A distributed control technique for the multilevel cascaded converter

2017 ◽  
Author(s):  
Ping-Heng Wu ◽  
Yu-Chen Su ◽  
Po-Tai Cheng
Keyword(s):  
Distributed Control ◽  
Control Technique ◽  
Cascaded Converter

A Distributed Control Technique for the Multilevel Cascaded Converter

2019 ◽  
Vol 55 (2) ◽  
pp. 1649-1657 ◽  
Author(s):  
Ping-Heng Wu ◽  
Yu-Chen Su ◽  
J.-L. Shie ◽  
Po-Tai Cheng
Keyword(s):  
Distributed Control ◽  
Control Technique ◽  
Cascaded Converter

scholarly journals Robust and fault tolerant control of modular and reconfigurable robots

2021 ◽  
Author(s):  
Sajan Abdul
Keyword(s):  
Dynamic Model ◽  
Distributed Control ◽  
Fault Tolerant ◽  
Joint Torque ◽  
Control Technique ◽  
Control Synthesis ◽  
Joint Control ◽  
Model Uncertainties ◽  
Reconfigurable Robots ◽  
Reconfigurable Robot

Modular and reconfigurable robot has been one of the main areas of robotics research in recent years due to its wide range of applications, especially in aerospace sector. Dynamic control of manipulators can be performed using joint torque sensing with little information of the link dynamics. From the modular robot perspective, this advantage offered by the torque sensor can be taken to enhance the modularity of the control system. Known modular robots though boast novel and diverse mechanical design on joint modules in one way or another, they still require the whole robot dynamic model for motion control, and modularity offered in the mechanical side does not offer any advantage in the control design. In this work, a modular distributed control technique is formulated for modular and reconfigurable robots that can instantly adapt to robot reconfigurations. Under this control methodology, a modular and reconfigurable robot is stabilized joint by joint, and modules can be added or removed without the need of re-tuning the controller. Model uncertainties associated with load and links are compensated by the use of joint torque sensors. Other model uncertainties at each joint module are compensated by a decomposition based robust controller for each module. The proposed distributed control technique offers a ‘modular’ approach, featuring a unique joint-by-joint control synthesis of the joint modules. Fault tolerance and fault detection are formulated as a decentralized control problem for modular and reconfigurable robots in this thesis work. The modularity of the system is exploited to derive a strategy dependent only on a single joint module, while eliminating the need for the motion states of other joint modules. While the traditional fault tolerant and detection schemes are suitable for robots with the whole dynamic model, this proposed technique is ideal for modular and reconfigurable robots because of its modular nature. The proposed methods have been investigated with simulations and experimentally tested using a 3-DOF modular and reconfigurable robot.

scholarly journals Distributed Operation of Microgrids Considering Secondary Frequency Restoration Based on the Diffusion Algorithm

Energies ◽  
2020 ◽  
Vol 13 (12) ◽  
pp. 3207
Author(s):  
Su-Been Hong ◽  
Thai-Thanh Nguyen ◽  
Jinhong Jeon ◽  
Hak-Man Kim
Keyword(s):  
Distributed Control ◽  
Frequency Control ◽  
Hierarchical Control ◽  
Control Technique ◽  
Frequency Regulation ◽  
Distributed Generations ◽  
System A ◽  
Economic Operation ◽  
Secondary Layer

This paper proposes a distributed control of the microgrid (MG) system based on the diffusion algorithm. Unlike the existing decentralized strategy that focuses on the economic operation of the MG system, the proposed strategy performs secondary frequency regulation in addition to the optimization of the MG system. The hierarchical control technique is employed in this study, where the primary layer is responsible for power control and the secondary layer is responsible for the frequency control and economic operation of the MG system. A tested MG system with four distributed generations (DGs) is considered. Three types of communication topologies are evaluated in this study, which are line, ring, and full topologies. The proposed controller is compared to the conventional consensus controller to show the effectiveness of the proposed diffusion controller. Simulation results show that the proposed diffusion strategy improves the convergence speed of the distributed control, resulting in the improvement of power responses and frequency quality of the MG system. The tested system is implemented in the MATLAB/Simulink environment to show the feasibility of the proposed diffusion controller.

