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
Multilayer robust control for safety enhancement of reactor operations
International Nuclear Information System (INIS)
Edwards, R.M.; Lee, K.Y.; Ray, A.
1991-01-01
A novel concept of reactor power and temperature control has been recently reported in which a conventional output feedback controller is embedded within a state feedback setting. The embedded output feedback controller at the inner layer largely compensates for plant modeling uncertainties and external disturbances, and the outer layer generates an optimal control signal via feedback of the estimated plant states. A major advantage of this embedded architecture is the robustness of the control system relative to parametric and nonparametric uncertainties and thus the opportunity for designing fault-accommodating control algorithms to improve reactor operations and plant safety. The paper illustrates the architecture of the state-feedback-assisted classical (SFAC) control, which utilizes an embedded output feedback controller designed via classical techniques. It demonstrates the difference between the performance of conventional state feedback control and SFAC by examining the sensitivity of the dominant eigenvalues of the individual closed-loop systems
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
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)
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)
Multivariable robust control of an integrated nuclear power reactor
Directory of Open Access Journals (Sweden)
A. Etchepareborda
2002-12-01
Full Text Available The design of the main control system of the CAREM nuclear power plant is presented. This plant is an inherently safe low-power nuclear reactor with natural convection on the primary coolant circuit and is self-pressurized with a steam dome on the top of the pressure vessel (PV. It is an integrated reactor as the whole primary coolant circuit is within the PV. The primary circuit transports the heat to the secondary circuit through once-through steam generators (SG. There is a feedwater valve at the inlet of the SG and a turbine valve at the outlet of the SG. The manipulated variables are the aperture of these valves and the reactivity of the control rods. The control target is to regulate the primary and secondary pressures and to monitor steam flow reference ramps on a range of nominal flow from 100% to 40%. The requirements for the control system are robust stability, low-order simple controllers and transient/permanent error bounding. The controller design is based on a detailed RETRAN plant model, from which linear perturbed open-loop dynamic models at different powers are identified. Two low-order nominal models with their associated uncertainties are chosen for two different power ranges. Robust controllers with acceptable performances are designed for each range. Numerical optimization based on the loop-shaping method is used for the controller design. The designed controllers are implemented in the RETRAN model and tested in simulations achieving successful results.
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)
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
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
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
Control of xenon spatial oscillations during load follow of nuclear reactor via robust servo systems
International Nuclear Information System (INIS)
Ukai, Hiroyuki; Yada, Yukihiro; Iwazumi, Tetsuo; Morita, Yoshifumi.
1990-01-01
This paper investigates the control problem of xenon spatial oscillations in the axial direction during load following operations of a nuclear reactor. The system model is described by a one-group diffusion equation with xenon and power feedbacks and iodine-xenon dynamic equations and controlled by full-length and part-length control rods. In order to achieve the control purpose we formulate the control model as the design problem of robust servo systems for distributed parameter reactor systems. Hence the total thermal power and the axial offset are chosen as outputs to be controlled. The control law is designed based upon finite-dimensional systems which are constructed by linearizing around steady states, approximating by the Galerkin approximate method and reducing dimensions via the singular perturbation method. From a computational point of view a simple computational algorithm to obtain an approximate solution of the steady state neutron balance is developed via the perturbation method. Some results of numerical simulations are represented to show effectiveness of the theory developed in this paper. Particularly it is shown that the designed servo systems are robust against model errors with the linearization and the model truncation. (author)
Definition of a Robust Supervisory Control Scheme for Sodium-Cooled Fast Reactors
Energy Technology Data Exchange (ETDEWEB)
Ponciroli, R.; Passerini, S.; Vilim, R. B.
2016-04-17
In this work, an innovative control approach for metal-fueled Sodium-cooled Fast Reactors is proposed. With respect to the classical approach adopted for base-load Nuclear Power Plants, an alternative control strategy for operating the reactor at different power levels by respecting the system physical constraints is presented. In order to achieve a higher operational flexibility along with ensuring that the implemented control loops do not influence the system inherent passive safety features, a dedicated supervisory control scheme for the dynamic definition of the corresponding set-points to be supplied to the PID controllers is designed. In particular, the traditional approach based on the adoption of tabulated lookup tables for the set-point definition is found not to be robust enough when failures of the implemented SISO (Single Input Single Output) actuators occur. Therefore, a feedback algorithm based on the Reference Governor approach, which allows for the optimization of reference signals according to the system operating conditions, is proposed.
Energy Technology Data Exchange (ETDEWEB)
Zaidabadinejad, Majid; Ansarifar, Gholam Reza [Isfahan Univ. (Iran, Islamic Republic of). Dept. of Nuclear Engineering
2017-11-15
In nuclear reactor imbalance of axial power distribution induces xenon oscillations. These fluctuations must be maintained bounded within allowable limits. Otherwise, the nuclear power plant could become unstable. Therefore, bounded these oscillations is considered to be a restriction for the load following operation. Also, in order to design the nuclear reactor control systems, poisons concentrations, especially xenon must be accessible. But, physical measurement of these parameters is impossible. In this paper, for the first time, in order to estimate the axial xenon oscillations and ensures these oscillations are kept bounded within allowable limits during load-following operation, a robust observer based nonlinear control based on multipoint kinetics reactor model for pressurized-water nuclear reactors is presented. The reactor core is simulated based on the multi-point nuclear reactor model (neutronic and thermal-hydraulic). Simulation results are presented to demonstrate the effectiveness of the proposed observer based controller for the load-following operation.
International Nuclear Information System (INIS)
Zaidabadinejad, Majid; Ansarifar, Gholam Reza
2017-01-01
In nuclear reactor imbalance of axial power distribution induces xenon oscillations. These fluctuations must be maintained bounded within allowable limits. Otherwise, the nuclear power plant could become unstable. Therefore, bounded these oscillations is considered to be a restriction for the load following operation. Also, in order to design the nuclear reactor control systems, poisons concentrations, especially xenon must be accessible. But, physical measurement of these parameters is impossible. In this paper, for the first time, in order to estimate the axial xenon oscillations and ensures these oscillations are kept bounded within allowable limits during load-following operation, a robust observer based nonlinear control based on multipoint kinetics reactor model for pressurized-water nuclear reactors is presented. The reactor core is simulated based on the multi-point nuclear reactor model (neutronic and thermal-hydraulic). Simulation results are presented to demonstrate the effectiveness of the proposed observer based controller for the load-following operation.
International Nuclear Information System (INIS)
Park, Moon Ghu; Cho, Nam Zin
1993-01-01
A Nonlinear model-based Hybrid Controller (NHC) is developed which consists of the adaptive proportional-integral-feedforward (PIF) gains and variable structure controller. The controller has the robustness against modeling uncertainty and is applied to the trajectory tracking control of single-input, single-output nonlinear systems. The essence of the scheme is to divide the control into four different terms. Namely, the adaptive P-I-F gains and variable structure controller are used to accomplish the specific control actions by each terms. The robustness of the controller is guaranteed by the feedback of estimated uncertainty and the performance specification given by the adaptation of PIF gains using the second method of Lyapunov. The variable structure controller is incorporated to regulate the initial peak of the tracking error during the parameter adaptation is not settled yet. The newly developed NHC method is applied to the power tracking control of a nuclear reactor and the simulation results show great improvement in tracking performance compared with the conventional model-based control methods. (Author)
M. Zaidabadi nejad; G.R. Ansarifar
2018-01-01
Improved load-following capability is one of the most important technical tasks of a pressurized water reactor. Controlling the nuclear reactor core during load-following operation leads to some difficulties. These difficulties mainly arise from nuclear reactor core limitations in local power peaking: the core is subjected to sharp and large variation of local power density during transients. Axial offset (AO) is the parameter usually used to represent the core power peaking. One of the impor...
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...
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 ...
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.
Robust optimal self tuning regulator of nuclear reactors
International Nuclear Information System (INIS)
Nouri Khajavi, M.; Menhaj, M.B.; Ghofrani, M.B.
2000-01-01
Nuclear power reactors are, in nature nonlinear and time varying. These characteristics must be considered, if large power variations occur in their working regime. In this paper a robust optimal self-tuning regulator for regulating the power of a nuclear reactor has been designed and simulated. The proposed controller is capable of regulating power levels in a wide power range (10% to 100% power levels). The controller achieves a fast and good transient response. The simulation results show that the proposed controller outperforms the fixed optimal control recently cited in the literature for nuclear power plants
Advances in robust fractional control
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...
Attractive ellipsoids in robust control
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...
1983-12-01
BASED CM USERS REQUEST, EACH C2228C C CONTROLLER IS PUT INTO THE 04CFER FORMAT FO THE PEG -FORMANCE 022290 C ANALYSIS SUSP.OUTINE9 PECrFAL. 02230 C 02231C...16X, 4�- 3 ’AND A KALMAN FILTER FOR STATE ESTIMATION.’/29X, 3340w 4 X $ COTPTF2 * S /.’IIX,’DATE : ,A10//,1IX, 3350 - 5 ’TIME : ’PA1O////) 3360
Robust control design with MATLAB
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...
Undergraduate reactor control experiment
International Nuclear Information System (INIS)
Edwards, R.M.; Power, M.A.; Bryan, M.
1992-01-01
A sequence of reactor and related experiments has been a central element of a senior-level laboratory course at Pennsylvania State University (Penn State) for more than 20 yr. A new experiment has been developed where the students program and operate a computer controller that manipulates the speed of a secondary control rod to regulate TRIGA reactor power. Elementary feedback control theory is introduced to explain the experiment, which emphasizes the nonlinear aspect of reactor control where power level changes are equivalent to a change in control loop gain. Digital control of nuclear reactors has become more visible at Penn State with the replacement of the original analog-based TRIGA reactor control console with a modern computer-based digital control console. Several TRIGA reactor dynamics experiments, which comprise half of the three-credit laboratory course, lead to the control experiment finale: (a) digital simulation, (b) control rod calibration, (c) reactor pulsing, (d) reactivity oscillator, and (e) reactor noise
Robust power system frequency control
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
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.
International Nuclear Information System (INIS)
Fukami, Haruo; Morimoto, Yoshinori.
1981-01-01
Purpose: To operate a reactor always with safety operation while eliminating the danger of tripping. Constitution: In a reactor control device adapted to detect the process variants of a reactor, control a control rod drive controlling system based on the detected signal to thereby control the driving the control rods, control the reactor power and control the electric power generated from an electric generator by the output from the reactor, detection means is provided for the detection of the electric power from said electric generator, and a compensation device is provided for outputting control rod driving compensation signals to the control rod driving controlling system in accordance with the amount of variation in the detected value. (Seki, T.)
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 lyapunov controller for uncertain systems
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 control charts in statistical process control
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
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)
International Nuclear Information System (INIS)
Ishii, Yoshihiko; Arita, Setsuo; Miyamoto, Yoshiyuki; Fukazawa, Yukihisa; Ishii, Kazuhiko
1998-01-01
The present invention provides a reactor power control device capable of enhancing an operation efficiency while keeping high reliability and safety in a BWR type nuclear power plant. Namely, the device of the present invention comprises (1) a means for inputting a set value of a generator power and a set value of a reactor power, (2) a means for controlling the reactor power to either smaller one of the reactor power corresponding to the set value of the generator power and the set value of the reactor power. With such procedures, even if the nuclear power plant is set so as to operate it to make the reactor power 100%, when the generator power reaches the upper limit, the reactor power is controlled with a preference given to the upper limit value of the generator power. Accordingly, safety and reliability are not deteriorated. The operation efficiency of the plant can be improved. (I.S.)
Robust Sliding Mode Control for Tokamaks
Directory of Open Access Journals (Sweden)
I. Garrido
2012-01-01
Full Text Available Nuclear fusion has arisen as an alternative energy to avoid carbon dioxide emissions, being the tokamak a promising nuclear fusion reactor that uses a magnetic field to confine plasma in the shape of a torus. However, different kinds of magnetohydrodynamic instabilities may affect tokamak plasma equilibrium, causing severe reduction of particle confinement and leading to plasma disruptions. In this sense, numerous efforts and resources have been devoted to seeking solutions for the different plasma control problems so as to avoid energy confinement time decrements in these devices. In particular, since the growth rate of the vertical instability increases with the internal inductance, lowering the internal inductance is a fundamental issue to address for the elongated plasmas employed within the advanced tokamaks currently under development. In this sense, this paper introduces a lumped parameter numerical model of the tokamak in order to design a novel robust sliding mode controller for the internal inductance using the transformer primary coil as actuator.
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....
International Nuclear Information System (INIS)
Kobayashi, Akira.
1980-01-01
Purpose: To prevent misoperation in a control system for the adjustment of core coolant flow rate, and the increase in the neutron flux density caused from the misoperation in BWR type reactors. Constitution: In a reactor power control system adapted to control the reactor power by the adjustment of core flow rate, average neutron flux signals of a reactor core, entire core flow rate signals and operation state signals for coolant recycling system are inputted to a microcomputer. The outputs from the computer are sent to a recycling MG set speed controller to control the reactor core flow rate. The computer calculates the change ratio with time in the average neutron flux signals, correlation between the average neutron flux signals and the entire core flow rate signals, change ratio with time in the operation state signals for the coolant recycling system and the like and judges the abnormality in the coolant recycling system based on the calculated results. (Ikeda, J.)
International Nuclear Information System (INIS)
Imaruoka, Hiromitsu.
1994-01-01
A high pressure water injection recycling system comprising injection pipelines of a high pressure water injection system and a flow rate control means in communication with a pool of a pressure control chamber is disposed to a feedwater system of a BWR type reactor. In addition, the flow rate control means is controlled by a power control device comprising a scram impossible transient event judging section, a required injection flow rate calculation section for high pressure water injection system and a control signal calculation section. Feed water flow rate to be supplied to the reactor is controlled upon occurrence of a scram impossible transient event of the reactor. The scram impossible transient event is judged based on reactor output signals and scram operation demand signals and injection flow rate is calculated based on a predetermined reactor water level, and condensate storage tank water or pressure control chamber pool water is injected to the reactor. With such procedures, water level can be ensured and power can be suppressed. Further, condensate storage tank water of low enthalpy is introduced to the pressure suppression chamber pool to directly control elevation of water temperature and ensure integrity of the pressure vessel and the reactor container. (N.H.)
International Nuclear Information System (INIS)
Bruna, G.B.
1998-01-01
In order to achieve the two-fold goal of maximizing the energy obtained from reactor fuel and ensuring the large flexibility of plant operation in respect to safety regulations and keeping the reactor integrity the control of PWRs is generally based on real time monitoring and analysing of independent neutronic parameters: thermal power release, axial power distribution in the core and temperatures of the primary loop. Two control chains more or less coupled according to the control chosen mode are in charge of the control of these parameters. With the brief history of control in French power reactors the advanced X control mode adopted by Framatome for N4 plants is described in detail. A summary of N4 reactor control and protection system is included
International Nuclear Information System (INIS)
Kameda, Akiyuki.
1979-01-01
Purpose: To enable three types of controls, that is, level control, scram control and excess reactivity control required for a reactor by a same mechanism by feeding neutron absorber liquid and pressure control gas to several blind pipes provided in the reactor core. Constitution: A plurality of blind pipes are disposed spaced apart in a reactor core and connected by way of injection pipes to a neutron absorber liquid tank. A pressure regulator is connected to the blind pipes, to which pressure control gas is supplied. The neutron absorber liquid used herein consists of sodium, potassium or their alloy, or mercury as a basic substance incorporated with one or more selected from boron, tantalum, rhenium, europium or their compounds. The level control, scram control and excess reactivity control can be attained by moderating the pressure changes in the pressure control gas or by regulating the fluctuation in the liquid level. (Horiughi, T.)
Multimodel Robust Control for Hydraulic Turbine
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...
Nuclear reactor control column
International Nuclear Information System (INIS)
Bachovchin, D.M.
1982-01-01
The nuclear reactor control column comprises a column disposed within the nuclear reactor core having a variable cross-section hollow channel and containing balls whose vertical location is determined by the flow of the reactor coolant through the column. The control column is divided into three basic sections wherein each of the sections has a different cross-sectional area. The uppermost section of the control column has the greatest crosssectional area, the intermediate section of the control column has the smallest cross-sectional area, and the lowermost section of the control column has the intermediate cross-sectional area. In this manner, the area of the uppermost section can be established such that when the reactor coolant is flowing under normal conditions therethrough, the absorber balls will be lifted and suspended in a fluidized bed manner in the upper section. However, when the reactor coolant flow falls below a predetermined value, the absorber balls will fall through the intermediate section and into the lowermost section, thereby reducing the reactivity of the reactor core and shutting down the reactor
International Nuclear Information System (INIS)
Tomisawa, Teruaki.
1981-01-01
Purpose: To restore reactor-power condition in a minimum time after a termination of turbine bypass by reducing the throttling of the reactor power at the time of load-failure as low as possible. Constitution: The transient change of the internal pressure of condenser is continuously monitored. When a turbine is bypassed, a speed-control-command signal for a coolant recirculating pump is generated according as the internal pressure of the condenser. When the signal relating to the internal pressure of the condenser indicates insufficient power, a reactor-control-rod-drive signal is generated. (J.P.N.)
International Nuclear Information System (INIS)
Araki, Takao; Inoue, Toyokazu.
1981-01-01
Purpose: To protect the reactor floor by alleviating the shock imparted to the reactor floor by a dropped control rod when a wire rope accidentally breaks. Constitution: A control rod is hung by wire rope from a control rod drive, and shock absorbers are mounted at the upper and lower portions of the control rod. The outer diameter of the upper shock absorber is made larger than the inner diameter of a control rod inserting hole formed in the reactor core. If the control rod drops, the upper absorber is stopped at the upper tapered portion of the inserting hole. Thus, the dropping energy of the control rod can be sufficiently absorbed by the upper and lower shock absorbers. (Kamimura, M.)
A robust standard deviation control chart
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
International Nuclear Information System (INIS)
Doi, Kazuyori.
1981-01-01
Purpose: To automatically control the BWR type reactor power by simple and short-time searching the load pattern nearest to the required pattern at a nuclear power plant side. Constitution: The reactor power is automatically regulated by periodical modifying of coefficients fitting to a reactor core model, according as a required load pattern. When a load requirement pattern is given, a simulator estimates the total power change and the axial power distribution change from a xenon density change output calculated by a xenon dynamic characteristic estimating device, and a load pattern capable of being realized is searched. The amount to be recirculated is controlled on the basis of the load patteren thus searched, and the operation of the BWR type reactor is automatically controlled at the side of the nuclear power plant. (Kamimura, M.)
International Nuclear Information System (INIS)
2009-01-01
At present, 23 units of PWR type reactors have been operated in Japan since the start of Mihama Unit 1 operation in 1970 and various improvements have been made to upgrade operability of power stations as well as reliability and safety of power plants. As the share of nuclear power increases, further improvements of operating performance such as load following capability will be requested for power stations with more reliable and safer operation. This article outlined the reactor control system of PWR type reactors and described the control performance of power plants realized with those systems. The PWR control system is characterized that the turbine power is automatic or manually controlled with request of the electric power system and then the nuclear power is followingly controlled with the change of core reactivity. The system mainly consists of reactor automatic control system (control rod control system), pressurizer pressure control system, pressurizer water level control system, steam generator water level control system and turbine bypass control system. (T. Tanaka)
International Nuclear Information System (INIS)
Wagner, K.
1974-01-01
A thorough description is presented of the control and protection system of the Bohunice A-1 reactor. The system including auxiliary facilities was developed, manufactured and installed at the reactor by the SKODA Works, Plzen. The system parameters are listed and a brief account is also given of the development efforts and of the physical and power start-up of the A-1 nuclear power plant. (L.O.)
International Nuclear Information System (INIS)
Sano, Hiroki
1998-01-01
The present invention provides a reactor core control device, in which switching from a manual operation to an automatic operation, and the control for the parameter of an automatic operation device are facilitated. Namely, the hysteresis of the control for the operation parameter by an manual operation input means is stored. The hysteresis of the control for the operation parameter is collected. The state of the reactor core simulated by an operation control to which the collected operation parameters are manually inputted is determined as an input of the reactor core state to the automatic input means. The record of operation upon manual operation is stored as a hysteresis of control for the operation parameter, but the hysteresis information is not only the result of manual operation of the operation parameter. This is results of operation conducted by a skilled operator who judge the state of the reactor core to be optimum. Accordingly, it involves information relevant to the reactor core state. Then, it is considered that the optimum automatic operation is not deviated greatly from the manual operation. (I.S.)
Reactor feedwater control device
International Nuclear Information System (INIS)
Koshi, Yuji.
1993-01-01
In the device of the present invention, an excess response is not caused in a reactor feed water system even when voids are fluctuated by using an actual water level signal as a reactor water level signal. That is, a standard water level signal and a reactor water level signal are inputted to a comparator. An adder adds water level difference signal outputted from the comparator and mismatch flow rate signal prepared by multiplying the difference between a main steam flow rate signal and a feed water flow rate signal by a mismatch gain. A feed water controller integrates the added signal and outputs flow rate demand signal. A feed water system receives the flow rate demand signal as input. A water level calculation means is disposed to such a device for calculating an actual water level based on the change of coolant possessing amount of the reactor, and the output thereof is defined as a reactor water level signal. With such procedures, excessive elevation of water level of the reactor can be prevented even upon occurrence of void fluctuation phenomenon or the like in the reactor such as upon sole scram operation. Accordingly, plant shut down caused thereby can be avoided safely. (I.S.)
International Nuclear Information System (INIS)
Vitela, E. Javier; Martinell, J. Julio
2000-01-01
In this work it is shown that robust burn control in long pulse operations of thermonuclear reactors can be successfully achieved with artificial neural networks. The results reported here correspond to a volume averaged zero-dimensional nonlinear model of a subignited fusion device using the design parameters of the tokamak EDA-ITER group. A Radial Basis Neural Network (RBNN) was trained to provide feedback stabilization at a fixed operating point independently of any particular scaling law that the reactor confinement time may follow. A numerically simulated transient is used to illustrate the stabilization capabilities of the resulting RBNN when the reactor follows an ELMy scaling law corrupted with Gaussian noise. (author)
Robust Control Charts for Time Series Data
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
Reactor instrumentation and control
International Nuclear Information System (INIS)
Wach, D.; Beraha, D.
1980-01-01
The methods for measuring radiation are shortly reviewed. The instrumentation for neutron flux measurement is classified into out-of-core and in-core instrumentation. The out-of-core instrumentation monitors the operational range from the subcritical reactor to full power. This large range is covered by several measurement channels which derive their signals from counter tubes and ionization chambers. The in-core instrumentation provides more detailed information on the power distribution in the core. The self-powered neutron detectors and the aeroball system in PWR reactors are discussed. Temperature and pressure measurement devices are briefly discussed. The different methods for leak detection are described. In concluding the plant instrumentation part some new monitoring systems and analysis methods are presented: early failure detection methods by noise analysis, acoustic monitoring and vibration monitoring. The presentation of the control starts from an qualitative assessment of the reactor dynamics. The chosen control strategy leads to the definition of the part-load diagram, which provides the set-points for the different control systems. The tasks and the functions of these control systems are described. In additiion to the control, a number of limiting systems is employed to keep the reactor in a safe operating region. Finally, an outlook is given on future developments in control, concerning mainly the increased application of process computers. (orig./RW)
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.
International Nuclear Information System (INIS)
Kinoshita, Mitsuo.
1991-01-01
Heretofore, since the aimed value of a reactor power has been determined only based on the deviation between a temperature variation coefficient and the aimed value, it involves a problem that a region for finely determining a control constant is complicated. In view of the above, in the present invention, an approximate value of the aimed reactor power value is determined based on the aimed value for the temperature variation coefficient, then a compensation value for the aimed power value is determined based on the deviation between the temperature variation coefficient and the aimed value and, further, the aimed power value is determined based on the approximate value and the compensation value. Control elements are automatically operated so that the power follows the aimed value after determining the aimed value. Then, since the aimed reactor power value is controlled finely so that the responsiveness of the temperature variation coefficient is satisfactory and the temperature variation coefficient agrees with the aimed value, the stability for the control of temperature variation coefficient is satisfactory. That is, high performance control is enabled by a simple control algorithm to reduce the number of the steps for the design and the device control. (N.H.)
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...
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 Fuzzy Controllers Using FPGAs
Monroe, Author Gene S., Jr.
2007-01-01
Electro-mechanical device controllers typically come in one of three forms, proportional (P), Proportional Derivative (PD), and Proportional Integral Derivative (PID). Two methods of control are discussed in this paper; they are (1) the classical technique that requires an in-depth mathematical use of poles and zeros, and (2) the fuzzy logic (FL) technique that is similar to the way humans think and make decisions. FL controllers are used in multiple industries; examples include control engineering, computer vision, pattern recognition, statistics, and data analysis. Presented is a study on the development of a PD motor controller written in very high speed hardware description language (VHDL), and implemented in FL. Four distinct abstractions compose the FL controller, they are the fuzzifier, the rule-base, the fuzzy inference system (FIS), and the defuzzifier. FL is similar to, but different from, Boolean logic; where the output value may be equal to 0 or 1, but it could also be equal to any decimal value between them. This controller is unique because of its VHDL implementation, which uses integer mathematics. To compensate for VHDL's inability to synthesis floating point numbers, a scale factor equal to 10(sup (N/4) is utilized; where N is equal to data word size. The scaling factor shifts the decimal digits to the left of the decimal point for increased precision. PD controllers are ideal for use with servo motors, where position control is effective. This paper discusses control methods for motion-base platforms where a constant velocity equivalent to a spectral resolution of 0.25 cm(exp -1) is required; however, the control capability of this controller extends to various other platforms.
Adaptive Critic Nonlinear Robust Control: A Survey.
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.
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...
International Nuclear Information System (INIS)
Irie, Tomoo.
1991-01-01
The present invention concerns a control rod in a PWR type reactor. A control rod has an inner cladding tube and an outer cladding tube disposed coaxially, and a water draining hole is formed at the inside of the inner cladding tube. Neutron absorbers are filled in an annular gap between the outer cladding tube and the inner cladding tube. The water draining hole opens at the lower end thereof to the top end of the control rod and at the upper end thereof to the side of the upper end plug of the control rod. If the control rod is dropped to a control rod guide thimble for reactor scram, coolants from the control rod guide thimble are flown from the lower end of the water draining hole and discharged from the upper end passing through the water draining hole. In this way, water from the control rod guide thimble is removed easily when the control rod is dropped. Further, the discharging amount of water itself is reduced by the provision of the water draining hole. Accordingly, sufficient control rod dropping speed can be attained. (I.N.)
Robust Rudder Roll Damping Control
DEFF Research Database (Denmark)
Yang, C.
The results of a systematic research to solve a specific ship motion control problem, simultaneous roll damping and course keeping using the rudder are presented in this thesis. The fundamental knowledge a priori is that rudder roll damping is highly sensitive to the model uncertainty, therefore H-infinity...... theory is used to deal with the problem. The necessary mathematical tools and the H-Infinity theory as the basis of controller design are presented in Chapter 2 and 3. The mu synthesis and the D-K iteration are introduced in Chapter 3. The ship dynamics and modeling technology are discussed in Chapter 4...
Robust control synthesis for uncertain dynamical systems
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 lyapunov controller for uncertain systems
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.
Neutron behavior, reactor control, and reactor heat transfer. Volume four
International Nuclear Information System (INIS)
Anon.
1986-01-01
Volume four covers neutron behavior (neutron absorption, how big are nuclei, neutron slowing down, neutron losses, the self-sustaining reactor), reactor control (what is controlled in a reactor, controlling neutron population, is it easy to control a reactor, range of reactor control, what happens when the fuel burns up, controlling a PWR, controlling a BWR, inherent safety of reactors), and reactor heat transfer (heat generation in a nuclear reactor, how is heat removed from a reactor core, heat transfer rate, heat transfer properties of the reactor coolant)
System Identification and Robust Control
DEFF Research Database (Denmark)
Tøffner-Clausen, S.
a thorough introduction to the m framework. A central results is that if performance is measured in terms of the inifity-norm and model uncertainty is bounded in the same manner, then, using m it is possible to pose one necessary and sufficient condition for block-structured norm-bounded perturbations which...... permitted by m is definitely much more flexible than those used in H inifity. Unfortunately m synthesis is a very difficult mathematical problem which is only well developed for purely complex perturbation sets. In order to develop our main result we will unfortunately need to synthesize m controllers....... The given examples thus represent a major part of the work behind this thesis. They consequently serve not just as illustrations but introduce many new ideas and should be interesting in their own right....
Reactor water chemistry control
International Nuclear Information System (INIS)
Kundu, A.K.
2010-01-01
Tarapur Atomic Power Station - 1 and 2 (TAPS) is a twin unit Boiling Water Reactors (BWRs) built in 1960's and operating presently at 160MWe. TAPS -1 and 2 are one of the vintage reactors operating in the world and belongs to earlier generation of BWRs has completed 40 years of successful, commercial and safe operation. In 1980s, both the reactors were de-rated from 660MWth to 530MWth due to leaks in the Secondary Steam Generators (SSGs). In BWR the feed water acts as the primary coolant which dissipates the fission heat and thermalises the fast neutrons generated in the core due to nuclear fission reaction and under goes boiling in the Reactor Pressure Vessel (RPV) to produce steam. Under the high reactor temperature and pressure, RPV and the primary system materials are highly susceptible to corrosion. In order to avoid local concentration of the chemicals in the RPV of BWR, chemical additives are not recommended for corrosion prevention of the system materials. So to prevent corrosion of the RPV and the primary system materials, corrosion resistant materials like stainless steel (of grade SS304, SS304L and SS316LN) is used as the structural material for most of the primary system components. In case of feed water system, main pipe lines are of carbon steel and the heater shell materials are of carbon steel lined with SS whereas the feed water heater tubes are of SS-304. In addition to the choice of materials, another equally important factor for corrosion prevention and corrosion mitigation of the system materials is maintaining highly pure water quality and strict water chemistry regime for both the feed water and the primary coolant, during operation and shutdown of the reactor. This also helps in controlled migration of corrosion product to and from the reactor core and to reduce radiation field build up across the primary system materials. Experience in this field over four decades added to the incorporation of modern techniques in detection of low
Reactor water level control device
International Nuclear Information System (INIS)
Utagawa, Kazuyuki.
1993-01-01
A device of the present invention can effectively control fluctuation of a reactor water level upon power change by reactor core flow rate control operation. That is, (1) a feedback control section calculates a feedwater flow rate control amount based on a deviation between a set value of a reactor water level and a reactor water level signal. (2) a feed forward control section forecasts steam flow rate change based on a reactor core flow rate signal or a signal determining the reactor core flow rate, to calculate a feedwater flow rate control amount which off sets the steam flow rate change. Then, the sum of the output signal from the process (1) and the output signal from the process (2) is determined as a final feedwater flow rate control signal. With such procedures, it is possible to forecast the steam flow rate change accompanying the reactor core flow rate control operation, thereby enabling to conduct preceding feedwater flow rate control operation which off sets the reactor water level fluctuation based on the steam flow rate change. Further, a reactor water level deviated from the forecast can be controlled by feedback control. Accordingly, reactor water level fluctuation upon power exchange due to the reactor core flow rate control operation can rapidly be suppressed. (I.S.)
Muscle Synergy-Driven Robust Motion Control.
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 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.
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....
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...
Nuclear reactor control assembly
International Nuclear Information System (INIS)
Negron, S.B.
1991-01-01
This patent describes an assembly for providing global power control in a nuclear reactor having the core split into two halves. It comprises a disk assembly formed from at least two disks each machined with an identical surface hole pattern such that rotation of one disk relative to the other causes the hole pattern to open or close, the disk assembly being positioned substantially at the longitudinal center of and coaxial with the core halves; and means for rotating at least one of the disks relative to the other
Robust and Adaptive Control With Aerospace Applications
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 synergetic control design under inputs and states constraints
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.
Matlab as a robust control design tool
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.
Digital control of research reactors
International Nuclear Information System (INIS)
Crump, J.C. III.; Richards, W.J.; Heidel, C.C.
1991-01-01
Research reactors provide an important service for the nuclear industry. Developments and innovations used for research reactors can be later applied to larger power reactors. Their relatively inexpensive cost allows research reactors to be an excellent testing ground for the reactors of tomorrow. One area of current interest is digital control of research reactor systems. Digital control systems offer the benefits of implementation and superior system response over their analog counterparts. At McClellan Air Force Base in Sacramento, California, the Stationary Neutron Radiography System (SNRS) uses a 1,000-kW TRIGA reactor for neutron radiography and other nuclear research missions. The neutron radiography beams generated by the reactor are used to detect corrosion in aircraft structures. While the use of the reactor to inspect intact F-111 wings is in itself noteworthy, there is another area in which the facility has applied new technology: the instrumentation and control system (ICS). The ICS developed by General Atomics (GA) contains several new and significant items: (a) the ability to servocontrol on three rods, (b) the ability to produce a square wave, and (c) the use of a software configurator to tune parameters affected by the actual reactor core dynamics. These items will probably be present in most, if not all, future research reactors. They were developed with increased control and overall usefulness of the reactor in mind
Robustness analysis method for orbit control
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.
