unstable state, it will oscillate, make the trigger angle shift, produce harmonic, and make active power and reactive power coupled. Thus, considering the external disturbances introduced by the PLL in VSC-HVDC control system, the parameter perturbations of the controller and the model uncertainties, a H∞ robust controller of mixed sensitivity optimization problem is designed by using the Hinf function provided by the robust control toolbox. Then, compare it with the proportional integral controller through the MATLAB simulation experiment. By contrast, when the H∞ robust controller is added, active and reactive power of the converter station can track the change of reference values more accurately and quickly, and reduce overshoot. When the step change of active and reactive power occurs, mutual influence is reduced and better independent regulation is achieved.

Decoherence and Landau-Damping

Energy Technology Data Exchange (ETDEWEB)

Ng, K.Y.; /Fermilab

2005-12-01

The terminologies, decoherence and Landau damping, are often used concerning the damping of a collective instability. This article revisits the difference and relation between decoherence and Landau damping. A model is given to demonstrate how Landau damping affects the rate of damping coming from decoherence.

Synthesis of fixed-architecture, robust H 2 and H ∞ controllers

Directory of Open Access Journals (Sweden)

Collins Jr. Emmanuel G.

2000-01-01

Full Text Available This paper discusses and compares the synthesis of fixed-architecture controllers that guarantee either robust H 2 or H ∞ performance. The synthesis is accomplished by solving a Riccati equation feasibility problem resulting from mixed structured singular value theory with Popov multipliers. Whereas the algorithm for robust H 2 performance had been previously implemented, a major contribution described in this paper is the implementation of the much more complex algorithm for robust H ∞ performance. Both robust H 2 and H ∞ , controllers are designed for a benchmark problem and a comparison is made between the resulting controllers and control algorithms. It is found that the numerical algorithm for robust H ∞ performance is much more computationally intensive than that for robust H 2 performance. Both controllers are found to have smaller bandwidth, lower control authority and to be less conservative than controllers obtained using complex structured singular value synthesis

Generalized internal model robust control for active front steering intervention

Science.gov (United States)

Wu, Jian; Zhao, Youqun; Ji, Xuewu; Liu, Yahui; Zhang, Lipeng

2015-03-01

Because of the tire nonlinearity and vehicle's parameters' uncertainties, robust control methods based on the worst cases, such as H ∞, µ synthesis, have been widely used in active front steering control, however, in order to guarantee the stability of active front steering system (AFS) controller, the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control. In this paper, a generalized internal model robust control (GIMC) that can overcome the contradiction between performance and stability is used in the AFS control. In GIMC, the Youla parameterization is used in an improved way. And GIMC controller includes two sections: a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters' uncertainties and some external disturbances. Simulations of double lane change (DLC) maneuver and that of braking on split- µ road are conducted to compare the performance and stability of the GIMC control, the nominal performance PID controller and the H ∞ controller. Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations, H ∞ controller is conservative so that the performance is a little low, and only the GIMC controller overcomes the contradiction between performance and robustness, which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller. Therefore, the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system, that is, can solve the instability of PID or LQP control methods and the low performance of the standard H ∞ controller.

Overview on methods for formulating explicit damping matrices for non-classically damped structures

International Nuclear Information System (INIS)

Xu, J.

1998-04-01

In computing the dynamic response of a connected system with multiple components having dissimilar damping characteristics, which is often referred to as nonclassically damped system such as nuclear power plant piping systems supported by stiff structures, one needs to define the system-level damping based upon the damping information of components. This is frequently done in practice using approximate methods expressed as composite modal damping with weighting functions. However, when the difference in damping among components is substantial, the composite modal damping may become inappropriate in the characterization of the damping behavior of such systems. In recent years, several new methods have emerged with the expectation that they could produce more exact system-level damping for a group of nonclassically damped structures which are comprised of components that possess classical modal damping. In this paper, an overview is presented to examine these methods in the light of their theoretical basis, the technical merits, and practical applications. To this end, a synthesis method is described, which was shown to reduce to the other methods in the literature

Design and implementation of robust controllers for a gait trainer.

Science.gov (United States)

Wang, F C; Yu, C H; Chou, T Y

2009-08-01

This paper applies robust algorithms to control an active gait trainer for children with walking disabilities. Compared with traditional rehabilitation procedures, in which two or three trainers are required to assist the patient, a motor-driven mechanism was constructed to improve the efficiency of the procedures. First, a six-bar mechanism was designed and constructed to mimic the trajectory of children's ankles in walking. Second, system identification techniques were applied to obtain system transfer functions at different operating points by experiments. Third, robust control algorithms were used to design Hinfinity robust controllers for the system. Finally, the designed controllers were implemented to verify experimentally the system performance. From the results, the proposed robust control strategies are shown to be effective.

A Controller Design with ANFIS Architecture Attendant Learning Ability for SSSC-Based Damping Controller Applied in Single Machine Infinite Bus System

Directory of Open Access Journals (Sweden)

A. Khoshsaadat

2014-09-01

Full Text Available Static Synchronous Series Compensator (SSSC is a series compensating Flexible AC Transmission System (FACTS controller for maintaining to the power flow control on a transmission line by injecting a voltage in quadrature with the line current and in series mode with the line. In this work, an Adaptive Network-based Fuzzy Inference System controller (ANFISC has been proposed for controlling of the SSSC-based damping system and applied to a Single Machine Infinite Bus (SMIB power system. For implementation of the learning process in this controller, we use of the one approach of the learning ability that named as Forward Signal and Backward Error Back-Propagation (FSBEBP method for improving of the system efficiency. This artificial intelligence-based control model leads to a controller with adaptive structure, improved correctness, high damping ability and dynamic performance. System implementation is easy and it requires 49 fuzzy rules for inference engine of the system. As compared with the other complex neuro-fuzzy systems, this controller has medium number of the fuzzy rules and low number of layers, but it has high accuracy. In order to demonstrate of the proposed controller ability, it is simulated and its output compared with that of classic Lead-Lag-based Controller (LLC and PI controller.

Designing robust control-based HIV-treatment

Directory of Open Access Journals (Sweden)

Fredy Andrés Olarte Dussán

2008-05-01

Full Text Available Designing a robust control-based treatment for human immunodeficiency virus (HIV-infected patients was studied. The dynamics of the immune system’s response to infection was modelled using a 5th order nonlinear model with separate efficacy coefficients for protease inhibitor (PIs and reverse transcriptase inhibitors (RTIs. The immune res-ponse has been represented as an uncertain system due to errors in parameter estimation and the existence of un-modelled dynamics. A polytopic system was constructed incorporating all possible system parameter values. A con-trol system was designed using robust pole location techniques stabilising the polytopic system around an equilibrium point having a low viral load. Numerical simulation results (including the organism’s pharmacokinetical response to anti-retroviral drugs showed that the control law could lead to long-term stable conditions, even in extreme cases.

Enhanced damping for bridge cables using a self-sensing MR damper

Science.gov (United States)

Chen, Z. H.; Lam, K. H.; Ni, Y. Q.

2016-08-01

This paper investigates enhanced damping for protecting bridge stay cables from excessive vibration using a newly developed self-sensing magnetorheological (MR) damper. The semi-active control strategy for effectively operating the self-sensing MR damper is formulated based on the linear-quadratic-Gaussian (LQG) control by further considering a collocated control configuration, limited measurements and nonlinear damper dynamics. Due to its attractive feature of sensing-while-damping, the self-sensing MR damper facilitates the collocated control. On the other hand, only the sensor measurements from the self-sensing device are employed in the feedback control. The nonlinear dynamics of the self-sensing MR damper, represented by a validated Bayesian NARX network technique, are further accommodated in the control formulation to compensate for its nonlinearities. Numerical and experimental investigations are conducted on stay cables equipped with the self-sensing MR damper operated in passive and semi-active control modes. The results verify that the collocated self-sensing MR damper facilitates smart damping for inclined cables employing energy-dissipative LQG control with only force and displacement measurements at the damper. It is also demonstrated that the synthesis of nonlinear damper dynamics in the LQG control enhances damping force tracking efficiently, explores the features of the self-sensing MR damper, and achieves better control performance over the passive MR damping control and the Heaviside step function-based LQG control that ignores the damper dynamics.

Bounce-harmonic Landau Damping of Plasma Waves

Science.gov (United States)

Anderegg, Francois

2015-11-01

We present measurement of plasma wave damping, spanning the temperature regimes of direct Landau damping, bounce-harmonic Landau damping, inter-species drag damping, and viscous damping. Direct Landau damping is dominant at high temperatures, but becomes negligible as v vph / 5 . The measurements are conducted in trapped pure ion plasmas contained in Penning-Malmberg trap, with wave-coherent LIF diagnostics of particle velocities. Our focus is on bounce harmonics damping, controlled by an applied ``squeeze'' potential, which generates harmonics in the wave potential and in the particle dynamics. A particle moving in z experiences a non-sinusoidal mode potential caused by the squeeze, producing high spatial harmonics with lower phase velocity. These harmonics are Landau damped even when the mode phase velocity vph is large compared to the thermal velocity v , since the nth harmonic is resonant with a particle bouncing at velocity vb =vph / n . Here we increase the bounce harmonics through applied squeeze potential; but some harmonics are always present in finite length systems. For our centered squeeze geometry, theory shows that only odd harmonics are generated, and predicts the Landau damping rate from vph / n . Experimentally, the squeeze potential increases the wave damping and reduces its frequency. The frequency shift occurs because the squeeze potential reduces the number of particle where the mode velocity is the largest, therefore reducing the mode frequency. We observe an increase in the damping proportional to Vs2,and a frequency reduction proportional to Vs , in quantitative agreement with theory. Wave-coherent laser induced fluorescence allows direct observation of bounce resonances on the particle distribution, here predominantly at vph / 3 . A clear increase of the bounce harmonics is visible on the particle distribution when the squeeze potential is applied. Supported by NSF Grant PHY-1414570, and DOE Grants DE-SC0002451 and DE-SC0008693.

A robust model predictive control strategy for improving the control performance of air-conditioning systems

International Nuclear Information System (INIS)

Huang Gongsheng; Wang Shengwei; Xu Xinhua

2009-01-01

This paper presents a robust model predictive control strategy for improving the supply air temperature control of air-handling units by dealing with the associated uncertainties and constraints directly. This strategy uses a first-order plus time-delay model with uncertain time-delay and system gain to describe air-conditioning process of an air-handling unit usually operating at various weather conditions. The uncertainties of the time-delay and system gain, which imply the nonlinearities and the variable dynamic characteristics, are formulated using an uncertainty polytope. Based on this uncertainty formulation, an offline LMI-based robust model predictive control algorithm is employed to design a robust controller for air-handling units which can guarantee a good robustness subject to uncertainties and constraints. The proposed robust strategy is evaluated in a dynamic simulation environment of a variable air volume air-conditioning system in various operation conditions by comparing with a conventional PI control strategy. The robustness analysis of both strategies under different weather conditions is also presented.

Robust digital controllers for uncertain chaotic systems: A digital redesign approach

Energy Technology Data Exchange (ETDEWEB)

Ababneh, Mohammad [Department of Controls, FMC Kongsberg Subsea, FMC Energy Systems, Houston, TX 77067 (United States); Barajas-Ramirez, Juan-Gonzalo [CICESE, Depto. De Electronica y Telecomunicaciones, Ensenada, BC, 22860 (Mexico); Chen Guanrong [Centre for Chaos Control and Synchronization, Department of Electronic Engineering, City University of Hong Kong (China); Shieh, Leang S. [Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77204-4005 (United States)

2007-03-15

In this paper, a new and systematic method for designing robust digital controllers for uncertain nonlinear systems with structured uncertainties is presented. In the proposed method, a controller is designed in terms of the optimal linear model representation of the nominal system around each operating point of the trajectory, while the uncertainties are decomposed such that the uncertain nonlinear system can be rewritten as a set of local linear models with disturbed inputs. Applying conventional robust control techniques, continuous-time robust controllers are first designed to eliminate the effects of the uncertainties on the underlying system. Then, a robust digital controller is obtained as the result of a digital redesign of the designed continuous-time robust controller using the state-matching technique. The effectiveness of the proposed controller design method is illustrated through some numerical examples on complex nonlinear systems--chaotic systems.

Thermoelastic Damping in FGM Nano-Electromechanical System in Axial Vibration Based on Eringen Nonlocal Theory

Science.gov (United States)

Rahimi, Z.; Rashahmadi, S.

2017-11-01

The thermo-elastic damping is a dominant source of internal damping in micro-electromechanical systems (MEMS) and nano-electromechanical systems (NEMS). The internal damping cannot neither be controlled nor minimized unless either mechanical or geometrical properties are changed. Therefore, a novel FGMNEM system with a controllable thermo-elastic damping of axial vibration based on Eringen nonlocal theory is considered. The effects of different parameter like the gradient index, nonlocal parameter, length of nanobeam and ambient temperature on the thermo-elastic damping quality factor are presented. It is shown that the thermo-elastic damping can be controlled by changing different parameter.

Robust and optimal control a two-port framework approach

CERN Document Server

Tsai, Mi-Ching

2014-01-01

A Two-port Framework for Robust and Optimal Control introduces an alternative approach to robust and optimal controller synthesis procedures for linear, time-invariant systems, based on the two-port system widespread in electrical engineering. The novel use of the two-port system in this context allows straightforward engineering-oriented solution-finding procedures to be developed, requiring no mathematics beyond linear algebra. A chain-scattering description provides a unified framework for constructing the stabilizing controller set and for synthesizing H2 optimal and H∞ sub-optimal controllers. Simple yet illustrative examples explain each step. A Two-port Framework for Robust and Optimal Control  features: ·         a hands-on, tutorial-style presentation giving the reader the opportunity to repeat the designs presented and easily to modify them for their own programs; ·         an abundance of examples illustrating the most important steps in robust and optimal design; and ·   �...

Robust motion control of oscillatory-base manipulators h∞-control and sliding-mode-control-based approaches

CERN Document Server

Toda, Masayoshi

2016-01-01

This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researche...

Robust Output Model Predictive Control of an Unstable Rijke Tube

Directory of Open Access Journals (Sweden)

Fabian Jarmolowitz

2012-01-01

Full Text Available This work investigates the active control of an unstable Rijke tube using robust output model predictive control (RMPC. As internal model a polytopic linear system with constraints is assumed to account for uncertainties. For guaranteed stability, a linear state feedback controller is designed using linear matrix inequalities and used within a feedback formulation of the model predictive controller. For state estimation a robust gain-scheduled observer is developed. It is shown that the proposed RMPC ensures robust stability under constraints over the considered operating range.

Optimal control of quantum systems: Origins of inherent robustness to control field fluctuations

International Nuclear Information System (INIS)

Rabitz, Herschel

2002-01-01

The impact of control field fluctuations on the optimal manipulation of quantum dynamics phenomena is investigated. The quantum system is driven by an optimal control field, with the physical focus on the evolving expectation value of an observable operator. A relationship is shown to exist between the system dynamics and the control field fluctuations, wherein the process of seeking optimal performance assures an inherent degree of system robustness to such fluctuations. The presence of significant field fluctuations breaks down the evolution of the observable expectation value into a sequence of partially coherent robust steps. Robustness occurs because the optimization process reduces sensitivity to noise-driven quantum system fluctuations by taking advantage of the observable expectation value being bilinear in the evolution operator and its adjoint. The consequences of this inherent robustness are discussed in the light of recent experiments and numerical simulations on the optimal control of quantum phenomena. The analysis in this paper bodes well for the future success of closed-loop quantum optimal control experiments, even in the presence of reasonable levels of field fluctuations

Robust Model Predictive Control of a Wind Turbine

DEFF Research Database (Denmark)

Mirzaei, Mahmood; Poulsen, Niels Kjølstad; Niemann, Hans Henrik

2012-01-01

In this work the problem of robust model predictive control (robust MPC) of a wind turbine in the full load region is considered. A minimax robust MPC approach is used to tackle the problem. Nonlinear dynamics of the wind turbine are derived by combining blade element momentum (BEM) theory...... of the uncertain system is employed and a norm-bounded uncertainty model is used to formulate a minimax model predictive control. The resulting optimization problem is simplified by semidefinite relaxation and the controller obtained is applied on a full complexity, high fidelity wind turbine model. Finally...... and first principle modeling of the turbine flexible structure. Thereafter the nonlinear model is linearized using Taylor series expansion around system operating points. Operating points are determined by effective wind speed and an extended Kalman filter (EKF) is employed to estimate this. In addition...

Digital notch filter based active damping for LCL filters

DEFF Research Database (Denmark)

Yao, Wenli; Yang, Yongheng; Zhang, Xiaobin

2015-01-01

. In contrast, the active damping does not require any dissipation elements, and thus has become of increasing interest. As a result, a vast of active damping solutions have been reported, among which multi-loop control systems and additional sensors are necessary, leading to increased cost and complexity....... In this paper, a notch filter based active damping without the requirement of additional sensors is proposed, where the inverter current is employed as the feedback variable. Firstly, a design method of the notch filter for active damping is presented. The entire system stability has then been investigated...... in the z-domain. Simulations and experiments are carried out to verify the proposed active damping method. Both results have confirmed that the notch filter based active damping can ensure the entire system stability in the case of resonances with a good system performance....

Damped nonlinear Schrodinger equation

International Nuclear Information System (INIS)

Nicholson, D.R.; Goldman, M.V.

