Single-loop versus multi-loop control strategies for electrically driven robots with elastic joint

Author(s):  
Payam Kheirkhahan ◽  
Alireza Izadbakhsh ◽  
Hassan Khalesi
1993 ◽  
Vol 28 (11-12) ◽  
pp. 531-538 ◽  
Author(s):  
B. Teichgräber

A nitrification/denitrification process was applied to reject water treatment from sludge dewatering at Bottrop central sludge treatment facilities of the Emschergenossenschaft. On-line monitoring of influent and effluent turbidity, closed loop control of DO and pH, and on-line monitoring of nitrogen compounds were combined to a three level control pattern. Though on-line measurement of substrate and product showed substantial response time it could be used to operate nitrification/denitrification within process boundaries.


2013 ◽  
Vol 64 (3) ◽  
pp. 143-151
Author(s):  
Farid Bouchafaa ◽  
Mohamed Seghir Boucherit ◽  
El Madjid Berkouk

Voltage source multilevel inverters have become very attractive for power industries in power electronics applications during last years. The main purposes that have led to the development of the studies about multilevel inverters are the generation of output voltage signals with low harmonic distortion; the reduction of switching frequency. A serious constraint in a multilevel inverter is the capacitor voltage-balancing problem. The unbalance of different DC voltage sources of five-level neutral point clamping (NPC) voltage source inverter (VSI) constitutes the major limitation for the use of this new power converter. In order to stabilize these DC voltages, we propose in this paper to study the cascade constituted by three phases five-level PWM rectifier, a clamping bridge and five-level NPC (VSI). In the first part, we present a topology of five-level NPC VSI, and then they propose a model of this converter and an optimal PWM strategy to control it using four bipolar carriers. Then in the second part, we study a five-level PWM rectifier, which is controlled by a multiband hysteresis strategy. In the last part of this paper, the authors study shows particularly the problem of the stability of the multi DC voltages of the inverter and its consequence on the performances of the induction motors (IM). Then, we propose a solution to the problem by employed closed loop regulation using PI regulator type fuzzy logic controller (FLC). The results obtained with this solution confirm the good performances of the proposed solution, and promise to use the inverter in high voltage and great power applications as electrical traction.


2012 ◽  
Vol 32 (spc3) ◽  
pp. 245-254
Author(s):  
Dong-Hwan Kim ◽  
Seung-Hwan Jung ◽  
Seung-Ho Song ◽  
Ju-Yeop Choi ◽  
Ick Choi ◽  
...  

Author(s):  
Matheepot Phattanasak ◽  
Warit Thammasiriroj ◽  
Roghayeh Gavagsaz-Ghoachani ◽  
Majid Zandi ◽  
Jean-Philippe Martin ◽  
...  

Author(s):  
M. Ramkumar ◽  
K. N. Srinivas

<p>This paper proposes modelling, analysis and control of a small scale wind energy conversion system employing a direct driven Flux Reversal Generator (FRG) connected to the micro grid through a quasi-Z-source inverter (QZSI). This entire research is made up of two major parts viz., FRG and QZSI. In the part I report of this research work, the role of FRG has been thoroughly modelled and verified. In this part II, the modelling and analysis of QZSI for this purpose is presented. In addition, the modified space vector PWM (SVPWM) technique is proposed in this paper to satisfy the shoot-through characteristic of QZSI, which is a novel. The interface of FRG and QZSI to inject power in to micro grid has been finally presented. The simulation results are validated with the analytical results. Section I discusses the open loop control of QZSI. The mathematical modelling of QZSI for this purpose is given and analytically validated. This flowed by section II in which the proposed SVPWM is presented. The procedure to obtain triggering pulses using this proposed modulation technique is discussed. Section III presents closed loop control strategies for QZSI. Section IV presents the micro grid<br />inte face and power injection.</p>


DYNA ◽  
2018 ◽  
Vol 85 (207) ◽  
pp. 198-207
Author(s):  
Juan E. Sereno ◽  
Michelle A. Caicedo ◽  
Pablo S. Rivadeneira

This paper examines the performance of two new closed-loop control strategies developed as part of the Artificial Pancreas project, this being the most promising treatment for type 1 diabetes mellitus. The first strategy uses a new version of the well-known proportional, integral and derivative control, developed to respect state and input positivity constraints. The second is a new formulation of model-based predictive control with an impulsive input. The strategies’ performance is evaluated with 50 virtual patients taken from the literature and the UVa/Padova metabolic simulator, approved by the US Food and Drug Administration. Also, a robustness analysis is added to evaluate the strategies under the parametric variations of the most important physiological parameters. The results show that both strategies have a good performance with low to moderate plant-model mismatch.


2005 ◽  
Vol 17 (01) ◽  
pp. 19-26 ◽  
Author(s):  
CHENG-LIANG LIU ◽  
CHUNG-HUANG YU ◽  
SHIH-CHING CHEN ◽  
CHANG-HUNG CHEN

Functional electrical stimulation (FES) is a method for restoring the functional movements of paraplegic or patients with spinal cord injuries. However, the selection of parameters that control the restoration of standing up and sitting functions has not been extensively investigated. This work provides a method for choosing the four main items involved in evaluating the strategies for sit-stand-sit movements with the aid of a modified walker. The control method uses the arm-supported force and the angles of the legs as feedback signals to change the intensity of the electrical stimulation of the leg muscles. The control parameters, Ki and Kp, are vary for different control strategies. Four items are collected through questionnaires and used for evaluation. They are the maximum reactions of the two hands, the average reaction of the two hands, largest absolute angular velocity of the knee joints, and the sit-stand-sit duration time. The experimental data are normalized to facilitate comparison. Weighting factors are obtained and analyzed from questionnaires answered by experts and are added to evaluation process for manipulation. The results show that the best strategy is the closed-loop control with parameters Ki=0.5 and Kp=0.


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