Model predictive control classical, robust and stochastic
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...
Robust balance shift control with posture optimization
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
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...
International Nuclear Information System (INIS)
Ash, E.B.; Bernath, L.; Facha, J.V.
1980-01-01
A nuclear reactor is provided with several hydraulically-supported spherical bodies having a high neutron absorption cross section, which fall by gravity into the core region of the reactor when the flow of supporting fluid is shut off. (auth)
Robust blood-glucose control using Mathematica.
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.
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.
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
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.
Nuclear reactor kinetics and control
International Nuclear Information System (INIS)
Lewins, J.
1978-01-01
A consistent, integrated account of modern developments in the study of nuclear reactor kinetics and the problem of their efficient and safe control. It aims to prepare the student for advanced study and research or practical work in the field. Special features include treatments of noise theory, reliability theory and safety related studies. It covers all aspects of the operation and control of nuclear reactors, power and research and is complete in providing physical data methods of calculation and solution including questions of equipment reliability. The work uses illustrations of the main types of reactors in use in the UK, USA and Europe. Each chapter contains problems and worked examples suitable for course work and study. The subject is covered in chapters, entitled: introductory review; neutron and precursor equations; elementary solutions at low power; linear reactor process dynamics with feedback; power reactor control systems; fluctuations and reactor noise; safety and reliability; nonlinear systems (safety and control); analogue computing. (author)
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
International Nuclear Information System (INIS)
Watanabe, Mitsutaka
1997-01-01
Hardware of an analog nuclear instrumentation system is reformed, a function generator is added to a setting calculation circuit of the nuclear instrumentation system, and each of setting lines of the nuclear instrumentation system is set in parallel with an upper limit curve in an operation region defined by a second order or third order equation. Upon transient change of abnormal power elevation during operation, scram signals are generated by power change in the same state as 100% rated operation due to elevation of reactor thermal power. Since the operation limit value relative to transient change due to power elevation can be made substantially equal with the same as that upon rated operation, the operation limit value for partial power operation state can be kept substantially the same level as that upon rated operation. When transition change caused by abnormal control rod withdrawal occurs during operation, a control rod withdrawal inhibition signal can ensure the power elevation width equal with that upon rated power operation, and since the withdrawal inhibition signal is generated in substantially the same withdrawing state, the operation limit value relative to a partial power operation state can be kept at the same level as that during rated operation. (N.H.)
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...
Reactor water level control device
International Nuclear Information System (INIS)
Hiramatsu, Yohei.
1980-01-01
Purpose: To increase the rapid response of the waterlevel control converting a reactor water level signal into a non-linear type, when the water level is near to a set value, to stabilize the water level reducting correlatively the reactor water level variation signal to stabilize greatly from the set value, and increasing the variation signal. Constitution: A main vapor flow quality transmitter detects the vapor flow generated in a reactor and introduced into a turbine. A feed water flow transmitter detects the quantity of a feed water flow from the turbine to the reactor, this detected value is sent to an addition operating apparatus. On the other hand, the power signal of the reactor water level transmitter is sent to the addition operating apparatus through a non-linear water level signal converter. The addition operation apparatus generates a signal for requesting the feed water flow quantity from both signals. Upon this occasion, the reactor water level signal converter makes small the reactor water level variation when the reactor level is close the set value, and when the water level deviates greatly from the set value, the reactor water level variation is made large thereby to improve the rapid response of the reactor coater level control. (Yoshino, Y.)
Automatic Synthesis of Robust and Optimal Controllers
DEFF Research Database (Denmark)
Cassez, Franck; Jessen, Jan Jacob; Larsen, Kim Guldstrand
2009-01-01
In this paper, we show how to apply recent tools for the automatic synthesis of robust and near-optimal controllers for a real industrial case study. We show how to use three different classes of models and their supporting existing tools, Uppaal-TiGA for synthesis, phaver for verification......, and Simulink for simulation, in a complementary way. We believe that this case study shows that our tools have reached a level of maturity that allows us to tackle interesting and relevant industrial control problems....
International Nuclear Information System (INIS)
Cearley, J.E.; Izzo, K.R.
1987-01-01
This patent describes a vertically oriented bottom entry control rod from a nuclear reactor: a frame including an elongated central spine of cruciform cross section connected between an upper support member and a lower support member both of cruciform shape having four laterally extending arms. The arms are in alignment with the arms of the lower support member and each aligned upper and lower support members has a sheath extending between; absorber plates of neutron absorber material, different from the material of the frame, one of the absorber plates is positioned within a sheath beneath each of the arms; attachment means suspends the absorber plates from the arms of the upper support member within a sheath; elongated absorber members positioned within a sheath between each of the suspended absorber plates and an arm of the lower support member; and joint means between the upper ends of the absorber members and the lower ends of the suspended absorber plates for minimizing gaps; the sheath means encloses the suspended absorber plates and the absorber members extending between aligned arms of the upper and lower support members and secured
Robust Control Design via Linear Programming
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.
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.
Kinematically Optimal Robust Control of Redundant Manipulators
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.
Reactor control rod supporting structure
International Nuclear Information System (INIS)
Akimoto, Tokuzo; Miyata, Hiroshi.
1984-01-01
Purpose: To enable stable reactor core control even in extremely great vertical earthquakes, as well as under normal operation conditions in FBR type reactors. Constitution: Since a mechanism for converting the rotational movement of a control rod into vertical movement is placed at the upper portion of the reactor core at high temperature, the mechanism should cause fusion or like other danger after the elapse of a long period of time. In view of the above, the conversion mechanism is disposed to the lower portion of the reactor core at a lower temperature region. Further, the connection between the control rod and the control rod drive can be separated upon great vertical earthquakes. (Seki, T.)
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
The resonance absorption controlled reactor
International Nuclear Information System (INIS)
Caro, R.
1977-01-01
In this report a new method of reactor control based on tho isotopic moderator composition variation is studied, taking as a reference a D 2 O/H 2 O system. With this method an spectacular increment in the burn-up degree and a sensible reduction of the conventional control system is obtained. An important part of this work has been the detailed analysis of the parameters affecting the neutron spectrum in a heterogeneous reactor. (Author) 50 refs
The resonance absorption controlled reactor
Energy Technology Data Exchange (ETDEWEB)
Caro, R
1977-07-01
In this report a new method of reactor control based on tho isotopic moderator composition variation is studied, taking as a reference a D{sub 2}O/H{sub 2}O system. With this method an spectacular increment in the burn-up degree and a sensible reduction of the conventional control system is obtained. An important part of this work has been the detailed analysis of the parameters affecting the neutron spectrum in a heterogeneous reactor. (Author) 50 refs.
Robust Force Control of Series Elastic Actuators
Directory of Open Access Journals (Sweden)
Andrea Calanca
2014-07-01
Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.
Control rod drive of nuclear reactor
International Nuclear Information System (INIS)
Zhuchkov, I.I.; Gorjunov, V.S.; Zaitsev, B.I.
1980-01-01
This invention relates to nuclear reactors and, more particularly, to a drive of a control rod of a nuclear reactor and allows power control, excess reactivity compensation, and emergency shut-down of a reactor. (author)
REACTOR CONTROL ROD OPERATING SYSTEM
Miller, G.
1961-12-12
A nuclear reactor control rod mechanism is designed which mechanically moves the control rods into and out of the core under normal conditions but rapidly forces the control rods into the core by catapultic action in the event of an emergency. (AEC)
Robust sampled-data control of hydraulic flight control actuators
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...
Technique of nuclear reactors controls
International Nuclear Information System (INIS)
Weill, J.
1953-12-01
This report deal about 'Techniques of control of the nuclear reactors' in the goal to achieve the control of natural uranium reactors and especially the one of Saclay. This work is mainly about the measurement into nuclear parameters and go further in the measurement of thermodynamic variables,etc... putting in relief the new features required on behalf of the detectors because of their use in the thermal neutrons flux. In the domain of nuclear measurement, we indicate the realizations and the results obtained with thermal neutron detectors and for the measurement of ionizations currents. We also treat the technical problem of the start-up of a reactor and of the reactivity measurement. We give the necessary details for the comprehension of all essential diagrams and plans put on, in particular, for the reactor of Saclay. (author) [fr
Development of a robust model-based reactivity control system
International Nuclear Information System (INIS)
Rovere, L.A.; Otaduy, P.J.; Brittain, C.R.
1990-01-01
This paper describes the development and implementation of a digital model-based reactivity control system that incorporates a knowledge of the plant physics into the control algorithm to improve system performance. This controller is composed of a model-based module and modified proportional-integral-derivative (PID) module. The model-based module has an estimation component to synthesize unmeasurable process variables that are necessary for the control action computation. These estimated variables, besides being used within the control algorithm, will be used for diagnostic purposes by a supervisory control system under development. The PID module compensates for inaccuracies in model coefficients by supplementing the model-based output with a correction term that eliminates any demand tracking or steady state errors. This control algorithm has been applied to develop controllers for a simulation of liquid metal reactors in a multimodular plant. It has shown its capability to track demands in neutron power much more accurately than conventional controllers, reducing overshoots to almost negligible value while providing a good degree of robustness to unmodeled dynamics. 10 refs., 4 figs
Nuclear reactor power control device
International Nuclear Information System (INIS)
Koshi, Yuji; Sakata, Akira; Karatsu, Hiroyuki.
1987-01-01
Purpose: To control abrupt changes in neutron fluxes by feeding back a correction signal obtained from a deviation between neutron fluxes and heat fluxes for changing the reactor core flow rate to a recycling flow rate control system upon abrupt power change of a nuclear reactor. Constitution: In addition to important systems, that is, a reactor pressure control system and a recycling control system in the power control device of a BWR type power plant, a control circuit for feeding back a deviation between neutron fluxes and heat fluxes to a recycling flow rate control system is disposed. In the suppression circuit, a deviation signal is prepared in an adder from neutron flux and heat flux signals obtained through a primary delay filter. The deviation signal is passed through a dead band and an advance/delay filter into a correction signal, which is adapted to be fed back to the recycling flow rate control system. As a result, the reactor power control can be conducted smoothly and it is possible to effectively suppress the abrupt change or over shoot of the neutron fluxes and abrupt power change. (Kamimura, M.)
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.
Wide-range nuclear reactor temperature control using automatically tuned fuzzy logic controller
International Nuclear Information System (INIS)
Ramaswamy, P.; Edwards, R.M.; Lee, K.Y.
1992-01-01
In this paper, a fuzzy logic controller design for optimal reactor temperature control is presented. Since fuzzy logic controllers rely on an expert's knowledge of the process, they are hard to optimize. An optimal controller is used in this paper as a reference model, and a Kalman filter is used to automatically determine the rules for the fuzzy logic controller. To demonstrate the robustness of this design, a nonlinear six-delayed-neutron-group plant is controlled using a fuzzy logic controller that utilizes estimated reactor temperatures from a one-delayed-neutron-group observer. The fuzzy logic controller displayed good stability and performance robustness characteristics for a wide range of operation
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...
Computerized reactor monitor and control for research reactors
International Nuclear Information System (INIS)
Buerger, L.; Vegh, E.
1981-09-01
The computerized process control system developed in the Central Research Institute for Physics, Budapest, Hungary, is described together with its special applications at research reactors. The nuclear power of the Hungarian research reactor is controlled by this computerized system, too, while in Lybia many interesting reactor-hpysical calculations are built into the computerized monitor system. (author)
Nuclear reactor control apparatus
International Nuclear Information System (INIS)
Sridhar, B.N.
1983-01-01
Nuclear reactor safety rod release apparatus comprises a ring which carries detents normally positioned in an annular recess in outer side of the rod, the ring being held against the lower end of a drive shaft by magnetic force exerted by a solenoid carried by the drive shaft. When the solenoid is de-energized, the detent-carrying ring drops until the detents contact a cam surface associated with the lower end of the drive shaft, at which point the detents are cammed out of the recess in the safety rod to release the rod from the drive shaft. In preferred embodiments of the invention, an additional latch is provided to release a lower portion of a safety rod under conditions that may interfere with movement of the entire rod
Robust adaptive control for Unmanned Aerial Vehicles
Kahveci, Nazli E.
anti-windup compensation. Our analysis on the indirect adaptive scheme reveals that the perturbation terms due to parameter errors do not cause any unbounded signals in the closed-loop. The stability of the adaptive system is established, and the properties of the proposed control scheme are demonstrated through simulations on a UAV model with input magnitude saturation constraints. The robust adaptive control design is further developed to extend our results to rate-saturated systems.
UAV Robust Strategy Control Based on MAS
Directory of Open Access Journals (Sweden)
Jian Han
2014-01-01
Full Text Available A novel multiagent system (MAS has been proposed to integrate individual UAV (unmanned aerial vehicle to form a UAV team which can accomplish complex missions with better efficiency and effect. The MAS based UAV team control is more able to conquer dynamic situations and enhance the performance of any single UAV. In this paper, the MAS proposed and established combines the reacting and thinking abilities to be an initiative and autonomous hybrid system which can solve missions involving coordinated flight and cooperative operation. The MAS uses BDI model to support its logical perception and to classify the different missions; then the missions will be allocated by utilizing auction mechanism after analyzing dynamic parameters. Prim potential algorithm, particle swarm algorithm, and reallocation mechanism are proposed to realize the rational decomposing and optimal allocation in order to reach the maximum profit. After simulation, the MAS has been proved to be able to promote the success ratio and raise the robustness, while realizing feasibility of coordinated flight and optimality of cooperative mission.
Reactor-core-reactivity control device
International Nuclear Information System (INIS)
Miura, Teruo; Sakuranaga, Tomonobu.
1983-01-01
Purpose: To improve the reactor safety upon failures of control rod drives by adapting a control rod not to drop out accidentally from the reactor core but be inserted into the reactor core. Constitution: The control rod is entered or extracted as usual from the bottom of the pressure vessel. A space is provided above the reactor core within the pressure vessel, in which the moving scope of the control rod is set between the space above the reactor core and the reactor core. That is, the control rod is situated above the reactor core upon extraction thereof and, if an accident occurs to the control rod drive mechanisms to detach the control rod and the driving rod, the control rod falls gravitationally into the reactor core to improve the reactor safety. In addition, since the speed limiter is no more required to the control rod, the driving force can be decreased to reduce the size of the rod drive mechanisms. (Ikeda, J.)
International Nuclear Information System (INIS)
Rubbel, F.E.
1982-01-01
The very extensive use of limitations in the operational field between protection system and closed-loop controls is an important feature of German understanding of operational safety. The design of limitations is based on very large activities in the computational field but mostly on the high level of the plant-wide own commissioning experience of a turnkey contractor. Limitations combine intelligence features of closed-loop controls with the high availability of protection systems. (orig.)
Deciphering robust reactor kinetic data using mutual information
International Nuclear Information System (INIS)
Kumar, P.T. Krishna
2007-01-01
Experimentalists use Chauvenets's criterion to check the quality of any measured data. Based on this criterion they rejected data having high degree of correlation. Multivariate techniques like principal component analysis used for analysis of these correlated data, does not provide any scope to minimize the effect of correlation. We propose a novel method using information theory and the technique of determinant inequalities developed by us to reduce the effect of correlation among these data without summarily rejecting them. We demonstrate the utility of our technique in transient measurements of kinetic parameters performed on the commercially advanced gas cooled reactor (CAGCR)
Application of H∞ control theory to power control of a nonlinear reactor model
International Nuclear Information System (INIS)
Suzuki, Katsuo; Shimazaki, Junya; Shinohara, Yoshikuni
1993-01-01
The H∞ control theory is applied to the compensator design of a nonlinear nuclear reactor model, and the results are compared with standard linear quadratic Gaussian (LQG) control. The reactor model is assumed to be provided with a control rod drive system having the compensation of rod position feedback. The nonlinearity of the reactor model exerts a great influence on the stability of the control system, and hence, it is desirable for a power control system of a nuclear reactor to achieve robust stability and to improve the sensitivity of the feedback control system. A computer simulation based on a power control system synthesized by LQG control was performed revealing that the control system has some stationary offset and less stability. Therefore, here, attention is given to the development of a methodology for robust control that can withstand exogenous disturbances and nonlinearity in view of system parameter changes. The developed methodology adopts H∞ control theory in the feedback system and shows interesting features of robustness. The results of the computer simulation indicate that the feedback control system constructed by the developed H∞ compensator possesses sufficient robustness of control on the stability and disturbance attenuation, which are essential for the safe operation of a nuclear reactor
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.
The control of reactor outages
International Nuclear Information System (INIS)
Bouget, Y.H.; Berteloot, J.M.
1995-01-01
The 1985-1992 period was marked by a continuous decay in French reactors operation. This situation has led the Committee for Outages Mastery to take steps for the improvement of nuclear power plants availability. The control of reactor outages requires an integrated vision of the safety, duration, dosimetry, costs and security aspects and a perfect management of contractors. The paper describes the methodology used for the management and the maintenance of the French PWR reactors stock. A detailed schedule of maintenance tasks with dose estimations is now required from each site to anticipate and optimize the duration of outages. Thanks to this action, a significant reduction of the maintenance costs is observed for the 1992-1995 period. (J.S.). 2 figs
Control rod for nuclear reactor
International Nuclear Information System (INIS)
Tada, Kaoru; Kawano, Shohei
1998-01-01
A guide roller is prepared by forming an oxide membrane on the surface of a molded roller product comprising, as a material, a deposition-reinforced type nickel-based alloy reinforced by deposition of fine particles by applying a heat treatment to a nickel-based alloy. When the guide roller is used in reactor water, since the roller has an oxide membrane on the surface, leaching of nickel to reactor water is reduced, and radioactive corrosive products including cobalt 58 are reduced to decrease an operator's exposure dose upon periodical inspections of a plant. The oxide membrane is formed by applying heat treatment under an oxidative atmosphere. Then, the amount of abrasion of pins and rollers in association with start-up or shut down of a reactor and control of the power can be reduced thereby enabling to suppress increase of radiation dose due to cobalt 60 and cobalt 58. (N.H.)
Robust position control of induction motor using fuzzy logic control
International Nuclear Information System (INIS)
Kim, Sei Chan; Kim, Duk Hun; Yang, Seung Ho; Won, Chung Yuen
1993-01-01
In recent years, fuzzy logic or fuzzy set theory has reveived attention of a number of researchers in the area of power electronics and motion control. The paper describes a vector-controlled induction motor position servo drive where fuzzy control is used to get robustness against parameter variation and load torque disturbance effects. Both coarse and fine control with the help of look-up rule tables are used to improve transient response and system settling time. The performance characteristics are then compared with those of proportional-integral(PI) control. The simulation results clearly indicate the superiority of fuzzy control with larger number of rules. The fuzzy controller was implemented with a 16-bit microprocessor and tested in laboratory on a 3-hp IGBT inverter induction motor drive system. The test results verify the simulation performance. (Author)
Controlled thermonuclear fusion reactors
International Nuclear Information System (INIS)
Walstrom, P.L.
1976-01-01
Controlled production of energy by fusion of light nuclei has been the goal of a large portion of the physics community since the 1950's. In order for a fusion reaction to take place, the fuel must be heated to a temperature of 100 million degrees Celsius. At this temperature, matter can exist only in the form of an almost fully ionized plasma. In order for the reaction to produce net power, the product of the density and energy confinement time must exceed a minimum value of 10 20 sec m -3 , the so-called Lawson criterion. Basically, two approaches are being taken to meet this criterion: inertial confinement and magnetic confinement. Inertial confinement is the basis of the laser fusion approach; a fuel pellet is imploded by intense laser beams from all sides and ignites. Magnetic confinement devices, which exist in a variety of geometries, rely upon electromagnetic forces on the charged particles of the plasma to keep the hot plasma from expanding. Of these devices, the most encouraging results have been achieved with a class of devices known as tokamaks. Recent successes with these devices have given plasma physicists confidence that scientific feasibility will be demonstrated in the next generation of tokamaks; however, an even larger effort will be required to make fusion power commercially feasible. As a result, emphasis in the controlled thermonuclear research program is beginning to shift from plasma physics to a new branch of nuclear engineering which can be called fusion engineering, in which instrumentation and control engineers will play a major role. Among the new problem areas they will deal with are plasma diagnostics and superconducting coil instrumentation
ADAPTIVE CONTROL SYSTEM OF INDUSTRIAL REACTORS
Directory of Open Access Journals (Sweden)
Vyacheslav K. Mayevski
2014-01-01
Full Text Available This paper describes a mathematical model of an industrial chemical reactor for production of synthetic rubber. During reactor operation the model parameters vary considerably. To create a control algorithm performed transformation of mathematical model of the reactor in order to obtain a dependency that can be used to determine the model parameters are changing during reactor operation.
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....
Spectral shift reactor control method
International Nuclear Information System (INIS)
Impink, A.J. Jr.
1981-01-01
A method of operating a nuclear reactor having a core and coolant displacer elements arranged in the core wherein is established a reator coolant temperature set point at which it is desired to operate said reactor and first reactor coolant temperature band limits are provided within which said set point is located and it is desired to operate said reactor charactrized in that said reactor coolant displacer elements are moved relative to the reactor core for adjusting the volume of reactor coolant in said core as said reactor coolant temperature approaches said first band limits thereby to maintain said reactor coolant temperature near said set point and within said first band limits
The effectiveness of robust RMCD control chart as outliers’ detector
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.
Identification and robust control of an experimental servo motor.
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.
Computerized reactor power regulation with logarithmic controller
International Nuclear Information System (INIS)
Gossanyi, A.; Vegh, E.
1982-11-01
A computerized reactor control system has been operating at a 5 MW WWR-SM research reactor in the Central Research Institute for Physics, Budapest, for some years. This paper describes the power controller used in the SPC operating mode of the system, which operates in a 5-decade wide power range with +-0.5% accuracy. The structure of the controller easily limits the minimal reactor period and produces a reactor transient with constant period if the power demand changes. (author)
Real-time control systems: feedback, scheduling and robustness
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.
The Optimization of power reactor control system
International Nuclear Information System (INIS)
Danupoyo, S.D.
1997-01-01
A power reactor is an important part in nuclear powered electrical plant systems. Success in controlling the power reactor will establish safety of the whole power plant systems. Until now, the power reactor has been controlled by a classical control system that was designed based on output feedback method. To meet the safety requirements that are now more restricted, the recently used power reactor control system should be modified. this paper describes a power reactor control system that is designed based on a state feedback method optimized with LQG (Linear-quadrature-gaussian) method and equipped with a state estimator. A pressurized-water type reactor has been used as the model. by using a point kinetics method with one group delayed neutrons. the result of simulation testing shows that the optimized control system can control the power reactor more effective and efficient than the classical control system
Terminal sliding mode control for continuous stirred tank reactor
Zhao, D.; Zhu, Q.; Dubbeldam, J.
2015-01-01
A continuous stirred tank reactor (CSTR) is a typical example of chemical industrial equipment, whose dynamics represent an extensive class of second order nonlinear systems. It has been witnessed that designing a good control algorithm for the CSTR is very challenging due to the high complexity. The two difficult issues in CSTR control are state estimation and external disturbance attenuation. In general, in industrial process control a fast and robust response is essential. Driven by these ...
Fast-acting nuclear reactor control device
International Nuclear Information System (INIS)
Kotlyar, O.M.; West, P.B.
1993-01-01
A fast-acting nuclear reactor control device is described for controlling a safety control rod within the core of a nuclear reactor, the reactor controlled by a reactor control system, the device comprising: a safety control rod drive shaft and an electromagnetic clutch co-axial with the drive shaft operatively connected to the safety control rod for driving and positioning the safety control rod within or without the reactor core during reactor operation, the safety rod being oriented in a substantially vertical position to allow the rod to fall into the reactor core under the influence of gravity during shutdown of the reactor; the safety control rod drive shaft further operatively connected to a hydraulic pump such that operation of the drive shaft simultaneously drives and positions the safety control rod and operates the hydraulic pump such that a hydraulic fluid is forced into an accumulator, filling the accumulator with oil for the storage and supply of primary potential energy for safety control rod insertion such that the release of potential energy in the accumulator causes hydraulic fluid to flow through the hydraulic pump, converting the hydraulic pump to a hydraulic motor having speed and power capable of full length insertion and high speed driving of the safety control rod into the reactor core; a solenoid valve interposed between the hydraulic pump and the accumulator, said solenoid valve being a normally open valve, actuated to close when the safety control rod is out of the reactor during reactor operation; and further wherein said solenoid opens in response to a signal from the reactor control system calling for shutdown of the reactor and rapid insertion of the safety control rod into the reactor core, such that the opening of the solenoid releases the potential energy in the accumulator to place the safety control rod in a safe shutdown position
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....
Robust System Identification and Control Design
National Research Council Canada - National Science Library
Zhou, Kemin
2001-01-01
..., some advanced nonlinear control techniques including bifurcation stabilization and compressor stabilization techniques, model reduction techniques, fault detection and fault tolerant control methods...
Feedforward/feedback control synthesis for performance and robustness
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.
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.
Robust Learning Control Design for Quantum Unitary Transformations.
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.
Generalized internal model robust control for active front steering intervention
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.
Self-optimizing robust nonlinear model predictive control
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
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
Robust Position Control of Electro-mechanical Systems
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...
Robust Control Analysis of Hydraulic Turbine Speed
Jekan, P.; Subramani, C.
2018-04-01
An effective control strategy for the hydro-turbine governor in time scenario is adjective for this paper. Considering the complex dynamic characteristic and the uncertainty of the hydro-turbine governor model and taking the static and dynamic performance of the governing system as the ultimate goal, the designed logic combined the classical PID control theory with artificial intelligence used to obtain the desired output. The used controller will be a variable control techniques, therefore, its parameters can be adaptively adjusted according to the information about the control error signal.
Robust on-off pulse control of flexible space vehicles
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.
Control of WWER-440 nuclear reactor
International Nuclear Information System (INIS)
Wagner, K.; Drab, F.; Grof, V.
1978-01-01
The V-1 reactor control systems are described. The data acquisition and processing system fulfils four main functions, ie., reactor start-up and power increase to 10% of the rated power, automatic power control within 3% and 110% of the rated power, reactivity compensation, and reactor protection. The automatic control system ensures constant steam pressure maintained with an accuracy of +-0.05 MPa. Reactivity compensation and spatial power distribution is mainly safeguarded by boric acid control. The V-1 reactor protection system has four levels of accident protection depending on the gravity of the failure. The philosophy of automation of the V-1 reactor control and protection system is based on autonomous automatic controlers and on the direct control of the individual sets and technological equipment. In conclusion, development trends are briefly outlined of control and protection systems of light water reactor power plants. (Z.M.)
Digital control system of advanced reactor
International Nuclear Information System (INIS)
Peng Huaqing; Zhang Rui; Liu Lixin
2001-01-01
This article produced the Digital Control System For Advanced Reactor made by NPIC. This system uses Siemens SIMATIC PCS 7 process control system and includes five control system: reactor power control system, pressurizer level control system, pressurizer pressure control system, steam generator water level control system and dump control system. This system uses three automatic station to realize the function of five control system. Because the safety requisition of reactor is very strict, the system is redundant. The system configuration uses CFC and SCL. the human-machine interface is configured by Wincc. Finally the system passed the test of simulation by using RETRAN 02 to simulate the control object. The research solved the key technology of digital control system of reactor and will be very helpful for the nationalization of digital reactor control system
Design and implementation of robust controllers for a gait trainer.
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.
Monitoring and control of anaerobic reactors
DEFF Research Database (Denmark)
Pind, Peter Frode; Angelidaki, Irini; Ahring, Birgitte Kiær
2003-01-01
The current status in monitoring and control of anaerobic reactors is reviewed. The influence of reactor design and waste composition on the possible monitoring and control schemes is examined. After defining the overall control structure, and possible control objectives, the possible process...... control approaches that have been used are comprehensively described. These include simple and adaptive controllers, as well as more recent developments such as fuzzy controllers, knowledge-based controllers and controllers based on neural networks....
Monitoring and control of anaerobic reactors
DEFF Research Database (Denmark)
Pind, Peter Frode; Angelidaki, Irini; Ahring, Birgitte Kiær
2003-01-01
The current status in monitoring and control of anaerobic reactors is reviewed. The influence of reactor design and waste composition on the possible monitoring and control schemes is examined. After defining the overall control structure, and possible control objectives, the possible process mea...... control approaches that have been used are comprehensively described. These include simple and adaptive controllers, as well as more recent developments such as fuzzy controllers, knowledge-based controllers and controllers based on neural networks....
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.
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.
Active disturbance rejection controller for chemical reactor
International Nuclear Information System (INIS)
Both, Roxana; Dulf, Eva H.; Muresan, Cristina I.
2015-01-01
In the petrochemical industry, the synthesis of 2 ethyl-hexanol-oxo-alcohols (plasticizers alcohol) is of high importance, being achieved through hydrogenation of 2 ethyl-hexenal inside catalytic trickle bed three-phase reactors. For this type of processes the use of advanced control strategies is suitable due to their nonlinear behavior and extreme sensitivity to load changes and other disturbances. Due to the complexity of the mathematical model an approach was to use a simple linear model of the process in combination with an advanced control algorithm which takes into account the model uncertainties, the disturbances and command signal limitations like robust control. However the resulting controller is complex, involving cost effective hardware. This paper proposes a simple integer-order control scheme using a linear model of the process, based on active disturbance rejection method. By treating the model dynamics as a common disturbance and actively rejecting it, active disturbance rejection control (ADRC) can achieve the desired response. Simulation results are provided to demonstrate the effectiveness of the proposed method
Active disturbance rejection controller for chemical reactor
Energy Technology Data Exchange (ETDEWEB)
Both, Roxana; Dulf, Eva H.; Muresan, Cristina I., E-mail: roxana.both@aut.utcluj.ro [Technical University of Cluj-Napoca, 400114 Cluj-Napoca (Romania)
2015-03-10
In the petrochemical industry, the synthesis of 2 ethyl-hexanol-oxo-alcohols (plasticizers alcohol) is of high importance, being achieved through hydrogenation of 2 ethyl-hexenal inside catalytic trickle bed three-phase reactors. For this type of processes the use of advanced control strategies is suitable due to their nonlinear behavior and extreme sensitivity to load changes and other disturbances. Due to the complexity of the mathematical model an approach was to use a simple linear model of the process in combination with an advanced control algorithm which takes into account the model uncertainties, the disturbances and command signal limitations like robust control. However the resulting controller is complex, involving cost effective hardware. This paper proposes a simple integer-order control scheme using a linear model of the process, based on active disturbance rejection method. By treating the model dynamics as a common disturbance and actively rejecting it, active disturbance rejection control (ADRC) can achieve the desired response. Simulation results are provided to demonstrate the effectiveness of the proposed method.
Power control system in BWR type reactors
International Nuclear Information System (INIS)
Nishizawa, Yasuo.
1980-01-01
Purpose: To control the reactor power so that the power distribution can satisfy the limiting conditions, by regulating the reactor core flow rate while monitoring the power distribution in the reactor core of a BWR type reactor. Constitution: A power distribution monitor determines the power distribution for the entire reactor core based on the data for neutron flux, reactor core thermal power, reactor core flow rate and control rod pattern from the reactor and calculates the linear power density distribution. A power up ratio computing device computes the current linear power density increase ratio. An aimed power up ratio is determined by converting the electrical power up ratio transferred from a load demand input device into the reactor core thermal power up ratio. The present reactor core thermal power up ratio is subtracted from the limiting power up ratio and the difference is sent to an operation amount indicator and the reactor core flow rate is changed in a reactor core flow rate regulator, by which the reactor power is controlled. (Moriyama, K.)
ROBUST CONTROL OF OSCILLATIONS IN AGRICULTURAL TRACTORS
DEFF Research Database (Denmark)
Andersen, T. O.; Hansen, M. R.; Conrad, Finn
2003-01-01
for agricultural tractors equiped with hicth and implements. A control strategy is developed to make the implement counteract the movement of the tractor and thereby reducing the pitching oscillation. The control strategy is based on a linear plant model with constant or slowly varying parameters. Using...
Robust Control of Laddermill Wind Energy System
Podgaets, A.R.; Ockels, W.J.
2007-01-01
Laddermill flight control problem with closed loop is considered in this paper. Laddermill is an alternative concept for energy production using high altitude kites. The kites have been simulated as rigid bodies and the cable as a thin elastic line. Euler angles and cable speed are controls. Flight
Propose Reactor Control and Monitoring System for RTP
International Nuclear Information System (INIS)
Mohd Sabri Minhat; Izhar Abu Hussin; Mohd Idris Taib; Mohd Khairulezwan Abdul Manan; Nurfarhana Ayuni Joha
2011-01-01
Reactor control and monitoring system is a one of the important features used in reactor. The control and monitoring must come together to provide safety, excellent performance and reliable in nuclear reactor technology application. Objectives of this technical paper are to design and propose reactor control system and reactor monitoring system in Research Reactor (RTP) for Reactor Upgrading Project. (author)
Linear systems optimal and robust control
Sinha, Alok
2007-01-01
Introduction Overview Contents of the Book State Space Description of a Linear System Transfer Function of a Single Input/Single Output (SISO) System State Space Realizations of a SISO System SISO Transfer Function from a State Space Realization Solution of State Space Equations Observability and Controllability of a SISO System Some Important Similarity Transformations Simultaneous Controllability and Observability Multiinput/Multioutput (MIMO) Systems State Space Realizations of a Transfer Function Matrix Controllability and Observability of a MIMO System Matrix-Fraction Description (MFD) MFD of a Transfer Function Matrix for the Minimal Order of a State Space Realization Controller Form Realization from a Right MFD Poles and Zeros of a MIMO Transfer Function Matrix Stability Analysis State Feedback Control and Optimization State Variable Feedback for a Single Input System Computation of State Feedback Gain Matrix for a Multiinput System State Feedback Gain Matrix for a Multi...