1976-01-01

High frequency electrostatic plasma oscillations described by the nonlinear Schrodinger equation in the presence of damping, collisional or Landau, are considered. At early times, Landau damping of an initial soliton profile results in a broader, but smaller amplitude soliton, while collisional damping reduces the soliton size everywhere; soliton speeds at early times are unchanged by either kind of damping. For collisional damping, soliton speeds are unchanged for all time

Robust sampled-data control of hydraulic flight control actuators

OpenAIRE

Kliffken, Markus Gustav

1997-01-01

In todays flight-by-wire systems the primary flight control surfaces of modern commercial and transport aircraft are driven by electro hydraulic linear actuators. Changing flight conditions as well as nonlinear actuator dynamics may be interpreted as parameter uncertainties of the linear actuator model. This demands a robust design for the controller. Here the parameter space design is used for the direct sampled-data controller synthesis. Therefore, a static output controller is choosen, the...

Residue-based evaluation of the use of wind power plants with full converter wind turbines for power oscillation damping control

DEFF Research Database (Denmark)

Morato, Josep; Knüppel, Thyge; Østergaard, Jacob

2013-01-01

As wind power plants (WPPs) gradually replace the power production of the conventional generators, many aspects of the power system may be affected, in which the small signal stability is included. Additional control may be needed for wind turbine generators (WTGs) to participate in the power...... oscillation damping. The feasibility of implementing this control needs to be assessed. This paper studies how the damping contribution of a WPP is affected by different operating conditions and its dependence to selected feedback signals. The WPP model used includes individual WTGs to study how internal...

Optimization of robustness of interdependent network controllability by redundant design.

Directory of Open Access Journals (Sweden)

Zenghu Zhang

Full Text Available Controllability of complex networks has been a hot topic in recent years. Real networks regarded as interdependent networks are always coupled together by multiple networks. The cascading process of interdependent networks including interdependent failure and overload failure will destroy the robustness of controllability for the whole network. Therefore, the optimization of the robustness of interdependent network controllability is of great importance in the research area of complex networks. In this paper, based on the model of interdependent networks constructed first, we determine the cascading process under different proportions of node attacks. Then, the structural controllability of interdependent networks is measured by the minimum driver nodes. Furthermore, we propose a parameter which can be obtained by the structure and minimum driver set of interdependent networks under different proportions of node attacks and analyze the robustness for interdependent network controllability. Finally, we optimize the robustness of interdependent network controllability by redundant design including node backup and redundancy edge backup and improve the redundant design by proposing different strategies according to their cost. Comparative strategies of redundant design are conducted to find the best strategy. Results shows that node backup and redundancy edge backup can indeed decrease those nodes suffering from failure and improve the robustness of controllability. Considering the cost of redundant design, we should choose BBS (betweenness-based strategy or DBS (degree based strategy for node backup and HDF(high degree first for redundancy edge backup. Above all, our proposed strategies are feasible and effective at improving the robustness of interdependent network controllability.

Model predictive control classical, robust and stochastic

CERN Document Server

Kouvaritakis, Basil

2016-01-01

For the first time, a textbook that brings together classical predictive control with treatment of up-to-date robust and stochastic techniques. Model Predictive Control describes the development of tractable algorithms for uncertain, stochastic, constrained systems. The starting point is classical predictive control and the appropriate formulation of performance objectives and constraints to provide guarantees of closed-loop stability and performance. Moving on to robust predictive control, the text explains how similar guarantees may be obtained for cases in which the model describing the system dynamics is subject to additive disturbances and parametric uncertainties. Open- and closed-loop optimization are considered and the state of the art in computationally tractable methods based on uncertainty tubes presented for systems with additive model uncertainty. Finally, the tube framework is also applied to model predictive control problems involving hard or probabilistic constraints for the cases of multiplic...

Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

Science.gov (United States)

Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

2013-09-01

This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

Multivariable robust adaptive controller using reduced-order model

Directory of Open Access Journals (Sweden)

Wei Wang

1990-04-01

Full Text Available In this paper a multivariable robust adaptive controller is presented for a plant with bounded disturbances and unmodeled dynamics due to plant-model order mismatches. The robust stability of the closed-loop system is achieved by using the normalization technique and the least squares parameter estimation scheme with dead zones. The weighting polynomial matrices are incorporated into the control law, so that the open-loop unstable or/and nonminimum phase plants can be handled.

Density control in ITER: an iterative learning control and robust control approach

Science.gov (United States)

Ravensbergen, T.; de Vries, P. C.; Felici, F.; Blanken, T. C.; Nouailletas, R.; Zabeo, L.

2018-01-01

Plasma density control for next generation tokamaks, such as ITER, is challenging because of multiple reasons. The response of the usual gas valve actuators in future, larger fusion devices, might be too slow for feedback control. Both pellet fuelling and the use of feedforward-based control may help to solve this problem. Also, tight density limits arise during ramp-up, due to operational limits related to divertor detachment and radiative collapses. As the number of shots available for controller tuning will be limited in ITER, in this paper, iterative learning control (ILC) is proposed to determine optimal feedforward actuator inputs based on tracking errors, obtained in previous shots. This control method can take the actuator and density limits into account and can deal with large actuator delays. However, a purely feedforward-based density control may not be sufficient due to the presence of disturbances and shot-to-shot differences. Therefore, robust control synthesis is used to construct a robustly stabilizing feedback controller. In simulations, it is shown that this combined controller strategy is able to achieve good tracking performance in the presence of shot-to-shot differences, tight constraints, and model mismatches.

Robust control of time-delay chaotic systems

International Nuclear Information System (INIS)

Hua Changchun; Guan Xinping

2003-01-01

Robust control problem of nonlinear time-delay chaotic systems is investigated. For such uncertain systems, we propose adaptive feedback controller and novel nonlinear feedback controller. They are both independent of the time delay and can render the corresponding closed-loop systems globally uniformly ultimately bounded stable. The simulations on controlling logistic system are made and the results show the controllers are feasible

Shunted Piezoelectric Vibration Damping Analysis Including Centrifugal Loading Effects

Science.gov (United States)

Min, James B.; Duffy, Kirsten P.; Provenza, Andrew J.

2011-01-01

Excessive vibration of turbomachinery blades causes high cycle fatigue problems which require damping treatments to mitigate vibration levels. One method is the use of piezoelectric materials as passive or active dampers. Based on the technical challenges and requirements learned from previous turbomachinery rotor blades research, an effort has been made to investigate the effectiveness of a shunted piezoelectric for the turbomachinery rotor blades vibration control, specifically for a condition with centrifugal rotation. While ample research has been performed on the use of a piezoelectric material with electric circuits to attempt to control the structural vibration damping, very little study has been done regarding rotational effects. The present study attempts to fill this void. Specifically, the objectives of this study are: (a) to create and analyze finite element models for harmonic forced response vibration analysis coupled with shunted piezoelectric circuits for engine blade operational conditions, (b) to validate the experimental test approaches with numerical results and vice versa, and (c) to establish a numerical modeling capability for vibration control using shunted piezoelectric circuits under rotation. Study has focused on a resonant damping control using shunted piezoelectric patches on plate specimens. Tests and analyses were performed for both non-spinning and spinning conditions. The finite element (FE) shunted piezoelectric circuit damping simulations were performed using the ANSYS Multiphysics code for the resistive and inductive circuit piezoelectric simulations of both conditions. The FE results showed a good correlation with experimental test results. Tests and analyses of shunted piezoelectric damping control, demonstrating with plate specimens, show a great potential to reduce blade vibrations under centrifugal loading.

Human-in-the-loop evaluation of RMS Active Damping Augmentation

Science.gov (United States)

Demeo, Martha E.; Gilbert, Michael G.; Scott, Michael A.; Lepanto, Janet A.; Bains, Elizabeth M.; Jensen, Mary C.

1993-01-01

Active Damping Augmentation is the insertion of Controls-Structures Integration Technology to benefit the on-orbit performance of the Space Shuttle Remote Manipulator System. The goal is to reduce the vibration decay time of the Remote Manipulator System following normal payload maneuvers and operations. Simulation of Active Damping Augmentation was conducted in the realtime human-in-the-loop Systems Engineering Simulator at the NASA Johnson Space Center. The objective of this study was to obtain a qualitative measure of operational performance improvement from astronaut operators and to obtain supporting quantitative performance data. Sensing of vibratory motions was simulated using a three-axis accelerometer mounted at the end of the lower boom of the Remote Manipulator System. The sensed motions were used in a feedback control law to generate commands to the joint servo mechanisms which reduced the unwanted oscillations. Active damping of the Remote Manipulator System with an attached 3990 lb. payload was successfully demonstrated. Six astronaut operators examined the performance of an Active Damping Augmentation control law following single-joint and coordinated six-joint translational and rotational maneuvers. Active Damping Augmentation disturbance rejection of Orbiter thruster firings was also evaluated. Significant reductions in the dynamic response of the 3990 lb. payload were observed. Astronaut operators recommended investigation of Active Damping Augmentation benefits to heavier payloads where oscillations are a bigger problem (e.g. Space Station Freedom assembly operators).

Robust entry guidance using linear covariance-based model predictive control

Directory of Open Access Journals (Sweden)

Jianjun Luo

2017-02-01

Full Text Available For atmospheric entry vehicles, guidance design can be accomplished by solving an optimal issue using optimal control theories. However, traditional design methods generally focus on the nominal performance and do not include considerations of the robustness in the design process. This paper proposes a linear covariance-based model predictive control method for robust entry guidance design. Firstly, linear covariance analysis is employed to directly incorporate the robustness into the guidance design. The closed-loop covariance with the feedback updated control command is initially formulated to provide the expected errors of the nominal state variables in the presence of uncertainties. Then, the closed-loop covariance is innovatively used as a component of the cost function to guarantee the robustness to reduce its sensitivity to uncertainties. After that, the models predictive control is used to solve the optimal problem, and the control commands (bank angles are calculated. Finally, a series of simulations for different missions have been completed to demonstrate the high performance in precision and the robustness with respect to initial perturbations as well as uncertainties in the entry process. The 3σ confidence region results in the presence of uncertainties which show that the robustness of the guidance has been improved, and the errors of the state variables are decreased by approximately 35%.

Optimal robust control strategy of a solid oxide fuel cell system

Science.gov (United States)

Wu, Xiaojuan; Gao, Danhui

2018-01-01

Optimal control can ensure system safe operation with a high efficiency. However, only a few papers discuss optimal control strategies for solid oxide fuel cell (SOFC) systems. Moreover, the existed methods ignore the impact of parameter uncertainty on system instantaneous performance. In real SOFC systems, several parameters may vary with the variation of operation conditions and can not be identified exactly, such as load current. Therefore, a robust optimal control strategy is proposed, which involves three parts: a SOFC model with parameter uncertainty, a robust optimizer and robust controllers. During the model building process, boundaries of the uncertain parameter are extracted based on Monte Carlo algorithm. To achieve the maximum efficiency, a two-space particle swarm optimization approach is employed to obtain optimal operating points, which are used as the set points of the controllers. To ensure the SOFC safe operation, two feed-forward controllers and a higher-order robust sliding mode controller are presented to control fuel utilization ratio, air excess ratio and stack temperature afterwards. The results show the proposed optimal robust control method can maintain the SOFC system safe operation with a maximum efficiency under load and uncertainty variations.

Comparative study of popular objective functions for damping power system oscillations in multimachine system.

Science.gov (United States)

Islam, Naz Niamul; Hannan, M A; Shareef, Hussain; Mohamed, Azah; Salam, M A

2014-01-01

Power oscillation damping controller is designed in linearized model with heuristic optimization techniques. Selection of the objective function is very crucial for damping controller design by optimization algorithms. In this research, comparative analysis has been carried out to evaluate the effectiveness of popular objective functions used in power system oscillation damping. Two-stage lead-lag damping controller by means of power system stabilizers is optimized using differential search algorithm for different objective functions. Linearized model simulations are performed to compare the dominant mode's performance and then the nonlinear model is continued to evaluate the damping performance over power system oscillations. All the simulations are conducted in two-area four-machine power system to bring a detailed analysis. Investigated results proved that multiobjective D-shaped function is an effective objective function in terms of moving unstable and lightly damped electromechanical modes into stable region. Thus, D-shape function ultimately improves overall system damping and concurrently enhances power system reliability.

Interconnection and Damping Assignment Passivity-Based Control for Port-Hamiltonian mechanical systems with only position measurements

NARCIS (Netherlands)

Dirksz, D. A.; Scherpen, J. M. A.; Ortega, R.

2008-01-01

A dynamic extension for position feedback of port-Hamiltonian mechanical systems is studied. First we look at the consequences for the matching equations when applying Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). Then we look at the possibilities of asymptotically

Non-Linear Slosh Damping Model Development and Validation

Science.gov (United States)

Yang, H. Q.; West, Jeff

2015-01-01

Propellant tank slosh dynamics are typically represented by a mechanical model of spring mass damper. This mechanical model is then included in the equation of motion of the entire vehicle for Guidance, Navigation and Control (GN&C) analysis. For a partially-filled smooth wall propellant tank, the critical damping based on classical empirical correlation is as low as 0.05%. Due to this low value of damping, propellant slosh is potential sources of disturbance critical to the stability of launch and space vehicles. It is postulated that the commonly quoted slosh damping is valid only under the linear regime where the slosh amplitude is small. With the increase of slosh amplitude, the critical damping value should also increase. If this nonlinearity can be verified and validated, the slosh stability margin can be significantly improved, and the level of conservatism maintained in the GN&C analysis can be lessened. The purpose of this study is to explore and to quantify the dependence of slosh damping with slosh amplitude. Accurately predicting the extremely low damping value of a smooth wall tank is very challenging for any Computational Fluid Dynamics (CFD) tool. One must resolve thin boundary layers near the wall and limit numerical damping to minimum. This computational study demonstrates that with proper grid resolution, CFD can indeed accurately predict the low damping physics from smooth walls under the linear regime. Comparisons of extracted damping values with experimental data for different tank sizes show very good agreements. Numerical simulations confirm that slosh damping is indeed a function of slosh amplitude. When slosh amplitude is low, the damping ratio is essentially constant, which is consistent with the empirical correlation. Once the amplitude reaches a critical value, the damping ratio becomes a linearly increasing function of the slosh amplitude. A follow-on experiment validated the developed nonlinear damping relationship. This discovery can

Fuel Assembly Damping Summary

Energy Technology Data Exchange (ETDEWEB)

Lee, Kanghee; Kang, Heungseok; Oh, Dongseok; Yoon, Kyungho; Kim, Hyungkyu; Kim, Jaeyong [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2013-10-15

This paper summary the fuel assembly damping data in air/in still water/under flow, released from foreign fuel vendors, compared our data with the published data. Some technical issues in fuel assembly damping measurement testing are also briefly discussed. Understanding of each fuel assembly damping mechanisms according to the surrounding medium and flow velocity can support the fuel design improvement in fuel assembly dynamics and structural integrity aspect. Because the upgraded requirements of the newly-developed advanced reactor system will demands to minimize fuel design margin in integrity evaluation, reduction in conservatism of fuel assembly damping can contribute to alleviate the fuel design margin for sure. Damping is an energy dissipation mechanism in a vibrating mechanical structure and prevents a resonant structure from having infinite vibration amplitudes. The sources of fuel assembly damping are various from support friction to flow contribution, and it can be increased by the viscosity or drag of surrounding fluid medium or the average velocity of water flowing. Fuel licensing requires fuel design evaluation in transient or accidental condition. Dynamic response analysis of fuel assembly is to show fuel integrity and requires information on assembly-wise damping in dry condition and under wet or water flowing condition. However, damping measurement test for the full-scale fuel assembly prototype is not easy to carry out because of the scale (fuel prototype, test facility), unsteadiness of test data (scattering, random sampling and processing), instrumentation under water flowing (water-proof response measurement), and noise. LWR fuel technology division in KAERI is preparing the infra structure for damping measurement test of full-scale fuel assembly, to support fuel industries and related research activities. Here is a preliminary summary of fuel assembly damping, published in the literature. Some technical issues in fuel assembly damping

Damping System for Torsional Resonances in Generator Shafts Using a Feedback Controlled Buffer Storage of Magnetic Energy at ASDEX Upgrade

International Nuclear Information System (INIS)

Kaesemann, C.-P.; Huart, M.; Mueller, P.; Sigalov, A.

2006-01-01

The electrical power and energy for ASDEX Upgrade (AUG) is provided by three separate pulsed networks based on flywheel generators. Major damages at couplings of the shaft of the synchronous generator EZ4 (220 MVA / 600 MWs) were discovered during a routine check. The damage can only be explained by torsional resonances in the generator shaft which are excited by active power transients from the converter loads. For generator protection, torque sensors were installed near the coupling between the flywheel and the rotor. They cause an early termination of plasma experiments if a predefined torque level is exceeded. These terminations limited the achievable plasma current flattop time of AUG significantly. Since a low natural damping of the torsional resonances was identified as a major cause of the phenomena observed, novel feedback controlled DC circuits were developed providing electromagnetic damping for the generator shafts in case of excitation. Each damping circuit consists of a DC choke, acting as a buffer storage of magnetic energy, fed by a thyristor converter. The current reference for the converter is derived from the torque sensor signals. This enables the choke current to alternate with the measured natural frequency of the shaft assembly. Thus, with proper phasing, torsional resonances in generator shaft systems weighing more than 100 tons can be damped with little additional power. Since April 2003, the damping circuits have been routinely operated during all plasma experiments. Despite the low damping power used, torsional resonances could be reduced to a value that avoids a trip signal from the torque sensors. This paper describes the results from analysing, designing and testing of the feedback controlled buffer storage of magnetic energy, representing an effective and low cost solution for damping torsional resonances in electric power systems. It will present the layout, analyse the results of measurements obtained during commissioning and

An active feedback system to control synchrotron oscillations in the SLC Damping Rings

International Nuclear Information System (INIS)

Corredoura, P.L.; Pellegrin, J.L.; Schwarz, H.D.; Sheppard, J.C.