Computerized reactor monitor and control for nuclear reactors
International Nuclear Information System (INIS)
Buerger, L.
1982-01-01
The analysis of a computerized process control system developed by Transelektro-KFKI-Videoton (Hangary) for a twenty-year-old research reactor in Budapest and or a new one in Tajura (Libya) is given. The paper describes the computer hardware (R-10) and the implemented software (PROCESS-24K) as well as their applications at nuclear reactors. The computer program provides for man-machine communication, data acquisition and processing, trend and alarm analysis, the control of the reactor power, reactor physical calculations and additional operational functions. The reliability and the possible further development of the computerized systems which are suitable for application at reactors of different design are also discussed. (Sz.J.)
Spectral shift reactor control method
International Nuclear Information System (INIS)
Impink, A.J.
1982-01-01
A method of operating a nuclear reactor having a core and coolant displacer elements arranged in the core where there is established a reactor coolant temperature set point at which it is desired to operate the reactor and first reactor coolant temperature band limits within which the set point is characterized. The reactor coolant displacer elements are moved relative to the reactor core for adjusting the volume of reactor coolant in the core as the reactor coolant temperature approaches the first band limits to maintain the reactor coolant temperature near the set point and within the first band limits. The reactivity charges associated with movement of respective coolant displacer element clusters is calculated and compared with a calculated derived reactivity charge in order to select the cluster to be moved. (author)
AC machine control : robust and sensorless control by parameter independency
Energy Technology Data Exchange (ETDEWEB)
Samuelsen, Dag Andreas Hals
2009-06-15
In this thesis it is first presented how robust control can be used to give AC motor drive systems competitive dynamic performance under parameter variations. These variations are common to all AC machines, and are a result of temperature change in the machine, and imperfect machine models. This robust control is, however, dependent on sensor operation in the sense that the rotor position is needed in the control loop. Elimination of this control loop has been for many years, and still is, a main research area of AC machines control systems. An integrated PWM modulator and sampler unit has been developed and tested. The sampler unit is able to give current and voltage measurements with a reduced noise component. It is further used to give the true derivative of currents and voltages in the machine and the power converter, as an average over a PWM period, and as separate values for all states of the power converter. In this way, it can give measurements of the currents as well as the derivative of the currents, at the start and at the end of a single power inverter state. This gave a large degree of freedom in parameter and state identification during uninterrupted operation of the induction machine. The special measurement scheme of the system achieved three main goals: By avoiding the time frame where the transistors commutate and the noise in the measurement of the current is large, filtering of the current measurement is no longer needed. The true derivative of the current in the machine is can be measured with far less noise components. This was extended to give any separate derivative in all three switching states of the power converter. Using the computational resources of the FPGA, more advanced information was supplied to the control system, in order to facilitate sensor less operation, with low computational demands on the DSP. As shown in the papers, this extra information was first used to estimate some of the states of the machine, in some or all of the
Decentralized robust control design using LMI
Directory of Open Access Journals (Sweden)
Dušan Krokavec
2008-03-01
Full Text Available The paper deals with application of decentralized controllers for large-scale systems with subsystems interaction and system matrices uncertainties. The desired stability of the whole system is guaranteed while at the same time the tolerable bounds in the uncertainties due to structural changes are maximized. The design approach is based on the linear matrix inequalities (LMI techniques adaptation for stabilizing controller design.
Computation of robustly stabilizing PID controllers for interval systems.
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.
reactor power control using fuzzy logic
International Nuclear Information System (INIS)
Ahmed, A.E.E.
2001-01-01
power stabilization is a critical issue in nuclear reactors. convention pd- controller is currently used in egypt second testing research reactor (ETRR-2). two fuzzy controllers are proposed to control the reactor power of ETRR-2 reactor. the design of the first one is based on a set of linguistic rules that were adopted from the human operators experience. after off-line fuzzy computations, the controller is a lookup table, and thus, real time controller is achieved. comparing this f lc response with the pd-controller response, which already exists in the system, through studying the expected transients during the normal operation of ETRR-2 reactor, the simulation results show that, fl s has the better response, the second controller is adaptive fuzzy controller, which is proposed to deal with system non-linearity . The simulation results show that the proposed adaptive fuzzy controller gives a better integral square error (i se) index than the existing conventional od controller
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.
DEFF Research Database (Denmark)
2017-01-01
‘Robust – Reflections on Resilient Architecture’, is a scientific publication following the conference of the same name in November of 2017. Researches and PhD-Fellows, associated with the Masters programme: Cultural Heritage, Transformation and Restoration (Transformation), at The Royal Danish...
Quantitative Robust Control Engineering: Theory and Applications
2006-09-01
30]. Gutman, PO., Baril , C. Neuman, L. (1994), An algorithm for computing value sets of uncertain transfer functions in factored real form...linear compensation design for saturating unstable uncertain plants. Int. J. Control, Vol. 44, pp. 1137-1146. [90]. Oldak S., Baril C. and Gutman
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.
Application of 2DOF controller for reactor power control. Verification by numerical simulation
International Nuclear Information System (INIS)
Ishikawa, Nobuyuki; Suzuki, Katsuo
1996-09-01
In this report the usefulness of the two degree of freedom (2DOF) control is discussed to improve the reference response characteristics and robustness for reactor power control system. The 2DOF controller consists of feedforward and feedback elements. The feedforward element was designed by model matching method and the feedback element by solving the mixed sensitivity problem of H ∞ control. The 2DOF control gives good performance in both reference response and robustness to disturbance and plant perturbation. The simulation of reactor power control was performed by digitizing the 2DOF controller with the digital control periods of 10[msec]. It is found that the control period of 10[msec] is enough not to make degradation of the control performance by digitizing. (author)
Wind Turbine Control: Robust Model Based Approach
DEFF Research Database (Denmark)
Mirzaei, Mahmood
. Wind turbines are the most common wind energy conversion systems and are hoped to be able to compete economically with fossil fuel power plants in near future. However this demands better technology to reduce the price of electricity production. Control can play an essential part in this context....... This is because, on the one hand, control methods can decrease the cost of energy by keeping the turbine close to its maximum efficiency. On the other hand, they can reduce structural fatigue and therefore increase the lifetime of the wind turbine. The power produced by a wind turbine is proportional...... to the square of its rotor radius, therefore it seems reasonable to increase the size of the wind turbine in order to capture more power. However as the size increases, the mass of the blades increases by cube of the rotor size. This means in order to keep structural feasibility and mass of the whole structure...
Specificity and robustness in transcription control networks.
Sengupta, Anirvan M; Djordjevic, Marko; Shraiman, Boris I
2002-02-19
Recognition by transcription factors of the regulatory DNA elements upstream of genes is the fundamental step in controlling gene expression. How does the necessity to provide stability with respect to mutation constrain the organization of transcription control networks? We examine the mutation load of a transcription factor interacting with a set of n regulatory response elements as a function of the factor/DNA binding specificity and conclude on theoretical grounds that the optimal specificity decreases with n. The predicted correlation between variability of binding sites (for a given transcription factor) and their number is supported by the genomic data for Escherichia coli. The analysis of E. coli genomic data was carried out using an algorithm suggested by the biophysical model of transcription factor/DNA binding. Complete results of the search for candidate transcription factor binding sites are available at http://www.physics.rockefeller.edu/~boris/public/search_ecoli.
Robust Temperature Control of a Thermoelectric Cooler via μ -Synthesis
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.
Robust fast controller design via nonlinear fractional differential equations.
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.
Switching robust control synthesis for teleoperation via dwell time conditions
López Martínez, C.A.; van de Molengraft, M.J.G.; Steinbuch, M.; Auvray, M.; Duriez, C.
2014-01-01
Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the
Robust Tracking Control for a Piezoelectric Actuator
2006-01-01
1 ε ρ ( kzk )2 kzk2 r ¸ (31) where kr ∈ R+ is a constant gain, ε ∈ R+ is a small constant, and ρ ( kzk ) ∈ R is a function of norm z (t) ∈ R2. The...equality can be developed (see Appendix 3 for further details) ¯̄̄ Ñ ¯̄̄ ≤ ρ ( kzk ) kzk . (33) After substituting (31) into (27), the following...closed- loop error system can be obtained mṙ = ∼ N +Nd − e+ µ Tem Cc ¶ s− krr (34) −1 ε ρ ( kzk )2 kzk2 r. 3.3 Stability Analysis Theorem 1 The controller
Adaptive integral robust control and application to electromechanical servo systems.
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.
Asymmetric forecasting and commitment policy in a robust control problem
Taro Ikeda
2013-01-01
This paper provides a piece of results regarding asymmetric forecasting and commitment monetary policy with a robust control algorithm. Previous studies provide no clarification of the connection between asymmetric preference and robust commitment policy. Three results emerge from general equilibrium modeling with asymmetric preference: (i) the condition for system stability implies an average inflation bias with respect to asymmetry (ii) the effect of asymmetry can be mitigated if policy mak...
Feedwater control system in BWR type reactor
International Nuclear Information System (INIS)
Tanji, Jun-ichi; Oomori, Takashi.
1980-01-01
Purpose: To improve the water level control performance in BWR type reactor by regulating the water level set to the reactor depending on the rate of change in the recycling amount of coolant to thereby control the fluctuations in the water level resulted in the reactor within an aimed range even upon significant fluctuations in the recycling flow rate. Constitution: The recycling flow rate of coolant in the reactor is detected and the rate of its change with time is computed to form a rate of change signal. The rate of change signal is inputted to a reactor level setter to amend the actual reactor water level demand signal and regulate the water level set to the reactor water depending on the rate of change in the recycling flow rate. Such a regulation method for the set water level enables to control the water level fluctuation resulted in the reactor within the aimed range even upon the significant fluctuation in the recycling flow rate and improve the water level control performance of the reactor, whereby the operationability for the reactor is improved to enhance the operation rate. (Moriyama, K.)
Design of a nuclear reactor cooperative controller
International Nuclear Information System (INIS)
Alang-Rashid, N.K.; Heger, A.S.
1991-01-01
This paper describes the development of a fuzzy logic controller software package and explores the feasibility of its use in nuclear reactor operation. The controller complements reactor operator actions, and the operators can override the controller decisions. Techniques of providing learning capability to the controller are also being investigated to improve the reasoning and control skill of the controller. The fuzzy logic controller is implemented in C language and its overall structure is shown. The heart of the systems consists of a fuzzifier, a rule interpreter, and a defuzzifier. The controller is designed as a stand-alone package that can be interfaced to a simulated model of a nuclear reactor. Since no model is an accurate representation of the actual process being modeled, some tuning must be performed to use the controller in an actual reactor. This is accomplished using the learning feature of the controller
Power control device for nuclear reactors
International Nuclear Information System (INIS)
Kagawa, Tatsuo
1984-01-01
Purpose: To eliminate for requirement of control rods and movable portions, as well as ensure the safety and reliability of the operation. Constitution: A plurality of control tubes are disposed within a reactor core instead of control rods. Tubes are connected from below the reactor core to the control tubes for supplying liquid poisons such as aqueous boric acid to the inside of the control tubes. Further, tubes are connected to the upper portion of the control tubes for guiding the liquid poisons from the reactor core to the outside. The tubes for supplying and discharging the liquid poisons are introduced externally through the flange disposed at the upper portion of a pressure vessel. At the outside of the pressure vessel, are disposed a liquid poison tank, a pressurizing source, a pressure control valve, a liquid level meter and the like. The control for the reactor power is conducted by controlling the level of the liquid poisons in the control tubes. (Ikeda, J.)
Robust levitation control for maglev systems with guaranteed bounded airgap.
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 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...
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.
Robust Control Design for Uncertain Nonlinear Dynamic Systems
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.
Feed water control device in a reactor
International Nuclear Information System (INIS)
Okutani, Tetsuro.
1984-01-01
Purpose: To prevent substantial fluctuations of the water level in a nuclear reactor and always keep a constant standard level under any operation condition. Constitution: When the causes for fluctuating the reactor water level is resulted, a certain amount of correction signal is added to a level deviation signal for the difference between the reactor standard level and the actual reactor water level to control the flow rate of the feed water pump depending on the addition signal. If reactor scram should occur, for instance, a level correction signal changing stepwise depending on a scram signal is outputted and added to the level deviation signal. As the result, the flow rate of feed water sent into the reactor just after the scram is increased, whereby the lowering in the reactor water level upon scram can be decreased as compared with the case where no such level compensation signal is inputted. (Kamimura, M.)
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...
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...
Reactor power control method and device
International Nuclear Information System (INIS)
Fushimi, Atsushi; Ishii, Yoshihiko; Miyamoto, Yoshiyuki; Ishii, Kazuhiko; Kiyoharu, Norihiko; Aizawa, Yuko.
1997-01-01
The present invention provides a method and a device suitable to rise the temperature and increase the pressure of the reactor to an aimed pressure in accordance with an aimed value for a reactor water temperature changing rate in the course of rising temperature and increasing pressure of the reactor upon start up of a BWR type power plant. Namely, neutron fluxes in the reactor and the temperature of reactor water are detected respectively. The maximum value among the detected values for the neutron fluxes is detected. The reactor water temperature changing rate is calculated based on the detected values of the reactor water temperature, from which the maximum value of the reactor water temperature changing rate is detected. An aimed value for the neutron flux is calculated in accordance with both detected maximum values and the aimed value of the reactor water temperature changing rate. The position of control rods is adjusted in accordance with the aimed value for the calculated neutron flux. Then, an aimed value for the neutron flux for realizing the aimed value for the reactor water temperature changing rate can be obtained accurately with no influence of the sensitivity of the detected values of the neutron fluxes and the time delay of the reactor water temperature changing rate. (I.S.)
TREAT Reactor Control and Protection System
International Nuclear Information System (INIS)
Lipinski, W.C.; Brookshier, W.K.; Burrows, D.R.; Lenkszus, F.R.; McDowell, W.P.
1985-01-01
The main control algorithm of the Transient Reactor Test Facility (TREAT) Automatic Reactor Control System (ARCS) resides in Read Only Memory (ROM) and only experiment specific parameters are input via keyboard entry. Prior to executing an experiment, the software and hardware of the control computer is tested by a closed loop real-time simulation. Two computers with parallel processing are used for the reactor simulation and another computer is used for simulation of the control rod system. A monitor computer, used as a redundant diverse reactor protection channel, uses more conservative setpoints and reduces challenges to the Reactor Trip System (RTS). The RTS consists of triplicated hardwired channels with one out of three logic. The RTS is automatically tested by a digital Dedicated Microprocessor Tester (DMT) prior to the execution of an experiment. 6 refs., 5 figs., 1 tab
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)
Method and device for controlling reactor power
International Nuclear Information System (INIS)
Oohashi, Masahisa; Masuda, Hiroyuki.
1982-01-01
Purpose: To enable load following-up operation of a reactor adapted to perform power conditioning by the control of the liquid poison density in the core and by the control rods. Constitution: In a case where the reactor power is repeatedly changed in a reactor having a liquid poison density control device and control rods, the time period for the power control is divided depending on the magnitude of the change with time in the reactivity and the optimum values are set for the injection and removal amount of the liquid poison within the divided period. Then, most parts of the control required for the power change are alloted to the liquid poison that gives no effect on the power distribution while minimizing the movement of the control rods, whereby the power change in the reactor as in the case of the load following-up operation can be practiced with ease. (Kawakami, Y.)
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
A Design Method of Robust Servo Internal Model Control with Control Input Saturation
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.
Robust and optimal control a two-port framework approach
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 Optimal Adaptive Control Method with Large Adaptive Gain
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.
Robust Stabilization of Nonlinear Systems with Uncertain Varying Control Coefficient
Directory of Open Access Journals (Sweden)
Zaiyue Yang
2014-01-01
Full Text Available This paper investigates the stabilization problem for a class of nonlinear systems, whose control coefficient is uncertain and varies continuously in value and sign. The study emphasizes the development of a robust control that consists of a modified Nussbaum function to tackle the uncertain varying control coefficient. By such a method, the finite-time escape phenomenon has been prevented when the control coefficient is crossing zero and varying its sign. The proposed control guarantees the asymptotic stabilization of the system and boundedness of all closed-loop signals. The control performance is illustrated by a numerical simulation.
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.
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.
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...
NEUTRONIC REACTOR CONTROL ROD DRIVE APPARATUS
Oakes, L.C.; Walker, C.S.
1959-12-15
ABS>A suspension mechanism between a vertically movable nuclear reactor control rod and a rod extension, which also provides information for the operator or an automatic control signal, is described. A spring connects the rod extension to a drive shift. The extension of the spring indicates whether (1) the rod is at rest on the reactor, (2) the rod and extension are suspended, or (3) the extension alone is suspended, the spring controlling a 3-position electrical switch.
ANALYTICAL SYNTHESIS OF CHEMICAL REACTOR CONTROL SYSTEM
Directory of Open Access Journals (Sweden)
Alexander Labutin
2017-02-01
Full Text Available The problem of the analytical synthesis of the synergetic control system of chemical reactor for the realization of a complex series-parallel exothermal reaction has been solved. The synthesis of control principles is performed using the analytical design method of aggregated regulators. Synthesized nonlinear control system solves the problem of stabilization of the concentration of target component at the exit of reactor and also enables one to automatically transfer to new production using the equipment.
Research on Robust Control Strategies for VSC-HVDC
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.
Robust combined position and formation control for marine surface craft
DEFF Research Database (Denmark)
Ihle, Ivar-Andre F.; Jouffroy, Jerome; Fossen, Thor I.
We consider the robustness properties of a formation control system for marine surface vessels. Intervessel constraint functions are stabilized to achieve the desired formation configuration. We show that the formation dynamics is Input-to-State Stable (ISS) to both environmental perturbations th...
Model predictive control of hybrid systems : stability and robustness
Lazar, M.
2006-01-01
This thesis considers the stabilization and the robust stabilization of certain classes of hybrid systems using model predictive control. Hybrid systems represent a broad class of dynamical systems in which discrete behavior (usually described by a finite state machine) and continuous behavior
Robust stabilization of nonlinear systems by quantized and ternary control
Persis, Claudio De
2009-01-01
Results on the problem of stabilizing a nonlinear continuous-time minimum-phase system by a finite number of control or measurement values are presented. The basic tool is a discontinuous version of the so-called semi-global backstepping lemma. We derive robust practical stabilizability results by
Distributed expert systems for nuclear reactor control
International Nuclear Information System (INIS)
Otaduy, P.J.
1992-01-01
A network of distributed expert systems is the heart of a prototype supervisory control architecture developed at the Oak Ridge National Laboratory (ORNL) for an advanced multimodular reactor. Eight expert systems encode knowledge on signal acquisition, diagnostics, safeguards, and control strategies in a hybrid rule-based, multiprocessing and object-oriented distributed computing environment. An interactive simulation of a power block consisting of three reactors and one turbine provides a realistic, testbed for performance analysis of the integrated control system in real-time. Implementation details and representative reactor transients are discussed
ADVANCED CONTROL FOR A ETHYLENE REACTOR
Directory of Open Access Journals (Sweden)
Dumitru POPESCU
2017-06-01
Full Text Available The main objective of this work is the design and implementation of control solutions for petrochemical processes, namely the control and optimization of a pyrolysis reactor, the key-installation in the petrochemical industry. We present the technological characteristics of this petrochemical process and some aspects about the proposed control system solution for the ethylene plant. Finally, an optimal operating point for the reactor is found, considering that the process has a nonlinear multi-variable structure. The results have been implemented on an assembly of pyrolysis reactors on a petrochemical platform from Romania.
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.
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...
Two stage neural network modelling for robust model predictive control.
Patan, Krzysztof
2018-01-01
The paper proposes a novel robust model predictive control scheme realized by means of artificial neural networks. The neural networks are used twofold: to design the so-called fundamental model of a plant and to catch uncertainty associated with the plant model. In order to simplify the optimization process carried out within the framework of predictive control an instantaneous linearization is applied which renders it possible to define the optimization problem in the form of constrained quadratic programming. Stability of the proposed control system is also investigated by showing that a cost function is monotonically decreasing with respect to time. Derived robust model predictive control is tested and validated on the example of a pneumatic servomechanism working at different operating regimes. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Reactor feedwater pump control device
International Nuclear Information System (INIS)
Nishiyama, Hiroyuki.
1990-01-01
An amount of feedwater necessary for ensuring reactor inventory after scram is ensured automatically based on the reactor output before scram of a BWR type reactor. That is, if scram should occur, a feedwater flow rate just before the scram is stored by reactor output signals. Further, the amount of feedwater required after the scram is determined based on the output of the memory. The reactor power after the scram based on a feedwater flow rate and a main steam flow rate is inputted to an integrator, to calculate and output the amount of the feedwater flow rate (1) injected after the scram for the inventory. A coast down flowrate (2) in a case of pump trip is forecast by the output signals. Automatic trip is outputted to all turbine driving feedwater pumps when the sum of (1) and (2) exceeds a necessary and sufficient amount of feedwater required for ensuring inventory. For motor driving feedwater pumps, only a portion, for example, one of the pumps is automatically started while other pumps are stopped their operation, only in this case, to prevent excess water feeding. (I.S.)
Robust Nonlinear Control with Compensation Operator for a Peltier System
Directory of Open Access Journals (Sweden)
Sheng-Jun Wen
2014-01-01
Full Text Available Robust nonlinear control with compensation operator is presented for a Peltier actuated system, where the compensation operator is designed by using a predictive model on heat radiation. For the Peltier system, the heat radiation is related to the fourth power of temperature. So, the heat radiation is affected evidently by the temperature when it is high and temperature difference between the system and environment is large. A new nonlinear model with the heat radiation is set up for the system according to some thermal conduction laws. To ensure robust stability of the nonlinear system, operator based robust right coprime factorization design is considered. Also, a compensation operator based on a predictive model is proposed to cancel effect of the heat radiation, where the predictive model is set up by using radial basis kernel function based SVM (support vector machine method. Finally, simulation results are given to show the effectiveness of the proposed scheme.
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...
Microgrid Stability Controller Based on Adaptive Robust Total SMC
Su, Xiaoling; Han, Minxiao; Guerrero, Josep M.; Sun, Hai
2015-01-01
This paper presents a microgrid stability controller (MSC) in order to provide existing distributed generation units (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 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...
Set-Membership Identification for Robust Control Design
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
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)
Model-reference robust tuning of PID controllers
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...
Complete automation of nuclear reactors control
International Nuclear Information System (INIS)
Weill, J.
1955-01-01
The use of nuclear reactor for energy production induces the installation of automatic control systems which need to be safe enough and can adapt to the industrial scale of energy production. These automatic control systems have to insure the constancy of power level and adjust the power produced to the energy demand. Two functioning modes are considered: nuclear plant connected up to other electric production systems as hydraulic or thermic plants or nuclear plants functioning on an independent network. For nuclear plants connected up with other production plants, xenon poisoning and operating cost lead to keep working at maximum power the nuclear reactors. Thus, the power modulation control system will not be considered and only start-up control, safety control, and control systems will be automated. For nuclear power plants working on an independent network, the power modulation control system is needed to economize fuel. It described the automated control system for reactors functioning with constant power: a power measurement system constituted of an ionization chamber and a direct-current amplifier will control the steadfastness of the power produced. For reactors functioning with variable power, the automated power control system will allow to change the power and maintain it steady with all the necessary safety and will control that working conditions under P max and R max (maximum power and maximum reactivity). The effects of temperature and xenon poisoning will also be discussed. Safety systems will be added to stop completely the functioning of the reactor if P max is reached. (M.P.)
Reactor core and control rod assembly in FBR type reactor
International Nuclear Information System (INIS)
Fujimura, Koji; Kawashima, Katsuyuki; Itooka, Satoshi.
1993-01-01
Fuel assemblies and control rod assemblies are attached respectively to reactor core support plates each in a cantilever fashion. Intermediate spacer pads are disposed to the lateral side of a wrapper tube just above the fuel rod region. Intermediate space pads are disposed to the lateral side of a control rod guide tube just above a fuel rod region. The thickness of the intermediate spacer pad for the control rod assembly is made smaller than the thickness of the intermediate spacer pad for the fuel assembly. This can prevent contact between intermediate spacer pads of the control guide tube and the fuel assembly even if the temperature of coolants is elevated to thermally expand the intermediate spacer pad, by which the radial displacement amount of the reactor core region along the direction of the height of the control guide tube is reduced substantially to zero. Accordingly, contribution of the control rod assembly to the radial expansion reactivity can be reduced to zero or negative level, by which the effect of the negative radial expansion reactivity of the reactor is increased to improve the safety upon thermal transient stage, for example, loss of coolant flow rate accident. (I.N.)
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.
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.
Robust control for constant thrust rendezvous under thrust failure
Directory of Open Access Journals (Sweden)
Qi Yongqiang
2015-04-01
Full Text Available A robust constant thrust rendezvous approach under thrust failure is proposed based on the relative motion dynamic model. Firstly, the design problem is cast into a convex optimization problem by introducing a Lyapunov function subject to linear matrix inequalities. Secondly, the robust controllers satisfying the requirements can be designed by solving this optimization problem. Then, a new algorithm of constant thrust fitting is proposed through the impulse compensation and the fuel consumption under the theoretical continuous thrust and the actual constant thrust is calculated and compared by using the method proposed in this paper. Finally, the proposed method having the advantage of saving fuel is proved and the actual constant thrust switch control laws are obtained through the isochronous interpolation method, meanwhile, an illustrative example is provided to show the effectiveness of the proposed control design method.
Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.
Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng
2017-07-01
In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Time-optimal control of reactor power
International Nuclear Information System (INIS)
Bernard, J.A.
1987-01-01
Control laws that permit adjustments in reactor power to be made in minimum time and without overshoot have been formulated and demonstrated. These control laws which are derived from the standard and alternate dynamic period equations, are closed-form expressions of general applicability. These laws were deduced by noting that if a system is subject to one or more operating constraints, then the time-optimal response is to move the system along these constraints. Given that nuclear reactors are subject to limitations on the allowed reactor period, a time-optimal control law would step the period from infinity to the minimum allowed value, hold the period at that value for the duration of the transient, and then step the period back to infinity. The change in reactor would therefore be accomplished in minimum time. The resulting control laws are superior to other forms of time-optimal control because they are general-purpose, closed-form expressions that are both mathematically tractable and readily implanted. Moreover, these laws include provisions for the use of feedback. The results of simulation studies and actual experiments on the 5 MWt MIT Research Reactor in which these time-optimal control laws were used successfully to adjust the reactor power are presented
Level controlling system in BWR type reactors
International Nuclear Information System (INIS)
Joge, Toshio; Higashigawa, Yuichi; Oomori, Takashi.
1981-01-01
Purpose: To reasonably attain fully automatic water level control in the core of BWR type nuclear power plants. Constitution: A feedwater flow regulation valve for reactor operation and a feedwater flow regulation valve for starting are provided at the outlet of a motor-driven feedwater pump in a feedwater system, and these valves are controlled by a feedwater flow rate controller. While on the other hand, a damp valve for reactor clean up system is controlled either in ''computer'' mode or in ''manual'' mode selected by a master switch, that is, controlled from a computer or the ON-OFF switch of the master switch by way of a valve control analog memory and a turn-over switch. In this way, the water level in the nuclear reactor can be controlled in a fully automatic manner reasonably at the starting up and shutdown of the plant to thereby provide man power saving. (Seki, T.)
A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control
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.
Energy Technology Data Exchange (ETDEWEB)
Valdetaro, Eduardo Damianik, E-mail: valdtar@eletronuclear.gov.br [ELETRONUCLEAR - ELETROBRAS, Angra dos Reis, RJ (Brazil). Angra 2 Operating Dept.; Coordenacao dos Programas de Pos-Graduacao de Engenharia (PEN/COPPE/UFRJ), RJ (Brazil). Programa de Engenharia Nuclear; Schirru, Roberto, E-mail: schirru@lmp.ufrj.br [Coordenacao dos Programas de Pos-Graduacao de Engenharia (PEN/COPPE/UFRJ), RJ (Brazil). Programa de Engenharia Nuclear
2011-07-01
In Nuclear power plants, Data Reconciliation (DR) and Gross Errors Detection (GED) are techniques of increasing interest and are primarily used to keep mass and energy balance into account, which brings outcomes as a direct and indirect financial benefits. Data reconciliation is formulated by a constrained minimization problem, where the constraints correspond to energy and mass balance model. Statistical methods are used combined with the minimization of quadratic error form. Solving nonlinear optimization problem using conventional methods can be troublesome, because a multimodal function with differentiated solutions introduces some difficulties to search an optimal solution. Many techniques were developed to solve Data Reconciliation and Outlier Detection, some of them use, for example, Quadratic Programming, Lagrange Multipliers, Mixed-Integer Non Linear Programming and others use evolutionary algorithms like Genetic Algorithms (GA) and recently the use of the Particle Swarm Optimization (PSO) showed to be a potential tool as a global optimization algorithm when applied to data reconciliation. Robust Statistics is also increasing in interest and it is being used when measured data are contaminated by random errors and one can not assume the error is normally distributed, situation which reflects real problems situation. The aim of this work is to present a brief comparison between the classical data reconciliation technique and the robust data reconciliation and gross error detection with swarm intelligence procedure in calculating the thermal reactor power for a simplified heat circuit diagram of a steam turbine plant using real data obtained from Angra 2 Nuclear power plant. The main objective is to test the potential of the robust DR and GED method in a integrated framework using swarm intelligence and the three part redescending estimator of Hampel when applied to a real process condition. The results evaluate the potential use of the robust technique in
International Nuclear Information System (INIS)
Valdetaro, Eduardo Damianik; Coordenacao dos Programas de Pos-Graduacao de Engenharia; Schirru, Roberto
2011-01-01
In Nuclear power plants, Data Reconciliation (DR) and Gross Errors Detection (GED) are techniques of increasing interest and are primarily used to keep mass and energy balance into account, which brings outcomes as a direct and indirect financial benefits. Data reconciliation is formulated by a constrained minimization problem, where the constraints correspond to energy and mass balance model. Statistical methods are used combined with the minimization of quadratic error form. Solving nonlinear optimization problem using conventional methods can be troublesome, because a multimodal function with differentiated solutions introduces some difficulties to search an optimal solution. Many techniques were developed to solve Data Reconciliation and Outlier Detection, some of them use, for example, Quadratic Programming, Lagrange Multipliers, Mixed-Integer Non Linear Programming and others use evolutionary algorithms like Genetic Algorithms (GA) and recently the use of the Particle Swarm Optimization (PSO) showed to be a potential tool as a global optimization algorithm when applied to data reconciliation. Robust Statistics is also increasing in interest and it is being used when measured data are contaminated by random errors and one can not assume the error is normally distributed, situation which reflects real problems situation. The aim of this work is to present a brief comparison between the classical data reconciliation technique and the robust data reconciliation and gross error detection with swarm intelligence procedure in calculating the thermal reactor power for a simplified heat circuit diagram of a steam turbine plant using real data obtained from Angra 2 Nuclear power plant. The main objective is to test the potential of the robust DR and GED method in a integrated framework using swarm intelligence and the three part redescending estimator of Hampel when applied to a real process condition. The results evaluate the potential use of the robust technique in
Control aid for xenon vibration in reactor
International Nuclear Information System (INIS)
Kanekawa, Takashi.
1990-01-01
In the present invention, the control operation for suppressing xenon vibrations in a reactor is aided for saving forecasting analysis and operator's skills. That is, parameters to be controlled for the suppression of xenon vibrations are power distribution, iodine distribution and xenon distribution. But what can be observed by operaters by the conventional fast overtone method is only the output distribution. In the present invention, the output level of the reactor core is always observed. Then, mathematical processings are conducted for the iodine distribution, the xenon distribution and the power distribution in the reactor core based on the histeresis of the parameters obtained by the measurement using physical constants and reactor design data. The xenon vibration control is aided by displaying the change with time of the distortion in axial direction. Accordingly, operators can always recognize the axial distortion of the power distribution, the iodine distribution and the xenon distribution. (I.S.)