1989-03-01

Initially the SLC Damping Rings accomplished Robinson instability damping by operating the RF accelerating cavities slightly detuned. In order to be able to run the cavities tuned and achieve damping for Robinson instability and synchrotron oscillations at injection an active feedback system has been developed. This paper describes the theoretical basis for the feedback system and the development of the hardware. Extensive measurements of the loop response including stored beam were performed. Overall performance of the system is also reported. 3 refs., 6 figs

Robust Adaptive Speed Control of Induction Motor Drives

DEFF Research Database (Denmark)

Bidstrup, N.

, (LS) identification and generalized predictive control (GPC) has been implemented and tested on the CVC drive. Allthough GPC is a robust control method, it was not possible to maintain specified controller performance in the entire operating range. This was the main reason for investigating truly...... adaptive speed control of the CVC drive. A direct truly adaptive speed controller has been implemented. The adaptive controller is a moving Average Self-Tuning Regulator which is abbreviated MASTR throughout the thesis. Two practical implementations of this controller were proposed. They were denoted MASTR...... and measurement noise in general, were the major reasons for the drifting parameters. Two approaches was proposed to robustify MASTR2 against the output noise. The first approach consists of filtering the output. Output filtering had a significant effect in simulations, but the robustness against the output noise...

Linear control strategies for damping of flexible structures

DEFF Research Database (Denmark)

Høgsberg, Jan Riess; Krenk, Steen

2006-01-01

increases with the phase angle of the damper, and that improved damping efficiency thus follows from the ability of an active device to produce a force acting ahead of velocity. Phase lead is equivalent to negative stiffness, and the effect of negative stiffness is illustrated by a radiation condition...

DAMPING OF SUBSYNCHRONOUS MODES OF OSCILLATIONS

Directory of Open Access Journals (Sweden)

JAGADEESH PASUPULETI

2006-06-01

Full Text Available The IEEE bench mark model 2 series compensated system is considered for analysis. It consists of single machine supplying power to infinite bus through two parallel lines one of which is series compensated. The mechanical system considered consists of six mass, viz, high pressure turbine, intermediate pressure turbine, two low pressure turbines, generator and an exciter. The excitation system considered is IEEE type 1 with saturation. The auxiliary controls considered to damp the unstable subsynchronous modes of oscillations are Power System Stabilizer (PSS and Static var Compensator (SVC. The different cases of power system stabilizer and reactive power controls are adapted to study the effectiveness of damping these unstable subsynchronous modes of oscillations.

Analysis and damping control of power system low-frequency oscillations

CERN Document Server

Wang, Haifeng

2016-01-01

This book presents the research and development results on power systems oscillations in three categories of analytical methods. First is damping torque analysis which was proposed in 1960’s, further developed between 1980-1990, and widely used in industry. Second is modal analysis which developed between the 1980’s and 1990’s as the most powerful method. Finally the linearized equal-area criterion analysis that is proposed and developed recently. The book covers three main types of controllers: Power System Stabilizer (PSS), FACTS (Flexible AC Transmission Systems) stabilizer, and ESS (Energy Storage Systems) stabilizer. The book provides a systematic and detailed introduction on the subject as the reference for industry applications and academic research.

Robust Active Damping Control of LCL Filtered Grid Connected Converter Based Active Disturbance Rejection Control

DEFF Research Database (Denmark)

Abdeldjabar, Benrabah; Xu, Dianguo; Wang, Xiongfei

2016-01-01

This paper deals with the problem of LCL filter resonance in grid connected inverter control. The system equations are reformulated to allow the application of the active disturbance rejection control (ADRC). The resonance, assumed unknown, is treated as a disturbance, then estimated and mitigated...

Robust Optimal Adaptive Control Method with Large Adaptive Gain

Science.gov (United States)

Nguyen, Nhan T.

2009-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly. However, a large adaptive gain can lead to high-frequency oscillations which can adversely affect robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient stability robustness. Simulations were conducted for a damaged generic transport aircraft with both standard adaptive control and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model while maintaining a sufficient time delay margin.

Optimal Design of High-Order Passive-Damped Filters for Grid-Connected Applications

DEFF Research Database (Denmark)

Beres, Remus Narcis; Wang, Xiongfei; Blaabjerg, Frede

2016-01-01

Harmonic stability problems caused by the resonance of high-order filters in power electronic systems are ever increasing. The use of passive damping does provide a robust solution to address these issues, but at the price of reduced efficiency due to the presence of additional passive components....... Hence, a new method is proposed in this paper to optimally design the passive damping circuit for the LCL filters and LCL with multi-tuned LC traps. In short, the optimization problem reduces to the proper choice of the multi-split capacitors or inductors in the high-order filter. Compared to existing...... filter resonance. The passive filters are designed, built and validated both analytically and experimentally for verification....

Robust model predictive control for constrained continuous-time nonlinear systems

Science.gov (United States)

Sun, Tairen; Pan, Yongping; Zhang, Jun; Yu, Haoyong

2018-02-01

In this paper, a robust model predictive control (MPC) is designed for a class of constrained continuous-time nonlinear systems with bounded additive disturbances. The robust MPC consists of a nonlinear feedback control and a continuous-time model-based dual-mode MPC. The nonlinear feedback control guarantees the actual trajectory being contained in a tube centred at the nominal trajectory. The dual-mode MPC is designed to ensure asymptotic convergence of the nominal trajectory to zero. This paper extends current results on discrete-time model-based tube MPC and linear system model-based tube MPC to continuous-time nonlinear model-based tube MPC. The feasibility and robustness of the proposed robust MPC have been demonstrated by theoretical analysis and applications to a cart-damper springer system and a one-link robot manipulator.

The damped wave equation with unbounded damping

Czech Academy of Sciences Publication Activity Database

Freitas, P.; Siegl, Petr; Tretter, C.

2018-01-01

Roč. 264, č. 12 (2018), s. 7023-7054 ISSN 0022-0396 Institutional support: RVO:61389005 Keywords : damped wave equation * unbounded damping * essential spectrum * quadratic operator funciton with unbounded coefficients * Schrodinger operators with complex potentials Subject RIV: BE - Theoretical Physics OBOR OECD: Atomic, molecular and chemical physics (physics of atoms and molecules including collision, interaction with radiation, magnetic resonances, Mössbauer effect) Impact factor: 1.988, year: 2016

Multivariable robust control of an air-handling unit: A comparison between pole-placement and H∞ controllers

International Nuclear Information System (INIS)

Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid

2012-01-01

Highlights: ► Robust control of a multivariable air-handling unit (AHU). ► Controllers designed based on pole-placement and μ-synthesis. ► Robust performance in the presence of model uncertainties. ► Achievement of various tracking objectives in temperature and relative humidity. ► Comfort conditions in buildings with low energy consumption and operation cost. - Abstract: Control of air-conditioner units is essential to achieve satisfactory comfort conditions in buildings while keeping low energy consumption and operation costs. In this paper, a nonlinear multiinput and multioutput model (MIMO) of an air-handling unit (AHU) is considered. After linearization of the state equations around the operating points, an observer and a regulator are designed for the estimation of state variables and disturbance rejection, respectively. A realistic uncertain model is considered which constitutes various uncertainties associated with complex nonlinear model of AHU. In the presence of model uncertainties, a H ∞ -robust controller is designed to guarantee robust performance of the air-handling unit. In addition, a simple controller based on pole-placement approach is developed. Indoor temperature and relative humidity are controlled via manipulation of valve positions of air and cold water flow rates. Achievement of tracking objectives is investigated through various desired commands of indoor temperature and relative humidity (including a sequence of steps and ramps-steps). According to results, the H ∞ -robust controller guarantees the robust performance of the AHU in tracking of desired set-paths (while using the simple pole-placement controller leads to high oscillatory behavior of the output variables and control efforts). Moreover, using H ∞ -robust controller results in less energy consumption in comparison with the pole-placement controller.

Numerical studies of shear damped composite beams using a constrained damping layer

DEFF Research Database (Denmark)

Kristensen, R.F.; Nielsen, Kim Lau; Mikkelsen, Lars Pilgaard

2008-01-01

Composite beams containing one or more damping layers are studied numerically. The work is based on a semi-analytical model using a Timoshenko beam theory and a full 2D finite element model. The material system analysed, is inspired by a train wagon suspension system used in a EUREKA project Sigma......!1841. For the material system, the study shows that the effect of the damping layer is strongly influenced by the presence of a stiff constraining layer, that enforces large shear strain amplitudes. The thickness of the damping rubber layer itself has only a minor influence on the overall damping....... In addition, a large influence of ill positioned cuts in the damping layer is observed....

A current controller of grid-connected converter for harmonic damping in a distribution network

DEFF Research Database (Denmark)

Wang, Xiongfei; Blaabjerg, Frede; Chen, Zhe

2011-01-01

Harmonic resonance caused by the increased use of shunt-connected capacitors in LCL-filters and power factor correction devices may become a serious power quality challenge in electric distribution systems. A voltage-detection method based on current control is developed to damp harmonic resonances....... However, it is susceptible to the mismatch between harmonic conductance and characteristic impedance of distribution feeder. This paper proposes a current controller which allows discrete adjustment of harmonic conductance for both the characteristic harmonic and the non-characteristic harmonic voltages...

Fractional order differentiation and robust control design crone, h-infinity and motion control

CERN Document Server

Sabatier, Jocelyn; Melchior, Pierre; Oustaloup, Alain

2015-01-01

This monograph collates the past decade’s work on fractional models and fractional systems in the fields of analysis, robust control and path tracking. Themes such as PID control, robust path tracking design and motion control methodologies involving fractional differentiation are amongst those explored. It juxtaposes recent theoretical results at the forefront in the field, and applications that can be used as exercises that will help the reader to assimilate the proposed methodologies. The first part of the book deals with fractional derivative and fractional model definitions, as well as recent results for stability analysis, fractional model physical interpretation, controllability, and H-infinity norm computation. It also presents a critical point of view on model pseudo-state and “real state”, tackling the problem of fractional model initialization. Readers will find coverage of PID, Fractional PID and robust control in the second part of the book, which rounds off with an extension of H-infinity ...

Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches

International Nuclear Information System (INIS)

Lew, J.Y.; Cannon, D.W.; Magee, D.P.; Book, W.J.

1995-09-01

Pacific Northwest Laboratory (PDL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: (1) modified input shaping and (2) inertial force active damping control. Modified input shaping (MIS) is used as a feedforward controller to modify reference input by canceling the vibratory motion. Inertial force active damping (IFAD) is applied as a feedback controller to increase the system damping and robustness to unexpected disturbances. Researchers implemented both control schemes in the PNL micro/macro flexible-link manipulator testbed collaborating with Georgia Institute of Technology. The experiments successfully demonstrated the effectiveness of two control approaches in reducing structural vibration. Based on the results of the experiments, the combined use of two controllers is recommended for a micro/macro manipulator to achieve the fastest response to commands while canceling disturbances from unexpected forces

Autonomous control of inverter-interfaced Distributed Generation units for harmonic current filtering and resonance damping in an islanded microgrid

DEFF Research Database (Denmark)

Wang, Xiongfei; Blaabjerg, Frede; Chen, Zhe

2012-01-01

Harmonic current filtering and resonance damping have become important concerns on the control of an islanded microgrids. To address these challenges, this paper proposes a control method of inverter-interfaced Distributed Generation (DG) units, which can autonomously share harmonic currents and ...

Robust control of an industrial boiler system; a comparison between two approaches: Sliding mode control and H∞ technique

International Nuclear Information System (INIS)

Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid

2009-01-01

To achieve a good performance of the utility boiler, dynamic variables such as drum pressure, steam temperature and water level of drum must be controlled. In this paper, a linear time invariant (LTI) model of a boiler system is considered in which the input variables are feed-water and fuel mass rates. However this dynamic model may associate with uncertainties. With considering the uncertainties of the dynamic model, a sliding mode controller is designed. After representation of the uncertain dynamic system in general control configuration and modelling the parametric uncertainties, nominal performance, robust stability and robust performance are analyzed by the concept of structured singular value μ. Using an algorithm for μ-analysis and applying an inversed-base controller, robust stability and nominal performance are guaranteed but robust performance is not satisfied. Finally, an optimal robust controller is designed based on μ-synthesis with DK-iteration algorithm. Both optimal robust and sliding mode controllers guarantee robust performance of the system against the uncertainties and result in desired time responses of the output variables. By applying H ∞ robust control, system tracks the desire reference inputs in a less time and with smoother time responses. However, less control efforts, feedwater and fuel mass rates, are needed when the sliding mode controller is applied.

Optimal robust stabilizer design based on UPFC for interconnected power systems considering time delay

Directory of Open Access Journals (Sweden)

Koofigar Hamid Reza

2017-09-01

Full Text Available A robust auxiliary wide area damping controller is proposed for a unified power flow controller (UPFC. The mixed H2 / H∞ problem with regional pole placement, resolved by linear matrix inequality (LMI, is applied for controller design. Based on modal analysis, the optimal wide area input signals for the controller are selected. The time delay of input signals, due to electrical distance from the UPFC location is taken into account in the design procedure. The proposed controller is applied to a multi-machine interconnected power system from the IRAN power grid. It is shown that the both transient and dynamic stability are significantly improved despite different disturbances and loading conditions.

Effect of interaction strength on robustness of controlling edge dynamics in complex networks

Science.gov (United States)

Pang, Shao-Peng; Hao, Fei

2018-05-01

Robustness plays a critical role in the controllability of complex networks to withstand failures and perturbations. Recent advances in the edge controllability show that the interaction strength among edges plays a more important role than network structure. Therefore, we focus on the effect of interaction strength on the robustness of edge controllability. Using three categories of all edges to quantify the robustness, we develop a universal framework to evaluate and analyze the robustness in complex networks with arbitrary structures and interaction strengths. Applying our framework to a large number of model and real-world networks, we find that the interaction strength is a dominant factor for the robustness in undirected networks. Meanwhile, the strongest robustness and the optimal edge controllability in undirected networks can be achieved simultaneously. Different from the case of undirected networks, the robustness in directed networks is determined jointly by the interaction strength and the network's degree distribution. Moreover, a stronger robustness is usually associated with a larger number of driver nodes required to maintain full control in directed networks. This prompts us to provide an optimization method by adjusting the interaction strength to optimize the robustness of edge controllability.

Mechanism of biological control of Rhizoctonia damping-off of ...

African Journals Online (AJOL)

MOHSEN

2014-01-29

Jan 29, 2014 ... from soil, causing severe damping-off disease to radish and cucumber was .... concentrations of elements in samples were expressed in milli- equivalent per ..... radioactive analysis, is a polysaccharide synthesized in the golgi ...

Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System

Directory of Open Access Journals (Sweden)

Guofeng Tong

2014-04-01

Full Text Available This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.

Robust Tracking Control for a Piezoelectric Actuator

National Research Council Canada - National Science Library

Salah, M; McIntyre, M; Dawson, D; Wagner, J

2006-01-01

In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...

Pipe damping studies

International Nuclear Information System (INIS)

Ware, A.G.

1986-01-01

The Idaho National Engineering Laboratory (INEL) is conducting a research program to assist the United States Nuclear Regulatory Commission (USNRC) in determining best-estimate damping values for use in the dynamic analysis of nuclear power plant piping systems. This paper describes four tasks in the program that were undertaken in FY-86. In the first task, tests were conducted on a 5-in. INEL laboratory piping system and data were analyzed from a 6-in. laboratory system at the ANCO Engineers facility to investigate the parameters influencing damping in the seismic frequency range. Further tests were conducted on 3- and 5-in. INEL laboratory piping systems as the second task to determine damping values representative of vibrations in the 33 to 100 Hz range, typical of hydrodynamic transients. In the third task a statistical evaluation of the available damping data was conduted to determine probability distributions suitable for use in probabilistic risk assessments (PRAs), and the final task evaluated damping data at high strain levels

Damping Inter-area Oscillations using Static Synchronous Series Compensator (SSSC)

DEFF Research Database (Denmark)

Su, Chi; Chen, Zhe

2011-01-01

Static synchronous series compensator (SSSC) has the ability to emulate a reactance in series with the connected transmission line. When fed with some supplementary signals from the connected system, SSSC is able to participate in the power system inter-area oscillation damping by changing...... the compensated reactance. This paper analyses the influence of SSSC on power system small signal stability. A SSSC damping controller scheme is presented and discussed. In DIgSILENT PowerFactory software, modal analysis and time-domain simulation are conducted in a single-machine infinite bus system model...... and a four-machine two-area test system model to verify and improve the damping controller scheme....

Variable stiffness and damping MR isolator

Energy Technology Data Exchange (ETDEWEB)

Zhang, X Z; Wang, X Y; Li, W H; Kostidis, K [University of Wollongong, School of Mechanical, Materials and Mechatronic Engineering, NSW 2522 (Australia)], E-mail: weihuali@uow.edu.au

2009-02-01

This paper presents the development of a magnetorheological (MR) fluid-based variable stiffness and damping isolator for vibration suppressions. The MR fluid isolator used a sole MR control unit to achieve the variable stiffness and damping in stepless and relative large scope. A mathematical model of the isolator was derived, and a prototype of the MR fluid isolator was fabricated and its dynamic behavior was measured in vibration under various applied magnetic fields. The parameters of the model under various magnetic fields were identified and the dynamic performances of isolator were evaluated.

Robust Adaptive Speed Control of Induction Motor Drives

DEFF Research Database (Denmark)

Bidstrup, N.

This thesis concerns speed control of current vector controlled induction motor drives (CVC drives). The CVC drive is an existing prototype drive developed by Danfoss A/S, Transmission Division. Practical tests have revealed that the open loop dynamical properties of the CVC drive are highly......, (LS) identification and generalized predictive control (GPC) has been implemented and tested on the CVC drive. Allthough GPC is a robust control method, it was not possible to maintain specified controller performance in the entire operating range. This was the main reason for investigating truly...... and measurement noise in general, were the major reasons for the drifting parameters. Two approaches was proposed to robustify MASTR2 against the output noise. The first approach consists of filtering the output. Output filtering had a significant effect in simulations, but the robustness against the output noise...

LMI–based robust controller design approach in aircraft multidisciplinary design optimization problem

Directory of Open Access Journals (Sweden)

Qinghua Zeng

2015-07-01

Full Text Available This article proposes a linear matrix inequality–based robust controller design approach to implement the synchronous design of aircraft control discipline and other disciplines, in which the variation in design parameters is treated as equivalent perturbations. Considering the complicated mapping relationships between the coefficient arrays of aircraft motion model and the aircraft design parameters, the robust controller designed is directly based on the variation in these coefficient arrays so conservative that the multidisciplinary design optimization problem would be too difficult to solve, or even if there is a solution, the robustness of design result is generally poor. Therefore, this article derives the uncertainty model of disciplinary design parameters based on response surface approximation, converts the design problem of the robust controller into a problem of solving a standard linear matrix inequality, and theoretically gives a less conservative design method of the robust controller which is based on the variation in design parameters. Furthermore, the concurrent subspace approach is applied to the multidisciplinary system with this kind of robust controller in the design loop. A multidisciplinary design optimization of a tailless aircraft as example is shown that control discipline can be synchronous optimal design with other discipline, especially this method will greatly reduce the calculated amount of multidisciplinary design optimization and make multidisciplinary design optimization results more robustness of flight performance.

Plug and Play Robust Distributed Control with Ellipsoidal Parametric Uncertainty System

Directory of Open Access Journals (Sweden)

Hong Wang-jian

2016-01-01

Full Text Available We consider a continuous linear time invariant system with ellipsoidal parametric uncertainty structured into subsystems. Since the design of a local controller uses only information on a subsystem and its neighbours, we combine the plug and play idea and robust distributed control to propose one distributed control strategy for linear system with ellipsoidal parametric uncertainty. Firstly for linear system with ellipsoidal parametric uncertainty, a necessary and sufficient condition for robust state feedback control is proposed by means of linear matrix inequality. If this necessary and sufficient condition is satisfied, this robust state feedback gain matrix can be easily derived to guarantee robust stability and prescribed closed loop performance. Secondly the plug and play idea is introduced in the design process. Finally by one example of aircraft flutter model parameter identification, the efficiency of the proposed control strategy can be easily realized.

Design, Fabrication, and Properties of High Damping Metal Matrix Composites—A Review

Directory of Open Access Journals (Sweden)

Qianfeng Fang

2009-08-01

Full Text Available Nowadays it is commonly considered that high damping materials which have both the good mechanical properties as structural materials and the high damping capacity for vibration damping are the most direct vibration damping solution. In metals and alloys however, exhibiting simultaneously high damping capacity and good mechanical properties has been noted to be normally incompatible because the microscopic mechanisms responsible for internal friction (namely damping capacity are dependent upon the parameters that control mechanical strength. To achieve a compromise, one of the most important methods is to develop two-phase composites, in which each phase plays a specific role: damping or mechanical strength. In this review, we have summarized the development of the design concept of high damping composite materials and the investigation of their fabrication and properties, including mechanical and damping properties, and suggested a new design concept of high damping composite materials where the hard ceramic additives exhibit high damping capacity at room temperature owing to the stress-induced reorientation of high density point defects in the ceramic phases and the high damping capacity of the composite comes mainly from the ceramic phases.

Ultra-low magnetic damping in metallic and half-metallic systems

Science.gov (United States)

Shaw, Justin

The phenomenology of magnetic damping is of critical importance to devices which seek to exploit the electronic spin degree of freedom since damping strongly affects the energy required and speed at which a device can operate. However, theory has struggled to quantitatively predict the damping, even in common ferromagnetic materials. This presents a challenge for a broad range of applications in magnonics, spintronics and spin-orbitronics that depend on the ability to precisely control the damping of a material. I will discuss our recent work to precisely measure the intrinsic damping in several metallic and half-metallic material systems and compare experiment with several theoretical models. This investigation uncovered a metallic material composed of Co and Fe that exhibit ultra-low values of damping that approach values found in thin film YIG. Such ultra-low damping is unexpected in a metal since magnon-electron scattering dominates the damping in conductors. However, this system possesses a distinctive feature in the bandstructure that minimizes the density of states at the Fermi energy n(EF). These findings provide the theoretical framework by which such ultra-low damping can be achieved in metallic ferromagnets and may enable a new class of experiments where ultra-low damping can be combined with a charge current. Half-metallic Heusler compounds by definition have a bandgap in one of the spin channels at the Fermi energy. This feature can also lead to exceptionally low values of the damping parameter. Our results show a strong correlation of the damping with the order parameter in Co2MnGe. Finally, I will provide an overview of the recent advances in achieving low damping in thin film Heusler compounds.

Power Oscillation Damping Controller for Wind Power Plant Utilizing Wind Turbine Inertia as Energy Storage

DEFF Research Database (Denmark)

Knüppel, Thyge; Nielsen, Jørgen Nygård; Jensen, Kim Høj

2011-01-01

For a wind power plant (WPP) the upper limit for active power output is bounded by the instantaneous wind conditions and therefore a WPP must curtail its power output when system services with active power are delivered. Here, a power oscillation damping controller (POD) for WPPs is presented...... that utilizes the stored kinetic energy in the wind turbine (WT) mechanical system as energy storage from which damping power can be exchanged. This eliminates the need for curtailed active power production. Results are presented using modal analysis and induced torque coefficients (ITC) to depict the torques...... induced on the synchronous generators from the POD. These are supplemented with nonlinear time domain simulations with and without an auxiliary POD for the WPP. The work is based on a nonlinear, dynamic model of the 3.6 MW Siemens Wind Power wind turbine....

Coulomb Damping

Science.gov (United States)

Fay, Temple H.

2012-01-01

Viscous damping is commonly discussed in beginning differential equations and physics texts but dry friction or Coulomb friction is not despite dry friction being encountered in many physical applications. One reason for avoiding this topic is that the equations involve a jump discontinuity in the damping term. In this article, we adopt an energy…

Robust sawtooth period control based on adaptive online optimization

International Nuclear Information System (INIS)

Bolder, J.J.; Witvoet, G.; De Baar, M.R.; Steinbuch, M.; Van de Wouw, N.; Haring, M.A.M.; Westerhof, E.; Doelman, N.J.

2012-01-01

The systematic design of a robust adaptive control strategy for the sawtooth period using electron cyclotron current drive (ECCD) is presented. Recent developments in extremum seeking control (ESC) are employed to derive an optimized controller structure and offer practical tuning guidelines for its parameters. In this technique a cost function in terms of the desired sawtooth period is optimized online by changing the ECCD deposition location based on online estimations of the gradient of the cost function. The controller design does not require a detailed model of the sawtooth instability. Therefore, the proposed ESC is widely applicable to any sawtoothing plasma or plasma simulation and is inherently robust against uncertainties or plasma variations. Moreover, it can handle a broad class of disturbances. This is demonstrated by time-domain simulations, which show successful tracking of time-varying sawtooth period references throughout the whole operating space, even in the presence of variations in plasma parameters, disturbances and slow launcher mirror dynamics. Due to its simplicity and robustness the proposed ESC is a valuable sawtooth control candidate for any experimental tokamak plasma, and may even be applicable to other fusion-related control problems. (paper)

Damping characteristics of reinforced concrete structures

International Nuclear Information System (INIS)

Hisano, M.; Nagashima, I.; Kawamura, S.

1987-01-01

Reinforced concrete structures in a nuclear power plant are not permitted to go far into the inelasticity generally, even when subjected to strong ground motion. Therefore it is important to evaluate the damping appropriately in linear and after cracking stage before yielding in the dynamic response analysis. Next three dampings are considered of reinforced concrete structures. 1) Internal damping in linear range material damping of concrete without cracks;2) Hysteretic damping in inelastic range material hysteretic damping of concrete due to cracking and yielding;3) Damping due to the energy dissipation into the ground. Among these damping material damping affects dynamic response of a nuclear power plant on hard rock site where damping due to energy dissipation into the ground is scarcely expected. However material damping in linear and slightly nonlinear range have only been assumed without enough experimental data. In this paper such damping is investigated experimentally by the shaking table tests of reinforced concrete box-walls which modeled roughly the outer wall structure of a P.W.R. type nuclear power plant

Robust synergetic control design under inputs and states constraints

Science.gov (United States)

Rastegar, Saeid; Araújo, Rui; Sadati, Jalil

2018-03-01

In this paper, a novel robust-constrained control methodology for discrete-time linear parameter-varying (DT-LPV) systems is proposed based on a synergetic control theory (SCT) approach. It is shown that in DT-LPV systems without uncertainty, and for any unmeasured bounded additive disturbance, the proposed controller accomplishes the goal of stabilising the system by asymptotically driving the error of the controlled variable to a bounded set containing the origin and then maintaining it there. Moreover, given an uncertain DT-LPV system jointly subject to unmeasured and constrained additive disturbances, and constraints in states, input commands and reference signals (set points), then invariant set theory is used to find an appropriate polyhedral robust invariant region in which the proposed control framework is guaranteed to robustly stabilise the closed-loop system. Furthermore, this is achieved even for the case of varying non-zero control set points in such uncertain DT-LPV systems. The controller is characterised to have a simple structure leading to an easy implementation, and a non-complex design process. The effectiveness of the proposed method and the implications of the controller design on feasibility and closed-loop performance are demonstrated through application examples on the temperature control on a continuous-stirred tank reactor plant, on the control of a real-coupled DC motor plant, and on an open-loop unstable system example.

A robust H∞ control-based hierarchical mode transition control system for plug-in hybrid electric vehicle

Science.gov (United States)

Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng

2018-01-01

To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.

Characterization of the International Linear Collider damping ring optics

Science.gov (United States)

Shanks, J.; Rubin, D. L.; Sagan, D.

2014-10-01

A method is presented for characterizing the emittance dilution and dynamic aperture for an arbitrary closed lattice that includes guide field magnet errors, multipole errors and misalignments. This method, developed and tested at the Cornell Electron Storage Ring Test Accelerator (CesrTA), has been applied to the damping ring lattice for the International Linear Collider (ILC). The effectiveness of beam based emittance tuning is limited by beam position monitor (BPM) measurement errors, number of corrector magnets and their placement, and correction algorithm. The specifications for damping ring magnet alignment, multipole errors, number of BPMs, and precision in BPM measurements are shown to be consistent with the required emittances and dynamic aperture. The methodology is then used to determine the minimum number of position monitors that is required to achieve the emittance targets, and how that minimum depends on the location of the BPMs. Similarly, the maximum tolerable multipole errors are evaluated. Finally, the robustness of each BPM configuration with respect to random failures is explored.

Damage/Danger Associated Molecular Patterns (DAMPs Modulate Chlamydia pecorum and C. trachomatis Serovar E Inclusion Development In Vitro.

Directory of Open Access Journals (Sweden)

Cory Ann Leonard

Full Text Available Persistence, more recently termed the chlamydial stress response, is a viable but non-infectious state constituting a divergence from the characteristic chlamydial biphasic developmental cycle. Damage/danger associated molecular patterns (DAMPs are normal intracellular components or metabolites that, when released from cells, signal cellular damage/lysis. Purine metabolite DAMPs, including extracellular ATP and adenosine, inhibit chlamydial development in a species-specific manner. Viral co-infection has been shown to reversibly abrogate Chlamydia inclusion development, suggesting persistence/chlamydial stress. Because viral infection can cause host cell DAMP release, we hypothesized DAMPs may influence chlamydial development. Therefore, we examined the effect of extracellular ATP, adenosine, and cyclic AMP exposure, at 0 and 14 hours post infection, on C. pecorum and C. trachomatis serovar E development. In the absence of de novo host protein synthesis, exposure to DAMPs immediately post or at 14 hours post infection reduced inclusion size; however, the effect was less robust upon 14 hours post infection exposure. Additionally, upon exposure to DAMPs immediately post infection, bacteria per inclusion and subsequent infectivity were reduced in both Chlamydia species. These effects were reversible, and C. pecorum exhibited more pronounced recovery from DAMP exposure. Aberrant bodies, typical in virus-induced chlamydial persistence, were absent upon DAMP exposure. In the presence of de novo host protein synthesis, exposure to DAMPs immediately post infection reduced inclusion size, but only variably modulated chlamydial infectivity. Because chlamydial infection and other infections may increase local DAMP concentrations, DAMPs may influence Chlamydia infection in vivo, particularly in the context of poly-microbial infections.

Robust Temperature Control of a Thermoelectric Cooler via μ -Synthesis

Science.gov (United States)

Kürkçü, Burak; Kasnakoğlu, Coşku

2018-02-01

In this work robust temperature control of a thermoelectric cooler (TEC) via μ -synthesis is studied. An uncertain dynamical model for the TEC that is suitable for robust control methods is derived. The model captures variations in operating point due to current, load and temperature changes. A temperature controller is designed utilizing μ -synthesis, a powerful method guaranteeing robust stability and performance. For comparison two well-known control methods, namely proportional-integral-derivative (PID) and internal model control (IMC), are also realized to benchmark the proposed approach. It is observed that the stability and performance on the nominal model are satisfactory for all cases. On the other hand, under perturbations the responses of PID and IMC deteriorate and even become unstable. In contrast, the μ -synthesis controller succeeds in keeping system stability and achieving good performance under all perturbations within the operating range, while at the same time providing good disturbance rejection.

Wind/PV Generation for Frequency Regulation and Oscillation Damping in the Eastern Interconnection

Energy Technology Data Exchange (ETDEWEB)

Liu, Yong [Univ. of Tennessee, Knoxville, TN (United States); Gracia, Jose R. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Hadley, Stanton W. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Liu, Yilu [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

2013-12-01

This report presents the control of renewable energy sources, including the variable-speed wind generators and solar photovoltaic (PV) generators, for frequency regulation and inter-area oscillation damping in the U.S. Eastern Interconnection (EI). In this report, based on the user-defined wind/PV generator electrical control model and the 16,000-bus Eastern Interconnection dynamic model, the additional controllers for frequency regulation and inter-area oscillation damping are developed and incorporated and the potential contributions of renewable energy sources to the EI system frequency regulation and inter-area oscillation damping are evaluated.

Control of Full-Scale Converter based Wind Power Plants for damping of low frequency system oscillations

DEFF Research Database (Denmark)

Adamczyk, Andrzej Grzegorz; Teodorescu, Remus; Rodriguez, Pedro

2011-01-01

Damping of low frequency power oscillations is one of essential aspects of maintaining power system stability. In literature can be found publications on damping capability of Doubly Fed Induction Generator based wind turbines. This paper extends discussion on Wind Power Plant damping capability...

Observer-Based Robust Control for Spacecraft Rendezvous with Thrust Saturation

Directory of Open Access Journals (Sweden)

Neng Wan

2014-01-01

Full Text Available This paper proposes an observer-based robust guaranteed cost control method for thrust-limited rendezvous in near-circular orbits. Treating the noncircularity of the target orbit as a parametric uncertainty, a linearized motion model derived from the two-body problem is adopted as the controlled plant. Based on this model, a robust guaranteed cost observer-controller is synthesized with a less conservative saturation control law, and sufficient condition for the existence of this observer-based rendezvous controller is derived. Finally, an illustrative example with immeasurable velocity states is presented to demonstrate the advantages and effectiveness of the control scheme.

Matlab as a robust control design tool

Science.gov (United States)

Gregory, Irene M.

1994-01-01

This presentation introduces Matlab as a tool used in flight control research. The example used to illustrate some of the capabilities of this software is a robust controller designed for a single stage to orbit air breathing vehicles's ascent to orbit. The global requirements of the controller are to stabilize the vehicle and follow a trajectory in the presence of atmospheric disturbances and strong dynamic coupling between airframe and propulsion.

Robust Geometric Control of a Distillation Column

DEFF Research Database (Denmark)

Kymmel, Mogens; Andersen, Henrik Weisberg

1987-01-01

A frequency domain method, which makes it possible to adjust multivariable controllers with respect to both nominal performance and robustness, is presented. The basic idea in the approach is that the designer assigns objectives such as steady-state tracking, maximum resonance peaks, bandwidth, m...... is used to examine and improve geometric control of a binary distillation column....