Optimization and control of a continuous polymerization reactor
Directory of Open Access Journals (Sweden)
L. A. Alvarez
2012-12-01
Full Text Available This work studies the optimization and control of a styrene polymerization reactor. The proposed strategy deals with the case where, because of market conditions and equipment deterioration, the optimal operating point of the continuous reactor is modified significantly along the operation time and the control system has to search for this optimum point, besides keeping the reactor system stable at any possible point. The approach considered here consists of three layers: the Real Time Optimization (RTO, the Model Predictive Control (MPC and a Target Calculation (TC that coordinates the communication between the two other layers and guarantees the stability of the whole structure. The proposed algorithm is simulated with the phenomenological model of a styrene polymerization reactor, which has been widely used as a benchmark for process control. The complete optimization structure for the styrene process including disturbances rejection is developed. The simulation results show the robustness of the proposed strategy and the capability to deal with disturbances while the economic objective is optimized.
Digital control for nuclear reactors - lessons learned
International Nuclear Information System (INIS)
Bernard, J.A.; Aviles, B.N.; Lanning, D.D.
1992-01-01
Lessons learned during the course of the now decade-old MIT program on the digital control of nuclear reactors are enumerated. Relative to controller structure, these include the importance of a separate safety system, the need for signal validation, the role of supervisory algorithms, the significance of command validation, and the relevance of automated reasoning. Relative to controller implementation, these include the value of nodal methods to the creation of real-time reactor physics and thermal hydraulic models, the advantages to be gained from the use of real-time system models, and the importance of a multi-tiered structure to the simultaneous achievement of supervisory, global, and local control. Block diagrams are presented of proposed controllers and selected experimental and simulation-study results are shown. In addition, a history is given of the MIT program on reactor digital control
Robust Control with Enlaeged Interval of Uncertain Parameters
Directory of Open Access Journals (Sweden)
Marek Keresturi
2002-01-01
Full Text Available Robust control is advantageous for systems with defined interval of uncertain parameters. This can be substantially enlarged dividing it into a few sub-intervals. Corresponding controllers for each of them may be set after approximate identification of some uncertain plant parameters. The paper deals with application of the pole region assignment method for position control of the crane crab. The same track form is required for uncertain burden mass and approximate value of rope length. Measurement of crab position and speed is supposed, burden deviation angle is observed. Simulation results have verified feasibility of this design procedure.
Nuclear reactor shutdown control rod assembly
International Nuclear Information System (INIS)
Bilibin, K.
1988-01-01
This patent describes a nuclear reactor having a reactor core and a reactor coolant flowing therethrough, a temperature responsive, self-actuated nuclear reactor shutdown control rod assembly, comprising: an upper drive line terminating at its lower end with a substantially cylindrical wall member having inner and outer surfaces; a lower drive line having a lower end adapted to be attached to a neutron absorber; a ring movable disposed about the outer surface of the wall member of the upper drive line; thermal actuation means adapted to be in heat exchange relationship with coolant in an associated reactor core and in contact with the ring, and balls located within the openings in the upper drive line. When reactor coolant approaches a predetermined design temperature the actuation means moves the ring sufficiently so that the balls move radially out from the recess and into the space formed by the second portion of the ring thereby removing the vertical support for the lower drive line such that the lower drive line moves downwardly and inserts an associated neutron absorber into an associated reactor core resulting in automatic reduction of reactor power
Robust stability bounds for multi-delay networked control systems
Seitz, Timothy; Yedavalli, Rama K.; Behbahani, Alireza
2018-04-01
In this paper, the robust stability of a perturbed linear continuous-time system is examined when controlled using a sampled-data networked control system (NCS) framework. Three new robust stability bounds on the time-invariant perturbations to the original continuous-time plant matrix are presented guaranteeing stability for the corresponding discrete closed-loop augmented delay-free system (ADFS) with multiple time-varying sensor and actuator delays. The bounds are differentiated from previous work by accounting for the sampled-data nature of the NCS and for separate communication delays for each sensor and actuator, not a single delay. Therefore, this paper expands the knowledge base in multiple inputs multiple outputs (MIMO) sampled-data time delay systems. Bounds are presented for unstructured, semi-structured, and structured perturbations.
Robust control charts in industrial production of olive oil
Grilo, Luís M.; Mateus, Dina M. R.; Alves, Ana C.; Grilo, Helena L.
2014-10-01
Acidity is one of the most important variables in the quality analysis and characterization of olive oil. During the industrial production we use individuals and moving range charts to monitor this variable, which is not always normal distributed. After a brief exploratory data analysis, where we use the bootstrap method, we construct control charts, before and after a Box-Cox transformation, and compare their robustness and performance.
Control Rod Malfunction at the NRAD Reactor
Energy Technology Data Exchange (ETDEWEB)
Thomas L. Maddock
2010-05-01
The neutron Radiography Reactor (NRAD) is a training, research, and isotope (TRIGA) reactor located at the INL. The reactor is normally shut down by the insertion of three control rods that drop into the core when power is removed from electromagnets. During a routine shutdown, indicator lights on the console showed that one of the control rods was not inserted. It was initially thought that the indicator lights were in error because of a limit switch that was out of adjustment. Through further testing, it was determined that the control rod did not drop when the scram switch was initially pressed. The control rod anomaly led to a six month shutdown of the reactor and an in depth investigation of the reactor protective system. The investigation looked into: scram switch operation, console modifications, and control rod drive mechanisms. A number of latent issues were discovered and corrected during the investigation. The cause of the control rod malfunction was found to be a buildup of corrosion in the control rod drive mechanism. The investigation resulted in modifications to equipment, changes to both operation and maintenance procedures, and additional training. No reoccurrences of the problem have been observed since corrective actions were implemented.
Robust coordinated control of a dual-arm space robot
Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay
2017-09-01
Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.
An adaptive robust controller for time delay maglev transportation systems
Milani, Reza Hamidi; Zarabadipour, Hassan; Shahnazi, Reza
2012-12-01
For engineering systems, uncertainties and time delays are two important issues that must be considered in control design. Uncertainties are often encountered in various dynamical systems due to modeling errors, measurement noises, linearization and approximations. Time delays have always been among the most difficult problems encountered in process control. In practical applications of feedback control, time delay arises frequently and can severely degrade closed-loop system performance and in some cases, drives the system to instability. Therefore, stability analysis and controller synthesis for uncertain nonlinear time-delay systems are important both in theory and in practice and many analytical techniques have been developed using delay-dependent Lyapunov function. In the past decade the magnetic and levitation (maglev) transportation system as a new system with high functionality has been the focus of numerous studies. However, maglev transportation systems are highly nonlinear and thus designing controller for those are challenging. The main topic of this paper is to design an adaptive robust controller for maglev transportation systems with time-delay, parametric uncertainties and external disturbances. In this paper, an adaptive robust control (ARC) is designed for this purpose. It should be noted that the adaptive gain is derived from Lyapunov-Krasovskii synthesis method, therefore asymptotic stability is guaranteed.
Control rod for HTGR type reactor
International Nuclear Information System (INIS)
Mogi, Haruyoshi; Saito, Yuji; Fukamichi, Kenjiro.
1990-01-01
Upon dropping control rod elements into the reactor core, impact shocks are applied to wire ropes or spines to possibly deteriorate the integrity of the control rods. In view of the above in the present invention, shock absorbers such as springs or bellows are disposed between a wire rope and a spine in a HTGR type reactor control rod comprising a plurality of control rod elements connected axially by means of a spine that penetrates the central portion thereof, and is suspended at the upper end thereof by a wire rope. Impact shocks of about 5 kg are applied to the wire rope and the spine and, since they can be reduced by the shock absorbers, the control rod integrity can be maintained and the reactor safety can be improved. (T.M.)
Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter
Directory of Open Access Journals (Sweden)
M. Navabi
Full Text Available Abstract This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO is developed for multi-input multi-output (MIMO nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.
Robust output LQ optimal control via integral sliding modes
Fridman, Leonid; Bejarano, Francisco Javier
2014-01-01
Featuring original research from well-known experts in the field of sliding mode control, this monograph presents new design schemes for implementing LQ control solutions in situations where the output system is the only information provided about the state of the plant. This new design works under the restrictions of matched disturbances without losing its desirable features. On the cutting-edge of optimal control research, Robust Output LQ Optimal Control via Integral Sliding Modes is an excellent resource for both graduate students and professionals involved in linear systems, optimal control, observation of systems with unknown inputs, and automatization. In the theory of optimal control, the linear quadratic (LQ) optimal problem plays an important role due to its physical meaning, and its solution is easily given by an algebraic Riccati equation. This solution turns out to be restrictive, however, because of two assumptions: the system must be free from disturbances and the entire state vector must be kn...
Heating control system for nuclear reactor
International Nuclear Information System (INIS)
Shinohara, Kaoru.
1981-01-01
Purpose: To automatically control reactor heating while keeping the condition of temperature rising rate by determining the deviations based on the reactor water temperature, the aimed temperature and the aimed temperature rising rate and operating control rods. Constitution: Actual temperature in the reactor is measured by a temperature detector and compared with a value from a setter to determine the temperature deviation. While on the other hand, the rising rate for the measured temperature is calculated in a differentiator and compared with a value from a setter to determine the deviation, which is passed through an integrator to calculate the deviation for the temperature rising rate. The signals for the temperature deviation and the temperature rising rate deviation are selected in a lower value preference circuit and the operation amount for the control rod is judged in a control rod operation judging section depending on the deviation amount. The control rod to be operated is determined in a sequence control section for the selection of control rod. The control rod selected and the direction of the operation are displayed on a display and the selected control rod is automatically driven by a control rod drives to thereby carry our reactor heating. (Furukawa, Y.)
Multivariable Feedback Control of Nuclear Reactors
Directory of Open Access Journals (Sweden)
Rune Moen
1982-07-01
Full Text Available Multivariable feedback control has been adapted for optimal control of the spatial power distribution in nuclear reactor cores. Two design techniques, based on the theory of automatic control, were developed: the State Variable Feedback (SVF is an application of the linear optimal control theory, and the Multivariable Frequency Response (MFR is based on a generalization of the traditional frequency response approach to control system design.
Advanced liquid metal reactor plant control system
International Nuclear Information System (INIS)
Dayal, Y.; Wagner, W.; Zizzo, D.; Carroll, D.
1993-01-01
The modular Advanced Liquid Metal Reactor (ALMR) power plant is controlled by an advanced state-of-the-art control system designed to facilitate plant operation, optimize availability, and protect plant investment. The control system features a high degree of automatic control and extensive amount of on-line diagnostics and operator aids. It can be built with today's control technology, and has the flexibility of adding new features that benefit plant operation and reduce O ampersand M costs as the technology matures
Power control device in nuclear reactor
International Nuclear Information System (INIS)
Koyama, Kazuaki.
1981-01-01
Purpose: To enable smooth power changes in power conditioning systems by calculating forecast values for the neutron flux distribution and power distribution and by controlling the driving speed of control rods so as to correspond the forecast values with aimed values. Constitution: Control rod position is detected by a position detector and sent to a control computer as the position information. At the same time, the neutron flux distribution information is obtained by the neutron monitors, the power distribution information is obtained by a reactor power computer and they are outputted to the control computer. The control computer calculates the forecast values for the neutron flux distribution and the reactor power distribution from the information, and compares them with the aimed values from a setter and then outputs control signals so as to correspond the forecast values with the aimed values. The control rods can be inserted in appropriate velocity by the control signals. (Horiuchi, T.)
Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle
Directory of Open Access Journals (Sweden)
Youssif Mohamed Toum Elobaid
2014-01-01
Full Text Available Presently pneumatic muscles (PMs are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods.
Robust synchronization of unified chaotic systems via sliding mode control
International Nuclear Information System (INIS)
Yan Junjuh; Yang Yisung; Chiang Tsungying; Chen Chingyuan
2007-01-01
This paper investigates the chaos synchronization problem for a class of uncertain master-slave unified chaotic systems. Based on the sliding mode control technique, a robust control scheme is established which guarantees the occurrence of a sliding motion of error states even when the parameter uncertainty and external perturbation are present. Furthermore, a novel proportional-integral (PI) switching surface is introduced for determining the synchronization performance of systems in the sliding mode motion. Simulation results are proposed to demonstrate the effectiveness of the method
Robust Control Methods for On-Line Statistical Learning
Directory of Open Access Journals (Sweden)
Capobianco Enrico
2001-01-01
Full Text Available The issue of controlling that data processing in an experiment results not affected by the presence of outliers is relevant for statistical control and learning studies. Learning schemes should thus be tested for their capacity of handling outliers in the observed training set so to achieve reliable estimates with respect to the crucial bias and variance aspects. We describe possible ways of endowing neural networks with statistically robust properties by defining feasible error criteria. It is convenient to cast neural nets in state space representations and apply both Kalman filter and stochastic approximation procedures in order to suggest statistically robustified solutions for on-line learning.
Effective and Robust Generalized Predictive Speed Control of Induction Motor
Directory of Open Access Journals (Sweden)
Patxi Alkorta
2013-01-01
Full Text Available This paper presents and validates a new proposal for effective speed vector control of induction motors based on linear Generalized Predictive Control (GPC law. The presented GPC-PI cascade configuration simplifies the design with regard to GPC-GPC cascade configuration, maintaining the advantages of the predictive control algorithm. The robust stability of the closed loop system is demonstrated by the poles placement method for several typical cases of uncertainties in induction motors. The controller has been tested using several simulations and experiments and has been compared with Proportional Integral Derivative (PID and Sliding Mode (SM control schemes, obtaining outstanding results in speed tracking even in the presence of parameter uncertainties, unknown load disturbance, and measurement noise in the loop signals, suggesting its use in industrial applications.
Robust Adaptive Reactive Power Control for Doubly Fed Induction Generator
Directory of Open Access Journals (Sweden)
Huabin Wen
2014-01-01
Full Text Available The problem of reactive power control for mains-side inverter (MSI in doubly fed induction generator (DFIG is studied in this paper. To accommodate the modelling nonlinearities and inherent uncertainties, a novel robust adaptive control algorithm for MSI is proposed by utilizing Lyapunov theory that ensures asymptotic stability of the system under unpredictable external disturbances and significant parametric uncertainties. The distinguishing benefit of the aforementioned scheme consists in its capabilities to maintain satisfactory performance under varying operation conditions without the need for manually redesigning or reprogramming the control gains in contrast to the commonly used PI/PID control. Simulations are also built to confirm the correctness and benefits of the control scheme.
Nuclear reactor plants and control systems therefor
International Nuclear Information System (INIS)
de Boer, G.A.; de Hex, M.
1976-01-01
A nuclear reactor plant is described comprising at least two hydraulically separated but thermally interconnected heat conveying circuits, of which one is the reactor circuit filled with a non-water medium and the other one is the water-steam-circuit equipped with a steam generator, a feed water conduit controlled by a valve and a steam turbine, and a control system mainly influenced by the pressure drop caused in said feed water conduit and its control valve and having a value of at least 10 bars at full load
Robust tracking control of uncertain Duffing-Holmes control systems
International Nuclear Information System (INIS)
Sun, Y.-J.
2009-01-01
In this paper, the notion of virtual stabilizability for dynamical systems is introduced and the virtual stabilizability of uncertain Duffing-Holmes control systems is investigated. Based on the time-domain approach with differential inequality, a tracking control is proposed such that the states of uncertain Duffing-Holmes control system track the desired trajectories with any pre-specified exponential decay rate and convergence radius. Moreover, we present an algorithm to find such a tracking control. Finally, a numerical example is provided to illustrate the use of the main results.
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.
Autonomous Control of Space Reactor Systems
International Nuclear Information System (INIS)
Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na
2007-01-01
Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are available to perform intelligent control functions that are necessary for both normal and abnormal operational conditions
Autonomous Control of Space Reactor Systems
Energy Technology Data Exchange (ETDEWEB)
Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na
2007-11-30
Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.
International Nuclear Information System (INIS)
Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung
2009-01-01
This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.
Control rod for FBR type reactor
International Nuclear Information System (INIS)
Nakai, Koichi.
1993-01-01
In a control rod for an LMFBR type reactor, a thermal resistor is disposed between a temperature sensitive cylinder and a cam unit support rod. A thermal expansion difference due to the temperature difference is caused between the temperature sensitive cylinder and the cam unit support rod only upon abrupt temperature change of coolants. A control rod shaft extending mechanism of downwardly depressing an absorbent portion by amplifying the thermal expansion difference by an extension link mechanism and the cam unit is provided. The thermal resistor comprises inconel 625 or like other steel of small heat conductivity. If a certain abnormality should cause to the reactor system to elevate the coolant temperature in the reactor elevates abruptly and the reactor shutdown system does not actuate, since the control rod extension shaft extends to urge the absorbent and lower the reactor core reactivity, so that leading to serious accident can be prevented surely. Further, the control rod extension shaft does not extend upon moderate temperature elevation in the usual startup and causes no unnecessary reactivity change. (N.H.)
Power controlling method for BWR type reactors
International Nuclear Information System (INIS)
Yoshida, Kenji.
1983-01-01
Purpose: To enable reactor operation exactly following after an aimed curve in the high power resuming and maintaining period without failures in cladding tubes. Method: Upon recovery of the reactor power to a high power level after changing the reactor power from the high power to the low power level, control rod is operated under such conditions that the linear power density after operation of the control rod does not exceed the PC envelope in the low power period, and the core flow rate is coordinated to the control rod operation. The linear power density can be suppressed within an allowable linear power density by the above operation during high power resuming and maintaining period and, as the result, PCI failures can be prevented. (Kamimura, M.)
Microgrid Stability Controller Based on Adaptive Robust Total SMC
Directory of Open Access Journals (Sweden)
Xiaoling Su
2015-03-01
Full Text Available This paper presents a microgrid stability controller (MSC in order to provide existing distributed generation units (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 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. 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 the DGs’ output power. When the microgrid is operating in islanded mode, it provides voltage and frequency support, while guaranteeing seamless transition between the two operation modes. Simulation and experimental results show the effectiveness of the proposed approach.
Method of controlling the reactor operation
International Nuclear Information System (INIS)
Ishiguro, Akira; Nakakura, Hiroyuki.
1987-01-01
Purpose: To moderate vibratory response due to delayed operation thereby obtain stable controlled response in the operation control for a PWR type reactor. Method: the reactor operation is controlled by the axial power distribution control by regulating the boron concentration in primary coolants with a boron density control system and controlling the average temperature for the primary coolants with the control rod control system. In this case, the control operation and the control response become instable due to transmission delay, etc. of aqueous boric acid injection to the primary coolant circuits to result in vibratory response. In the present invention, signals are prepared by adding the amount in proportion to the variation coefficient with time of xenone concentration obtained from the measured value for the reactor power added to the conventional axial power distribution parameter deviation and used as the input signals for the boron concentration control system. As a result, the instability due to the transmission delay of the aqueous boric acid injection is improved by the preceding control by the amount in proportion with the variation coefficient with time of the xenone concentration. An advantageous effect can be expected for the load following operation during day time according to the present invention. (Kamimura, M.)
Nuclear reactor kinetics and plant control
Oka, Yoshiaki
2013-01-01
Understanding time-dependent behaviors of nuclear reactors and the methods of their control is essential to the operation and safety of nuclear power plants. This book provides graduate students, researchers, and engineers in nuclear engineering comprehensive information on both the fundamental theory of nuclear reactor kinetics and control and the state-of-the-art practice in actual plants, as well as the idea of how to bridge the two. The first part focuses on understanding fundamental nuclear kinetics. It introduces delayed neutrons, fission chain reactions, point kinetics theory, reactivit
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...
A robust adaptive load frequency control for micro-grids.
Khooban, Mohammad-Hassan; Niknam, Taher; Blaabjerg, Frede; Davari, Pooya; Dragicevic, Tomislav
2016-11-01
The goal of this study is to introduce a novel robust load frequency control (LFC) strategy for micro-grid(s) (MG(s)) in islanded mode operation. Admittedly, power generators in MG(s) cannot supply steady electric power output and sometimes cause unbalance between supply and demand. Battery energy storage system (BESS) is one of the effective solutions to these problems. Due to the high cost of the BESS, a new idea of Vehicle-to-Grid (V2G) is that a battery of Electric-Vehicle (EV) can be applied as a tantamount large-scale BESS in MG(s). As a result, a new robust control strategy for an islanded micro-grid (MG) is introduced that can consider electric vehicles׳ (EV(s)) effect. Moreover, in this paper, a new combination of the General Type II Fuzzy Logic Sets (GT2FLS) and the Modified Harmony Search Algorithm (MHSA) technique is applied for adaptive tuning of proportional-integral (PI) controller. Implementing General Type II Fuzzy Systems is computationally expensive. However, using a recently introduced α-plane representation, GT2FLS can be seen as a composition of several Interval Type II Fuzzy Logic Systems (IT2FLS) with a corresponding level of α for each. Real-data from an offshore wind farm in Sweden and solar radiation data in Aberdeen (United Kingdom) was used in order to examine the performance of the proposed novel controller. A comparison is made between the achieved results of Optimal Fuzzy-PI (OFPI) controller and those of Optimal Interval Type II Fuzzy-PI (IT2FPI) controller, which are of most recent advances in the area at hand. The Simulation results prove the successfulness and effectiveness of the proposed controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
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)
Enabling autonomous control for space reactor power systems
International Nuclear Information System (INIS)
Wood, R. T.
2006-01-01
The application of nuclear reactors for space power and/or propulsion presents some unique challenges regarding the operations and control of the power system. Terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of a space reactor power system (SRPS) employed for deep space missions must be able to accommodate unattended operations due to communications delays and periods of planetary occlusion while adapting to evolving or degraded conditions with no opportunity for repair or refurbishment. Thus, a SRPS control system must provide for operational autonomy. Oak Ridge National Laboratory (ORNL) has conducted an investigation of the state of the technology for autonomous control to determine the experience base in the nuclear power application domain, both for space and terrestrial use. It was found that control systems with varying levels of autonomy have been employed in robotic, transportation, spacecraft, and manufacturing applications. However, autonomous control has not been implemented for an operating terrestrial nuclear power plant nor has there been any experience beyond automating simple control loops for space reactors. Current automated control technologies for nuclear power plants are reasonably mature, and basic control for a SRPS is clearly feasible under optimum circumstances. However, autonomous control is primarily intended to account for the non optimum circumstances when degradation, failure, and other off-normal events challenge the performance of the reactor and near-term human intervention is not possible. Thus, the development and demonstration of autonomous control capabilities for the specific domain of space nuclear power operations is needed. This paper will discuss the findings of the ORNL study and provide a description of the concept of autonomy, its key characteristics, and a prospective
Robust algebraic image enhancement for intelligent control systems
Lerner, Bao-Ting; Morrelli, Michael
1993-01-01
Robust vision capability for intelligent control systems has been an elusive goal in image processing. The computationally intensive techniques a necessary for conventional image processing make real-time applications, such as object tracking and collision avoidance difficult. In order to endow an intelligent control system with the needed vision robustness, an adequate image enhancement subsystem capable of compensating for the wide variety of real-world degradations, must exist between the image capturing and the object recognition subsystems. This enhancement stage must be adaptive and must operate with consistency in the presence of both statistical and shape-based noise. To deal with this problem, we have developed an innovative algebraic approach which provides a sound mathematical framework for image representation and manipulation. Our image model provides a natural platform from which to pursue dynamic scene analysis, and its incorporation into a vision system would serve as the front-end to an intelligent control system. We have developed a unique polynomial representation of gray level imagery and applied this representation to develop polynomial operators on complex gray level scenes. This approach is highly advantageous since polynomials can be manipulated very easily, and are readily understood, thus providing a very convenient environment for image processing. Our model presents a highly structured and compact algebraic representation of grey-level images which can be viewed as fuzzy sets.
A fuzzy controller with a robust learning function
International Nuclear Information System (INIS)
Tanji, Jun-ichi; Kinoshita, Mitsuo
1987-01-01
A self-organizing fuzzy controller is able to use linguistic decision rules of control strategy and has a strong adaptive property by virture of its rule learning function. While a simple linguistic description of the learning algorithm first introduced by Procyk, et al. has much flexibility for applications to a wide range of different processes, its detailed formulation, in particular with control stability and learning process convergence, is not clear. In this paper, we describe the formulation of an analytical basis for a self-organizing fuzzy controller by using a method of model reference adaptive control systems (MRACS) for which stability in the adaptive loop is theoretically proven. A detailed formulation is described regarding performance evaluation and rule modification in the rule learning process of the controller. Furthermore, an improved learning algorithm using adaptive rule is proposed. An adaptive rule gives a modification coefficient for a rule change estimating the effect of disturbance occurrence in performance evaluation. The effect of introducing an adaptive rule to improve the learning convergency is described by using a simple iterative formulation. Simulation tests are presented for an application of the proposed self-organizing fuzzy controller to the pressure control system in a Boiling Water Reactor (BWR) plant. Results with the tests confirm the improved learning algorithm has strong convergent properties, even in a very disturbed environment. (author)
Method for controlling FBR type reactor
International Nuclear Information System (INIS)
Tamano, Toyomi; Iwashita, Tsuyoshi; Sakuragi, Masanori
1991-01-01
The present invention provides a controlling method for moderating thermal transient upon trip in an FBR type reactor. A flow channel for bypassing an intermediate heat exchanger is disposed in a secondary Na system. Then, bypassing flow rate is controlled so as to suppress fluctuations of temperature at a primary exit of the intermediate heat exchanger. Bypassing operation by using the bypassing flow channel is started at the same time with plant trip, to reduce the flow rate of secondary Na flown to the intermediate heat exchanger, so that the imbalance between the primary and the secondary Na flowrates is reduced. Accordingly, fluctuations of the temperature at the primary exit of the intermediate heat exchanger upon trip is suppressed. In view of the above, thermal transient applied to the reactor container upon plant trip can be moderated. As a result, the working life of the reactor can be extended, to improve plant integrity and safety. (I.S.)
Burn Control in Fusion Reactors via Nonlinear Stabilization Techniques
International Nuclear Information System (INIS)
Schuster, Eugenio; Krstic, Miroslav; Tynan, George
2003-01-01
Control of plasma density and temperature magnitudes, as well as their profiles, are among the most fundamental problems in fusion reactors. Existing efforts on model-based control use control techniques for linear models. In this work, a zero-dimensional nonlinear model involving approximate conservation equations for the energy and the densities of the species was used to synthesize a nonlinear feedback controller for stabilizing the burn condition of a fusion reactor. The subignition case, where the modulation of auxiliary power and fueling rate are considered as control forces, and the ignition case, where the controlled injection of impurities is considered as an additional actuator, are treated separately.The model addresses the issue of the lag due to the finite time for the fresh fuel to diffuse into the plasma center. In this way we make our control system independent of the fueling system and the reactor can be fed either by pellet injection or by puffing. This imposed lag is treated using nonlinear backstepping.The nonlinear controller proposed guarantees a much larger region of attraction than the previous linear controllers. In addition, it is capable of rejecting perturbations in initial conditions leading to both thermal excursion and quenching, and its effectiveness does not depend on whether the operating point is an ignition or a subignition point.The controller designed ensures setpoint regulation for the energy and plasma parameter β with robustness against uncertainties in the confinement times for different species. Hence, the controller can increase or decrease β, modify the power, the temperature or the density, and go from a subignition to an ignition point and vice versa
An autonomous control framework for advanced reactors
Directory of Open Access Journals (Sweden)
Richard T. Wood
2017-08-01
Full Text Available Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.
An autonomous control framework for advanced reactors
International Nuclear Information System (INIS)
Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C.
2017-01-01
Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors
An autonomous control framework for advanced reactors
Energy Technology Data Exchange (ETDEWEB)
Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C. [Dept. of Nuclear Engineering, University of Tennessee, Knoxville (United States)
2017-08-15
Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.
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.
Density control in ITER: an iterative learning control and robust control approach
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.
Genetic and Environmental Control of Neurodevelopmental Robustness in Drosophila.
Directory of Open Access Journals (Sweden)
David J Mellert
Full Text Available Interindividual differences in neuronal wiring may contribute to behavioral individuality and affect susceptibility to neurological disorders. To investigate the causes and potential consequences of wiring variation in Drosophila melanogaster, we focused on a hemilineage of ventral nerve cord interneurons that exhibits morphological variability. We find that late-born subclasses of the 12A hemilineage are highly sensitive to genetic and environmental variation. Neurons in the second thoracic segment are particularly variable with regard to two developmental decisions, whereas its segmental homologs are more robust. This variability "hotspot" depends on Ultrabithorax expression in the 12A neurons, indicating variability is cell-intrinsic and under genetic control. 12A development is more variable and sensitive to temperature in long-established laboratory strains than in strains recently derived from the wild. Strains with a high frequency of one of the 12A variants also showed a high frequency of animals with delayed spontaneous flight initiation, whereas other wing-related behaviors did not show such a correlation and were thus not overtly affected by 12A variation. These results show that neurodevelopmental robustness is variable and under genetic control in Drosophila and suggest that the fly may serve as a model for identifying conserved gene pathways that stabilize wiring in stressful developmental environments. Moreover, some neuronal lineages are variation hotspots and thus may be more amenable to evolutionary change.
Robust predictive control of a gasoline debutanizer column
Directory of Open Access Journals (Sweden)
E. Almeida Neto
2000-12-01
Full Text Available This paper studies the application of Model Predictive Control to moderately nonlinear processes. The system used in this work is an industrial gasoline debutanizer column. The paper presents two new formulations of MPC: MMPC (Multi-Model Predictive Controller and RSMPC (Robust Stable MPC. The approach is based on the concepts of Linear Matrix Inequalities (LMI, which have been recently introduced in the MPC field. Model uncertainty is considered by assuming that the true process model belongs to a convex set (polytope of possible plants. The controller has guaranteed stability when a Lyapunov type inequality constraint is included in the MPC problem. In the debutanizer column, several nonlinearities are present in the advanced control level when the manipulated inputs are the reflux flow and the reboiler heat duty. In most cases the controlled outputs are the contents of C5+ (pentane and heavier hydrocarbons in the LPG (Liquefied Petroleum Gas and the gasoline vapor pressure (P VR. In this case the QDMC algorithm which is usually applied to the debutanizer column has a poor performance and stability problems reflected in an oscillatory behavior of the process. The new approach considers several process models representing different operating conditions where linear models are identified. The results presented here show that the multimodel controller is capable of controlling the process in the entire operating window while the conventional MPC has a limited operating range.
Nuclear reactor control room construction
International Nuclear Information System (INIS)
Lamuro, R.C.; Orr, R.
1993-01-01
A control room for a nuclear plant is disclosed. In the control room, objects labelled 12, 20, 22, 26, 30 in the drawing are no less than four inches from walls labelled 10.2. A ceiling contains cooling fins that extend downwards toward the floor from metal plates. A concrete slab is poured over the plates. Studs are welded to the plates and are encased in the concrete. 6 figures
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 Control for High-Speed Visual Servoing Applications
DEFF Research Database (Denmark)
Ellekilde, Lars-Peter; Favrholdt, Peter; Paulin, Mads
2007-01-01
This paper presents a new control scheme for visual servoing applications. The approach employs quadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary to existing techniques, our method does not rely on large safety margins and slow task...... execution to avoid joint limits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees a well-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal and external singularities robustly. We demonstrate...... the correctness and efficiency of our approach in a number of visual servoing applications, and compare it to a range of previously proposed techniques....
Application of robust control to a rotary-wing aircraft
Turkoglu, Ercument
The thesis is concerned with the application of robust controller synthesis and analysis tools to a rotary-wing aircraft: the Bell 205 teetering-rotor helicopter. The Tioo loop-shaping approach is central to the work and two main issues concerned with its application will be considered. Firstly, the construction of diagonal (structured) and non- diagonal (unstructured) weighting functions will be considered. Secondly, the analysis of the implications of different weighting function structures in the controller implementation. A two stage cross-comparative analysis of a series of 1 Dof (Degree of Freedom) and 2 Dof controllers synthesized with both diagonal and non-diagonal weights using the Hqo loop- shaping technique will be presented for square and non-square multi input multi output, unstable, non-minimum phase and ill-conditioned models of the helicopter. Handling qualities of each control law augmented system will be assessed quantitatively and qualitatively. A quantitative analysis, in view of the specifications in ADS-33E, will be given based on a combination of flight data from in-flight tested controllers and, desk-top simula tions run on a fully augmented 12 Dof nonlinear helicopter model provided by QinetiQ, UK. A qualitative analysis will be given based on the pilot comments compiled (in view of the Cooper-Harper handling qualities rating scale) from the evaluated in-flight control laws.
ROBUST CONTROL ALGORITHM FOR MULTIVARIABLE PLANTS WITH QUANTIZED OUTPUT
Directory of Open Access Journals (Sweden)
A. A. Margun
2017-01-01
Full Text Available The paper deals with robust output control algorithm for multivariable plants under disturbances. A plant is described by the system of linear differential equations with known relative degrees. Plant parameters are unknown but belong to the known closed bounded set. Plant state vector is unmeasured. Plant output is measured only via static quantizer. Control system algorithm is based on the high gain feedback method. Developed controller provides exponential convergence of tracking error to the bounded area. The area bounds depend on quantizer parameters and the value of external disturbances. Experimental approbation of the proposed control algorithm is performed with the use of Twin Rotor MIMO System laboratory bench. This bench is a helicopter like model with two degrees of freedom (pitch and yaw. DC motors are used as actuators. The output signals are measured via optical encoders. Mathematical model of laboratory bench is obtained. Proposed algorithm was compared with proportional - integral – differential controller in conditions of output quantization. Obtained results have confirmed the efficiency of proposed controller.
Minimization of PWR reactor control rods wear
International Nuclear Information System (INIS)
Ponzoni Filho, Pedro; Moura Angelkorte, Gunther de
1995-01-01
The Rod Cluster Control Assemblies (RCCA's) of Pressurized Water Reactors (PWR's) have experienced a continuously wall cladding wear when Reactor Coolant Pumps (RCP's) are running. Fretting wear is a result of vibrational contact between RCCA rodlets and the guide cards which provide lateral support for the rodlets when RCCA's are withdrawn from the core. A procedure is developed to minimize the rodlets wear, by the shuffling and axial reposition of RCCA's every operating cycle. These shuffling and repositions are based on measurement of the rodlet cladding thickness of all RCCA's. (author). 3 refs, 2 figs, 2 tabs
Experimental development of power reactor intelligent control
International Nuclear Information System (INIS)
Edwards, R.M.; Garcia, H.E.; Lee, K.Y.
1992-01-01
The US nuclear utility industry initiated an ambitious program to modernize the control systems at a minimum of ten existing nuclear power plants by the year 2000. That program addresses urgent needs to replace obsolete instrumentation and analog controls with highly reliable state-of-the-art computer-based digital systems. Large increases in functionality that could theoretically be achieved in a distributed digital control system are not an initial priority in the industry program but could be logically considered in later phases. This paper discusses the initial development of an experimental sequence for developing, testing, and verifying intelligent fault-accommodating control for commercial nuclear power plant application. The sequence includes an ultra-safe university research reactor (TRIGA) and a passively safe experimental power plant (Experimental Breeder Reactor 2)
Corrosion control in CANDU nuclear power reactors
International Nuclear Information System (INIS)
Lesurf, J.E.
1974-01-01
Corrosion control in CANDU reactors which use pressurized heavy water (PHW) and boiling light water (BLW) coolants is discussed. Discussions are included on pressure tubes, primary water chemistry, fuel sheath oxidation and hydriding, and crud transport. It is noted that corrosion has not been a significant problem in CANDU nuclear power reactors which is a tribute to design, material selection, and chemistry control. This is particularly notable at the Pickering Nuclear Generating Station which will have four CANDU-PHW reactors of 540 MWe each. The net capacity factor for Pickering-I from first full power (May 1971) to March 1972 was 79.5 percent, and for Pickering II (first full power November 1971) to March 1972 was 83.5 percent. Pickering III has just reached full power operation (May 1972) and Pickering IV is still under construction. Gentilly CANDU-BLW reached full power operation in May 1972 after extensive commissioning tests at lower power levels with no major corrosion or chemistry problems appearing. Experience and operating data confirm that the value of careful attention to all aspects of corrosion control and augur well for future CANDU reactors. (U.S.)
Humidity control device in a reactor container
International Nuclear Information System (INIS)
Aizawa, Motohiro; Igarashi, Hiroo; Osumi, Katsumi; Kimura, Takashi.
1986-01-01
Purpose: To provide a device capable of maintaining the inside of a container under high humidity circumstantial conditions causing less atmospheric corrosions, in order to prevent injuries due to atmospheric corrosions to smaller diameter stainless steel pipeways in the reactor container. Constitution: Stress corrosion cracks (SCC) to the smaller diameter stainless steel pipeways are caused dependent on the relative humidity and it is effective as the countermeasure against SCC to maintain the relative humidity at a low level less than 30 % or high level greater than 60 %. Based on the above findings, a humidity control device is disposed so as to maintain the relative humidity for the atmosphere within a reactor core on a higher humidity region. The device is adapted such that recycling gas in the dry-well coolant circuit is passed through an orifice to atomize the water introduced from feedwater pipe and introduce into a reactor core or such that the recycling gases in the dry-well cooling circuit are bubbled into water to remove chlorine gas in the reactor container gas thereby increasing the humidity in the reactor container. (Kamimura, M.)
Damper mechanism for nuclear reactor control elements
International Nuclear Information System (INIS)
Taft, W.E.
1976-01-01
A damper mechanism which provides a nuclear reactor control element decelerating function at the end of the scram stroke is described. The total damping function is produced by the combination of two assemblies, which operate in sequence. First, a tapered dashram assembly decelerates the control element to a lower velocity, after which a spring hydraulic damper assembly takes over to complete the final damping. 3 claims, 2 figures
Model predictive controller design of hydrocracker reactors
GÖKÇE, Dila
2011-01-01
This study summarizes the design of a Model Predictive Controller (MPC) in Tüpraş, İzmit Refinery Hydrocracker Unit Reactors. Hydrocracking process, in which heavy vacuum gasoil is converted into lighter and valuable products at high temperature and pressure is described briefly. Controller design description, identification and modeling studies are examined and the model variables are presented. WABT (Weighted Average Bed Temperature) equalization and conversion increase are simulate...
High-throughput electrical characterization for robust overlay lithography control
Devender, Devender; Shen, Xumin; Duggan, Mark; Singh, Sunil; Rullan, Jonathan; Choo, Jae; Mehta, Sohan; Tang, Teck Jung; Reidy, Sean; Holt, Jonathan; Kim, Hyung Woo; Fox, Robert; Sohn, D. K.
2017-03-01
Realizing sensitive, high throughput and robust overlay measurement is a challenge in current 14nm and advanced upcoming nodes with transition to 300mm and upcoming 450mm semiconductor manufacturing, where slight deviation in overlay has significant impact on reliability and yield1). Exponentially increasing number of critical masks in multi-patterning lithoetch, litho-etch (LELE) and subsequent LELELE semiconductor processes require even tighter overlay specification2). Here, we discuss limitations of current image- and diffraction- based overlay measurement techniques to meet these stringent processing requirements due to sensitivity, throughput and low contrast3). We demonstrate a new electrical measurement based technique where resistance is measured for a macro with intentional misalignment between two layers. Overlay is quantified by a parabolic fitting model to resistance where minima and inflection points are extracted to characterize overlay control and process window, respectively. Analyses using transmission electron microscopy show good correlation between actual overlay performance and overlay obtained from fitting. Additionally, excellent correlation of overlay from electrical measurements to existing image- and diffraction- based techniques is found. We also discuss challenges of integrating electrical measurement based approach in semiconductor manufacturing from Back End of Line (BEOL) perspective. Our findings open up a new pathway for accessing simultaneous overlay as well as process window and margins from a robust, high throughput and electrical measurement approach.
Robust Backstepping Control of Wing Rock Using Disturbance Observer
Directory of Open Access Journals (Sweden)
Dawei Wu
2017-02-01
Full Text Available Wing rock is a highly nonlinear phenomenon when the aircraft suffers undesired roll-dominated oscillatory at high angle of attack (AOA. Considering the strong nonlinear and unsteady aerodynamic characteristics, an uncertain multi-input and multi-output (MIMO nonlinear wing rock model is studied, and system uncertainties, unsteady aerodynamic disturbances and externaldisturbancesareconsideredinthedesignofwingrockcontrollaw. Tohandletheproblemof multipledisturbances,arobustcontrolschemeisproposedbasedontheextendedstateobserver(ESO and the radial basis function neural network (RBFNN technique. Considering that the effectiveness of actuators are greatly decreased at high AOA, the input saturation problem is also handled by constructing a corresponding auxiliary system. Based on the improved ESO and the auxiliary system, a robust backstepping control law is proposed for the wing rock control. In addition, the dynamic surface control (DSC technique is introduced to avoid the tedious computations of time derivatives for the virtual control laws in the backstepping method. The stability of the closed-loop system is guaranteed via rigorously Lyapunov analysis. Finally, simulation results are presented to illustrate the effectiveness of the ESO and the proposed wing rock control approach.
Control rod drives for FBR type reactor
International Nuclear Information System (INIS)
Ikakura, Hiroaki.
1990-01-01
The control rod drives for an FBR type reactor of the present invention eliminate obstacles deposited on attracting surfaces between an electromagnet and an armature which connect control rods to recover their retaining power. That is, a sealed chamber capable of controlling its inner pressure by an operation from the outside of a reactor is disposed in an extension pipe, and a nozzle connected to the sealed chamber and facing at the lower end thereof to the attracting surface is disposed. Liquid sodium sucked by evacuating the sealed chamber is jetted out from the nozzle by pressurizing the chamber to simultaneously eliminate obstacles deposited to the attracting surfaces of the electromagnet and the control rod. Alternatively, a nozzle protruding from and retracting to the lower surface of the electromagnet is disposed opposing to each of the attracting surfaces of the electromagnet and the control rod. Similar effect can also be obtained if gases are jetted out in this state. As a result, control rod drives of high reliability for a FBR type reactor can be obtained. (I.S.)
Protective guide structure for reactor control rod
International Nuclear Information System (INIS)
Ban, Minoru; Umeda, Kenji; Kubo, Noboru; Ito, Tomohiro.
1996-01-01
The present invention provides an improved protective guide structure for control rods, which does not cause swirling of coolants and resonance even though a slit is formed on a protective tube which surrounds a control rod element in a PWR type reactor. Namely, a reactor control rod is constituted with elongated control elements collectively bundled in the form of a cluster. The protective guide structure protectively guides the collected constituent at the upper portion of a reactor container. The protective structure comprises a plurality of protective tubes each having a C-shaped cross section disposed in parallel for receiving control rod elements individually in which the corners of the opening of the cross section of the protective tube are chamfered to an appropriate configuration. With such a constitution, even if coolant flows in a circumferential direction along the protective tubes surrounding the control rod elements, no shearing stream is caused to the coolants flow since the corners of the cross sectional opening (slit) of the tube are chamfered. Accordingly, occurrence of swirlings can be suppressed. (I.S.)
A Robust Practical Generalized Predictive Control for BoilerSuper Heater Temperature Control
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...
International Nuclear Information System (INIS)
Natori, Hisahide.
1975-01-01
Object: To change arrangement and density of each layer of neutron absorber in the control rod and to render rotation by each layer possible, whereby the neutron absorber may be rotated to readily flatten power distribution. Structure: Neutron absorbers such as boron and carbide are filled into stainless steel pipes, which are peripherally arranged in a multi-layer fashion. Arrangement and density of the neutron absorber by each layer are changed and rotation by each layer is made possible, whereby surface area of the absorber or the like is changed to flatten power distribution. (Furukawa, Y.)
Reactor science and technology: operation and control of reactors
International Nuclear Information System (INIS)
Qiu Junlong
1994-01-01
This article is a collection of short reports on reactor operation and research in China in 1991. The operation of and research activities linked with the Heavy Water Research Reactor, Swimming Pool Reactor and Miniature Neutron Source Reactor are briefly surveyed. A number of papers then follow on the developing strategies in Chinese fast breeder reactor technology including the conceptual design of an experimental fast reactor (FFR), theoretical studies of FFR thermo-hydraulics and a design for an immersed sodium flowmeter. Reactor physics studies cover a range of topics including several related to work on zero power reactors. The section on reactor safety analysis is concerned largely with the assessment of established, and the presentation of new, computer codes for use in PWR safety calculations. Experimental and theoretical studies of fuels and reactor materials for FBRs, PWRs, BWRs and fusion reactors are described. A final miscellaneous section covers Mo-Tc isotope production in the swimming pool reactor, convective heat transfer in tubes and diffusion of tritium through plastic/aluminium composite films and Li 2 SiO 3 . (UK)
Controlling a nuclear reactor with dropped control rods
International Nuclear Information System (INIS)
Mc Atee, K.R.; Alsop, B.H.
1987-01-01
A control system is described for a nuclear power plant including a reactor with a core having an upper portion and a lower portion and control rods which are inserted into and withdrawn from the core of the reactor vertically to control reactivity in the core. The system comprises: means to measure neutron flux separately in the upper portion and the lower portion of the reactor and to generate from such measurements a signal representative of axial distribution of power between the upper and lower portions of the reactor core; means to detect a dropped control rod in the reactor and to generate a dropped rod signal in response thereto; means to generate an axial power distribution limit signal representative of a critical axial power distribution for a dropped rod condition; means to compare the axial power distribution signal to the axial power distribution limit signal and to generate an axial power distribution out of limits signal when the axial power distribution signal exceeds the axial power distribution limit signal; and means responsive only to the presence of both the dropped rod signal and the axial power distribution out of limits signal to generate a signal for shutting the reactor down
A Robust H ∞ Controller for an UAV Flight Control System.
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.
Operation control equipment for BWR type reactor
International Nuclear Information System (INIS)
Izumi, Masayuki; Takeda, Renzo.
1981-01-01
Purpose: To improve the temperature balance in a feedwater heater by obtaining the objective value of a feedwater enthalpy upon calculation of respective measured values and controlling the opening or closing of an extraction valve so that the objective value may coincide with the measured value, thereby averaging the axial power distribution. Constitution: A plurality of stages of extraction lines are connected to a turbine, and extraction valves are respectively provided at the lines. By calculating the measured values of ractor pressure, reactor core flow rate, vapor flow rate and reactor core inlet enthalpy determined to predetermined value using heat balance the objective feedwater enthalpy is obtained, is fed as an extraction valve opening or closing signal from a control equipment, the extraction stages of the turbine extraction are altered in accordance with this signal, and the feedwater enthalpy is controlled. (Sekiya, K.)
Method of driving control rod in reactor
International Nuclear Information System (INIS)
Osa, Hirotaka.
1986-01-01
Purpose: To improve security and safety of the reactor by reducing reactor output automatically and quickly when circulation of cooling water is stopped. Constitution: When the circulating pump is under operation, fluid pressure in the discharge pipe is transferred to the fluid room of fluid pressure cylinder via the control rod drive pipe and lift up the piston, and then the control rod is drawn out of the reactor core. When the circulating pump is lowered in its functions, discharge pipe fluid pressure decreases, fluid pressure in the fluid room decreases, and with less force of piston movement, the control rod gets lowered by its own weight. At this time, the blocked state of the opening by the piston is released, fluid flows into the room. Lowering of pressure and the control rod is promoted by transferring out fluid below the piston in the fluid room to the upper part of the piston via a small gap when the control rod falls by gravity. (Horiuchi, T.)
Robust Model Predictive Control Schemes for Tracking Setpoints
Directory of Open Access Journals (Sweden)
Vu Trieu Minh
2010-01-01
Full Text Available This paper briefly reviews the development of nontracking robust model predictive control (RMPC schemes for uncertain systems using linear matrix inequalities (LMIs subject to input saturated and softened state constraints. Then we develop two new tracking setpoint RMPC schemes with common Lyapunov function and with zero terminal equality subject to input saturated and softened state constraints. The novel tracking setpoint RMPC schemes are able to stabilize uncertain systems once the output setpoints lead to the violation of the state constraints. The state violation can be regulated by changing the value of the weighting factor. A brief comparative simulation study of the two tracking setpoint RMPC schemes is done via simple examples to demonstrate the ability of the softened state constraint schemes. Finally, some features of future research from this study are discussed.
Effect of intermittent feedback control on robustness of human-like postural control system
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.
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.
International Nuclear Information System (INIS)
Khorramabadi, Sima Seidi; Boroushaki, Mehrdad; Lucas, Caro
2008-01-01
The design and evaluation of a novel approach to reactor core power control based on emotional learning is described. The controller includes a neuro-fuzzy system with power error and its derivative as inputs. A fuzzy critic evaluates the present situation, and provides the emotional signal (stress). The controller modifies its characteristics so that the critic's stress is reduced. Simulation results show that the controller has good convergence and performance robustness characteristics over a wide range of operational parameters
Robust Dynamics and Control of a Partially Observed Markov Chain
International Nuclear Information System (INIS)
Elliott, R. J.; Malcolm, W. P.; Moore, J. P.
2007-01-01
In a seminal paper, Martin Clark (Communications Systems and Random Process Theory, Darlington, 1977, pp. 721-734, 1978) showed how the filtered dynamics giving the optimal estimate of a Markov chain observed in Gaussian noise can be expressed using an ordinary differential equation. These results offer substantial benefits in filtering and in control, often simplifying the analysis and an in some settings providing numerical benefits, see, for example Malcolm et al. (J. Appl. Math. Stoch. Anal., 2007, to appear).Clark's method uses a gauge transformation and, in effect, solves the Wonham-Zakai equation using variation of constants. In this article, we consider the optimal control of a partially observed Markov chain. This problem is discussed in Elliott et al. (Hidden Markov Models Estimation and Control, Applications of Mathematics Series, vol. 29, 1995). The innovation in our results is that the robust dynamics of Clark are used to compute forward in time dynamics for a simplified adjoint process. A stochastic minimum principle is established
Computer Controlled Chemical Micro-Reactor
International Nuclear Information System (INIS)
Mechtilde, Schaefer; Eduard, Stach; Adreas, Foitzik
2006-01-01
Chemical reactions or chemical equilibria can be influenced and controlled by several parameters. The ratio of two liquid ingredients, the so called reactants or educts, plays an important role in determining the end product and its yield. The reactants must be weighed and accordingly mixed with the conventional batch mode. If the reaction is done in a microreactor or in several parallel working micro-reactors, units for allotting the educts in appropriate quantities are required. In this report we present a novel micro-reactor that allows the constant monitoring of the chemical reaction via Raman spectroscopy. Such monitoring enables an appropriate feedback on the steering parameters for the PC controlled micro-pumps for the appropriate educt flow rate of both liquids to get optimised ratios of ingredients at an optimised total flow rate. The micro-reactors are the core pieces of the design and are easily removable and can therefore be changed at any time to adapt the requirements of the chemical reaction. One type of reactor consists of a stainless steel base containing small scale milled channels covered with anodically bonded Pyrex glass. Another type of reactor has a base of anisotropically etched silicon, and is also covered with anodically bonded Pyrex glass. The glass window allows visual observation of the initial phase interface of the two educts in the reaction channels by optical microscopy and does not affect, in contrast to infrared spectroscopy, the Raman spectroscopic signal for detection of the reaction kinetics. On the basis of a test reaction, we present non-invasive and spatially highly resolved in-situ reaction analysis using Raman spectroscopy measured along the reaction channel at different locations
Cobalt-60 control in Ontario Hydro reactors
International Nuclear Information System (INIS)
Lacy, C.S.
1988-01-01
This paper discusses the impact of specifying reduced Cobalt-59 in the primary heat transport circuit materials of construction on the radiation fields developed around the primary circuit. An eight-fold reduction in steam generator radiation fields due to Cobalt-60 has been observed for two identical sets of reactors, one with and one without Cobalt-59 control. The comparison is between eight reactors at the Pickering Nuclear Generating Station (PNGS). Units 5 to 8 (PNGS-B) are identical to Units 1 to 4 (PNGS-A) except that PNGS-B has reduced impurity Cobalt-59 in the alloys of construction and a reduced use of stellite. The effects of chemistry control are also discussed
Control unit of a nuclear reactor
International Nuclear Information System (INIS)
Desfontaines, Guy; Le Helloco, Michel.
1981-01-01
Control unit comprising multiple leak-tight vessels, in communication with the inside of the reactor vessel, extending this vessel above its cover, in the vertical direction and each one enclosing a mechanism for moving a cluster of material absorbing the neutrons in the reactor core, actuated by a motor. This control unit is of reduced height above the vessel cover and provides efficient protection of the leak tight containments and the mechanisms in the event of earthquakes, easy removal and refitting of the vessel cover, good ventilation of the power devices of the mechanisms without the use of a complex ventilation system, efficient thermal insulation of the leak-tight containments assembly, as well as easy access to the motors and mechanism located in the leak-tight containment for carrying out any maintenance and repairs that might be required [fr
RIMACS, Reactor Inspection Main Control System
International Nuclear Information System (INIS)
2008-01-01
1 - Description of program or function: RIMACS prepares for automatic inspection files on each inspection item for the reactor. These automatic inspection files provide the data to move RIROB (Reactor Inspection Robot) with laser by interpreting the coordinates of LASPO (Laser Positioner) and the laser detecting device of RIROB in three dimensional space. In addition, when RIROB arrives at the inspecting location, the files provide all values of the manipulator's motions to acquire the ultrasonic data. RIMACS provides various modules in order to perform these complex functions, and the functions are programmed on graphic user interface for the convenience of the user. RIMACS provides various functions, such as insertion of reactor production data, selection of the reactor for inspection, the creation of automatic inspection file, the selection of the inspection item, inspection simulation, and automatic inspection procedures. It also provides all other functions, which are necessary for the inspection, such as operating program download and manual control of LASPO and RIROB, the inspection simulation and the inspection status display by means of the graphic screen, and SODAS (ultra-Sonic Data Acquisition System) drive verification. 2 - Methods: Moving path and operation procedures for inspection robot are generated automatically with Kinematics algorithm. 3 - Restrictions on the complexity of the problem: A graphics display with MS-Window capability is required
Fractional order differentiation and robust control design crone, h-infinity and motion control
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 ...
Design strategy for control of inherently safe reactors
International Nuclear Information System (INIS)
Chisholm, G.H.
1984-01-01
Reactor power plant safety is assured through a combination of engineered barriers to radiation release (e.g., reactor containment) in combination with active reactor safety systems to shut the reactor down and remove decay heat. While not specifically identified as safety systems, the control systems responsible for continuous operation of plant subsystems are the first line of defense for mitigating radiation releases and for plant protection. Inherently safe reactors take advantage of passive system features for decay-heat removal and reactor shutdown functions normally ascribed to active reactor safety systems. The advent of these reactors may permit restructuring of the present control system design strategy. This restructuring is based on the fact that authority for protection against unlikely accidents is, as much as practical, placed upon the passive features of the system instead of the traditional placement upon the PPS. Consequently, reactor control may be simplified, allowing the reliability of control systems to be improved and more easily defended
Adaptive control using a hybrid-neural model: application to a polymerisation reactor
Directory of Open Access Journals (Sweden)
Cubillos F.
2001-01-01
Full Text Available This work presents the use of a hybrid-neural model for predictive control of a plug flow polymerisation reactor. The hybrid-neural model (HNM is based on fundamental conservation laws associated with a neural network (NN used to model the uncertain parameters. By simulations, the performance of this approach was studied for a peroxide-initiated styrene tubular reactor. The HNM was synthesised for a CSTR reactor with a radial basis function neural net (RBFN used to estimate the reaction rates recursively. The adaptive HNM was incorporated in two model predictive control strategies, a direct synthesis scheme and an optimum steady state scheme. Tests for servo and regulator control showed excellent behaviour following different setpoint variations, and rejecting perturbations. The good generalisation and training capacities of hybrid models, associated with the simplicity and robustness characteristics of the MPC formulations, make an attractive combination for the control of a polymerisation reactor.
Control rod drives for HTGR type reactor
International Nuclear Information System (INIS)
Nishiguchi, Isoharu; Katagiri, Shigeo.
1991-01-01
The device of the present invention has a feature of having stable braking characteristics upon scram operation of control rods. That is, control rod drives are moved upon and down by a dram which rotates the control rod suspended from to a wire rope, and the dram is disconnected from the driving mechanism by a crutch mechanism upon scram, to rapidly insert the control rod in the reactor by its own weight. An electric generator is used as a braking mechanism for controlling the scram speed of the control rod. A plurality of resistors disposed outside of the reactor coolants boundary are connected in parallel between input/output terminals of the electric generator. With such a constitution, braking characteristics are determined by the intensity of the permanent magnet, number of the coil windings and values of the resistors constituting the power generator. Accordingly, the braking characteristics are less changed relative to the working circumstantial conditions, the history of use and the state of mounting. As a result, stable braking characteristics can always be obtained. Further, braking characteristics can easily be controlled by varying the resistance value. (I.S.)
Distributed computer control system for reactor optimization
International Nuclear Information System (INIS)
Williams, A.H.
1983-01-01
At the Oldbury power station a prototype distributed computer control system has been installed. This system is designed to support research and development into improved reactor temperature control methods. This work will lead to the development and demonstration of new optimal control systems for improvement of plant efficiency and increase of generated output. The system can collect plant data from special test instrumentation connected to dedicated scanners and from the station's existing data processing system. The system can also, via distributed microprocessor-based interface units, make adjustments to the desired reactor channel gas exit temperatures. The existing control equipment will then adjust the height of control rods to maintain operation at these temperatures. The design of the distributed system is based on extensive experience with distributed systems for direct digital control, operator display and plant monitoring. The paper describes various aspects of this system, with particular emphasis on: (1) the hierarchal system structure; (2) the modular construction of the system to facilitate installation, commissioning and testing, and to reduce maintenance to module replacement; (3) the integration of the system into the station's existing data processing system; (4) distributed microprocessor-based interfaces to the reactor controls, with extensive security facilities implemented by hardware and software; (5) data transfer using point-to-point and bussed data links; (6) man-machine communication based on VDUs with computer input push-buttons and touch-sensitive screens; and (7) the use of a software system supporting a high-level engineer-orientated programming language, at all levels in the system, together with comprehensive data link management
S-variable approach to LMI-based robust control
Ebihara, Yoshio; Arzelier, Denis
2015-01-01
This book shows how the use of S-variables (SVs) in enhancing the range of problems that can be addressed with the already-versatile linear matrix inequality (LMI) approach to control can, in many cases, be put on a more unified, methodical footing. Beginning with the fundamentals of the SV approach, the text shows how the basic idea can be used for each problem (and when it should not be employed at all). The specific adaptations of the method necessitated by each problem are also detailed. The problems dealt with in the book have the common traits that: analytic closed-form solutions are not available; and LMIs can be applied to produce numerical solutions with a certain amount of conservatism. Typical examples are robustness analysis of linear systems affected by parametric uncertainties and the synthesis of a linear controller satisfying multiple, often conflicting, design specifications. For problems in which LMI methods produce conservative results, the SV approach is shown to achieve greater accuracy...
Robust Control of Aeronautical Electrical Generators for Energy Management Applications
Directory of Open Access Journals (Sweden)
Giacomo Canciello
2017-01-01
Full Text Available A new strategy for the control of aeronautical electrical generators via sliding manifold selection is proposed, with an associated innovative intelligent energy management strategy used for efficient power transfer between two sources providing energy to aeronautical loads, having different functionalities and priorities. Electric generators used for aeronautical application involve several machines, including a main generator and an exciter. Standard regulators (PI or PID-like are normally used for the rectification of the generator voltage to be used to supply a high-voltage DC bus. The regulation is obtained by acting on a DC/DC converter that imposes the field voltage of the exciter. In this paper, the field voltage is fed to the generator windings by using a second-order sliding mode controller, resulting into a stable, robust (against disturbances action and a fast convergence to the desired reference. By using this strategy, an energy management strategy is proposed that dynamically changes the voltage set point, in order to intelligently transfer power between two voltage busses. Detailed simulation results are provided in order to show the effectiveness of the proposed energy management strategy in different scenarios.
Utilization of the research reactors for the power reactor control instrumentation development
International Nuclear Information System (INIS)
Duchene, J.; Verdant, R.; Gilbert, J.
1977-01-01
Studies on characteristics and reliability of control instruments lead to testing with various radiations of various intensities and energy spectra. Osiris and Triton reactors present this great variety of radiations and a flexibility of use better than power reactors [fr
Power supply trip control for nuclear reactor
International Nuclear Information System (INIS)
Hager, R.E.; Gutman, Jerzy.
1987-01-01
A control system for a trip coil in a switchgear mechanism controls the supply of electrical power to a process control device and ensures de-energization of the trip coil shortly after the trip coil is energized. The trip coil is energized not by an independent dc source as in prior art, but from rectified power from a step down transformer supplied from the switchgear output side. The transformer feeds a rectifier which is connected to the trip coil via a trip activation device. The output of the rectifier can be monitored using an optical converter to determine the ability of the control system to activate the trip coil and the condition of the power supplied to the process control device. The control device may be a rod positioner in a pressurised water nuclear reactor. (author)
Vent control device for nuclear reactor container
International Nuclear Information System (INIS)
Kubota, Ryuji.
1989-01-01
The present invention concerns automatic prevention of abnormal over-pressure and hydrogen gas flashing in a BWR type reactor container. That is, (1) if the pressure in the container is abnormally increased, the gas in the pressure suppression chamber is released to reduce the pressure thereby preventing over-pressure damage to the container. (2) Then, if exhaust gases are burnt to cause flashing explosion danger for the gases in the reactor container, the gas release is interrupted. The foregoing two functioins are automatically conducted in this device. Specifically, when the pressure in the reactor container reaches a predetermined allowable limit, a remote control operation valve is opened by automatic control means to release the gas in the vessel. Since the gas flow rate at the start of the release exceeds flame propagation velocity, there is no worry for flashing explosion. Further, if the pipeway flow velocity near the atmospheric release is reduced to less than the flame propagation velocity of the hydrogen gas, the opened valve is automatically closed. Accordingly, propagation of hydrogen gas flame into the container thus causing explosion can surely be prevented. (K.M.)
Breeder control fusion reactor. Topical interview
Energy Technology Data Exchange (ETDEWEB)
Schlueter, A [Max-Planck-Institut fuer Plasmaphysik, Garching/Muenchen (Germany, F.R.)
1977-09-01
The energy sources of the future are extremely controversial. The consumption of fossil fuel shall decrease during the next decades, because exhaustion of the resources, pollution, increase of CO/sub 2/ in the atmosphere and other reasons. But at present the question it not yet settled which alternative energy system should replace the fossil fuel. First of all nuclear energy in the form of fission reactions seems to come into operation to a larger extent. The next step may be the controlled thermonuclear fusion reaction. Furthermore, a comparison between fusion and fission is given which shows that fusion would bring about less risks than the breeders. An advantage of the fusion reactor would be the fact that the fuel cycle is closed. Unfortunately, the physical questions are not as yet satisfactorily clarified so that one cannot be sure whether a fusion reactor can really be built.
Robust quasi NID current and flux control of an induction motor for position control
van Duijnhoven, M.; Blachuta, M.J.
1999-01-01
In the paper, a new control design method called Dynamic Contraction method is applied to the flux and quadrature current robust control of an induction motor operated using the field orientation principle. The resulting input-output decoupled and linearized drive is then used for time-optimal
Reactor control device for controlling load of nuclear power plant
International Nuclear Information System (INIS)
Hirota, Tadakuni; Yokoyama, Terukuni; Masuda, Jiro.
1981-01-01
Purpose: To improve the load follow-up capacity of a nuclear reactor by automatically controlling the width of the not-sensing band of a control rod inserting and removing discriminator circuit. Constitution: When load control operations such as automatic load control, automatic frequency control, governor free operation and so forth are conducted, the width of a not sensing band of a control rod inserting and removing discriminator circuit is ao automatically controlled that the not sensing band width may return to ordinary value in a normal operation by avoiding the fast repetition of inserting and removing control rods by increasing the width of the insensing band if the period of a control deviation signal produced due to the variation in the load is quickly repeated and varied in correspondence to the control deviation signal. That is, a circuit for varying the insensing band of the control circuit for driving a control mechanism is provided to reduce the amount of driving the control rods in a load control operation and to reduce the strain of the power distribution of the nuclear reactor, thereby improving the load control capacity. (Yoshihara, H.)
Control rod for a nuclear reactor
International Nuclear Information System (INIS)
Roman, W.G.; Sutton, H.G. Jr.
1976-01-01
A control rod assembly for a nuclear reactor is disclosed having a remotely disengageable coupling between the control rod and the control rod drive shaft. The coupling is actuated by first lowering then raising the drive shaft. The described motion causes axial repositioning of a pin in a grooved rotatable cylinder, each being attached to different parts of the drive shaft which are axially movable relative to each other. In one embodiment, the relative axial motion of the parts of the drive shaft is used either to couple or to uncouple the connection by forcing resilent members attached to the drive shaft into or out of shouldered engagement, respectively, with an indentation formed in the control rod
Control rod for a nuclear reactor
Roman, Walter G.; Sutton, Jr., Harry G.
1979-01-01
A control rod assembly for a nuclear reactor is disclosed having a remotely disengageable coupling between the control rod and the control rod drive shaft. The coupling is actuated by first lowering then raising the drive shaft. The described motion causes axial repositioning of a pin in a grooved rotatable cylinder, each being attached to different parts of the drive shaft which are axially movable relative to each other. In one embodiment, the relative axial motion of the parts of the drive shaft is used either to couple or to uncouple the connection by forcing resilient members attached to the drive shaft into or out of shouldered engagement, respectively, with an indentation formed in the control rod.
Control rod for a nuclear reactor
International Nuclear Information System (INIS)
Roman, W.G.; Sutton, H.G. Jr.
1979-01-01
A control rod assembly for a nuclear reactor is disclosed having a remotely disengageable coupling between the control rod and the control rod drive shaft. The coupling is actuated by first lowering then raising the drive shaft. The described motion causes axial repositioning of a pin in a grooved rotatable cylinder, each being attached to different parts of the drive shaft which are axially movable relative to each other. In one embodiment, the relative axial motion of the parts of the drive shaft is used either to couple or to uncouple the connection by forcing resilient members attached to the drive shaft into or out of shouldered engagement, respectively, with an indentation formed in the control rod
Self operation type reactor control device
International Nuclear Information System (INIS)
Saito, Makoto; Gunji, Minoru.