Robust nonlinear control of nuclear reactors under model uncertainty

International Nuclear Information System (INIS)

Park, Moon Ghu

1993-02-01

A nonlinear model-based control method is developed for the robust control of a nuclear reactor. The nonlinear plant model is used to design a unique control law which covers a wide operating range. The robustness is a crucial factor for the fully automatic control of reactor power due to time-varying, uncertain parameters, and state estimation error, or unmodeled dynamics. A variable structure control (VSC) method is introduced which consists of an adaptive performance specification (fime control) after the tracking error reaches the narrow boundary-layer by a time-optimal control (coarse control). Variable structure control is a powerful method for nonlinear system controller design which has inherent robustness to parameter variations or external disturbances using the known uncertainty bounds, and it requires very low computational efforts. In spite of its desirable properties, conventional VSC presents several important drawbacks that limit its practical applicability. One of the most undesirable phenomena is chattering, which implies extremely high control activity and may excite high-frequency unmodeled dynamics. This problem is due to the neglected actuator time-delay or sampling effects. The problem was partially remedied by replacing chattering control by a smooth control inter-polation in a boundary layer neighnboring a time-varying sliding surface. But, for the nuclear reactor systems which has very fast dynamic response, the sampling effect may destroy the narrow boundary layer when a large uncertainty bound is used. Due to the very short neutron life time, large uncertainty bound leads to the high gain in feedback control. To resolve this problem, a derivative feedback is introduced that gives excellent performance by reducing the uncertainty bound. The stability of tracking error dynamics is guaranteed by the second method of Lyapunov using the two-level uncertainty bounds that are obtained from the knowledge of uncertainty bound and the estimated

Public health and economic impact of dampness and mold

Energy Technology Data Exchange (ETDEWEB)

Mudarri, David; Fisk, William J.

2007-06-01

The public health risk and economic impact of dampness and mold exposures was assessed using current asthma as a health endpoint. Individual risk of current asthma from exposure to dampness and mold in homes from Fisk et al. (2007), and asthma risks calculated from additional studies that reported the prevalence of dampness and mold in homes were used to estimate the proportion of U.S. current asthma cases that are attributable to dampness and mold exposure at 21% (95% confidence internal 12-29%). An examination of the literature covering dampness and mold in schools, offices, and institutional buildings, which is summarized in the appendix, suggests that risks from exposure in these buildings are similar to risks from exposures in homes. Of the 21.8 million people reported to have asthma in the U.S., approximately 4.6 (2.7-6.3) million cases are estimated to be attributable to dampness and mold exposure in the home. Estimates of the national cost of asthma from two prior studies were updated to 2004 and used to estimate the economic impact of dampness and mold exposures. By applying the attributable fraction to the updated national annual cost of asthma, the national annual cost of asthma that is attributable to dampness and mold exposure in the home is estimated to be $3.5 billion ($2.1-4.8 billion). Analysis indicates that exposure to dampness and mold in buildings poses significant public health and economic risks in the U.S. These findings are compatible with public policies and programs that help control moisture and mold in buildings.

Nonlinear Robust Control for Low Voltage Direct-Current Residential Microgrids with Constant Power Loads

Directory of Open Access Journals (Sweden)

Martín-Antonio Rodríguez-Licea

2018-05-01

Full Text Available A Direct Current (DC microgrid is a concept derived from a smart grid integrating DC renewable sources. The DC microgrids have three particularities: (1 integration of different power sources and local loads through a DC link; (2 on-site power source generation; and (3 alternating loads (on-off state. This kind of arrangement achieves high efficiency, reliability and versatility characteristics. The key device in the development of the DC microgrid is the power electronic converter (PEC, since it allows an efficient energy conversion between power sources and loads. However, alternating loads with strictly-controlled PECs can provide negative impedance behavior to the microgrid, acting as constant power loads (CPLs, such that the overall closed-loop system becomes unstable. Traditional CPL compensation techniques rely on a damping increment by the adaptation of the source or load voltage level, adding external circuitry or by using some advanced control technique. However, none of them provide a simple and general solution for the CPL problem when abrupt changes in parameters and/or in alternating loads/sources occur. This paper proposes a mathematical modeling and a robust control for the basic PECs dealing with CPLs in continuous conduction mode. In particular, the case of the low voltage residential DC microgrid with CPLs is taken as a benchmark. The proposed controller can be easily tuned for the desired response even by the non-expert. Basic converters with voltage mode control are taken as a basis to show the feasibility of this analysis, and experimental tests on a 100-W testbed include abrupt parameter changes such as input voltage.

Squeeze-Film Air Damping of a Five-Axis Electrostatic Bearing for Rotary Micromotors.

Science.gov (United States)

Wang, Shunyue; Han, Fengtian; Sun, Boqian; Li, Haixia

2017-05-13

Air-film damping, which dominates over other losses, plays a significant role in the dynamic response of many micro-fabricated devices with a movable mass suspended by various bearing mechanisms. Modeling the damping characteristics accurately will be greatly helpful to the bearing design, control, and test in various micromotor devices. This paper presents the simulated and experimental squeeze-film air damping results of an electrostatic bearing for use in a rotary high-speed micromotor. It is shown that the boundary condition to solve the three-dimensional Reynolds equation, which governs the squeeze-film damping in the air gap between the rotor and its surrounding stator sealed in a three-layer evacuated cavity, behaves with strong cross-axis coupling characteristics. To accurately characterize the damping effect, a set of multiphysics finite-element simulations are performed by computing both the rotor velocity and the distribution of the viscous damping force acting on the rotor. The damping characteristics varying with several key structure parameters are simulated and discussed to optimize the device structure for desirable rotor dynamics. An electrical measurement method is also proposed and applied to validate the numerical results of the damping coefficients experimentally. Given that the frequency response of the electric bearing is critically dependent on the damping coefficients at atmospheric pressure, a solution to the air-film damping measurement problem is presented by taking approximate curve fitting of multi-axis experimental frequency responses. The measured squeeze-film damping coefficients for the five-axis electric bearing agrees well with the numerical solutions. This indicates that numerical multiphysics simulation is an effective method to accurately examine the air-film damping effect for complex device geometry and arbitrary boundary condition. The accurate damping coefficients obtained by FEM simulation will greatly simplify the design

Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

Institute of Scientific and Technical Information of China (English)

TIAN Yan-feng; GUO Qing-ding

2005-01-01

A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

Extended Rayleigh Damping Model

Directory of Open Access Journals (Sweden)

Naohiro Nakamura

2016-07-01

Full Text Available In dynamic analysis, frequency domain analysis can be used if the entire structure is linear. However, time history analysis is generally used if nonlinear elements are present. Rayleigh damping has been widely used in time history response analysis. Many articles have reported the problems associated with this damping and suggested remedies. A basic problem is that the frequency area across which the damping ratio is almost constant is too narrow. If the area could be expanded while incurring only a small increase in computational cost, this would provide an appropriate remedy for this problem. In this study, a novel damping model capable of expanding the constant frequency area by more than five times was proposed based on the study of a causal damping model. This model was constructed by adding two terms to the Rayleigh damping model and can be applied to the linear elements in the time history analysis of a nonlinear structure. The accuracy and efficiency of the model were confirmed using example analyses.

Robust Distributed Model Predictive Load Frequency Control of Interconnected Power System

Directory of Open Access Journals (Sweden)

Xiangjie Liu

2013-01-01

Full Text Available Considering the load frequency control (LFC of large-scale power system, a robust distributed model predictive control (RDMPC is presented. The system uncertainty according to power system parameter variation alone with the generation rate constraints (GRC is included in the synthesis procedure. The entire power system is composed of several control areas, and the problem is formulated as convex optimization problem with linear matrix inequalities (LMI that can be solved efficiently. It minimizes an upper bound on a robust performance objective for each subsystem. Simulation results show good dynamic response and robustness in the presence of power system dynamic uncertainties.

Adaptive integral robust control and application to electromechanical servo systems.

Science.gov (United States)

Deng, Wenxiang; Yao, Jianyong

2017-03-01

This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Closed-form eigensolutions of nonviscously, nonproportionally damped systems based on continuous damping sensitivity

Science.gov (United States)

Lázaro, Mario

2018-01-01

In this paper, nonviscous, nonproportional, vibrating structures are considered. Nonviscously damped systems are characterized by dissipative mechanisms which depend on the history of the response velocities via hereditary kernel functions. Solutions of the free motion equation lead to a nonlinear eigenvalue problem involving mass, stiffness and damping matrices. Viscoelasticity leads to a frequency dependence of this latter. In this work, a novel closed-form expression to estimate complex eigenvalues is derived. The key point is to consider the damping model as perturbed by a continuous fictitious parameter. Assuming then the eigensolutions as function of this parameter, the computation of the eigenvalues sensitivity leads to an ordinary differential equation, from whose solution arises the proposed analytical formula. The resulting expression explicitly depends on the viscoelasticity (frequency derivatives of the damping function), the nonproportionality (influence of the modal damping matrix off-diagonal terms). Eigenvectors are obtained using existing methods requiring only the corresponding eigenvalue. The method is validated using a numerical example which compares proposed with exact ones and with those determined from the linear first order approximation in terms of the damping matrix. Frequency response functions are also plotted showing that the proposed approach is valid even for moderately or highly damped systems.

Robust reconfigurable control for parametric and additive faults with FDI uncertainties

DEFF Research Database (Denmark)

Stoustrup, Jakob; Yang, Zhenyu

2000-01-01

From the system recoverable point of view, this paper discusses robust reconfigurable control synthesis for LTI systems and a class of nonlinear control systems with parametric and additive faults as well as derivations generated by FDI algorithms. By following the model-matching strategy......, an augmented optimal control problem is constructed based on the considered faulty and fictitious nominal systems, such that the robust control design techniques, such as H-infinity control and mu synthesis, can be employed for the reconfigurable control design....

Landau Damping Revisited

International Nuclear Information System (INIS)

Rees, John; Chao, Alexander

2008-01-01

Landau damping, as the term is used in accelerator science, is a physical process in which an ensemble of harmonic oscillators--an accelerator beam, for example--that would otherwise be unstable is stabilized by a spread in the natural frequencies of the oscillators. This is a study of the most basic aspects of that process. It has two main goals: to gain a deeper insight into the mechanism of Landau damping and to find the coherent motion of the ensemble and thus the dependence of the total damping rate on the frequency spread

Robust control of flexible space vehicles with minimum structural excitation: On-off pulse control of flexible space vehicles

Science.gov (United States)

Wie, Bong; Liu, Qiang

1992-01-01

Both feedback and feedforward control approaches for uncertain dynamical systems (in particular, with uncertainty in structural mode frequency) are investigated. The control objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant uncertainty. Preshaping of an ideal, time optimal control input using a tapped-delay filter is shown to provide a fast settling time with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. It is shown that a properly designed, feedback controller performs well, as compared with a time optimal open loop controller with special preshaping for performance robustness. Also included are two separate papers by the same authors on this subject.

Application of robust fuzzy control in power control of nuclear reactor

International Nuclear Information System (INIS)

Liu Lei; Luan Xiuchun; Jin Guangyuan; Yu Tao; Rao Su

2013-01-01

Robust-fuzzy controller based on T-S fuzzy model was designed for real-time controlling of nuclear reactor power and adapting to the load changing of power grid. Local controller was designed by means of state feedback technique, and the global controller was designed by parallel distributed compensation (PDC) method. The result of solving linear matrix inequalities (LMI) proves that this controller is stable. The simulation shows that the nuclear power can be well controlled in three typical conditions by this controller. (authors)

Global dynamics and control of a comprehensive nonlinear beam equation

International Nuclear Information System (INIS)

You Yuncheng; Taboada, M.

1994-01-01

A nonlinear hinged extensible elastic beam equation with the structural damping and Balakrishnan-Taylor damping of full exponent is studied as a general model for large space structures. It is proved that there exists an absorbing set in the energy space and that there exist inertial manifolds whose exponential attracting rates however are nonuniform. The control spillover problem associated with the stabilization of this equation is resolved by constructing a linear finite-dimensional feedback control based on the existence of inertial manifolds of the uncontrolled equation. Moreover, the results obtained are robust with respect to uncertainty in the structural parameters. (author). 5 refs

Damping in LMFBR pipe systems

International Nuclear Information System (INIS)

Anderson, M.J.; Barta, D.A.; Lindquist, M.R.; Renkey, E.J.; Ryan, J.A.

1983-06-01

LMFBR pipe systems typically utilize a thicker insulation package than that used on water plant pipe systems. They are supported with special insulated pipe clamps. Mechanical snubbers are employed to resist seismic loads. Recent laboratory testing has indicated that these features provide significantly more damping than presently allowed by Regulatory Guide 1.61 for water plant pipe systems. This paper presents results of additional in-situ vibration tests conducted on FFTF pipe systems. Pipe damping values obtained at various excitation levels are presented. Effects of filtering data to provide damping values at discrete frequencies and the alternate use of a single equivalent modal damping value are discussed. These tests further confirm that damping in typical LMFBR pipe systems is larger than presently used in pipe design. Although some increase in damping occurred with increased excitation amplitude, the effect was not significant. Recommendations are made to use an increased damping value for both the OBE and DBE seismic events in design of LMFBR pipe systems

Comparison of Damping Mechanisms for Transverse Waves in Solar Coronal Loops

Energy Technology Data Exchange (ETDEWEB)

Montes-Solís, María; Arregui, Iñigo, E-mail: mmsolis@iac.es [Instituto de Astrofísica de Canarias, E-38205 La Laguna, Tenerife (Spain)

2017-09-10

We present a method to assess the plausibility of alternative mechanisms to explain the damping of magnetohydrodynamic transverse waves in solar coronal loops. The considered mechanisms are resonant absorption of kink waves in the Alfvén continuum, phase mixing of Alfvén waves, and wave leakage. Our methods make use of Bayesian inference and model comparison techniques. We first infer the values for the physical parameters that control the wave damping, under the assumption of a particular mechanism, for typically observed damping timescales. Then, the computation of marginal likelihoods and Bayes factors enable us to quantify the relative plausibility between the alternative mechanisms. We find that, in general, the evidence is not large enough to support a single particular damping mechanism as the most plausible one. Resonant absorption and wave leakage offer the most probable explanations in strong damping regimes, while phase mixing is the best candidate for weak/moderate damping. When applied to a selection of 89 observed transverse loop oscillations, with their corresponding measurements of damping timescales and taking into account data uncertainties, we find that positive evidence for a given damping mechanism is only available in a few cases.

Comparison of Damping Mechanisms for Transverse Waves in Solar Coronal Loops

International Nuclear Information System (INIS)

Montes-Solís, María; Arregui, Iñigo

2017-01-01

We present a method to assess the plausibility of alternative mechanisms to explain the damping of magnetohydrodynamic transverse waves in solar coronal loops. The considered mechanisms are resonant absorption of kink waves in the Alfvén continuum, phase mixing of Alfvén waves, and wave leakage. Our methods make use of Bayesian inference and model comparison techniques. We first infer the values for the physical parameters that control the wave damping, under the assumption of a particular mechanism, for typically observed damping timescales. Then, the computation of marginal likelihoods and Bayes factors enable us to quantify the relative plausibility between the alternative mechanisms. We find that, in general, the evidence is not large enough to support a single particular damping mechanism as the most plausible one. Resonant absorption and wave leakage offer the most probable explanations in strong damping regimes, while phase mixing is the best candidate for weak/moderate damping. When applied to a selection of 89 observed transverse loop oscillations, with their corresponding measurements of damping timescales and taking into account data uncertainties, we find that positive evidence for a given damping mechanism is only available in a few cases.

Stability Analysis and Active Damping for LLCL-filter-Based Grid-Connected Inverters

DEFF Research Database (Denmark)

Huang, Min; Wang, Xiongfei; Loh, Poh Chiang

2015-01-01

to use either passive or active damping methods. This paper analyzes the stability of the LLCL-filter based grid-connected inverter and identifies a critical resonant frequency for the LLCL-filter when sampling and transport delays are considered. In a high resonant frequency region the active damping...... is not required but in a low resonant frequency region the active damping is necessary. The basic LLCL resonance damping properties of different feedback states based on a notch filter concept are also studied. Then an active damping method which is using the capacitor current feedback for LLCL......-filter is introduced. Based on this active damping method, a design procedure for the controller is given. Last, both simulation and experimental results are provided to validate the theoretical analysis of this paper....

TCSC control structures for line power scheduling and methods to determine their location and tuning to damp system oscillations

Energy Technology Data Exchange (ETDEWEB)

Martins, N; Pinto, H J.C.P.; Bianco, A [Centro de Pesquisas de Energia Eletrica (CEPEL), Rio de Janeiro, RJ (Brazil); Macedo, N J.P. [FURNAS, Rio de Janeiro, RJ (Brazil)

1994-12-31

This paper describes control structures and computer methods to enhance the practical use of thyristor controlled series compensation (TCSC) in power systems. The location and controller design of the TCS devices, to damp system oscillations, are based on modal analysis and frequency response techniques, respectively. Results are given for a large practical power system. (author) 15 refs., 18 figs., 5 tabs.

Design of the SLC damping ring to linac transport lines

International Nuclear Information System (INIS)

Fieguth, T.H.; Murray, J.J.