1990-01-01
A boiling-requefication chamber containing transporting materials having somewhat higher boiling point that the usual reactor operation temperature and liquid neutron absorbers having a boiling point sufficiently higher than that of the transporting materials is disposed near the coolant exit of a fuel assembly and connected with a tubular chamber in the reactor core with a moving pipe at the bottom. Since the transporting materials in the boiling-requefication chamber is boiled and expanded by heating, the liquid neutron absorbers are introduced passing through the moving pipe into the cylindrical chamber to control the nuclear reactions. When the temperature is lowered by the control, the transporting materials are liquefied to contract the volume and the liquid neutron absorbers in the cylindrical chamber are returned passing through the moving tube into the boiling-liquefication chamber to make the nuclear reaction vigorous. Thus, self-operation type power conditioning and power stopping are enabled not by way of control rods and not requiring external control, to prevent scram failure or misoperation. (N.H.)
Design of controller for control rod of research reactors
International Nuclear Information System (INIS)
Abou-Zaid, R.M.F.M
2008-01-01
Designing and testing digital control system for any nuclear research reactor can be costly and time consuming. In this thesis, a rapid, low-cost proto typing and testing procedure for digital controller design is proposed using the concept of Hardware-In-The-Loop (HIL). Some of the control loop components are real hardware components and the others are simulated. First, the whole system is modeled and tested by Real-Time Simulation (RTS) using conventional simulation techniques such as MATLAB / SIMULINK. Second the Hardware-in-the-loop simulation is tested using Real-Time Windows Target in MATLAB and Visual C ++ . The control parts are included as hardware components which are the reactor control rod and its drivers. Three kinds of controllers are studied, Proportional-Derivative (PD), Proportional-Integral-Derivative (PID) and Fuzzy controller. An experimental setup for the hardware used in HIL concept for the control of the nuclear research reactor has been realized. Experimental results are obtained and compared with the simulation results. The experimental results indicate the validation of HIL method in this domain.
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.
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
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.
Computer simulation system of neural PID control on nuclear reactor
International Nuclear Information System (INIS)
Chen Yuzhong; Yang Kaijun; Shen Yongping
2001-01-01
Neural network proportional integral differential (PID) controller on nuclear reactor is designed, and the control process is simulated by computer. The simulation result show that neutral network PID controller can automatically adjust its parameter to ideal state, and good control result can be gotten in reactor control process
Realtime control of biogas reactors. Technical report
Energy Technology Data Exchange (ETDEWEB)
Poulsen, Allan K.
2010-12-15
In this project several online methods were connected to a biogas pilot plant designed and built by Xergi A/S (Foulum, Denmark). The pilot plant was composed of two stainless steel tanks used as substrate storage and as digester, respectively. The total volume of the reactor tank was 300 L, the working volume 200 L and the headspace volume 100 L. The process temperature in the biogas reactor was maintained at 52 {+-} 0.5 deg. C during normal operating conditions. The biogas production was measured with a flow meter and a controller was used for automatic control of temperature, effluent removal, feeding and for data logging. A NIRS (near infrared spectrometer) was connected to a recurrent loop measuring on the slurry while a {mu}-GC (micro gas chromatograph) and a MIMS (membrane inlet mass spectrometer) enabled online measurements of the gas phase composition. During the project period three monitoring campaigns were accomplished. The loading rate of the biogas reactor was increased stepwise during the periods while the process was monitored. In the first two campaigns the load was increased by increasing the mass of organic material added to the reactor each day. However, this increasing amount changed the retention time in the reactor and in order to keep the retention time constant an increasing amount of inhibitor of the microbial process was instead added in the third campaign and as such maintaining a constant organic load mass added to the reactor. The effect is similar to an increase in process load, while keeping the load of organic material and hence retention time constant. Methods have been developed for the following online technologies and each technology has been evaluated with regard to future use as a tool for biogas process monitoring: 1) {mu}-GC was able to quantitative monitor important gas phase parameters in a reliable, fast and low-maintenance way. 2) MIMS was able to quantitative monitor gas phase composition in a reliable and fast manner
Collective control of a nuclear reactor
Energy Technology Data Exchange (ETDEWEB)
Rognin, L
1995-06-01
Nowadays, mainly related to the increasing complexity of working environments, working activities become more and collective. The present research on the paradoxical nature of working teams, considered from a reliability point of view. This document is composed of four Sections. The first Section introduces the context of the research, its objectives and the underlying assumptions. In the second Section, we describe a working situation, which is the control of a nuclear reactor. Relations between cooperative work and reliability are discussed in the third Section. Finally, in the fourth Section, a synthesis of the research and some perspectives are proposed. (authors). 7 refs.
Collective control of a nuclear reactor
International Nuclear Information System (INIS)
Rognin, L.
1995-06-01
Nowadays, mainly related to the increasing complexity of working environments, working activities become more and collective. The present research on the paradoxical nature of working teams, considered from a reliability point of view. This document is composed of four Sections. The first Section introduces the context of the research, its objectives and the underlying assumptions. In the second Section, we describe a working situation, which is the control of a nuclear reactor. Relations between cooperative work and reliability are discussed in the third Section. Finally, in the fourth Section, a synthesis of the research and some perspectives are proposed. (authors). 7 refs
Keum, Jung-Hoon; Ra, Sung-Woong
2009-12-01
Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.
Instrumentation and control strategies for an integral pressurized water reactor
Directory of Open Access Journals (Sweden)
Belle R. Upadhyaya
2015-03-01
Full Text Available Several vendors have recently been actively pursuing the development of integral pressurized water reactors (iPWRs that range in power levels from small to large reactors. Integral reactors have the features of minimum vessel penetrations, passive heat removal after reactor shutdown, and modular construction that allow fast plant integration and a secure fuel cycle. The features of an integral reactor limit the options for placing control and safety system instruments. The development of instrumentation and control (I&C strategies for a large 1,000 MWe iPWR is described. Reactor system modeling—which includes reactor core dynamics, primary heat exchanger, and the steam flashing drum—is an important part of I&C development and validation, and thereby consolidates the overall implementation for a large iPWR. The results of simulation models, control development, and instrumentation features illustrate the systematic approach that is applicable to integral light water reactors.
Magnetic switch for reactor control rod
International Nuclear Information System (INIS)
Germer, J.H.
1986-01-01
This patent describes a control rod system for a nuclear reactor utilizing an electromagnetic grapple mechanism for holding and releasing a control rod, the improvement comprising a magnetic reed switch assembly having a Curie-point magnetic shunt and responsive to reactor coolant temperature for short circuiting the electromagnetic grapple mechanism causing release of the control rod when the coolant temperature reaches the Curie-point of the magnetic shunt. The magnetic reed switch assembly includes a: a permanent magnet, a pair of magnetic pole pieces located at and in contact with opposite ends of the permanent magnet, the Curie-point magnetic shunt being positioned adjacent the permanent magnet and in contact with the pair of magnetic pole pieces, and a reed switch positioned intermediate the pole pieces and provided with a pair of ferromagnetic reeds, a nonmagnetic enclosure around the reeds, a first of the reeds being secured at one end to a first of the pair of pole pieces, a second of the reeds having one end extending into and secured to a hollow member positioned in and extending through a second of the pair of pole pieces, the one end of the second of the reeds secured to a condector adapted to be connected to the electromagnetic grapple mechanism
Control of water chemistry in operating reactors
International Nuclear Information System (INIS)
Riess, R.
1997-01-01
Water chemistry plays a major role in fuel cladding corrosion and hydriding. Although a full understanding of all mechanisms involved in cladding corrosion does not exist, controlling the water chemistry has achieved quite some progress in recent years. As an example, in PWRs the activity transport is controlled by operating the coolant under higher pH-values (i.e. the ''modified'' B/Li-Chemistry). On the other hand, the lithium concentration is limited to a maximum value of 2 ppm in order to avoid an acceleration of the fuel cladding corrosion. In BWR plants, for example, the industry has learned on how to limit the copper concentration in the feedwater in order to limit CILC (Copper Induced Localized Corrosion) on the fuel cladding. However, economic pressures are leading to more rigorous operating conditions in power reactors. Fuel burnups are to be increased, higher efficiencies are to be achieved, by running at higher temperatures, plant lifetimes are to be extended. In summary, this paper will describe the state of the art in controlling water chemistry in operating reactors and it will give an outlook on potential problems that will arise when going to more severe operating conditions. (author). 3 figs, 6 tabs
Control of water chemistry in operating reactors
Energy Technology Data Exchange (ETDEWEB)
Riess, R [Siemens AG Unternehmensbereich KWU, Erlangen (Germany)
1997-02-01
Water chemistry plays a major role in fuel cladding corrosion and hydriding. Although a full understanding of all mechanisms involved in cladding corrosion does not exist, controlling the water chemistry has achieved quite some progress in recent years. As an example, in PWRs the activity transport is controlled by operating the coolant under higher pH-values (i.e. the ``modified`` B/Li-Chemistry). On the other hand, the lithium concentration is limited to a maximum value of 2 ppm in order to avoid an acceleration of the fuel cladding corrosion. In BWR plants, for example, the industry has learned on how to limit the copper concentration in the feedwater in order to limit CILC (Copper Induced Localized Corrosion) on the fuel cladding. However, economic pressures are leading to more rigorous operating conditions in power reactors. Fuel burnups are to be increased, higher efficiencies are to be achieved, by running at higher temperatures, plant lifetimes are to be extended. In summary, this paper will describe the state of the art in controlling water chemistry in operating reactors and it will give an outlook on potential problems that will arise when going to more severe operating conditions. (author). 3 figs, 6 tabs.
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
Control rod drives for nuclear reactors
International Nuclear Information System (INIS)
Okada, Shige.
1981-01-01
Purpose: To enable the detection for the raptures of the bellows in control rod drives in LMFBR type reactor, by recycling seal gases inside the bellows and measuring the radioactivity in the recycling passage. Constitution: In the control drives, outer extension pipe is surrounded by the bellows, which is put between the cylindrical biological shieldings around the upper potion of an upper guide tube and the disk-like seal members provided at the lower flange of the outer extension pipe. Thus, the inside device of control rod is isolated from the coolants and the cover gases. The outer extension pipe is provided with a suction channel and a return channel. These channels are connected to a seal gas recycling pipeway, a pump and a radioactivity detector, where the seal gases in the bellows is recycling. If failures should occur in the bellows, cover gas leaks into the seal gas and recycles, whereby radioactivity is detected and alarmed. (J.P.N.)
Control rod guide tube of nuclear reactor
International Nuclear Information System (INIS)
Suda, Yoshitaka; Ito, Kenji; Matsumoto, Kunio.
1994-01-01
Zr having a residual tensile stress of 3 to 10kg/mm 2 in a circumferential direction is used for the main ingredient of a control guide tube of a nuclear reactor. For this purpose, an appropriate correction method such as a roll-correction, tension-correction and press-correction method is applied to an existent Zr-base alloy tube with no substantial residual stress. If the residual tensile stress in the circumferential direction is smaller than 3kg/mm 2 , an effect sufficient to suppress irradiation growth is not obtainable, if it exceeds 10kg/mm 2 , dimensional changes, cracks or the like occurs locally since the wall thickness of the control rod guide tube is small and, accordingly, this often results in failed products as the control guide tube. (N.H.)
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.
Directory of Open Access Journals (Sweden)
Gholam Reza Ansarifar
2015-12-01
Full Text Available One of the most important operations in nuclear power plants is load following, in which an imbalance of axial power distribution induces xenon oscillations. These oscillations must be maintained within acceptable limits otherwise the nuclear power plant could become unstable. Therefore, bounded xenon oscillation is considered to be a constraint for the load following operation. In this paper, the design of a sliding mode control (SMC, which is a robust nonlinear controller, is presented. SMC is a means to control pressurized water nuclear reactor (PWR power for the load following operation problem in a way that ensures xenon oscillations are kept bounded within acceptable limits. The proposed controller uses constant axial offset (AO strategy to ensure xenon oscillations remain bounded. The constant AO is a robust state constraint for the load following problem. The reactor core is simulated based on the two-point nuclear reactor model with a three delayed neutron groups. The stability analysis is given by means of the Lyapunov approach, thus the control system is guaranteed to be stable within a large range. The employed method is easy to implement in practical applications and moreover, the SMC exhibits the desired dynamic properties during the entire output-tracking process independent of perturbations. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness, and stability. Results show that the proposed controller for the load following operation is so effective that the xenon oscillations are kept bounded in the given region.
An automatic tuning method of a fuzzy logic controller for nuclear reactors
International Nuclear Information System (INIS)
Ramaswamy, P.; Lee, K.Y.; Edwards, R.M.
1993-01-01
The design and evaluation by simulation of an automatically tuned fuzzy logic controller is presented. Typically, fuzzy logic controllers are designed based on an expert's knowledge of the process. However, this approach has its limitations in the fact that the controller is hard to optimize or tune to get the desired control action. A method to automate the tuning process using a simplified Kalman filter approach is presented for the fuzzy logic controller to track a suitable reference trajectory. Here, for purposes of illustration an optimal controller's response is used as a reference trajectory to determine automatically the rules for the fuzzy logic controller. To demonstrate the robustness of this design approach, a nonlinear six-delayed neutron group plant is controlled using a fuzzy logic controller that utilizes estimated reactor temperatures from a one-delayed neutron group observer. The fuzzy logic controller displayed good stability and performance robustness characteristics for a wide range of operation
Robust PD Sway Control of a Lifted Load for a Crane Using a Genetic Algorithm
Kawada, Kazuo; Sogo, Hiroyuki; Yamamoto, Toru; Mada, Yasuhiro
PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed.Although it is important to choose the suitable nominal model in designing the robust controller, it is not usually easy.In this paper, a new robust PD controller design scheme is proposed, which utilizes a genetic algorithm.
Observation Quality Control with a Robust Ensemble Kalman Filter
Roh, Soojin
2013-12-01
Current ensemble-based Kalman filter (EnKF) algorithms are not robust to gross observation errors caused by technical or human errors during the data collection process. In this paper, the authors consider two types of gross observational errors, additive statistical outliers and innovation outliers, and introduce a method to make EnKF robust to gross observation errors. Using both a one-dimensional linear system of dynamics and a 40-variable Lorenz model, the performance of the proposed robust ensemble Kalman filter (REnKF) was tested and it was found that the new approach greatly improves the performance of the filter in the presence of gross observation errors and leads to only a modest loss of accuracy with clean, outlier-free, observations.
Observation Quality Control with a Robust Ensemble Kalman Filter
Roh, Soojin; Genton, Marc G.; Jun, Mikyoung; Szunyogh, Istvan; Hoteit, Ibrahim
2013-01-01
Current ensemble-based Kalman filter (EnKF) algorithms are not robust to gross observation errors caused by technical or human errors during the data collection process. In this paper, the authors consider two types of gross observational errors, additive statistical outliers and innovation outliers, and introduce a method to make EnKF robust to gross observation errors. Using both a one-dimensional linear system of dynamics and a 40-variable Lorenz model, the performance of the proposed robust ensemble Kalman filter (REnKF) was tested and it was found that the new approach greatly improves the performance of the filter in the presence of gross observation errors and leads to only a modest loss of accuracy with clean, outlier-free, observations.
Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders
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.
Control of PWR reactor energy supplied to a stream turbine
International Nuclear Information System (INIS)
Petetrot, J.F.; Parent, Pierre.
1981-01-01
This patent presents a process for regulating the power provided by a pressurized water nuclear reactor to a steam turbine, by moving the control rods absorbing the neutrons in the reactor core and by diverting a fraction of the steam produced by the reactor, outside the turbine circuit, by opening by-pass valves [fr
Device for rearranging control rods of experimental reactors
International Nuclear Information System (INIS)
Louda, J.
1975-01-01
The invention claims a means for the adjustment of control rods in experimental reactors with a continuously variable pitch of the fuel element spacer. The proposed device permits obtaining maximum variability in the physical modelling of nuclear power reactor cores in experimental reactors. (F.M.)
Robust Control Mixer Method for Reconfigurable Control Design Using Model Matching Strategy
DEFF Research Database (Denmark)
Yang, Zhenyu; Blanke, Mogens; Verhagen, Michel
2007-01-01
A novel control mixer method for recon¯gurable control designs is developed. The proposed method extends the matrix-form of the conventional control mixer concept into a LTI dynamic system-form. The H_inf control technique is employed for these dynamic module designs after an augmented control...... system is constructed through a model-matching strategy. The stability, performance and robustness of the reconfigured system can be guaranteed when some conditions are satisfied. To illustrate the effectiveness of the proposed method, a robot system subjected to failures is used to demonstrate...
International Nuclear Information System (INIS)
Peng Yafu
2009-01-01
In this paper, a robust intelligent sliding model control (RISMC) scheme using an adaptive recurrent cerebellar model articulation controller (RCMAC) is developed for a class of uncertain nonlinear chaotic systems. This RISMC system offers a design approach to drive the state trajectory to track a desired trajectory, and it is comprised of an adaptive RCMAC and a robust controller. The adaptive RCMAC is used to mimic an ideal sliding mode control (SMC) due to unknown system dynamics, and a robust controller is designed to recover the residual approximation error for guaranteeing the stable characteristic. Moreover, the Taylor linearization technique is employed to derive the linearized model of the RCMAC. The all adaptation laws of the RISMC system are derived based on the Lyapunov stability analysis and projection algorithm, so that the stability of the system can be guaranteed. Finally, the proposed RISMC system is applied to control a Van der Pol oscillator, a Genesio chaotic system and a Chua's chaotic circuit. The effectiveness of the proposed control scheme is verified by some simulation results with unknown system dynamics and existence of external disturbance. In addition, the advantages of the proposed RISMC are indicated in comparison with a SMC system
Robust adaptive fuzzy neural tracking control for a class of unknown ...
Indian Academy of Sciences (India)
In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is ... The robust controller is used to guarantee the stability and to control the per- ..... From the above analysis we have the following theorem:.
A nuclear reactor with buffered control rods
International Nuclear Information System (INIS)
Bevilacqua, F.
1974-01-01
The control rods for, e.g., water-cooled reactors are fastened as units on common crossbars in vertical downward direction. The fastening on the crossbar is achieved by means of cross-shaped parts, e.g., in the shape of a double 'H'. A cylinder connected with a drive rod in normal operation is joined to each of the crossbars. In an emergency shut-down, this connection is interrupted and the control rod unit drops into the core through the action of gravity. Its fall is slowed down by a cushion or shock absorbing unit. For this purpose a piston is provided mounted on the supporting plate below the cylinder and guided within it. In the cylinder, the coolant is contained as damping medium. An upper opening in the cylinder serves as a ventilation hole. The movement of the piston is limited by a stopping part within the cylinder and slowed down by a spiral spring. (DG) [de
Robust adaptive control of the sawtooth instability in nuclear fusion
Bolder, J.J.; Witvoet, G.; Baar, de M.R.; Wouw, van de N.; Haring, M.A.M.; Westerhof, E.; Doelman, N.J.; Steinbuch, M.
2012-01-01
The sawtooth instability is a repetitive phenomenon occurring in plasmas of tokamak nuclear fusion reactors. Experimental studies of these instabilities and the effect they have on the plasma (notably the drive of secondary instabilities and consequent performance reduction) for a wide variety of
Directory of Open Access Journals (Sweden)
A. Mohammadpour
2009-12-01
Full Text Available Robust performance controller design for duty-cycle controlled series resonant converter (SRC is proposed in this paper. The uncertainties of the converter are analyzed with load variation and power circuit components tolerances are taken into consideration. Additionally, a nominal performance (NP controller is designed. Closed-loop system is simulated with Orcad and simulation results of robust controller are compared with nominal performance controller. Although nominal performance controller has better performance for nominal plant, the robust performance controller is advantageous in dealing with uncertainties.
Control rod supporting device in reactor
International Nuclear Information System (INIS)
Seki, Osamu; Itooka, Satoshi; Harada, Kiyoshi; Jodoi, Takashi.
1990-01-01
Since coolants flowing from a reactor core hit against a control rod and a control rod connection pipe, a considerable amount of bending moment for separating an attracting surface between an electromagnet and an armature is formed. Then, a plurality of grooves are formed on a heat sensitive material to dispose a heat collecting fin, and each of upper and lower contact portions of a control rod supporting portion in which the flanged portion of T-like cross section does not slip out is made into a partial spheric surface and a portion between the electromagnet and the attracted member are engaged by the unevenness. With such a constitution, even if a bending moment is applied, the control rod only swings and the bending moment is not transmitted to the attracted member. Further, since the temperature of the heat sensitive material can be rapidly made closer to the peripheral temperature by using the heat collecting fin, the timing for separation is made accurate. Further, since the engaging portion is brought into contact at the spheric surface, the load distribution on the control rod is made uniform, and the positional relationship is made accurate, to support the control rod reliably and the separation depends only on the temperature of the coolants. (N.H.)
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.
Self-teaching neural network learns difficult reactor control problem
International Nuclear Information System (INIS)
Jouse, W.C.
1989-01-01
A self-teaching neural network used as an adaptive controller quickly learns to control an unstable reactor configuration. The network models the behavior of a human operator. It is trained by allowing it to operate the reactivity control impulsively. It is punished whenever either the power or fuel temperature stray outside technical limits. Using a simple paradigm, the network constructs an internal representation of the punishment and of the reactor system. The reactor is constrained to small power orbits
Neutron density optimal control of A-1 reactor analoque model
International Nuclear Information System (INIS)
Grof, V.
1975-01-01
Two applications are described of the optimal control of a reactor analog model. Both cases consider the control of neutron density. Control loops containing the on-line controlled process, the reactor of the first Czechoslovak nuclear power plant A-1, are simulated on an analog computer. Two versions of the optimal control algorithm are derived using modern control theory (Pontryagin's maximum principle, the calculus of variations, and Kalman's estimation theory), the minimum time performance index, and the quadratic performance index. The results of the optimal control analysis are compared with the A-1 reactor conventional control. (author)
Robust Control for the Segway with Unknown Control Coefficient and Model Uncertainties
Directory of Open Access Journals (Sweden)
Byung Woo Kim
2016-06-01
Full Text Available The Segway, which is a popular vehicle nowadays, is an uncertain nonlinear system and has an unknown time-varying control coefficient. Thus, we should consider the unknown time-varying control coefficient and model uncertainties to design the controller. Motivated by this observation, we propose a robust control for the Segway with unknown control coefficient and model uncertainties. To deal with the time-varying unknown control coefficient, we employ the Nussbaum gain technique. We introduce an auxiliary variable to solve the underactuated problem. Due to the prescribed performance control technique, the proposed controller does not require the adaptive technique, neural network, and fuzzy logic to compensate the uncertainties. Therefore, it can be simple. From the Lyapunov stability theory, we prove that all signals in the closed-loop system are bounded. Finally, we provide the simulation results to demonstrate the effectiveness of the proposed control scheme.
Fixed-bed Reactor Dynamics and Control - A Review
DEFF Research Database (Denmark)
Jørgensen, S. B.
1986-01-01
The industrial diversity of fixed bed reactors offers a challenging and relevant set of control problems. These intricate problems arise due to the rather complex dynamics of fixed bed reactors and to the complexity of actual reactor configurations. Many of these control problems are nonlinear...... and multi-variable. During the last decade fixed bed reactor control strategies have been proposed and investigated experimentally. This paper reviews research on these complex control problems with an emphasis upon solutions which have been demon-strated to work in the laboratory and hold promise...
Effect of interaction strength on robustness of controlling edge dynamics in complex networks
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.
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...
Distributed Systems for Problems in Robust Control and Visual Tracking
National Research Council Canada - National Science Library
Tannenbaum, Allen
2000-01-01
.... A key application is in controlled active vision, including visual tracking, the control of autonomous vehicles, motion planning, and the utilization of visual information in guidance and control...
Control of SHARON reactor for autotrophic nitrogen removal in two-reactor configuration
DEFF Research Database (Denmark)
Valverde Perez, Borja; Mauricio Iglesias, Miguel; Sin, Gürkan
2012-01-01
With the perspective of investigating a suitable control design for autotrophic nitrogen removal, this work explores the control design for a SHARON reactor. With this aim, a full model is developed, including the pH dependency, in order to simulate the reactor and determine the optimal operating...
Adaptive nonlinear control for a research reactor
International Nuclear Information System (INIS)
Benitez R, J.S.
1994-01-01
Linearization by feedback of states is based on the idea of transform the nonlinear dynamic equation of a system in a linear form. This linear behavior can be achieve well in a complete way (input state) or in partial way (input output). This can be applied to systems of single or multiple inputs, and can be used to solve problems of stabilization and tracking of references trajectories. Comparing this method with conventional ones, linearization by feedback of states is exact in certain region of the space of state, instead of linear approximations of the equations in a certain point of the operation. In the presence of parametric uncertainties in the model of the system, the introduction of adaptive schemes provide a type toughness to the control system by nonlinear feedback, which gives as result the eventual cancellation of the nonlinear terms in the dynamic relationship between the output and the input of the auxiliary control. In the same way, it has been presented the design of a nonlinearizing control for the non lineal model of a TRIGA Mark III type reactor, with the aim of tracking a predetermined power profile. The asymptotic tracking of such profile is, at the present moment, in the stage of verification by computerized simulation the relative easiness in the design of auxiliary variable of control, as well as the decoupling action of the output variable, make very attractive the utilization of the method herein presented. (Author)
Real-time control of fusion reactors
International Nuclear Information System (INIS)
Goncalves, B.; Sousa, J.; Varandas, C.A.F.
2010-01-01
The next generation fusion experiments, e.g. ITER, will be highly complex and raise new challenges in the field of control and data acquisition systems. The more advanced operation scenarios have to be capable of sustaining long pulse steady-state plasma and to suppress plasma instabilities almost completely. Such scenarios will heavily rely on Multiple-Input-Multiple-Output (MIMO) fast control systems. To ensure safety for the operation these systems have to be robust and resilient to faults while ensuring high availability. Mindful of the importance of such features for future fusion experiments ATCA based systems have been successfully used in fusion experiment as MIMO fast controller. This is the most promising architecture to substantially enhance the performance and capability of existing standard systems delivering well high throughput as well as high availability. The real-time control needs of a fusion experiment, the rational for the presently pursued solutions, the existing problems and the broad scientific and technical questions that need to be addressed on the path to a fusion power plant will be discussed.
The matter of probability controlling melting of nuclear ship reactor
International Nuclear Information System (INIS)
Pihowicz, W.; Sobczyk, S.
2008-01-01
In the first part of this work beside description of split power, power of radioactivity disintegration and afterpower and its ability to extinguish, the genera condition of melting nuclear reactor core and its detailed versions were described. This paper also include the description of consequences melting nuclear reactor core both in case of stationary and mobile (ship) reactor and underline substantial differences. Next, fulfilled with succeed, control under melting of stationary nuclear reactor core was characterized.The middle part describe author's idea of controlling melting of nuclear ship reactor core. It is based on: - the suggestion of prevention pressure's untightness in safety tank of nuclear ship reactor by '' corium '' - and the suggestion of preventing walls of this tank from melting by '' corium ''. In the end the technological and construction barriers of the prevention from melting nuclear ship reactor and draw conclusions was presented. (author)
Liquid-poison type power controlling device for nuclear reactor
International Nuclear Information System (INIS)
Horiuchi, Tetsuo; Yamanari, Shozo; Sugisaki, Toshihiko; Goto, Hiroshi.
1981-01-01
Purpose: To improve the safety and the operability of a nuclear reactor by adjusting the density of liquid poison. Constitution: The thermal expansion follow-up failure between cladding and a pellet upon abrupt and local variations of the power is avoided by adjusting the density of liquid poison during ordinary operation in combination with a high density liquid poison tank and a filter and smoothly controlling the reactor power through a pipe installed in the reactor core. The high density liquid poison is abruptly charged in to the reactor core under relatively low pressure through the tube installed in the reactor core at the time of control rod insertion failure in an accident, thereby effectively shutting down the reactor and improving the safety and the operability of the reactor. (Yoshihara, H.)
The robustness of k0-NAA in large multi-purpose research reactors
International Nuclear Information System (INIS)
Attila Stopic; Bennett, J.W.
2014-01-01
The challenges and opportunities associated with performing k 0 -NAA in high-powered, multi-purpose research reactors are examined and recommendations are made concerning the conditions that need to be met in such facilities in order to allow the potential for this method of elemental analysis to be fully realised. (author)
Robust Control for Microgravity Vibration Isolation using Fixed Order, Mixed H2/Mu Design
Whorton, Mark
2003-01-01
Many space-science experiments need an active isolation system to provide a sufficiently quiescent microgravity environment. Modern control methods provide the potential for both high-performance and robust stability in the presence of parametric uncertainties that are characteristic of microgravity vibration isolation systems. While H2 and H(infinity) methods are well established, neither provides the levels of attenuation performance and robust stability in a compensator with low order. Mixed H2/H(infinity), controllers provide a means for maximizing robust stability for a given level of mean-square nominal performance while directly optimizing for controller order constraints. This paper demonstrates the benefit of mixed norm design from the perspective of robustness to parametric uncertainties and controller order for microgravity vibration isolation. A nominal performance metric analogous to the mu measure, for robust stability assessment is also introduced in order to define an acceptable trade space from which different control methodologies can be compared.
Directory of Open Access Journals (Sweden)
Vahid Raissi Dehkordi
2009-01-01
Full Text Available This paper deals with the robust performance problem of a linear time-invariant control system in the presence of robust controller uncertainty. Assuming that plant uncertainty is modeled as an additive perturbation, a geometrical approach is followed in order to find a necessary and sufficient condition for robust performance in the form of a bound on the magnitude of controller uncertainty. This frequency domain bound is derived by converting the problem into an optimization problem, whose solution is shown to be more time-efficient than a conventional structured singular value calculation. The bound on controller uncertainty can be used in controller order reduction and implementation problems.
Hamdy, M; Hamdan, I
2015-07-01
In this paper, a robust H∞ fuzzy output feedback controller is designed for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T-S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI. A continuous stirred tank reactor (CSTR), which is a benchmark problem in nonlinear process control, is discussed in detail to verify the effectiveness of the proposed approach with a comparative study. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Micro processor based research reactor instrumentation and control system
International Nuclear Information System (INIS)
Hyde, W.K.
1987-01-01
The system consists of a Control System Computer (CSC) incorporated into a Reactor Control Console (RCC) and a Data Acquisition and Control Unit (DAC) adjacent to the reactor. The CSC has a high resolution color graphics CRT monitor which provides real-time graphic simulation of the reactor and a number of bar graphs displaying strategic parameters of the reactor system. In addition, abnormal or dangerous conditions are displayed. The CSC is equipped with two printers eliminating manual logging of reactor data. The reactor display and pulse mode display may also be printed. Historical data is saved in the system's large capacity memory and may be replayed and/or printed. Because of the CSC's inherent high speed math capability, raw reactor data will be quickly converted and displayed in real-time. Data can be presented in meaningful engineering units. The DAC provides a high speed data acquisition and control capability adjacent to the reactor. It continuously collects data from the reactor system, concentrates the data into a database and transmits it to the CSC when requested. Data transmission is over one of two data trunks to the CSC. The secondary trunk is used if the primary trunk fails. The data trunks drastically reduce the wiring requirements between the reactor and the Control Console. During steady-state operation of the reactor, operator commands to adjust the rod positions is transmitted from the CSC to the DAC which re-issues the commands to the drive mechanisms. In the automatic mode, the DAC will control the position of the rods via a PID algorithm. The system is independently monitored by two or more safety computers. Their function is to monitor the power level, the rate of change of power and fuel temperature of the reactor and to independently shut the reactor down in the event of a potentially dangerous (scram) condition. (author)
International Nuclear Information System (INIS)
Coban, Ramazan
2011-01-01
Research highlights: → A closed-loop fuzzy logic controller based on the particle swarm optimization algorithm was proposed for controlling the power level of nuclear research reactors. → The proposed control system was tested for various initial and desired power levels, and it could control the reactor successfully for most situations. → The proposed controller is robust against the disturbances. - Abstract: In this paper, a closed-loop fuzzy logic controller based on the particle swarm optimization algorithm is proposed for controlling the power level of nuclear research reactors. The principle of the fuzzy logic controller is based on the rules constructed from numerical experiments made by means of a computer code for the core dynamics calculation and from human operator's experience and knowledge. In addition to these intuitive and experimental design efforts, consequent parts of the fuzzy rules are optimally (or near optimally) determined using the particle swarm optimization algorithm. The contribution of the proposed algorithm to a reactor control system is investigated in details. The performance of the controller is also tested with numerical simulations in numerous operating conditions from various initial power levels to desired power levels, as well as under disturbance. It is shown that the proposed control system performs satisfactorily under almost all operating conditions, even in the case of very small initial power levels.
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.
The control of emissions from nuclear power reactors in Canada
International Nuclear Information System (INIS)
Gorman, D.J.; Neil, B.C.J.; Chatterjee, R.M.
1988-01-01
Nuclear power reactors in Canada are of the CANDU pressurised heavy water design. These are located in the provinces of Ontario, Quebec, and New Brunswick. Most of the nuclear generating capacity is in the province of Ontario which has 16 commissioned reactors with a total capacity of 11,500 MWe. There are four reactors under construction with an additional capacity of 3400 MWe. Nuclear power currently accounts for approximately 50% of the electrical power generation of Ontario. Regulation of the reactors is a Federal Government responsibility administered by the Atomic Energy Control Board (AECB) which licenses the reactors and sets occupational and public dose limits
Using H∞ to design robust POD controllers for wind power plants
DEFF Research Database (Denmark)
Mehmedalic, Jasmin; Knüppel, Thyge; Østergaard, Jacob
2012-01-01
Large wind power plants (WPPs) can help to improve small signal stability by increasing the damping of electromechanical modes of oscillation. This can be done by adding a power system oscillation damping (POD) controller to the wind power plants, similar to power system stabilizer (PSS......) controllers on conventional generation. Here two different design methods are evaluated for their suitability in producing a robust power system oscillation damping controller for wind power plants with full-load converter wind turbine generators (WTGs). Controllers are designed using classic PSS design and H......∞ methods and the designed controllers evaluated on both performance and robustness. It is found that the choice of control signal has a large influence on the robustness of the controllers, and the best performance and robustness is found when the converter active power command is used as control signal...
Robust high-performance control for robotic manipulators
Seraji, Homayoun (Inventor)
1991-01-01
Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.
Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System
Fengjiao Wu; Junling Ding; Zhengzhong Wang
2016-01-01
The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the d...
International Nuclear Information System (INIS)
Ansarifar, G.R.; Nasrabadi, M.N.; Hassanvand, R.
2016-01-01
Highlights: • We present a S.M.C. system based on the S.M.O for control of a fast reactor power. • A S.M.O has been developed to estimate the density of delayed neutron precursor. • The stability analysis has been given by means Lyapunov approach. • The control system is guaranteed to be stable within a large range. • The comparison between S.M.C. and the conventional PID controller has been done. - Abstract: In this paper, a nonlinear controller using sliding mode method which is a robust nonlinear controller is designed to control a fast nuclear reactor. The reactor core is simulated based on the point kinetics equations and one delayed neutron group. Considering the limitations of the delayed neutron precursor density measurement, a sliding mode observer is designed to estimate it and finally a sliding mode control based on the sliding mode observer is presented. The stability analysis is given by means Lyapunov approach, thus the control system is guaranteed to be stable within a large range. Sliding Mode Control (SMC) is one of the robust and nonlinear methods which have several advantages such as robustness against matched external disturbances and parameter uncertainties. The employed method is easy to implement in practical applications and moreover, the sliding mode control exhibits the desired dynamic properties during the entire output-tracking process independent of perturbations. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness and stability.
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.
Phase and gain control policies for robust active vibration control of flexible structures
International Nuclear Information System (INIS)
Zhang, K; Ichchou, M N; Scorletti, G; Mieyeville, F
2013-01-01
The interest of this paper is to develop a general and systematic robust control methodology for active vibration control of flexible structures. For this purpose, first phase and gain control policies are proposed to impose qualitative frequency-dependent requirements on the controller to consider a complete set of control objectives. Then the proposed control methodology is developed by employing phase and gain control policies in the dynamic output feedback H ∞ control: according to the set of control objectives, phase and gain control policies incorporate necessary weighting functions and determine them in a rational and systematic way; on the other hand, with the appropriate weighting functions efficient H ∞ control algorithms can automatically realize phase and gain control policies and generate a satisfactory H ∞ controller. The proposed control methodology can be used for both SISO and MIMO systems with collocated or non-collocated sensors and actuators. In this paper, it is validated on a non-collocated piezoelectric cantilever beam. Both numerical simulations and experimental results demonstrate the effectiveness of the proposed control methodology. (paper)
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.
Robust Networked Control Scheme for Distributed Secondary Control of Islanded MicroGrids
DEFF Research Database (Denmark)
Shafiee, Qobad; Stefanovic, Cedomir; Dragicevic, Tomislav
2014-01-01
Distributed secondary control (DSC) is a new approach for microgrids (MGs) by which the frequency, voltage and power can be regulated by using only local unit controllers. Such a solution is necessary for anticipated scenarios that have an increased number of distributed generators (DGs) within...... the MG. Due to the constrained traffic pattern required by the secondary control, it is viable to implement a dedicated local area communication functionality among the local controllers. This paper presents a new, wireless-based robust communication algorithm for the DSC of MGs. The algorithm tightly...... couples the communication and the control functionality, such that the transmission errors are absorbed through an averaging operation performed in each local controller, resulting in a very high reliability. Furthermore, transmissions from each DG are periodic and prescheduled broadcasts, and in this way...
Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control Allocation
Burken, John J.; Lu, Ping; Wu, Zheng-Lu; Bahm, Cathy
2001-01-01
Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the fight body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.
Nuclear reactor power control system based on flexibility model
International Nuclear Information System (INIS)
Li Gang; Zhao Fuyu; Li Chong; Tai Yun
2011-01-01
Design the nuclear reactor power control system in this paper to cater to a nonlinear nuclear reactor. First, calculate linear power models at five power levels of the reactor as five local models and design controllers of the local models as local controllers. Every local controller consists of an optimal controller contrived by the toolbox of Optimal Controller Designer (OCD) and a proportion-integration-differentiation (PID) controller devised via Genetic Algorithm (GA) to set parameters of the PID controller. According to the local models and controllers, apply the principle of flexibility model developed in the paper to obtain the flexibility model and the flexibility controller at every power level. Second, the flexibility model and the flexibility controller at a level structure the power control system of this level. The set of the whole power control systems corresponding to global power levels is to approximately carry out the power control of the reactor. Finally, the nuclear reactor power control system is simulated. The simulation result shows that the idea of flexibility model is feasible and the nuclear reactor power control system is effective. (author)
Characterisation of reactor control rod drives. Specification 1-6
International Nuclear Information System (INIS)
1975-03-01
The committee 'Kernreaktorregelung' of VDI/VDE-Gesellschaft Mess- und Regelungstechnik has developed 6 specifications (Typenblaetter) of reactor control rod drives. The specifications are aimed at giving engineers in reactor control systems an outline concerning the function as well as some construction characteristics. (orig./LN) [de
Energy Technology Data Exchange (ETDEWEB)
Adachi, K; Wakahara, T; Shimanaka, S; Yamamoto, M; Oshidari, T [Nissan Motor Co. Ltd., Tokyo (Japan)
1997-10-01
The continuously variable transmission control system consists of generation of a desired gear ratio and a servo gear ratio system. The servo gear ratio system must provide the desired response at all times without being influenced by external disturbances. These include oil pressure as well as variation in performance due to operating conditions or changes occurring with us. We have developed the servo gear ratio system incorporating a robust model matching method, which enables the belt continuously variable transmission to satisfy this performance requirement. 2 refs., 9 figs.
Robust output feedback H-infinity control and filtering for uncertain linear systems
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.
Control of SHARON reactor for autotrophic nitrogen removal in two-reactor configuration
DEFF Research Database (Denmark)
Valverde Perez, Borja; Mauricio Iglesias, Miguel; Sin, Gürkan
2012-01-01
With the perspective of investigating a suitable control design for autotrophic nitrogen removal, this work explores the control design for a SHARON reactor. With this aim, a full model is developed, including the pH dependency, in order to simulate the reactor and determine the optimal operating...... conditions. Then, the screening of controlled variables and pairing is carried out by an assessment of the effect of the disturbances based on the closed loop disturbance gain plots. Two controlled structures are obtained and benchmarked by their capacity to reject the disturbances before the Anammox reactor....
International Nuclear Information System (INIS)
Osgouee, Ahmad
2010-01-01
Full Text: Nuclear power plants will be needed for future energy demands, which are expected to grow at different rates around the world. Lower operating cost is one of the major benefits of nuclear power plants over fossil power plants. Also, the plant availability is a key factor to economic index of a nuclear power plant. The opportunities for building new nuclear power plants around the world will depend on the need for clean energy with zero, or minimal emissions to support healthy communities, supply reliable energy with stable prices, and issues related to global warming and climate change. Compared to other types of power plants, nuclear power plants are preferred for their numerous advantages, including low operating costs, emission free operation with no smog, no acid rain, and no effect on global warming. Economic feasibility of a nuclear power plant requires for smooth and uninterrupted plant operation during electrical power demand variations. The steam generator (SG) in a nuclear power plant plays an important role in cooling of the reactor, balancing energy between reactor and turbine and producing steam for the turbine-generators. SG acts as an additional safety barrier between the nuclear reactor and the outside world also. As a result, control of the water inventory in the SG is very important to ensure continuous cooling of the nuclear reactor core, plant protection and at the same time, to prevent the SG tubes and turbine blades failure. A review of past nuclear power plant operation experiences indicates that unplanned reactor trips due to steam generator level (SGL) control have been significant contributors to plant unavailability. During low power operation, the level control is complicated by the thermal reverse effects known as 'shrink and swell'. Manual operator intervention to the SGL control system at low reactor power and to the unit upset conditions has been identified as an operator response in most nuclear power plants. In spite of
Dynamics and Control of Chemical Reactors-Selectively Surveyed
DEFF Research Database (Denmark)
Jørgensen, S. B.; Jensen, N.
1989-01-01
The chemical reactor or bioreactor is physically at a central position in a process, and often with a decisive role on the overall technical and economical performance. Even though application of feedback control on reactors is gaining momentum and on-line optimization has been implemented....... For bioreactors the theory and practice of reactor design, dynamics and control have to be adapted to the peculiarities of the biological catalysts. Enzymes, the protein catalysts, are the simplest ones, which have many common features with chemical catalysts. The living cells are much more complex, these growing...... in industry, many reactor control problems are still left unsolved or only partly solved using open loop strategies where disturbance rejection and model inaccuracies have to be handled through manual reactor control and feedback control of raw material preprocessing and product purification operations...
A robust fractional-order PID controller design based on active queue management for TCP network
Hamidian, Hamideh; Beheshti, Mohammad T. H.
2018-01-01
In this paper, a robust fractional-order controller is designed to control the congestion in transmission control protocol (TCP) networks with time-varying parameters. Fractional controllers can increase the stability and robustness. Regardless of advantages of fractional controllers, they are still not common in congestion control in TCP networks. The network parameters are time-varying, so the robust stability is important in congestion controller design. Therefore, we focused on the robust controller design. The fractional PID controller is developed based on active queue management (AQM). D-partition technique is used. The most important property of designed controller is the robustness to the time-varying parameters of the TCP network. The vertex quasi-polynomials of the closed-loop characteristic equation are obtained, and the stability boundaries are calculated for each vertex quasi-polynomial. The intersection of all stability regions is insensitive to network parameter variations, and results in robust stability of TCP/AQM system. NS-2 simulations show that the proposed algorithm provides a stable queue length. Moreover, simulations show smaller oscillations of the queue length and less packet drop probability for FPID compared to PI and PID controllers. We can conclude from NS-2 simulations that the average packet loss probability variations are negligible when the network parameters change.
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.
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.
Xu, Ke; Lv, Bo; Huo, Yi-Xin; Li, Chun
2018-04-01
Rising feedstock costs, low crude oil prices, and other macroeconomic factors have threatened biofuel fermentation industries. Energy-efficient reactors, which provide controllable and stable biological environment, are important for the large-scale production of renewable and sustainable biofuels, and their optimization focus on the reduction of energy consumption and waste gas emission. The bioreactors could either be aerobic or anaerobic, and photobioreactors were developed for the culture of algae or microalgae. Due to the cost of producing large-volume bioreactors, various modeling strategies were developed for bioreactor design. The achievement of ideal biofuel reactor relies on not only the breakthrough of reactor design, but also the creation of super microbial factories with highest productivity and metabolic pathway flux. Copyright © 2017 Elsevier Ltd. All rights reserved.
Robust Model-based Control of Open-loop Unstable Processes
International Nuclear Information System (INIS)
Emad, Ali
1999-01-01
This paper addresses the development of new formulations for estimating modeling errors or unmeasured disturbances to be used in Model Predictive Control (MPC) algorithms during open-loop prediction. Two different formulations were developed in this paper. One is used in MPC that directly utilizes linear models and the other in MPC that utilizes non-linear models. These estimation techniques were utilized to provide robust performance for MPC algorithms when the plant is open-loop unstable and under the influence of modeling error and/or unmeasured disturbances. For MPC that utilizes a non-linear model, the estimation technique is formulated as a fixed small size on-line optimization problem, while for linear MPC, the unmeasured disturbances are estimated via a proposed linear disturbance model. The disturbance model coefficients are identified on-line from historical estimates of plant-model mismatch. The effectiveness of incorporating these proposed estimation techniques into MPC is tested through simulated implementation on non-linear unstable exothermic fluidized bed reactor. Closed-loop simulations proved the capability of the proposed estimation methods to stabilize and, thereby, improve the MPC performance in such cases. (Author)
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 Nonlinear Control of Stall and Flutter in Aeroengines
National Research Council Canada - National Science Library
Murray, Richard
2001-01-01
... (bleed valves and air injection). The goal of the third activity, begun after the initial student supported by the grant left Caltech, was to develop modeling and control approaches for complex, physical systems, including control...
Robust Control Design of Wheeled Inverted Pendulum Assistant Robot
Institute of Scientific and Technical Information of China (English)
Magdi S.Mahmoud; Mohammad T.Nasir
2017-01-01
This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR（inverted pendulum type assistant robot）. The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator（LQR）, linear quadratic Gaussian control（LQG）, H2 control and H∞ control. Simulation is performed for all the approaches yielding good performance results.
International Nuclear Information System (INIS)
Ukai, Hiroyuki; Iwazumi, Tetsuo
1994-01-01
The control problem of xenon-induced spatial oscillations of PWR in the axial direction during a load following operation is investigated. The system models are described by a one-group diffusion equation with xenon and temperature feed-backs, iodine and xenon dynamic equations, and heat conductions processes. Control is implemented by the full-length and the part-length control rods and the boron concentration. In order to achieve the control purpose, control models are formulated as the design problem of robust servo systems for distributed parameter reactor systems. The total thermal power and the axial offset are chosen as outputs to be controlled. The control systems consist of servo compensators and stabilizing compensators. They are designed based on the finite-dimensional systems which are constructed by linearizing around steady states, approximately by the Galerkin method, and reducing dimensions via the singular perturbation method. A new and simple computational algorithm to obtain an approximate solution of a steady-state neutron balance is developed via the perturbation method. Some results of numerical simulations are shown in order to discuss the effectiveness of the theory developed in this paper. In particular, it is shown that the designed servo systems are robust against model errors with linearization and modal truncation
Robust chaos synchronization using input-to-state stable control
Indian Academy of Sciences (India)
... be obtained by solving a convex optimization problem represented by the. LMI. Simulation studies are presented to demonstrate the effectiveness of the proposed ... one is the linear state feedback controller and the other is the nonlinear feedback controller. By the proposed control scheme, the closed-loop error system is ...
Robust adaptive fuzzy neural tracking control for a class of unknown ...
Indian Academy of Sciences (India)
In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is proposed. The proposed AFNC is comprised of a fuzzy neural controller and a robust controller. The fuzzy neural controller including a fuzzy neural network identiﬁer (FNNI) is the principal controller. The FNNI is used for ...
International Nuclear Information System (INIS)
Mohd Khairulezwan Abdul Manan; Mohd Sabri Minhat; Ridzuan Abdul Mutalib
2013-01-01
RTP Research Reactor are in the process upgraded from analogue control console system to a digital control console system . Upgrade process requires a statistical study to improve safety during reactor operation. RPS was developed to meet the needs of operational safety and at the same time comply with the guidelines set by the IAEA. RPS is in analog and hardware with industry standard interfaced with digital DAC (Data Acquisition and Control) and OWS (Operator Work Station). (author)
Scaling the robustness of the solutions for quantum controllable problems
International Nuclear Information System (INIS)
Kallush, S.; Kosloff, R.
2011-01-01
The major task in quantum control theory is to find an external field that transforms the system from one state to another or executes a predetermined unitary transformation. We investigate the difficulty of computing the control field as the size of the Hilbert space is increased. In the models studied the controls form a small closed subalgebra of operators. Complete controllability is obtained by the commutators of the controls with the stationary Hamiltonian. We investigate the scaling of the computation effort required to converge a solution for the quantum control task with respect to the size of the Hilbert space. The models studied include the double-well Bose Hubbard model with the SU(2) control subalgebra and the Morse oscillator with the Heisenberg-Weil algebra. We find that for initial and target states that are classified as generalized coherent states (GCSs) of the control subalgebra the control field is easily found independent of the size of the Hilbert space. For such problems, a control field generated for a small system can serve as a pilot for finding the field for larger systems. Attempting to employ pilot fields that generate superpositions of GCSs or cat states failed. No relation was found between control solutions of different Hilbert space sizes. In addition the task of finding such a field scales unfavorably with Hilbert space sizes. We demonstrate the use of symmetry to obtain quantum transitions between states without phase information. Implications to quantum computing are discussed.
Direct digital temperature control of the A-1 nuclear reactor
International Nuclear Information System (INIS)
Karpeta, C.
1975-01-01
The application is described of one of the modern control methods for designing an experimental digital temperature control system for heavy water moderated gas cooled reactors. The synthesis of the optimal stochastic regulator for reactor control in the area of the rated steady state was carried out using the method of dynamic programming and the Kalman filter technique. The analysis of the feedback circuit was conducted using control simulation on a universal digital computer. Results and experience are summed up. (author)
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.
Newsom, J. R.; Mukhopadhyay, V.
1983-01-01
A method for designing robust feedback controllers for multiloop systems is presented. Robustness is characterized in terms of the minimum singular value of the system return difference matrix at the plant input. Analytical gradients of the singular values with respect to design variables in the controller are derived. A cumulative measure of the singular values and their gradients with respect to the design variables is used with a numerical optimization technique to increase the system's robustness. Both unconstrained and constrained optimization techniques are evaluated. Numerical results are presented for a two output drone flight control system.
Directory of Open Access Journals (Sweden)
Zhaoxia Peng
2014-01-01
Full Text Available This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.
Robust receding horizon control for networked and distributed nonlinear systems
Li, Huiping
2017-01-01
This book offers a comprehensive, easy-to-understand overview of receding-horizon control for nonlinear networks. It presents novel general strategies that can simultaneously handle general nonlinear dynamics, system constraints, and disturbances arising in networked and large-scale systems and which can be widely applied. These receding-horizon-control-based strategies can achieve sub-optimal control performance while ensuring closed-loop stability: a feature attractive to engineers. The authors address the problems of networked and distributed control step-by-step, gradually increasing the level of challenge presented. The book first introduces the state-feedback control problems of nonlinear networked systems and then studies output feedback control problems. For large-scale nonlinear systems, disturbance is considered first, then communication delay separately, and lastly the simultaneous combination of delays and disturbances. Each chapter of this easy-to-follow book not only proposes and analyzes novel ...
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.
International Nuclear Information System (INIS)
Uffelen, M. van; Fernandez, A. Fernandez; Brichard, B.; Berghmans, F.; Decreton, M.
2003-01-01
The future International Thermonuclear Experimental Reactor (ITER) requires remote handling tools for its maintenance that will operate in a harsh environment. The numerous instrumentation cables for this maintenance equipment call for (de)multiplexing solutions, in order to reduce the umbilical size. Fibre-optic data links, using commercial-off-the-shelf (COTS) components, are seriously considered as a radiation tolerant solution, offering wavelength encoded multiplexing possibilities. However, an adapted modus operandi for a reliable assessment of this evolving technology is needed, to enable their long-term implementation in a radiation environment. In this paper, we present a methodology towards qualification methods for these instrumentation data links, and illustrate it with results obtained for different individual components. These results should enable the future design of robust architectures for communication links
Fusion reactor control study. Volume 3. Tandem mirror reactors. Final report
International Nuclear Information System (INIS)
Chang, F.R.; DeCanio, F.; Fisher, J.L.; Madden, P.A.
1982-03-01
A study of the control requirements of the Tandem Mirror Reactor concept is reported. The study describes the development of a control simulator that is based upon a spatially averaged physics code of the reactor concept. The simulator portrays the evolution of the plasma through the complete reactor operating cycle; it includes models of the control and measurement system, thus allowing the exploration of various strategies for reactor control. Startup, shutdown, and control during the quasi-steady-state power producing phase were explored. Configurations are described which use a variety of control effectors including modulation of the refueling rate, beam current, and electron cyclotron resonance heating. Multivariable design techniques were used to design the control laws and compensators for the feedback controllers and presume the practical measurement of only a subset of the plasma and machine variables. Performance of the various controllers is explored using the nonlinear control simulator. Derivative control strategies using new or developed sensors and effectors appropriate to a power reactor environment are postulated, based upon the results of the control configurations tested. Research and development requirements for these controls are delineated
Robust controller for synchronous generator with local load via VSC
Energy Technology Data Exchange (ETDEWEB)
Cabrera-Vazquez, J. [Universidad de Guadalajara, Centro Universitario de Ciencias Exactas e Ingenierias, Departamento de Electronica, Av. Revolucion No. 1500, Modulo ' ' O' ' , Apdo. Postal 44840, Guadalajara Jalisco (Mexico); Loukianov, Alexander G.; Canedo, Jose M. [Centro de Investigacion y de Estudios Avanzados del IPN, Apdo. Postal 31-438, Plaza La Luna, C. P. 44550, Guadalajara, Jalisco (Mexico); Utkin, Vadim I. [Department of Electrical Engineering, The Ohio-State University, Columbus, OH 43210-1272 (United States)
2007-05-15
The objective of this paper is to design a nonlinear observer-based excitation controller for power system comprising a single synchronous generator connected to an infinite bus with local load. The controller proposed is based on the using first singular perturbation systems concepts and then Sliding Mode Control technique combining with Block Control Principle. To reduce ''chattering'' a nonlinear observer with estimation of the mechanical torque and rotor fluxes is designed. This combined approach enables to compensate the inherent nonlinearities of the generator and to reject external disturbances. (author)
Regulatory Framework for Controlling the Research Reactor Decommissioning Project
International Nuclear Information System (INIS)
Melani, Ai; Chang, Soon Heung
2009-01-01
Decommissioning is one of important stages in construction and operation of research reactors. Currently, there are three research reactors operating in Indonesia. These reactors are operated by the National Nuclear Energy Agency (BATAN). The age of the three research reactors varies from 22 to 45 years since the reactors reached their first criticality. Regulatory control of the three reactors is conducted by the Nuclear Energy Regulatory Agency (BAPETEN). Controlling the reactors is carried out based on the Act No. 10/1997 on Nuclear Energy, Government Regulations and BAPETEN Chairman Decrees concerning the nuclear safety, security and safeguards. Nevertheless, BAPETEN still lack of the regulation, especially for controlling the decommissioning project. Therefore, in the near future BAPETEN has to prepare the regulations for decommissioning, particularly to anticipate the decommissioning of the oldest research reactors, which probably will be done in the next ten years. In this papers author give a list of regulations should be prepared by BAPETEN for the decommissioning stage of research reactor in Indonesia based on the international regulatory practice
International Nuclear Information System (INIS)
Shim, S.Y.; Carlson, P.A.; Baxter, D.K.
1992-01-01
A prototype research reactor, designated MAPLE-X10 (Multipurpose Applied Physics Lattice Experimental - X 10MW), is currently being built at AECL's Chalk River Laboratories. The CATHENA (Canadian Algorithm for Thermalhydraulic Network Analysis) two-fluid code was used in the safety analysis of the reactor to determine the adequacy of core cooling during postulated reactivity and loss-of-forced-flow transients. The system responses to a postulated transient are predicted including the feedback between reactor kinetics, thermalhydrauilcs and the reactor control systems. This paper describes the MAPLE-X10 reactor and the modelling methodology used. Sample simulations of postulated loss-of-heat-sink and loss-of-regulation transients are presented. (author)
Resilient control under Denial-of-Service: Robust design
Feng, Shuai; Tesi, Pietro
2016-01-01
In this paper, we study networked control systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. The control objective is to maximize frequency and duration of the DoS attacks under which closed-loop stability is not
Resilient Control under Denial-of-Service:Robust Design
Feng, Shuai; Tesi, Pietro
2016-01-01
In this paper, we study networked control systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. The control objective is to maximize frequency and duration of the DoS attacks under which closed-loop stability is not
Robust, Optimal, Predictive, and Integrated Road Traffic Control : Research proposal
Van de Weg, G.S.; Hegyi, A.; Hoogendoorn, S.P.
2014-01-01
The development of control strategies for traffic lights, ramp metering installations, and variable speed limits to improve the throughput of road traffic networks can contribute to a more efficient use of road networks. In this project, a hierarchical controller will be developed for the
Hard and Soft Sub-Time-Optimal Robust Controllers
DEFF Research Database (Denmark)
Kulczycki, Piotr; Wisniewski, Rafal; Kowalski, Piotr
2010-01-01
In many applicational tasks of motion control – fundamental for research in robotics – problems associated with uncertain and/or varying load (a mass or moment of inertia) can present a substantial difficulty during the synthesis of practical controlling systems. The random concept, where the load...
Modeling, robust and distributed model predictive control for freeway networks
Liu, S.
2016-01-01
In Model Predictive Control (MPC) for traffic networks, traffic models are crucial since they are used as prediction models for determining the optimal control actions. In order to reduce the computational complexity of MPC for traffic networks, macroscopic traffic models are often used instead of
Dealing with Flexible Modes in 6 DOFs Robust Servo Control
Oomen, T.A.E.; Bosgra, O.H.; Angelis, G.Z.
2007-01-01
Control of high performance multi-input multi-output electromechanical systems with flexible dynamics is investigated. Present feedforward and feedback control design approaches mainly focus on rigid-body plant behaviour. To achieve higher performance, flexible dynamics should be explicitly
Robust Fallback Scheme for the Danish Automatic Voltage Control System
DEFF Research Database (Denmark)
Qin, Nan; Dmitrova, Evgenia; Lund, Torsten
2015-01-01
This paper proposes a fallback scheme for the Danish automatic voltage control system. It will be activated in case of the local station loses telecommunication to the control center and/or the local station voltage violates the acceptable operational limits. It cuts in/out switchable and tap...... power system....
Ofshore Wind Park Control Assessment Methodologies to Assure Robustness
DEFF Research Database (Denmark)
Gryning, Mikkel Peter Sidoroff
to a point where turbines are reaching a production capability exceeding 6 megawatt and the turbines have moved offshore due to stronger wind, and to avoid proximity to populated areas. The placement of wind power plants (WPP) with a typical size of 60 large turbines in remote locations with a weak grid...... for control designers. This project deals with these challenges and provides insight in root causes to phenomena that have been issues during wind power plant commissioning in the past. This is done through development of design and validation methods for controllers, by analyzing turbine interaction...... power oscillations observed were suspected to be i caused by the voltage control at the point of common coupling. The fault was thought to involve the interaction between the static synchronous compensator (STATCOM), the wind turbine voltage control and the power plant control (PPC). By establishing...
Robust Visual Control of Parallel Robots under Uncertain Camera Orientation
Directory of Open Access Journals (Sweden)
Miguel A. Trujano
2012-10-01
Full Text Available This work presents a stability analysis and experimental assessment of a visual control algorithm applied to a redundant planar parallel robot under uncertainty in relation to camera orientation. The key feature of the analysis is a strict Lyapunov function that allows the conclusion of asymptotic stability without invoking the Barbashin-Krassovsky-LaSalle invariance theorem. The controller does not rely on velocity measurements and has a structure similar to a classic Proportional Derivative control algorithm. Experiments in a laboratory prototype show that uncertainty in camera orientation does not significantly degrade closed-loop performance.
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.
Adaptive robust PID controller design based on a sliding mode for uncertain chaotic systems
International Nuclear Information System (INIS)
Chang Weider; Yan Junjuh
2005-01-01
A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, K p , K i , and K d , are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Duffing-Holmes chaotic system is used as an illustrative to show the effectiveness of the proposed robust adaptive PID controller
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....
Energy Technology Data Exchange (ETDEWEB)
Qiang Lu; Yusong Sun; Yuanzhang Sun [Tsinghua University, Beijing (China). Dept. of Electrical Engineering; Felix F Wu; Yixin Ni [University of Hong Kong (China). Dept. of Electrical and Electronic Engineering; Yokoyama, Akihiko [University of Tokyo (Japan). Dept. of Electrical Engineering; Goto, Masuo; Konishi, Hiroo [Hitachi Ltd., Tokyo (Japan). Power System Div.
2004-06-01
A novel nonlinear decentralized robust governor control for hydroturbine-generator sets in multi-machine power systems is suggested in this paper. The nonelastic water hammer effect and disturbances are considered in the modeling. The advanced differential geometry theory, nonlinear robust control theory and the dynamic feedback method are combined to solve the problem. The nonlinear decentralized robust control law for the speed governor of hydroturbine-generators has been derived. The input signals to the proposed controller are all local measurements and independent to the system parameters. The derived control law guarantees the integrated system stability with disturbance attenuation, which is significant to the real power system application. Computer tests on an 8-machine, 36-bus power system show clearly the effectiveness of the new control strategy in transient stability enhancement and disturbance attenuation. The computer test results based on the suggested controller are compared favorably with those based on the conventional linear governor control. (author)
Workplane Illuminance Estimation for Robust Daylight Harvesting Lighting Control
Zhang, S.; Birru, D.
2012-01-01
Daylight harvesting lighting controls can provide significant energysavings in daylit spaces. However, their performance is affected bythe changing lighting distribution in the space due to window treatments and the sun. Such impacts reduce the field performance of daylight harvesting dimming
Robust tracking control for linear vibrating mechanical systems
Directory of Open Access Journals (Sweden)
Francisco Beltrán-Carbajal
2015-01-01
Full Text Available Se propone un enfoque de control novedoso para seguimiento por realimentación de la salida para sistemas mecánicos vibratorios del tipo masa-resorte-amortiguador lineales sub-actuados. La metodología de diseño de control que se presenta considera robustez con respecto de dinámicas no modeladas y fuerzas externas. El esquema de control propuesto solamente requiere mediciones de la variable de la salida de posición. Se utiliza compensación integral del error de seguimiento de manera apropiada para evitar la estimación en tiempo real de las perturbaciones. Resultado analíticos y numéricos muestran la efectividad del esquema de control activo de vibración para atenuación de vibraciones resonantes y caóticas afectando la respuesta de la variable de salida.
Robust Controller for Turbulent and Convective Boundary Layers
National Research Council Canada - National Science Library
Speyer, Jason L; Kim, J. John
2006-01-01
Linear feedback controllers and estimators have been designed from the governing equations of a channel flow, linearized about the laminar mean flow, and a layer of heated fluid, linearized about the no-motion state...
The parametric open-plus-closed-loop control of chaotic maps and its robustness
International Nuclear Information System (INIS)
Chen Liqun
2004-01-01
This paper proposes a parametric open-plus-closed-loop control approach to controlling chaos. The logistic map is treated as an example to demonstrate the application of the proposed approach. It is proved that the approach is robust to the model error. Its relations to the open-plus-closed-loop control and the parametric entrainment control are discussed
Robust Control and Motion Planning for Nonlinear Underactuated Systems Using H infinity Techniques
National Research Council Canada - National Science Library
Toussaint, Gregory
2000-01-01
This thesis presents new techniques for planning and robustly controlling the motion of nonlinear underactuated vehicles when disturbances are present and only imperfect state measurements are available for feedback...
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.
H∞ Robust Current Control for DFIG Based Wind Turbine subject to Grid Voltage Distortions
DEFF Research Database (Denmark)
Wang, Yun; Wu, Qiuwei; Gong, Wenming
2016-01-01
This paper proposes an H∞ robust current controller for doubly fed induction generator (DFIG) based wind turbines (WTs) subject to grid voltage distortions. The controller is to mitigate the impact of the grid voltage distortions on rotor currents with DFIG parameter perturbation. The grid voltage...... distortions considered include asymmetric voltage dips and grid background harmonics. An uncertain DFIG model is developed with uncertain factors originating from distorted stator voltage, and changed generator parameters due to the flux saturation effect, the skin effect, etc. Weighting functions...... are designed to efficiently track the unbalanced current components and the 5th and 7th background harmonics. The robust stability (RS) and robust performance (RP) of the proposed controller are verified by the structured singular value µ. The performance of the H∞ robust current controller was demonstrated...
Directory of Open Access Journals (Sweden)
Huipeng Chen
2018-02-01
Full Text Available Incorporating linear-scanning micro-electro-mechanical systems (MEMS micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large-piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and proportional-integral-derivative (PID closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with a full width at half maximum (FWHM spectral linewidth of 96 cm−1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions.
Chen, Huipeng; Li, Mengyuan; Zhang, Yi; Xie, Huikai; Chen, Chang; Peng, Zhangming; Su, Shaohui
2018-02-08
Incorporating linear-scanning micro-electro-mechanical systems (MEMS) micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS) possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large-piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and proportional-integral-derivative (PID) closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with a full width at half maximum (FWHM) spectral linewidth of 96 cm -1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions.