1983-07-01

The first and second order optics for the damping ring to linac transport line are designed to preserve the damped transverse emittance while simultaneously compressing the bunch length of the beam to that length required for reinjection into the linac. This design, including provisions for future control of beam polarization, is described

Robust Tracking Control for Rendezvous in Near-Circular Orbits

Directory of Open Access Journals (Sweden)

Neng Wan

2013-01-01

Full Text Available This paper investigates a robust guaranteed cost tracking control problem for thrust-limited spacecraft rendezvous in near-circular orbits. Relative motion model is established based on the two-body problem with noncircularity of the target orbit described as a parameter uncertainty. A guaranteed cost tracking controller with input saturation is designed via a linear matrix inequality (LMI method, and sufficient conditions for the existence of the robust tracking controller are derived, which is more concise and less conservative compared with the previous works. Numerical examples are provided for both time-invariant and time-variant reference signals to illustrate the effectiveness of the proposed control scheme when applied to the terminal rendezvous and other astronautic missions with scheduled states signal.

Robust intelligent backstepping tracking control for uncertain non-linear chaotic systems using H∞ control technique

International Nuclear Information System (INIS)

Peng, Y.-F.

2009-01-01

The cerebellar model articulation controller (CMAC) is a non-linear adaptive system with built-in simple computation, good generalization capability and fast learning property. In this paper, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive CMAC and H ∞ control technique is proposed for a class of chaotic systems with unknown system dynamics and external disturbance. In the proposed control system, an adaptive backstepping cerebellar model articulation controller (ABCMAC) is used to mimic an ideal backstepping control (IBC), and a robust H ∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis, the Taylor linearization technique and H ∞ control theory, so that the stability of the closed-loop system and H ∞ tracking performance can be guaranteed. Finally, three application examples, including a Duffing-Holmes chaotic system, a Genesio chaotic system and a Sprott circuit system, are used to demonstrate the effectiveness and performance of proposed robust control technique.

Robust H∞ Control for Spacecraft Rendezvous with a Noncooperative Target

Directory of Open Access Journals (Sweden)

Shu-Nan Wu

2013-01-01

Full Text Available The robust H∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H∞ performance and finite time performance are proposed, and a robust H∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller.

Kinematically Optimal Robust Control of Redundant Manipulators

Science.gov (United States)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

A Robust Practical Generalized Predictive Control for BoilerSuper Heater Temperature Control

OpenAIRE

Zaki Maki Mohialdeen

2015-01-01

A practical method of robust generalized predictive controller (GPC) application is developed using a combination of Ziegler-Nichols type functions relating the GPC controller parameters to a first order with time delay process parameters and a model matching controller. The GPC controller and the model matching controller are used in a master/slave configuration, with the GPC as the master controller and the model matching controller as the slave controlle...

Design and Validation of Optimized Feedforward with Robust Feedback Control of a Nuclear Reactor

International Nuclear Information System (INIS)

Shaffer, Roman; He Weidong; Edwards, Robert M.

2004-01-01

Design applications for robust feedback and optimized feedforward control, with confirming results from experiments conducted on the Pennsylvania State University TRIGA reactor, are presented. The combination of feedforward and feedback control techniques complement each other in that robust control offers guaranteed closed-loop stability in the presence of uncertainties, and optimized feedforward offers an approach to achieving performance that is sometimes limited by overly conservative robust feedback control. The design approach taken in this work combines these techniques by first designing robust feedback control. Alternative methods for specifying a low-order linear model and uncertainty specifications, while seeking as much performance as possible, are discussed and evaluated. To achieve desired performance characteristics, the optimized feedforward control is then computed by using the nominal nonlinear plant model that incorporates the robust feedback control

Comparison of adaptive critic-based and classical wide-area controllers for power systems.

Science.gov (United States)

Ray, Swakshar; Venayagamoorthy, Ganesh Kumar; Chaudhuri, Balarko; Majumder, Rajat

2008-08-01

An adaptive critic design (ACD)-based damping controller is developed for a thyristor-controlled series capacitor (TCSC) installed in a power system with multiple poorly damped interarea modes. The performance of this ACD computational intelligence-based method is compared with two classical techniques, which are observer-based state-feedback (SF) control and linear matrix inequality LMI-H(infinity) robust control. Remote measurements are used as feedback signals to the wide-area damping controller for modulating the compensation of the TCSC. The classical methods use a linearized model of the system whereas the ACD method is purely measurement-based, leading to a nonlinear controller with fixed parameters. A comparative analysis of the controllers' performances is carried out under different disturbance scenarios. The ACD-based design has shown promising performance with very little knowledge of the system compared to classical model-based controllers. This paper also discusses the advantages and disadvantages of ACDs, SF, and LMI-H(infinity).

Robust output feedback H-infinity control and filtering for uncertain linear systems

CERN Document Server

Chang, Xiao-Heng

2014-01-01

"Robust Output Feedback H-infinity Control and Filtering for Uncertain Linear Systems" discusses new and meaningful findings on robust output feedback H-infinity control and filtering for uncertain linear systems, presenting a number of useful and less conservative design results based on the linear matrix inequality (LMI) technique. Though primarily intended for graduate students in control and filtering, the book can also serve as a valuable reference work for researchers wishing to explore the area of robust H-infinity control and filtering of uncertain systems. Dr. Xiao-Heng Chang is a Professor at the College of Engineering, Bohai University, China.

Robust PID Controller for a Pneumatic Actuator

Directory of Open Access Journals (Sweden)

Skarpetis Michael G.

2016-01-01

Full Text Available In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provide a suboptimal solution for tracking error minimization. Simulation results are presented for the nonlinear model.

Evaluation of Residue Based Power Oscillation Damping Control of Inter-area Oscillations for Static Power Sources

DEFF Research Database (Denmark)

Adamczyk, Andrzej Grzegorz; Teodorescu, Remus; Iov, Florin

2012-01-01

Low frequency inter-area oscillations are known stability issue of large interconnected electrical grids. It was demonstrated that additional control loop can be applied for static power sources, like FACTS, HVDC or modern Wind Power Plants, to modulate their power output and successfully attenuate......, it is proposed to give more attention to additional indices like transfer function zero location and interactions between mode of interest and other system dynamics. Consequently, additional rules are proposed for residue based damping control design....

Robust chaotic control of Lorenz system by backstepping design

International Nuclear Information System (INIS)

Peng, C.-C.; Chen, C.-L.

2008-01-01

This work presents a robust chaotic control strategy for the Lorenz chaos via backstepping design. Backstepping technique is a systematic tool of control law design to provide Lyapunov stability. The concept of extended system is used such that a continuous sliding mode control (SMC) effort is generated using backstepping scheme. In the proposed control algorithm, an adaptation law is applied to estimate the system parameter and the SMC offers the robustness to model uncertainties and external disturbances so that the asymptotical convergence of tracking error can be achieved. Regarding the SMC, an equivalent control algorithm is chosen based on the selection of Lyapunov stability criterion during backstepping approach. The converging rate of error state is relative to the corresponding dynamics of sliding surface. Numerical simulations demonstrate its advantages to a regulation problem and an orbit tracking problem of the Lorenz chaos

A new robust control for minirotorcraft unmanned aerial vehicles.

Science.gov (United States)

Mokhtari, M Rida; Cherki, Brahim

2015-05-01

This paper presents a new robust control based on finite-time Lyapunov stability controller and proved with backstepping method for the position and the attitude of a small rotorcraft unmanned aerial vehicle subjected to bounded uncertainties and disturbances. The dynamical motion equations are obtained by the Newton-Euler formalism. The proposed controller combines the advantage of the backstepping approach with finite-time convergence techniques to generate a control laws to guarantee the faster convergence of the state variables to their desired values in short time and compensate for the bounded disturbances. A formal proof of the closed-loop stability and finite-time convergence of tracking errors is derived using the Lyapunov function technique. Simulation results are presented to corroborate the effectiveness and the robustness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Nuclear piping system damping data studies

International Nuclear Information System (INIS)

Ware, A.G.; Arendts, J.G.

1985-01-01

A programm has been conducted at the Idaho National Engineering Laboratory to study structural damping data for nuclear piping systems and to evaluate if changes in allowable damping values for structural seismic analyses are justified. The existing pipe damping data base was examined, from which a conclusion was made that there were several sets of data to support higher allowable values. The parameters which most influence pipe damping were identified and an analytical investigation demonstrated that increased damping would reduce the required number of seismic supports. A series of tests on several laboratory piping systems was used to determine the effect of various parameters such as types of supports, amplitude of vibration, frequency, insulation, and pressure on damping. A multiple regression analysis was used to statistically assess the influence of the various parameters on damping, and an international pipe damping data bank has been formed. (orig.)

Observer-Based Robust Control of Uncertain Switched Fuzzy Systems with Combined Switching Controller

Directory of Open Access Journals (Sweden)

Hong Yang

2013-01-01

Full Text Available The observer-based robust control for a class of switched fuzzy (SF time-delay systems involving uncertainties and external disturbances is investigated in this paper. A switched fuzzy system, which differs from existing ones, is firstly employed to describe a nonlinear system. Next, a combined switching controller is proposed. The designed controller based on the observer instead of the state information integrates the advantages of both the switching controllers and the supplementary controllers but eliminates their disadvantages. The proposed controller provides good performance during the transient period, and the chattering effect is removed when the system state approaches the origin. Sufficient condition for the solvability of the robust control problem is given for the case that the state of system is not available. Since convex combination techniques are used to derive the delay-independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach.

Robust transient stabilisation problem for a synchronous generator in a power network

Science.gov (United States)

Verrelli, C. M.; Damm, G.

2010-04-01

The robust transient stabilisation problem (with stability proof€) of a synchronous generator in an uncertain power network with transfer conductances is rigorously formulated and solved. The generator angular speed and electrical power are required to be kept close, when mechanical and electrical perturbations occur, to the synchronous speed and mechanical input power, respectively, while the generator terminal voltage is to be regulated, when perturbations are removed, to its pre-fault reference constant value. A robust adaptive nonlinear feedback control algorithm is designed on the basis of a third-order model of the synchronous machine: only two system parameters (synchronous machine damping and inertia constants) along with upper and lower bounds on the remaining uncertain ones are supposed to be known. The conditions to be satisfied by the remote network dynamics for guaranteeing ℒ2 and ℒ∞ robustness and asymptotic relative speed and voltage regulation to zero are weaker than those required by the single machine-infinite bus approximation: dynamic interactions between the local deviations of the generator states from the corresponding equilibrium values and the remote generators states are allowed.

Robust control investigations for equipment loaded panels

DEFF Research Database (Denmark)

Aglietti, G.S.; Langley, R.S.; Rogers, E.

1998-01-01

This paper develops a modelling technique for equipment load panels which directly produces (adequate) models of the underlying dynamics on which to base robust controller design/evaluations. This technique is based on the use of the Lagrange's equations of motion and the resulting models...

Robust balance shift control with posture optimization

NARCIS (Netherlands)

Kavafoglu, Z.; Kavafoglu, Ersan; Egges, J.

2015-01-01

In this paper we present a control framework which creates robust and natural balance shifting behaviours during standing. Given high-level features such as the position of the center of mass projection and the foot configurations, a kinematic posture satisfying these features is synthesized using

Grid-Current-Feedback Active Damping for LCL Resonance in Grid-Connected Voltage-Source Converters

DEFF Research Database (Denmark)

Wang, Xiongfei; Blaabjerg, Frede; Loh, Poh Chiang

2016-01-01

This paper investigates active damping of LCL-filter resonance in a grid-connected voltage-source converter with only grid-current feedback control. Basic analysis in the s-domain shows that the proposed damping technique with a negative high-pass filter along its damping path is equivalent...... of phase-lag, in turn, helps to shrink the region of nonminimum-phase behavior caused by negative virtual resistance inserted unintentionally by most digitally implemented active damping techniques. The presented high-pass-filtered active damping technique with a single grid-current feedback loop is thus...

Robust Model Predictive Control of Networked Control Systems under Input Constraints and Packet Dropouts

Directory of Open Access Journals (Sweden)

Deyin Yao

2014-01-01

Full Text Available This paper deals with the problem of robust model predictive control (RMPC for a class of linear time-varying systems with constraints and data losses. We take the polytopic uncertainties into account to describe the uncertain systems. First, we design a robust state observer by using the linear matrix inequality (LMI constraints so that the original system state can be tracked. Second, the MPC gain is calculated by minimizing the upper bound of infinite horizon robust performance objective in terms of linear matrix inequality conditions. The method of robust MPC and state observer design is illustrated by a numerical example.

Damping measurements in flowing water

Science.gov (United States)

Coutu, A.; Seeley, C.; Monette, C.; Nennemann, B.; Marmont, H.

2012-11-01

Fluid-structure interaction (FSI), in the form of mass loading and damping, governs the dynamic response of water turbines, such as Francis turbines. Water added mass and damping are both critical quantities in evaluating the dynamic response of the turbine component. Although the effect of fluid added mass is well documented, fluid damping, a critical quantity to limit vibration amplitudes during service, and therefore to help avoiding possible failure of the turbines, has received much less attention in the literature. This paper presents an experimental investigation of damping due to FSI. The experimental setup, designed to create dynamic characteristics similar to the ones of Francis turbine blades is discussed, together with the experimental protocol and examples of measurements obtained. The paper concludes with the calculated damping values and a discussion on the impact of the observed damping behaviour on the response of hydraulic turbine blades to FSI.

Damping measurements in flowing water

International Nuclear Information System (INIS)

Coutu, A; Monette, C; Nennemann, B; Marmont, H; Seeley, C

2012-01-01

Fluid-structure interaction (FSI), in the form of mass loading and damping, governs the dynamic response of water turbines, such as Francis turbines. Water added mass and damping are both critical quantities in evaluating the dynamic response of the turbine component. Although the effect of fluid added mass is well documented, fluid damping, a critical quantity to limit vibration amplitudes during service, and therefore to help avoiding possible failure of the turbines, has received much less attention in the literature. This paper presents an experimental investigation of damping due to FSI. The experimental setup, designed to create dynamic characteristics similar to the ones of Francis turbine blades is discussed, together with the experimental protocol and examples of measurements obtained. The paper concludes with the calculated damping values and a discussion on the impact of the observed damping behaviour on the response of hydraulic turbine blades to FSI.

Passive acoustic radiation control for a vibrating panel with piezoelectric shunt damping circuit using particle swarm optimization algorithm

International Nuclear Information System (INIS)

Jeon, Jin Young

2009-01-01

This paper presents a new acoustic radiation optimization method for a vibrating panel-like structure with a passive piezoelectric shunt damping system in order to minimize well-radiating modes generated from the panel. The optimization method is based on an idea of using the p-version finite element method(p-version FEM), the boundary element method(BEM), and the particle swarm optimization algorithm(PSOA). Optimum embossment design for the vibrating panel using the PSOA is first investigated in order to minimize noise radiation over a frequency range of interest. The optimum embossment design works as a kind of stiffener so that well-radiating natural modes are shifted up with some degrees. The optimized panel, however, may still require additional damping for attenuating the peak acoustic amplitudes. A passive shunt damping system is thus employed to additionally damp the well-radiating modes from the optimized panel. To numerically evaluate the acoustic multiple-mode damping capability by a shunt damping system, the integrated p-version FEM/BEM for the panel with the shunt damping system is modeled and developed by MATLAB. Using the PSOA, the optimization technique for the optimal multiple-mode shunt damper is investigated in order to achieve the optimum damping performance for the well-radiating modes simultaneously. Also, the acoustic damping performance of the shunt damping circuit in the acoustic environment is demonstrated numerically and experimentally with respect to the realistically sized panel. The simulated result shows a good agreement with that of the experimental result

Damping Methods for Resonances Caused by LCL-Filter-Based Current-Controlled Grid-Tied Power Inverters

DEFF Research Database (Denmark)

Wu, Weimin; Liu, Yuan; He, Yuanbin

2017-01-01

Grid-tied voltage source inverters using LCL filter have been widely adopted in distributed power generation systems (DPGSs). As high-order LCL filters contain multiple resonant frequencies, switching harmonics generated by the inverter and current harmonics generated by the active/passive loads...... innovative damping methods have been proposed. A comprehensive overview on those contributions and their classification on the inverter- and grid-side damping measures are presented. Based on the concept of the impedance-based stability analysis, all damping methods can ensure the system stability...

Power flow control and damping enhancement of a large wind farm using a superconducting magnetic energy storage unit

DEFF Research Database (Denmark)

Chen, S. S.; Wang, L.; Lee, W. J.

2009-01-01

A novel scheme using a superconducting magnetic energy storage (SMES) unit to perform both power flow control and damping enhancement of a large wind farm (WF) feeding to a utility grid is presented. The studied WF consisting of forty 2 MW wind induction generators (IGs) is simulated...

Transit-Time Damping, Landau Damping, and Perturbed Orbits

Science.gov (United States)

Simon, A.; Short, R. W.