Robust Adaptive Neural Control of Morphing Aircraft with Prescribed Performance
Directory of Open Access Journals (Sweden)
Zhonghua Wu
2017-01-01
Full Text Available This study proposes a low-computational composite adaptive neural control scheme for the longitudinal dynamics of a swept-back wing aircraft subject to parameter uncertainties. To efficiently release the constraint often existing in conventional neural designs, whose closed-loop stability analysis always necessitates that neural networks (NNs be confined in the active regions, a smooth switching function is presented to conquer this issue. By integrating minimal learning parameter (MLP technique, prescribed performance control, and a kind of smooth switching strategy into back-stepping design, a new composite switching adaptive neural prescribed performance control scheme is proposed and a new type of adaptive laws is constructed for the altitude subsystem. Compared with previous neural control scheme for flight vehicle, the remarkable feature is that the proposed controller not only achieves the prescribed performance including transient and steady property but also addresses the constraint on NN. Two comparative simulations are presented to verify the effectiveness of the proposed controller.
Stop valve with automatic control and locking for nuclear reactors
International Nuclear Information System (INIS)
Chung, D.K.
1980-01-01
This invention generally concerns an automatic control and locking stop valve. Specifically it relates to the use of such a valve in a nuclear reactor of the type containing absorber elements supported by a fluid and intended for stopping the reactor in complete safety [fr
Neutron field control cybernetics model of RBMK reactor operator
International Nuclear Information System (INIS)
Polyakov, V.V.; Postnikov, V.V.; Sviridenkov, A.N.
1992-01-01
Results on parameter optimization for cybernetics model of RBMK reactor operator by power release control function are presented. Convolutions of various criteria applied previously in algorithms of the program 'Adviser to reactor operator' formed the basis of the model. 7 refs.; 4 figs
Simulation of the TREAT-Upgrade Automatic Reactor Control System
International Nuclear Information System (INIS)
Lipinski, W.C.; Kirsch, L.W.; Valente, A.D.
1984-01-01
This paper describes the design of the Automatic Reactor Control System (ARCS) for the Transient Reactor Test Facility (TREAT) Upgrade. A simulation was used to facilitate the ARCS design and to completely test and verify its operation before installation at the TREAT facility
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.
Reactor power control method upon accidents of electrical power system
International Nuclear Information System (INIS)
Hirose, Masao.
1983-01-01
Purpose: To enable to continue the operation of a BWR type reactor by avoiding the scram while suppressing the reactor power, just after the external disturbance such as earth-trouble in power-transmission network. Method: Steep power drop of an electrical generator is to be detected not only by a current-type power-load-unbalance relay but also with a power-type power-load-unbalance-relay. If steep power-drop was detected by the latter relay, a previously selected control rod is rapidly inserted into the reactor. In this way, in the case where there is a possibility of the reactor scram, the scram can be avoided by suppressing the reactor power, thus the reactor operation can be continued. (Kamimura, M.)
Controllability studies for an advanced CANDU boiling light water reactor
International Nuclear Information System (INIS)
Lepp, R.M.; Hinds, H.W.
1976-12-01
Bulk controllability studies carried out as part of a conceptual design study of a 1200 MWe CANDU boiling-light-water reactor fuelled with U 235 - or Pu-enriched uranium oxide are outlined. The concept, the various models developed for its simulation on a hybrid computer and the perturbations used to test system controllability, are described. The results show that this concept will have better bulk controllability than similar CANDU-BLW reactors fuelled with natural uranium. (author)
Development and testing of control rod drives for ship reactors
International Nuclear Information System (INIS)
Bruelheide, K.; Mundt, D.; Peters, C.-H.; Manthey, H.-J.
1978-01-01
The following paper deals with the development and testings of a new control rod drive design for marine reactors. Starting from the good operating experience with the advanced pressurized water reactor (FDR) of the NS OTTO HAHN a control rod drive system with an hermetically sealed drive principle was developed. A prototype control rod drive system was put through extensive tests and developed ready for standard production at the 'Gesellschaft fuer Kernenergieverwertung in Schiffbau und Schiffahrt'
Three-dimensional harmonic control of a nuclear reactor
International Nuclear Information System (INIS)
Potapenko, P.T.
1989-01-01
Algorithms for neutron flux control based on harmonic three-dimensional core are considered. The essence of the considered approach includes determination of harmonics amplitudes by signals self-powered detectors placed in reactor channels and reconstruction of neutron field distribution over the reactor core volume using the data obtained. Neutron field harmonic control is shown to be reduced to independent measurement and calculation of height harmonics in channels using techniques developed for channel power control
Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint
Aksun-Güvenc, B.; Güvenc, L.; Odenthal, D.; Bünte, T.
2001-01-01
Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability a...
Burken, John J.
2005-01-01
This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.
A New Robust Controller with Applications to Bioreactors
Directory of Open Access Journals (Sweden)
Alejandro Rincón
2014-01-01
Full Text Available In this work an anaerobic digester is controlled using input-output linearization and Lyapunov-like function methods. It is assumed that model parameters are unknown, time-varying, and bounded, and upper or lower bounds are also unknown. To tackle the effect of input saturation, a state observer is designed. The tracking and observer errors are defined in terms of the noisy measured output instead of ideal output, given by the mathematical model. The design of the observer mechanism and the update laws is based on the Lyapunov-like function technique, whereas the design of the control law is based on the input-output linearization method. In this paper two important properties of the controlled system are proven. First, the observer error converges asymptotically to a residual set whose size is user-defined, and such convergence is not disrupted, neither by the input saturation nor by the parameter uncertainties. Second, when the control input is nonsaturated the tracking error converges to a residual set whose size is user-defined. The model parameter uncertainties are included to prove the convergence of errors. Finally, a numerical example to validate the developed control is presented.
Modelling and control design for SHARON/Anammox reactor sequence
DEFF Research Database (Denmark)
Valverde Perez, Borja; Mauricio Iglesias, Miguel; Sin, Gürkan
2012-01-01
metabolism against fast chemical reaction and mass transfer. Likewise, the analysis of the dynamics contributed to establish qualitatively the requirements for control of the reactors, both for regulation and for optimal operation. Work in progress on quantitatively analysing different control structure......With the perspective of investigating a suitable control design for autotrophic nitrogen removal, this work presents a complete model of the SHARON/Anammox reactor sequence. The dynamics of the reactor were explored pointing out the different scales of the rates in the system: slow microbial...
A computer control system for a research reactor
International Nuclear Information System (INIS)
Crawford, K.C.; Sandquist, G.M.
1987-01-01
Most reactor applications until now, have not required computer control of core output. Commercial reactors are generally operated at a constant power output to provide baseline power. However, if commercial reactor cores are to become load following over a wide range, then centralized digital computer control is required to make the entire facility respond as a single unit to continual changes in power demand. Navy and research reactors are much smaller and simpler and are operated at constant power levels as required, without concern for the number of operators required to operate the facility. For navy reactors, centralized digital computer control may provide space savings and reduced personnel requirements. Computer control offers research reactors versatility to efficiently change a system to develop new ideas. The operation of any reactor facility would be enhanced by a controller that does not panic and is continually monitoring all facility parameters. Eventually very sophisticated computer control systems may be developed which will sense operational problems, diagnose the problem, and depending on the severity of the problem, immediately activate safety systems or consult with operators before taking action
Assuring robustness to noise in optimal quantum control experiments
International Nuclear Information System (INIS)
Bartelt, A.F.; Roth, M.; Mehendale, M.; Rabitz, H.
2005-01-01
Closed-loop optimal quantum control experiments operate in the inherent presence of laser noise. In many applications, attaining high quality results [i.e., a high signal-to-noise (S/N) ratio for the optimized objective] is as important as producing a high control yield. Enhancement of the S/N ratio will typically be in competition with the mean signal, however, the latter competition can be balanced by biasing the optimization experiments towards higher mean yields while retaining a good S/N ratio. Other strategies can also direct the optimization to reduce the standard deviation of the statistical signal distribution. The ability to enhance the S/N ratio through an optimized choice of the control is demonstrated for two condensed phase model systems: second harmonic generation in a nonlinear optical crystal and stimulated emission pumping in a dye solution
Adaptive and robust active vibration control methodology and tests
Landau, Ioan Doré; Castellanos-Silva, Abraham; Constantinescu, Aurelian
2017-01-01
This book approaches the design of active vibration control systems from the perspective of today’s ideas of computer control. It formulates the various design problems encountered in the active management of vibration as control problems and searches for the most appropriate tools to solve them. The experimental validation of the solutions proposed on relevant tests benches is also addressed. To promote the widespread acceptance of these techniques, the presentation eliminates unnecessary theoretical developments (which can be found elsewhere) and focuses on algorithms and their use. The solutions proposed cannot be fully understood and creatively exploited without a clear understanding of the basic concepts and methods, so these are considered in depth. The focus is on enhancing motivations, algorithm presentation and experimental evaluation. MATLAB®routines, Simulink® diagrams and bench-test data are available for download and encourage easy assimilation of the experimental and exemplary material. Thre...
HOTELLING'S T2 CONTROL CHARTS BASED ON ROBUST ESTIMATORS
Directory of Open Access Journals (Sweden)
SERGIO YÁÑEZ
2010-01-01
Full Text Available Under the presence of multivariate outliers, in a Phase I analysis of historical set of data, the T 2 control chart based on the usual sample mean vector and sample variance covariance matrix performs poorly. Several alternative estimators have been proposed. Among them, estimators based on the minimum volume ellipsoid (MVE and the minimum covariance determinant (MCD are powerful in detecting a reasonable number of outliers. In this paper we propose a T 2 control chart using the biweight S estimators for the location and dispersion parameters when monitoring multivariate individual observations. Simulation studies show that this method outperforms the T 2 control chart based on MVE estimators for a small number of observations.
Active Robust Control of Elastic Blade Element Containing Magnetorheological Fluid
Sivrioglu, Selim; Cakmak Bolat, Fevzi
2018-03-01
This research study proposes a new active control structure to suppress vibrations of a small-scale wind turbine blade filled with magnetorheological (MR) fluid and actuated by an electromagnet. The aluminum blade structure is manufactured using the airfoil with SH3055 code number which is designed for use on small wind turbines. An interaction model between MR fluid and the electromagnetic actuator is derived. A norm based multi-objective H2/H∞ controller is designed using the model of the elastic blade element. The H2/H∞ controller is experimentally realized under the impact and steady state aerodynamic load conditions. The results of experiments show that the MR fluid is effective for suppressing vibrations of the blade structure.
Centralized digital computer control of a research nuclear reactor
International Nuclear Information System (INIS)
Crawford, K.C.
1987-01-01
A hardware and software design for the centralized control of a research nuclear reactor by a digital computer are presented, as well as an investigation of automatic-feedback control. Current reactor-control philosophies including redundancy, inherent safety in failure, and conservative-yet-operational scram initiation were used as the bases of the design. The control philosophies were applied to the power-monitoring system, the fuel-temperature monitoring system, the area-radiation monitoring system, and the overall system interaction. Unlike the single-function analog computers currently used to control research and commercial reactors, this system will be driven by a multifunction digital computer. Specifically, the system will perform control-rod movements to conform with operator requests, automatically log the required physical parameters during reactor operation, perform the required system tests, and monitor facility safety and security. Reactor power control is based on signals received from ion chambers located near the reactor core. Absorber-rod movements are made to control the rate of power increase or decrease during power changes and to control the power level during steady-state operation. Additionally, the system incorporates a rudimentary level of artificial intelligence
An Approach to Robust Control of the Hopf Bifurcation
Directory of Open Access Journals (Sweden)
Giacomo Innocenti
2011-01-01
Full Text Available The paper illustrates a novel approach to modify the Hopf bifurcation nature via a nonlinear state feedback control, which leaves the equilibrium properties unchanged. This result is achieved by recurring to linear and nonlinear transformations, which lead the system to locally assume the ordinary differential equation representation. Third-order models are considered, since they can be seen as proper representatives of a larger class of systems. The explicit relationship between the control input and the Hopf bifurcation nature is obtained via a frequency approach, that does not need the computation of the center manifold.
Robust synchronization of chaotic systems via adaptive sliding mode control
International Nuclear Information System (INIS)
Yan, J.-J.; Hung, M.-L.; Chiang, T.-Y.; Yang, Y.-S.
2006-01-01
This Letter investigates the synchronization problem for a general class of chaotic systems. Using the sliding mode control technique, an adaptive control law is established to guarantee synchronization of the master and slave systems even when unknown parameters and external disturbances are present. In contrast to the previous works, the structure of slave system is simple and need not be identical to the master system. Furthermore, a novel proportional-integral (PI) switching surface is proposed to simplify the task of assigning the performance of the closed-loop error system in sliding mode. An illustrative example of Chua's circuit is given to demonstrate the effectiveness of the proposed synchronization scheme
Quantification of parameter uncertainty for robust control of shape memory alloy bending actuators
International Nuclear Information System (INIS)
Crews, John H; McMahan, Jerry A; Smith, Ralph C; Hannen, Jennifer C
2013-01-01
In this paper, we employ Bayesian parameter estimation techniques to derive gains for robust control of smart materials. Specifically, we demonstrate the feasibility of utilizing parameter uncertainty estimation provided by Markov chain Monte Carlo (MCMC) methods to determine controller gains for a shape memory alloy bending actuator. We treat the parameters in the equations governing the actuator’s temperature dynamics as uncertain and use the MCMC method to construct the probability densities for these parameters. The densities are then used to derive parameter bounds for robust control algorithms. For illustrative purposes, we construct a sliding mode controller based on the homogenized energy model and experimentally compare its performance to a proportional-integral controller. While sliding mode control is used here, the techniques described in this paper provide a useful starting point for many robust control algorithms. (paper)
A digital controller for the Omega West Reactor
International Nuclear Information System (INIS)
Minor, M.M.; Kaufman, M.D.; Smith, T.W.
1992-05-01
A new nuclear reactor control system for the Omega West Reactor (OWR) has been designed to replace the aging and hard to maintain controller presently installed. The controller uses single board computers, digital and analog input and output modules, and stepping motor indexers installed on a standard bus (VME bus). The eight poison control rod drive motors are replaced with stepping motors. The control algorithm for the OWR was not changed in order to expedite approval for installation. This report presents the results of the development of the new control system. Included in the report are copies of some of the software that drives the new controller
Status of control assembly materials in Indian water reactors
International Nuclear Information System (INIS)
Date, V.G.; Kulkarni, P.G.
2000-01-01
India's present operating water cooled power reactors comprise boiling water reactors of Tarapur Atomic Power Station (TAPS) and pressurized heavy water reactors (PHWRs) at Kota (RAPS), Kalpakkam (MAPS), Narora (NAPS) and Kakrapara (KAPS). Boiling water reactors of TAPS use boron carbide control blades for control of power as well as for shut down (scram). PHWRs use boron steel and cobalt absorber rods for power control and Cd sandwiched shut off rods (primary shut down system) and liquid poison rods (secondary shut down system) for shut down. In TAPS, Gadolinium rods (burnable poison rods) are also incorporated in fuel assembly for flux flattening. Boron carbide control blades and Gadolinium rods for TAPS, cobalt absorber rods and shut down assemblies for PHWRs are fabricated indigenously. Considerable development work was carried out for evolving material specifications, component and assembly drawings, and fabrication processes. Details of various control and shut off assemblies being fabricated currently are highlighted in the paper. (author)
Robust Self-Triggered Coordination With Ternary Controllers
De Persis, Claudio; Frasca, Paolo; Nair, G.N.
2013-01-01
This paper regards the coordination of networked systems, studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy. The communication policy requires the agents to measure, at each
Robust self-triggered coordination with ternary controllers
De Persis, Claudio; Frasca, Paolo
2013-01-01
This paper regards the coordination of networked systems, studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy. The communication policy requires the agents to measure, at each
Robust chaos synchronization using input-to-state stable control
Indian Academy of Sciences (India)
In this paper, we propose a new input-to-state stable (ISS) synchronization method for a general class of chaotic systems with disturbances. Based on Lyapunov theory and linear matrix inequality (LMI) approach, for the first time, the ISS synchronization controller is presented not only to guarantee the asymptotic ...
Robust antisynchronization of chaos using sliding mode control ...
Indian Academy of Sciences (India)
tiveness of the method is established by implementing it to antisynchronize ... research in the field of physics, mathematics and engineering sciences. ... for mixed synchronization and the papers discussed antisynchronization as a ...... As a result, we have a very elegant and concise controller that is quite easy to implement,.
Robust formation control of marine surface craft using Lagrange multipliers
DEFF Research Database (Denmark)
Ihle, Ivar-Andre F.; Jouffroy, Jerome; Fossen, Thor I.
2006-01-01
This paper presents a formation modelling scheme based on a set of inter-body constraint functions and Lagrangian multipliers. Formation control for a °eet of marine craft is achieved by stabilizing the auxiliary constraints such that the desired formation con¯guration appears. In the proposed fr...
Robust H ∞ Control for Spacecraft Rendezvous with a Noncooperative Target
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. PMID:24027446
Efficient robust control of first order scalar conservation laws using semi-analytical solutions
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.
Optimal robust control strategy of a solid oxide fuel cell system
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.
Robust model predictive control for constrained continuous-time nonlinear systems
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.
Robust Bio-Signal Based Control of an Intelligent Wheelchair
Directory of Open Access Journals (Sweden)
Dongyi Chen
2013-09-01
Full Text Available In this paper, an adaptive human-machine interaction (HMI method that is based on surface electromyography (sEMG signals is proposed for the hands-free control of an intelligent wheelchair. sEMG signals generated by the facial movements are obtained by a convenient dry electrodes sensing device. After the signals features are extracted from the autoregressive model, control data samples are updated and trained by an incremental online learning algorithm in real-time. Experimental results show that the proposed method can significantly improve the classification accuracy and training speed. Moreover, this method can effectively reduce the influence of muscle fatigue during a long time operation of sEMG-based HMI.
Embarked electrical network robust control based on singular perturbation model.
Abdeljalil Belhaj, Lamya; Ait-Ahmed, Mourad; Benkhoris, Mohamed Fouad
2014-07-01
This paper deals with an approach of modelling in view of control for embarked networks which can be described as strongly coupled multi-sources, multi-loads systems with nonlinear and badly known characteristics. This model has to be representative of the system behaviour and easy to handle for easy regulators synthesis. As a first step, each alternator is modelled and linearized around an operating point and then it is subdivided into two lower order systems according to the singular perturbation theory. RST regulators are designed for each subsystem and tested by means of a software test-bench which allows predicting network behaviour in both steady and transient states. Finally, the designed controllers are implanted on an experimental benchmark constituted by two alternators supplying loads in order to test the dynamic performances in realistic conditions. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Dynamics and control of molten-salt breeder reactor
Directory of Open Access Journals (Sweden)
Vikram Singh
2017-08-01
Full Text Available Preliminary results of the dynamic analysis of a two-fluid molten-salt breeder reactor (MSBR system are presented. Based on an earlier work on the preliminary dynamic model of the concept, the model presented here is nonlinear and has been revised to accurately reflect the design exemplified in ORNL-4528. A brief overview of the model followed by results from simulations performed to validate the model is presented. Simulations illustrate stable behavior of the reactor dynamics and temperature feedback effects to reactivity excursions. Stable and smooth changes at various nodal temperatures are also observed. Control strategies for molten-salt reactor operation are discussed, followed by an illustration of the open-loop load-following capability of the molten-salt breeder reactor system. It is observed that the molten-salt breeder reactor system exhibits “self-regulating” behavior, minimizing the need for external controller action for load-following maneuvers.
Dynamics and control of molten-salt breeder reactor
Energy Technology Data Exchange (ETDEWEB)
Sing, Vikram; Lish, Matthew R.; Chvala, Ondrej; Upadhyaya, Belle R. [Dept. of Nuclear Engineering, University of Tennessee, Knoxville (United States)
2017-08-15
Preliminary results of the dynamic analysis of a two-fluid molten-salt breeder reactor (MSBR) system are presented. Based on an earlier work on the preliminary dynamic model of the concept, the model presented here is nonlinear and has been revised to accurately reflect the design exemplified in ORNL-4528. A brief overview of the model followed by results from simulations performed to validate the model is presented. Simulations illustrate stable behavior of the reactor dynamics and temperature feedback effects to reactivity excursions. Stable and smooth changes at various nodal temperatures are also observed. Control strategies for molten-salt reactor operation are discussed, followed by an illustration of the open-loop load-following capability of the molten-salt breeder reactor system. It is observed that the molten-salt breeder reactor system exhibits “self-regulating” behavior, minimizing the need for external controller action for load-following maneuvers.
MATLAB/SIMULINK model of CANDU reactor for control studies
International Nuclear Information System (INIS)
Javidnia, H.; Jiang, J.
2006-01-01
In this paper a MATLAB/SIMULINK model is developed for a CANDU type reactor. The data for the reactor are taken from an Indian PHWR, which is very similar to CANDU in its design. Among the different feedback mechanisms in the core of the reactor, only xenon has been considered which plays an important role in spatial oscillations. The model is verified under closed loop scenarios with simple PI controller. The results of the simulation show that this model can be used for controller design and simulation of the reactor systems. Adding models of the other components of a CANDU reactor would ultimately result in a complete model of CANDU plant in MATLAB/SIMULINK. (author)
Robust Adaptive Neural Control of Morphing Aircraft with Prescribed Performance
Wu, Zhonghua; Lu, Jingchao; Shi, Jingping; Liu, Yang; Zhou, Qing
2017-01-01
This study proposes a low-computational composite adaptive neural control scheme for the longitudinal dynamics of a swept-back wing aircraft subject to parameter uncertainties. To efficiently release the constraint often existing in conventional neural designs, whose closed-loop stability analysis always necessitates that neural networks (NNs) be confined in the active regions, a smooth switching function is presented to conquer this issue. By integrating minimal learning parameter (MLP) tech...
Robust Control of Aeronautical Electrical Generators for Energy Management Applications
Giacomo Canciello; Alberto Cavallo; Beniamino Guida
2017-01-01
A new strategy for the control of aeronautical electrical generators via sliding manifold selection is proposed, with an associated innovative intelligent energy management strategy used for efficient power transfer between two sources providing energy to aeronautical loads, having different functionalities and priorities. Electric generators used for aeronautical application involve several machines, including a main generator and an exciter. Standard regulators (PI or PID-like) are normally...
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%.
Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System
Directory of Open Access Journals (Sweden)
Fengjiao Wu
2016-01-01
Full Text Available The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the designed controller has good robustness which could resist external random disturbances. Numerical simulations are employed to verify the effectiveness and superiority of the designed finite-time sliding mode control scheme. The approach proposed in this paper is simple and also provides a reference for relevant hydropower systems.
Adaptive Fuzzy Robust Control for a Class of Nonlinear Systems via Small Gain Theorem
Directory of Open Access Journals (Sweden)
Xingjian Wang
2013-01-01
Full Text Available Practical nonlinear systems can usually be represented by partly linearizable models with unknown nonlinearities and external disturbances. Based on this consideration, we propose a novel adaptive fuzzy robust control (AFRC algorithm for such systems. The AFRC effectively combines techniques of adaptive control and fuzzy control, and it improves the performance by retaining the advantages of both methods. The linearizable part will be linearly parameterized with unknown but constant parameters, and the discontinuous-projection-based adaptive control law is used to compensate these parts. The Takagi-Sugeno fuzzy logic systems are used to approximate unknown nonlinearities. Robust control law ensures the robustness of closed-loop control system. A systematic design procedure of the AFRC algorithm by combining the backstepping technique and small-gain approach is presented. Then the closed-loop stability is studied by using small gain theorem, and the result indicates that the closed-loop system is semiglobally uniformly ultimately bounded.
Liu, Yanbin; Liu, Mengying; Sun, Peihua
2014-01-01
A typical model of hypersonic vehicle has the complicated dynamics such as the unstable states, the nonminimum phases, and the strong coupling input-output relations. As a result, designing a robust stabilization controller is essential to implement the anticipated tasks. This paper presents a robust stabilization controller based on the guardian maps theory for hypersonic vehicle. First, the guardian maps theories are provided to explain the constraint relations between the open subsets of complex plane and the eigenvalues of the state matrix of closed-loop control system. Then, a general control structure in relation to the guardian maps theories is proposed to achieve the respected design demands. Furthermore, the robust stabilization control law depending on the given general control structure is designed for the longitudinal model of hypersonic vehicle. Finally, a simulation example is provided to verify the effectiveness of the proposed methods.
Robust, Gain-Scheduled Control of Wind Turbines
DEFF Research Database (Denmark)
Østergaard, Kasper Zinck
Wind turbines are today large and efficient machines, which are combined into wind farms operating on par with conventional power plants. When looking back, this is significantly different from the status only a few years ago, when wind turbines were sold mainly to private people. This change...... in turbine owners has resulted in a new focus on operational reliability instead of turbine size. This research deals with investigating model-based gain-scheduling control of wind turbines by use of linear parameter varying (LPV) methods. The numerical challenges grow quickly with the model size...
Robust stability in predictive control with soft constraints
DEFF Research Database (Denmark)
Thomsen, Sven Creutz; Niemann, Hans Henrik; Poulsen, Niels Kjølstad
2010-01-01
In this paper we take advantage of the primary and dual Youla parameterizations for setting up a soft constrained model predictive control (MPC) scheme for which stability is guaranteed in face of norm-bounded uncertainties. Under special conditions guarantees are also given for hard input...... constraints. In more detail, we parameterize the MPC predictions in terms of the primary Youla parameter and use this parameter as the online optimization variable. The uncertainty is parameterized in terms of the dual Youla parameter. Stability can then be guaranteed through small gain arguments on the loop...
Robust stability in constrained predictive control through the Youla parameterisations
DEFF Research Database (Denmark)
Thomsen, Sven Creutz; Niemann, Hans Henrik; Poulsen, Niels Kjølstad
2011-01-01
In this article we take advantage of the primary and dual Youla parameterisations to set up a soft constrained model predictive control (MPC) scheme. In this framework it is possible to guarantee stability in face of norm-bounded uncertainties. Under special conditions guarantees are also given...... for hard input constraints. In more detail, we parameterise the MPC predictions in terms of the primary Youla parameter and use this parameter as the on-line optimisation variable. The uncertainty is parameterised in terms of the dual Youla parameter. Stability can then be guaranteed through small gain...
Self-operation type power control device for nuclear reactor
Energy Technology Data Exchange (ETDEWEB)
Kanbe, Mitsuru.
1993-07-23
The device of the present invention operates by sensing the temperature change of a reactor core in all of LMFBR type reactors irrespective of the scale of the reactor core power. That is, a region where liquid poison is filled is disposed at the upper portion and a region where sealed gases are filled is disposed at the lower portion of a pipe having both ends thereof being closed. When the pipe is inserted into the reactor core, the inner diameter of the pipe is determined smaller than a predetermined value so that the boundary between the liquid poison and the sealed gases in the pipe is maintained relative to an assumed maximum acceleration. The sealed gas region is disposed at the reactor core region. If the liquid poison is expanded by the elevation of the reactor core exit temperature, it is moved to the lower gas region, to control the reactor power. Since high reliability can be maintained over a long period of time by this method, it is suitable to FBR reactors disposed in such environments that maintenance can not easily be conducted, such as desserts, isolated islands and undeveloped countries. Further, it is also suitable to ultra small sized nuclear reactors disposed at environments that the direction and the magnitude of gravity are different from those on the ground. (I.S.).
Self-operation type power control device for nuclear reactor
International Nuclear Information System (INIS)
Kanbe, Mitsuru.
1993-01-01
The device of the present invention operates by sensing the temperature change of a reactor core in all of LMFBR type reactors irrespective of the scale of the reactor core power. That is, a region where liquid poison is filled is disposed at the upper portion and a region where sealed gases are filled is disposed at the lower portion of a pipe having both ends thereof being closed. When the pipe is inserted into the reactor core, the inner diameter of the pipe is determined smaller than a predetermined value so that the boundary between the liquid poison and the sealed gases in the pipe is maintained relative to an assumed maximum acceleration. The sealed gas region is disposed at the reactor core region. If the liquid poison is expanded by the elevation of the reactor core exit temperature, it is moved to the lower gas region, to control the reactor power. Since high reliability can be maintained over a long period of time by this method, it is suitable to FBR reactors disposed in such environments that maintenance can not easily be conducted, such as desserts, isolated islands and undeveloped countries. Further, it is also suitable to ultra small sized nuclear reactors disposed at environments that the direction and the magnitude of gravity are different from those on the ground. (I.S.)
Automatic control system in the reactor peggy
International Nuclear Information System (INIS)
Bertrand, J.; Mourchon, R.; Da Costa, D.; Desandre-Navarre, Ch.
1967-01-01
The equipment makes it possible for the reactor to attain a given power automatically and for the power to be maintained around this level. The principle of its operation consists in the changing from one power to another, at constant period, by means of a programmer transforming a power-step request into a voltage variation which is linear with time and which represents the logarithm of the required power. The real power is compared continuously with the required power. Stabilization occurs automatically as soon as the difference between the reactor power and the required power diminishes to a few per cent. (authors) [fr
Decision making in the reactor control room
International Nuclear Information System (INIS)
Nelson, W.R.
1982-01-01
One of the most important roles of the nuclear reactor operator is that of decision maker. This paper discusses a simple model of the decision process used by the reactor operator. Resources that must be available so that he can perform the decision process are presented. Decision aids which have been investigated at EG and G Idaho, Inc., as part of the LOFT Augmented Operator Capability Program are briefly discussed. Some general concepts of computerized decision aiding are developed, and the promises and pitfalls of such decision aids are explored
Material accountancy and control practice at a research reactor facility
International Nuclear Information System (INIS)
Bouchard, J.; Maurel, J.J.; Tromeur, Y.
1982-01-01
This session surveys the regulations, organization, and accountancy practice that compose the French State System of Accountancy and Control. Practical examples are discussed showing how inventories are verified at a critical assembly facility and at a materials testing reactor
Experience with automatic reactor control at EBR-II
International Nuclear Information System (INIS)
Lehto, W.K.; Larson, H.A.; Christensen, L.J.
1985-01-01
Satisfactory operation of the ACRDS has extended the capabilities of EBR-II to a transient test facility, achieving automatic transient control. Test assemblies can now be irradiated in transient conditions overlapping the slower transient capability of the TREAT reactor
Protection of semiconductor converters for controlled bypass reactors
International Nuclear Information System (INIS)
Dolgopolov, A. G.; Akhmetzhanov, N. G.; Karmanov, V. F.
2010-01-01
Possible ways of protecting thyristor converters in systems for magnetizing 110 - 500 kV controlled bypass reactors during switching and automatic reclosing are examined based on experience with the development of equipment, line tests, and mathematical modelling.
Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes
Jia, Yinghong; Misra, Arun K.
2017-08-01
It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless actuators for space robots. Such actuation has several noticeable advantages such as weak dynamical coupling and low power consumption over traditional joint motor actuation. This paper presents a robust control law for a CMG-actuated space robot in presence of system uncertainties and closed-chain constraints. The control objective is to make the manipulation variables to track the desired trajectories, and reduce the possibility of CMG saturation simultaneously. A reduced-order dynamical equation in terms of independent motion variables is derived using Kane's equations. Desired trajectories of the independent motion variables are derived by minimum-norm trajectory planning algorithm, and an adaptive sliding mode controller with improved adaptation laws is proposed to drive the independent motion variables tracking the desired trajectories. Uniformly ultimate boundedness of the closed loop system is proven using Lyapunov method. The redundancy of the full-order actual control torques is utilized to generate a null torque vector which reduces the possibility of CMG angular momentum saturation while producing no effect on the reduced-order control input. Simulation results demonstrate the effectiveness of the proposed algorithms and the advantage of weak dynamical coupling of the CMG-actuated system.
Robust tracking control of two-degrees-of-freedom mobile robots
Oelen, W.; Oelen, W.; van Amerongen, J.
1994-01-01
A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of
Cyclic movement pin mechanism for controlling a nuclear reactor
International Nuclear Information System (INIS)
Joly, J.G.; Martin, Jean.
1981-01-01
This invention concerns a recurring movement pin mechanism for controlling a nuclear reactor by shifting a neutron absorbing assembly, vertically mobile in the nuclear reactor, to adjust the power and for emergency shut-down. This mechanism ensures a continuous movement and accurate shut-down at any level of the travel height of the absorbing assembly in the core. It also prevents the impacts of the pivoting pins in the control rod slots [fr
Brookhaven Reactor Experiment Control Facility, a distributed function computer network
International Nuclear Information System (INIS)
Dimmler, D.G.; Greenlaw, N.; Kelley, M.A.; Potter, D.W.; Rankowitz, S.; Stubblefield, F.W.
1975-11-01
A computer network for real-time data acquisition, monitoring and control of a series of experiments at the Brookhaven High Flux Beam Reactor has been developed and has been set into routine operation. This reactor experiment control facility presently services nine neutron spectrometers and one x-ray diffractometer. Several additional experiment connections are in progress. The architecture of the facility is based on a distributed function network concept. A statement of implementation and results is presented
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.
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.