1997-11-01

Transit-time damping(G.J. Morales and Y.C. Lee, Phys. Rev. Lett. 33), 1534 (1974).*^,*(P.A. Robinson, Phys. Fluids B 3), 545 (1991).** has traditionally been obtained by calculating the net energy gain of transiting electrons, of velocity v, to order E^2* in the amplitude of a localized electric field. This necessarily requires inclusion of the perturbed orbits in the equation of motion. A similar method has been used by others(D.R. Nicholson, Introduction to Plasma Theory) (Wiley, 1983).*^,*(E.M. Lifshitz and L.P. Pitaevskifi, Physical Kinetics) (Pergamon, 1981).** to obtain a ``physical'' picture of Landau damping in a nonlocalized field. The use of perturbed orbits seems odd since the original derivation of Landau (and that of Dawson) never went beyond a linear picture of the dynamics. We introduce a novel method that takes advantage of the time-reversal invariance of the Vlasov equation and requires only the unperturbed orbits to obtain the result. Obviously, there is much reduction in complexity. Application to finite slab geometry yields a simple expression for the damping rate. Equivalence to much more complicated results^2* is demonstrated. This method allows us to calculate damping in more complicated geometries and more complex electric fields, such as occur in SRS in filaments. See accompanying talk.(R.W. Short and A. Simon, this conference.) This work was supported by the U.S. DOE Office of Inertial Confinement Fusion under Co-op Agreement No. DE-FC03-92SF19460.

Damping in Timber Structures

OpenAIRE

Labonnote, Nathalie

2012-01-01

Key point to development of environmentally friendly timber structures, appropriate to urban ways of living, is the development of high-rise timber buildings. Comfort properties are nowadays one of the main limitations to tall timber buildings, and an enhanced knowledge on damping phenomena is therefore required, as well as improved prediction models for damping. The aim of this work has consequently been to estimate various damping quantities in timber structures. In particular, models h...

Robust approximation-free prescribed performance control for nonlinear systems and its application

Science.gov (United States)

Sun, Ruisheng; Na, Jing; Zhu, Bin

2018-02-01

This paper presents a robust prescribed performance control approach and its application to nonlinear tail-controlled missile systems with unknown dynamics and uncertainties. The idea of prescribed performance function (PPF) is incorporated into the control design, such that both the steady-state and transient control performance can be strictly guaranteed. Unlike conventional PPF-based control methods, we further tailor a recently proposed systematic control design procedure (i.e. approximation-free control) using the transformed tracking error dynamics, which provides a proportional-like control action. Hence, the function approximators (e.g. neural networks, fuzzy systems) that are widely used to address the unknown nonlinearities in the nonlinear control designs are not needed. The proposed control design leads to a robust yet simplified function approximation-free control for nonlinear systems. The closed-loop system stability and the control error convergence are all rigorously proved. Finally, comparative simulations are conducted based on nonlinear missile systems to validate the improved response and the robustness of the proposed control method.

Robust Coordinated Design of PSS and TCSC using PSO Technique for Power System Stability Enhancement

Directory of Open Access Journals (Sweden)

S. Panda

2007-06-01

Full Text Available Power system stability improvement by coordinated design of a Power System Stabilizer (PSS and a Thyristor Controlled Series Compensator (TCSC controller is addressed in this paper. Particle Swarm Optimization (PSO technique is employed for optimization of the parameterconstrained nonlinear optimization problem implemented in a simulation environment. The proposed controllers are tested on a weakly connected power system. The non-linear simulation results are presented for wide range of loading conditions with various fault disturbances and fault clearing sequences as well as for various small disturbances. The eigenvalue analysis and simulation results show the effectiveness and robustness of proposed controllers to improve the stability performance of power system by efficient damping of low frequency oscillations under various disturbances.

A COMPARISON OF SOME ROBUST BIVARIATE CONTROL CHARTS FOR INDIVIDUAL OBSERVATIONS

Directory of Open Access Journals (Sweden)

Moustafa Omar Ahmed Abu - Shawiesh

2014-06-01

Full Text Available This paper proposed and considered some bivariate control charts to monitor individual observations from a statistical process control. Usual control charts which use mean and variance-covariance estimators are sensitive to outliers. We consider the following robust alternatives to the classical Hoteling's T2: T2MedMAD, T2MCD, T2MVE a simulation study has been conducted to compare the performance of these control charts. Two real life data are analyzed to illustrate the application of these robust alternatives.

Integrated robust controller for vehicle path following

Energy Technology Data Exchange (ETDEWEB)

Mashadi, Behrooz; Ahmadizadeh, Pouyan, E-mail: p-ahmadizadeh@iust.ac.ir; Majidi, Majid, E-mail: m-majidi@iust.ac.ir [Iran University of Science and Technology, School of Automotive Engineering (Iran, Islamic Republic of); Mahmoodi-Kaleybar, Mehdi, E-mail: m-mahmoodi-k@iust.ac.ir [Iran University of Science and Technology, School of Mechanical Engineering (Iran, Islamic Republic of)

2015-02-15

The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties.

Integrated robust controller for vehicle path following

International Nuclear Information System (INIS)

Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi

2015-01-01

The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties

Robust control technique for nuclear power plants

International Nuclear Information System (INIS)

Murphy, G.V.; Bailey, J.M.

1989-03-01

This report summarizes the linear quadratic Guassian (LQG) design technique with loop transfer recovery (LQG/LTR) for design of control systems. The concepts of return ratio, return difference, inverse return difference, and singular values are summarized. The LQG/LTR design technique allows the synthesis of a robust control system. To illustrate the LQG/LTR technique, a linearized model of a simple process has been chosen. The process has three state variables, one input, and one output. Three control system design methods are compared: LQG, LQG/LTR, and a proportional plus integral controller (PI). 7 refs., 20 figs., 6 tabs

Set-Membership Identification for Robust Control Design

Science.gov (United States)

1993-04-28

Clauifica lion) ( U) Set-Memnbership Identification for Robust Control Design ___________________ 1. PERSONAL A UTHOR(SI Dr. Robert L. Kosul. Final Report...Shalom, E.Tse "Caution, probing, and the value of information in the control of un- certain systems", Annals of Economic and Social Measurement, 5/3, pp...knowing a bound on I the impulse response is quantitative. A similar clasoitication can be made regarding signal charateristics . Knowing that a signal is

Enhanced robust fractional order proportional-plus-integral controller based on neural network for velocity control of permanent magnet synchronous motor.

Science.gov (United States)

Zhang, Bitao; Pi, YouGuo

2013-07-01

The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fractional order proportional-integral-differential (FO-PID) control scheme based on robustness tuning method is proposed to enhance the robustness. But the robustness focuses on the open-loop gain variation of controlled plant. In this paper, an enhanced robust fractional order proportional-plus-integral (ERFOPI) controller based on neural network is proposed. The control law of the ERFOPI controller is acted on a fractional order implement function (FOIF) of tracking error but not tracking error directly, which, according to theory analysis, can enhance the robust performance of system. Tuning rules and approaches, based on phase margin, crossover frequency specification and robustness rejecting gain variation, are introduced to obtain the parameters of ERFOPI controller. And the neural network algorithm is used to adjust the parameter of FOIF. Simulation and experimental results show that the method proposed in this paper not only achieve favorable tracking performance, but also is robust with regard to external load disturbance and parameter variation. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

Structural damage identification using damping: a compendium of uses and features

Science.gov (United States)

Cao, M. S.; Sha, G. G.; Gao, Y. F.; Ostachowicz, W.

2017-04-01

The vibration responses of structures under controlled or ambient excitation can be used to detect structural damage by correlating changes in structural dynamic properties extracted from responses with damage. Typical dynamic properties refer to modal parameters: natural frequencies, mode shapes, and damping. Among these parameters, natural frequencies and mode shapes have been investigated extensively for their use in damage characterization by associating damage with reduction in local stiffness of structures. In contrast, the use of damping as a dynamic property to represent structural damage has not been comprehensively elucidated, primarily due to the complexities of damping measurement and analysis. With advances in measurement technologies and analysis tools, the use of damping to identify damage is becoming a focus of increasing attention in the damage detection community. Recently, a number of studies have demonstrated that damping has greater sensitivity for characterizing damage than natural frequencies and mode shapes in various applications, but damping-based damage identification is still a research direction ‘in progress’ and is not yet well resolved. This situation calls for an overall survey of the state-of-the-art and the state-of-the-practice of using damping to detect structural damage. To this end, this study aims to provide a comprehensive survey of uses and features of applying damping in structural damage detection. First, we present various methods for damping estimation in different domains including the time domain, the frequency domain, and the time-frequency domain. Second, we investigate the features and applications of damping-based damage detection methods on the basis of two predominant infrastructure elements, reinforced concrete structures and fiber-reinforced composites. Third, we clarify the influential factors that can impair the capability of damping to characterize damage. Finally, we recommend future research directions

Robust reactor power control system design by genetic algorithm

Energy Technology Data Exchange (ETDEWEB)

Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)

1998-12-31

The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)

Robust reactor power control system design by genetic algorithm

Energy Technology Data Exchange (ETDEWEB)

Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)

1997-12-31

The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)

Microgrid Stability Controller Based on Adaptive Robust Total SMC

DEFF Research Database (Denmark)

Su, Xiaoling; Han, Minxiao; Guerrero, Josep M.

2015-01-01

This paper presents a microgrid stability controller (MSC) in order to provide existing DGs the additional functionality of working in islanding mode without changing their control strategies in grid-connected mode and to enhance the stability of the microgrid. Microgrid operating characteristics....... The MSC provides fast dynamic response and robustness to the microgrid. When the system is operating in grid-connected mode, it is able to improve the controllability of the exchanged power between the microgrid and the utility grid, while smoothing DG’s output power. When the microgrid is operating...... and mathematical models of the MSC indicate that the system is inherently nonlinear and time-variable. Therefore, this paper proposes an adaptive robust total sliding-mode control (ARTSMC) system for the MSC. It is proved that the ARTSMC system is insensitive to parametric uncertainties and external disturbances...

Robust Backstepping Control for Cold Rolling Main Drive System with Nonlinear Uncertainties

Directory of Open Access Journals (Sweden)

Xu Yang

2013-01-01

Full Text Available The nonlinear model of main drive system in cold rolling process, which considers the influence with parameter uncertainties such as clearance and variable friction coefficient, as well as external disturbance by roll eccentricity and variation of strip material quality, is built. By transformation, the lower triangular structure form of main drive system is obtained. The backstepping algorithm based on signal compensation is proposed to design a linear time-invariant (LTI robust controller, including a nominal controller and a robust compensator. A comparison with PI controller shows that the controller has better disturbance attenuation performance and tracking behaviors. Meanwhile, according to its LTI characteristic, the robust controller can be realized easily; therefore it is also appropriated to high speed dynamic rolling process.

SOGI-based capacitor voltage feedback active damping in LCL-filtered grid converters

DEFF Research Database (Denmark)

Xin, Zhen; Wang, Xiongfei; Loh, Poh Chiang

2015-01-01

The capacitor voltage feedback active damping control is an attractive way to suppress LCL-filter resonance especially for the systems where the capacitor voltage is used for grid synchronization, since no extra sensors are added. The derivative is the core of the capacitor voltage feedback active...... derivative is more suited for capacitor voltage feedback active damping control. Experimental results validate the effectiveness of the proposed method....

Existence and controllability results for damped second order impulsive functional differential systems with state-dependent delay

Directory of Open Access Journals (Sweden)

M. Mallika Arjunan

2014-01-01

Full Text Available In this paper, we investigate the existence and controllability of mild solutions for a damped second order impulsive functional differential equation with state-dependent delay in Banach spaces. The results are obtained by using Sadovskii's fixed point theorem combined with the theories of a strongly continuous cosine family of bounded linear operators. Finally, an example is provided to illustrate the main results.

Robust controller with adaptation within the boundary layer: application to nuclear underwater inspection robot

International Nuclear Information System (INIS)

Park, Gee Yong; Yoon, Ji Sup; Hong, Dong Hee; Jeong, Jae Hoo

2002-01-01

In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improve control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer. Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement

Modeling and analysis of rotating plates by using self sensing active constrained layer damping

Energy Technology Data Exchange (ETDEWEB)

Xie, Zheng Chao; Wong, Pak Kin; Chong, Ian Ian [Univ. of Macau, Macau (China)

2012-10-15

This paper proposes a new finite element model for active constrained layer damped (CLD) rotating plate with self sensing technique. Constrained layer damping can effectively reduce the vibration in rotating structures. Unfortunately, most existing research models the rotating structures as beams that are not the case many times. It is meaningful to model the rotating part as plates because of improvements on both the accuracy and the versatility. At the same time, existing research shows that the active constrained layer damping provides a more effective vibration control approach than the passive constrained layer damping. Thus, in this work, a single layer finite element is adopted to model a three layer active constrained layer damped rotating plate. Unlike previous ones, this finite element model treats all three layers as having the both shear and extension strains, so all types of damping are taken into account. Also, the constraining layer is made of piezoelectric material to work as both the self sensing sensor and actuator. Then, a proportional control strategy is implemented to effectively control the displacement of the tip end of the rotating plate. Additionally, a parametric study is conducted to explore the impact of some design parameters on structure's modal characteristics.

Modeling and analysis of rotating plates by using self sensing active constrained layer damping

International Nuclear Information System (INIS)

Xie, Zheng Chao; Wong, Pak Kin; Chong, Ian Ian

2012-01-01

This paper proposes a new finite element model for active constrained layer damped (CLD) rotating plate with self sensing technique. Constrained layer damping can effectively reduce the vibration in rotating structures. Unfortunately, most existing research models the rotating structures as beams that are not the case many times. It is meaningful to model the rotating part as plates because of improvements on both the accuracy and the versatility. At the same time, existing research shows that the active constrained layer damping provides a more effective vibration control approach than the passive constrained layer damping. Thus, in this work, a single layer finite element is adopted to model a three layer active constrained layer damped rotating plate. Unlike previous ones, this finite element model treats all three layers as having the both shear and extension strains, so all types of damping are taken into account. Also, the constraining layer is made of piezoelectric material to work as both the self sensing sensor and actuator. Then, a proportional control strategy is implemented to effectively control the displacement of the tip end of the rotating plate. Additionally, a parametric study is conducted to explore the impact of some design parameters on structure's modal characteristics

Process Damping Parameters

International Nuclear Information System (INIS)

Turner, Sam

2011-01-01

The phenomenon of process damping as a stabilising effect in milling has been encountered by machinists since milling and turning began. It is of great importance when milling aerospace alloys where maximum surface speed is limited by excessive tool wear and high speed stability lobes cannot be attained. Much of the established research into regenerative chatter and chatter avoidance has focussed on stability lobe theory with different analytical and time domain models developed to expand on the theory first developed by Trusty and Tobias. Process damping is a stabilising effect that occurs when the surface speed is low relative to the dominant natural frequency of the system and has been less successfully modelled and understood. Process damping is believed to be influenced by the interference of the relief face of the cutting tool with the waveform traced on the cut surface, with material properties and the relief geometry of the tool believed to be key factors governing performance. This study combines experimental trials with Finite Element (FE) simulation in an attempt to identify and understand the key factors influencing process damping performance in titanium milling. Rake angle, relief angle and chip thickness are the variables considered experimentally with the FE study looking at average radial and tangential forces and surface compressive stress. For the experimental study a technique is developed to identify the critical process damping wavelength as a means of measuring process damping performance. For the range of parameters studied, chip thickness is found to be the dominant factor with maximum stable parameters increased by a factor of 17 in the best case. Within the range studied, relief angle was found to have a lesser effect than expected whilst rake angle had an influence.

Quasipolynomial Approach to Simultaneous Robust Control of Time-Delay Systems

Directory of Open Access Journals (Sweden)

Nikolaj Semenič

2014-01-01

Full Text Available A control law for retarded time-delay systems is considered, concerning infinite closed-loop spectrum assignment. An algebraic method for spectrum assignment is presented with a unique optimization algorithm for minimization of spectral abscissa and effective shaping of the chains of infinitely many closed-loop poles. Uncertainty of plant delays of a certain structure is considered in a sense of a robust simultaneous stabilization. Robust performance is achieved using mixed sensitivity design, which is incorporated into the addressed control law.

Anisotropic damping of Timoshenko beam elements

Energy Technology Data Exchange (ETDEWEB)

Hansen, M.H.

2001-05-01

This report contains a description of a structural damping model for Timoshenko beam elements used in the aeroelastic code HawC developed at Risoe for modeling wind turbines. The model has been developed to enable modeling of turbine blades which often have different damping characteristics for flapwise, edgewise and torsional vibrations. The structural damping forces acting on the beam element are modeled by viscous damping described by an element damping matrix. The composition of this matrix is based on the element mass and stiffness matrices. It is shown how the coefficients for the mass and stiffness contributions can be calibrated to give the desired modal damping in the complete model of a blade. (au)

Comparative Research on Characteristics of the Isolation Systems with Dry Friction Damping and with Vicious Damping under Base Excitation

Science.gov (United States)

Hou, Junfang; jing, Min; Zhang, Weihua; Lu, Yahui; He, Haiwen

2017-12-01

As for the isolation problem of electronic equipments on vehicle, the vibration response characteristics of dry friction damping isolation system under base displacement excitation was analyzed in theory by harmonic balance method, and the displacement response was compared between the isolation systems with dry friction damping and vicious damping separately. The results show that the isolation system with small dry friction damping can’t meet the demands of displacement reduction close to the natural frequency, and it can realize full-frequency vibration isolation by improving dry friction damping when the lock frequency passes beyond the resonance frequency band. The results imply that the damping mechanism of dry friction isolator can’t be described only by dry friction damping, and the composite damping with dry friction and vicious damping is more appropriate.

Magnetically tuned mass dampers for optimal vibration damping of large structures

International Nuclear Information System (INIS)

Bourquin, Frederic; Siegert, Dominique; Caruso, Giovanni; Peigney, Michael

2014-01-01

This paper deals with the theoretical and experimental analysis of magnetically tuned mass dampers, applied to the vibration damping of large structures of civil engineering interest. Two devices are analysed, for which both the frequency tuning ratio and the damping coefficient can be easily and finely calibrated. They are applied for the damping of the vibrations along two natural modes of a mock-up of a bridge under construction. An original analysis, based on the Maxwell receding image method, is developed for estimating the drag force arising inside the damping devices. It also takes into account self-inductance effects, yielding a complex nonlinear dependence of the drag force on the velocity. The analysis highlights the range of velocities for which the drag force can be assumed of viscous type, and shows its dependence on the involved geometrical parameters of the dampers. The model outcomes are then compared to the corresponding experimental calibration curves. A dynamic model of the controlled structure equipped with the two damping devices is presented, and used for the development of original optimization expressions and for determining the corresponding maximum achievable damping. Finally, several experimental results are presented, concerning both the free and harmonically forced vibration damping of the bridge mock-up, and compared to the corresponding theoretical predictions. The experimental results reveal that the maximum theoretical damping performance can be achieved, when both the tuning frequencies and damping coefficients of each device are finely calibrated according to the optimization expressions. (paper)

Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

Science.gov (United States)

Li, Zhaoying; Zhou, Wenjie; Liu, Hao

2016-09-01

This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Dampness in buildings and health. Building characteristics as predictors for dampness in 8681 Swedish dwellings

DEFF Research Database (Denmark)

Hagerhed, L.; Bornehag, Carl-Gustaf; Sundell, Jan

2002-01-01

Questionnaire data on 8681 dwellings included in the Swedish study "Dampness in Buildings and Health" have been analysed for associations between dampness indicators, perceptions of indoor air quality and building characteristics such as time of construction, type of ventilation and type of found......Questionnaire data on 8681 dwellings included in the Swedish study "Dampness in Buildings and Health" have been analysed for associations between dampness indicators, perceptions of indoor air quality and building characteristics such as time of construction, type of ventilation and type...... of "Dry air" in 17.3 and 33.7% respectively. Older buildings and the use of natural ventilation were associated with increased frequency of dampness indicators as well as to increased frequencies of complaints on bad indoor air quality....

A Robust Multivariable Feedforward/Feedback Controller Design for Integrated Power Control of Boiling Water Reactor Power Plants

International Nuclear Information System (INIS)

Shyu, S.-S.; Edwards, Robert M.

2002-01-01

In this paper, a methodology for synthesizing a robust multivariable feedforward/feedback control (FF/FBC) strategy is proposed for an integrated control of turbine power, throttle pressure, and reactor water level in a nuclear power plant. In the proposed method, the FBC is synthesized by the robust control approach. The feedforward control, which is generated via nonlinear programming, is added to the robust FBC system to further improve the control performance. The plant uncertainties, including unmodeled dynamics, linearization, and model reduction, are characterized and estimated. The comparisons of simulation responses based on a nonlinear reactor model demonstrate the achievement of the proposed controller with specified performance and endurance under uncertainty. It is also important to note that all input variables are manipulated in an orchestrated manner in response to a single output's setpoint change

Stability analysis and active damping for LLCL-filter based grid-connected inverters

DEFF Research Database (Denmark)

Huang, Min; Blaabjerg, Frede; Loh, Poh Chiang

2014-01-01

A higher order passive power filter (LLCL-filter) for the grid-tied inverter is becoming attractive for the industrial applications due to the possibility to reduce the cost of the copper and the magnetic material. To avoid the well-known stability problems of the LLCL-filter it is requested to use...... either passive or active damping methods. This paper analyzes the stability when damping is required and when damping is not necessary considering sampling and transport delay. Basic LLCL resonance damping properties of different feedback states are also studied. Then an active damping method which...... is using the capacitor current feedback for LLCL-filter is introduced. Based on this method, a design procedure for the control method is given. Last, both simulation and experimental results are provided to validate the theoretical analysis of this paper....

Structured, Gain-Scheduled Control of Wind Turbines

DEFF Research Database (Denmark)

Adegas, Fabiano Daher

2013-01-01

Improvements in cost-effectiveness and reliability of wind turbines is a constant in the industry. This requires new knowledge and systematic methods for analyzing and designing the interaction of structural dynamics, aerodynamics, and controllers. This thesis presents novel methods and theoretical....... Robustness and fault-tolerance capabilities are also important properties, which should be considered in the design process. Novel gain-scheduling and robust control methods that adapt to variations in the operational conditions of the wind turbine are proposed under the linear parameter-varying (LPV...... intuitive and physical specifications for vibration control, such as minimum damping and decay rate of aeroelastic modes. Moreover, the number of weighting functions and consequently the order of the final controller is reduced. Inspired by this application, theoretical control developments are presented...

Stability Constraints for Robust Model Predictive Control

Directory of Open Access Journals (Sweden)

Amanda G. S. Ottoni

2015-01-01

Full Text Available This paper proposes an approach for the robust stabilization of systems controlled by MPC strategies. Uncertain SISO linear systems with box-bounded parametric uncertainties are considered. The proposed approach delivers some constraints on the control inputs which impose sufficient conditions for the convergence of the system output. These stability constraints can be included in the set of constraints dealt with by existing MPC design strategies, in this way leading to the “robustification” of the MPC.

An Adaptive Damping Network Designed for Strapdown Fiber Optic Gyrocompass System for Ships

Directory of Open Access Journals (Sweden)

Jin Sun

2017-03-01

Full Text Available The strapdown fiber optic gyrocompass (strapdown FOGC system for ships primarily works on external horizontal damping and undamping statuses. When there are large sea condition changes, the system will switch frequently between the external horizontal damping status and the undamping status. This means that the system is always in an adjustment status and influences the dynamic accuracy of the system. Aiming at the limitations of the conventional damping method, a new design idea is proposed, where the adaptive control method is used to design the horizontal damping network of the strapdown FOGC system. According to the size of acceleration, the parameters of the damping network are changed to make the system error caused by the ship’s maneuvering to a minimum. Furthermore, the jump in damping coefficient was transformed into gradual change to make a smooth system status switch. The adaptive damping network was applied for strapdown FOGC under the static and dynamic condition, and its performance was compared with the conventional damping, and undamping means. Experimental results showed that the adaptive damping network was effective in improving the dynamic performance of the strapdown FOGC.

Approximation of the modal damping coefficients equivalent to material damping by harmonic excitation with ASKA

International Nuclear Information System (INIS)

Edme, R.

1983-01-01

If a dynamic response analysis (harmonic excitation) is carried out with the modal method, the modal damping coefficients must be approximated to match the structural damping. The program ASKA-Damping, which also supplies an error assessment of the approximation, was developed for this purpose. The modal method and the direct method are applied to a test example and their results compared. It is suggested that the ASKA manufacturers extend the spectral earthquake response analysis to take these modal damping coefficients into account so that the results become less conservative. (orig.) [de

Efficient robust control of first order scalar conservation laws using semi-analytical solutions

KAUST Repository

Li, Yanning; Canepa, Edward S.; Claudel, Christian G.

2014-01-01

This article presents a new robust control framework for transportation problems in which the state is modeled by a first order scalar conservation law. Using an equivalent formulation based on a Hamilton-Jacobi equation, we pose the problem of controlling the state of the system on a network link, using initial density control and boundary flow control, as a Linear Program. We then show that this framework can be extended to arbitrary control problems involving the control of subsets of the initial and boundary conditions. Unlike many previously investigated transportation control schemes, this method yields a globally optimal solution and is capable of handling shocks (i.e. discontinuities in the state of the system). We also demonstrate that the same framework can handle robust control problems, in which the uncontrollable components of the initial and boundary conditions are encoded in intervals on the right hand side of inequalities in the linear program. The lower bound of the interval which defines the smallest feasible solution set is used to solve the robust LP/MILP. Since this framework leverages the intrinsic properties of the Hamilton-Jacobi equation used to model the state of the system, it is extremely fast. Several examples are given to demonstrate the performance of the robust control solution and the trade-off between the robustness and the optimality.

Distributed robust adaptive control of high order nonlinear multi agent systems.

Science.gov (United States)

Hashemi, Mahnaz; Shahgholian, Ghazanfar

2018-03-01

In this paper, a robust adaptive neural network based controller is presented for multi agent high order nonlinear systems with unknown nonlinear functions, unknown control gains and unknown actuator failures. At first, Neural Network (NN) is used to approximate the nonlinear uncertainty terms derived from the controller design procedure for the followers. Then, a novel distributed robust adaptive controller is developed by combining the backstepping method and the Dynamic Surface Control (DSC) approach. The proposed controllers are distributed in the sense that the designed controller for each follower agent only requires relative state information between itself and its neighbors. By using the Young's inequality, only few parameters need to be tuned regardless of NN nodes number. Accordingly, the problems of dimensionality curse and explosion of complexity are counteracted, simultaneously. New adaptive laws are designed by choosing the appropriate Lyapunov-Krasovskii functionals. The proposed approach proves the boundedness of all the closed-loop signals in addition to the convergence of the distributed tracking errors to a small neighborhood of the origin. Simulation results indicate that the proposed controller is effective and robust. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Robust levitation control for maglev systems with guaranteed bounded airgap.

Science.gov (United States)

Xu, Jinquan; Chen, Ye-Hwa; Guo, Hong

2015-11-01

The robust control design problem for the levitation control of a nonlinear uncertain maglev system is considered. The uncertainty is (possibly) fast time-varying. The system has magnitude limitation on the airgap between the suspended chassis and the guideway in order to prevent undesirable contact. Furthermore, the (global) matching condition is not satisfied. After a three-step state transformation, a robust control scheme for the maglev vehicle is proposed, which is able to guarantee the uniform boundedness and uniform ultimate boundedness of the system, regardless of the uncertainty. The magnitude limitation of the airgap is guaranteed, regardless of the uncertainty. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Robust distributed model predictive control of linear systems with structured time-varying uncertainties

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Zhang, Langwen; Xie, Wei; Wang, Jingcheng

2017-11-01

In this work, synthesis of robust distributed model predictive control (MPC) is presented for a class of linear systems subject to structured time-varying uncertainties. By decomposing a global system into smaller dimensional subsystems, a set of distributed MPC controllers, instead of a centralised controller, are designed. To ensure the robust stability of the closed-loop system with respect to model uncertainties, distributed state feedback laws are obtained by solving a min-max optimisation problem. The design of robust distributed MPC is then transformed into solving a minimisation optimisation problem with linear matrix inequality constraints. An iterative online algorithm with adjustable maximum iteration is proposed to coordinate the distributed controllers to achieve a global performance. The simulation results show the effectiveness of the proposed robust distributed MPC algorithm.

Robust wide-range control of nuclear reactors by using the feedforward-feedback concept

International Nuclear Information System (INIS)

Weng, C.K.; Edwards, R.M.; Ray, A.

1994-01-01

A robust feedforward-feedback controller is proposed for wide-range operations of nuclear reactors. This control structure provides (a) optimized performance over a wide operating range resulting form the feedforward element and (b) guaranteed robust stability and performance resulting from the feedback element. The feedforward control law is synthesized via nonlinear programming, which generates an optimal control sequence over a finite-time horizon under specified constraints. The feedback control is synthesized via the structured singular value μ approach to guarantee robustness in the presence of disturbances and modeling uncertainties. The results of simulation experiments are presented to demonstrate efficacy of the proposed control structure for a large rapid power reduction to avoid unnecessary plant trips

Parallel Solution of Robust Nonlinear Model Predictive Control Problems in Batch Crystallization

Directory of Open Access Journals (Sweden)

Yankai Cao

2016-06-01

Full Text Available Representing the uncertainties with a set of scenarios, the optimization problem resulting from a robust nonlinear model predictive control (NMPC strategy at each sampling instance can be viewed as a large-scale stochastic program. This paper solves these optimization problems using the parallel Schur complement method developed to solve stochastic programs on distributed and shared memory machines. The control strategy is illustrated with a case study of a multidimensional unseeded batch crystallization process. For this application, a robust NMPC based on min–max optimization guarantees satisfaction of all state and input constraints for a set of uncertainty realizations, and also provides better robust performance compared with open-loop optimal control, nominal NMPC, and robust NMPC minimizing the expected performance at each sampling instance. The performance of robust NMPC can be improved by generating optimization scenarios using Bayesian inference. With the efficient parallel solver, the solution time of one optimization problem is reduced from 6.7 min to 0.5 min, allowing for real-time application.

Robust H∞ output-feedback control for path following of autonomous ground vehicles

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Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

2016-03-01

This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

Robust H(∞) control for spacecraft rendezvous with a noncooperative target.

Science.gov (United States)

Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang

2013-01-01

The robust H(∞) control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H(∞) performance and finite time performance are proposed, and a robust H(∞) controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller.

Adaptive GSA-based optimal tuning of PI controlled servo systems with reduced process parametric sensitivity, robust stability and controller robustness.

Science.gov (United States)

Precup, Radu-Emil; David, Radu-Codrut; Petriu, Emil M; Radac, Mircea-Bogdan; Preitl, Stefan

2014-11-01

This paper suggests a new generation of optimal PI controllers for a class of servo systems characterized by saturation and dead zone static nonlinearities and second-order models with an integral component. The objective functions are expressed as the integral of time multiplied by absolute error plus the weighted sum of the integrals of output sensitivity functions of the state sensitivity models with respect to two process parametric variations. The PI controller tuning conditions applied to a simplified linear process model involve a single design parameter specific to the extended symmetrical optimum (ESO) method which offers the desired tradeoff to several control system performance indices. An original back-calculation and tracking anti-windup scheme is proposed in order to prevent the integrator wind-up and to compensate for the dead zone nonlinearity of the process. The minimization of the objective functions is carried out in the framework of optimization problems with inequality constraints which guarantee the robust stability with respect to the process parametric variations and the controller robustness. An adaptive gravitational search algorithm (GSA) solves the optimization problems focused on the optimal tuning of the design parameter specific to the ESO method and of the anti-windup tracking gain. A tuning method for PI controllers is proposed as an efficient approach to the design of resilient control systems. The tuning method and the PI controllers are experimentally validated by the adaptive GSA-based tuning of PI controllers for the angular position control of a laboratory servo system.

Robust Control Design via Linear Programming

Science.gov (United States)

Keel, L. H.; Bhattacharyya, S. P.

1998-01-01

This paper deals with the problem of synthesizing or designing a feedback controller of fixed dynamic order. The closed loop specifications considered here are given in terms of a target performance vector representing a desired set of closed loop transfer functions connecting various signals. In general these point targets are unattainable with a fixed order controller. By enlarging the target from a fixed point set to an interval set the solvability conditions with a fixed order controller are relaxed and a solution is more easily enabled. Results from the parametric robust control literature can be used to design the interval target family so that the performance deterioration is acceptable, even when plant uncertainty is present. It is shown that it is possible to devise a computationally simple linear programming approach that attempts to meet the desired closed loop specifications.

Grid-Voltage-Feedforward Active Damping for Grid-Connected Inverter with LCL Filter

DEFF Research Database (Denmark)

Lu, Minghui; Wang, Xiongfei; Blaabjerg, Frede

2016-01-01

For the grid-connected voltage source inverters, the feedforward scheme of grid voltage is commonly adopted to mitigate the current distortion caused by grid background voltages harmonics. This paper investigates the grid-voltage-feedforward active damping for grid connected inverter with LCL...... filter. It reveals that proportional feedforward control can not only fulfill the mitigation of grid disturbance, but also offer damping effects on the LCL filter resonance. Digital delays are intrinsic to digital controlled inverters; with these delays, the feedforward control can be equivalent...

Positive polynomials and robust stabilization with fixed-order controllers

Czech Academy of Sciences Publication Activity Database

Henrion, Didier; Šebek, M.; Kučera, V.

2003-01-01

Roč. 48, č. 7 (2003), s. 1178-1186 ISSN 0018-9286 R&D Projects: GA ČR GA102/02/0709; GA MŠk ME 496 Institutional research plan: CEZ:AV0Z1075907 Keywords : fixed-order control lers * linear matrix inequality * polynomials, robust control Subject RIV: BC - Control Systems Theory Impact factor: 1.896, year: 2003

Control of damping-off of organic and conventional cucumber with extracts from a plant-associated bacterium rivals a seed treatment pesticide

Science.gov (United States)

Environmentally friendly control measures are needed for soilborne diseases of crops grown in organic and conventional production systems. We tested ethanol extracts from cultures of Serratia marcescens N4-5 and N2-4, Burkholderia cepacia BC-1 and BC-2, and B. ambifaria BC-F for control of damping-o...

Power Oscillations Damping in DC Microgrids

DEFF Research Database (Denmark)

Hamzeh, Mohsen; Ghafouri, Mohsen; Karimi, Houshang

2016-01-01

This paper proposes a new control strategy for damping of power oscillations in a multi-source dc microgrid. A parallel combination of a fuel cell (FC), a photovoltaic (PV) system and a supercapacitor (SC) are used as a hybrid power conversion system (HPCS). The SC compensates for the slow transi...... of the proposed control scheme is verified using hardware-in-the-loop (HIL) simulations carried out in OPAL-RT technologies....