Design in Laboratory Equipment for Power Generate and Supply System of New Type Self-Propelled Gun

2014 ◽  
Vol 543-547 ◽  
pp. 541-546
Author(s):  
Xue Bing Liao ◽  
Hong Fei Luo ◽  
Lei Peng ◽  
Feng Ling
Keyword(s):  
Distributed Control ◽  
Electromagnetic Interference ◽  
Supply System ◽  
Control Technique ◽  
Dual Model ◽  
Laboratory Equipment ◽  
Technical Requirements ◽  
Power Generate ◽  
Model Control ◽  
New Type

In order to test new type self-propelled Gun's power generate and supply system, based on modular structure and distributed control design method, using variable frequency control and dual-model control technique, the laboratory equipment was designed according to the technical requirements. Firstly, the structure of the laboratory equipment was build. Based on design of hybrid multimode synchronous teeth belt transmission, programmable load unit, programmable power source and data fusion operator, main composition of the laboratory equipment are developed. Distributed control is used to ensure the laboratory equipment work orderly. To improve ability of anti-electromagnetic interference, three methods are used. Practically use, the synthetically laboratory equipment is proved to being high stability, strong comprehensiveness, good generality.

Distributed control of modular and reconfigurable robot with torque sensing

Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 75-84 ◽  
Author(s):  
Guangjun Liu ◽  
Sajan Abdul ◽  
Andrew A. Goldenberg
Keyword(s):  
Distributed Control ◽  
Control Method ◽  
Joint Torque ◽  
Control Technique ◽  
Model Uncertainties ◽  
Robust Controller ◽  
Joint Friction ◽  
Reconfigurable Robots ◽  
Joint Torque Sensor ◽  
Reconfigurable Robot

SUMMARYA major technical challenge in controlling modular and reconfigurable robots is associated with the kinematics and dynamic model uncertainties caused by reconfiguration. In parallel, conventional model uncertainties such as uncompensated joint friction still persist. This paper presents a modular distributed control technique for modular and reconfigurable robots that can instantly adapt to robot reconfigurations. Under the proposed control method that is based on joint torque sensing, a modular and reconfigurable robot is stabilized joint by joint, and modules can be added or removed without the need to adjust control parameters of the other modules of the robot. Model uncertainties associated with link and payload masses are compensated using joint torque sensor measurement. The remaining model uncertainties, including uncompensated dynamic coupling and joint friction, are compensated by a decomposition-based robust controller. Simulation results have confirmed the effectiveness of the proposed method.

scholarly journals Robust and fault tolerant control of modular and reconfigurable robots

2021 ◽  
Author(s):  
Sajan Abdul
Keyword(s):  
Dynamic Model ◽  
Distributed Control ◽  
Fault Tolerant ◽  
Joint Torque ◽  
Control Technique ◽  
Control Synthesis ◽  
Joint Control ◽  
Model Uncertainties ◽  
Reconfigurable Robots ◽  
Reconfigurable Robot

Modular and reconfigurable robot has been one of the main areas of robotics research in recent years due to its wide range of applications, especially in aerospace sector. Dynamic control of manipulators can be performed using joint torque sensing with little information of the link dynamics. From the modular robot perspective, this advantage offered by the torque sensor can be taken to enhance the modularity of the control system. Known modular robots though boast novel and diverse mechanical design on joint modules in one way or another, they still require the whole robot dynamic model for motion control, and modularity offered in the mechanical side does not offer any advantage in the control design. In this work, a modular distributed control technique is formulated for modular and reconfigurable robots that can instantly adapt to robot reconfigurations. Under this control methodology, a modular and reconfigurable robot is stabilized joint by joint, and modules can be added or removed without the need of re-tuning the controller. Model uncertainties associated with load and links are compensated by the use of joint torque sensors. Other model uncertainties at each joint module are compensated by a decomposition based robust controller for each module. The proposed distributed control technique offers a ‘modular’ approach, featuring a unique joint-by-joint control synthesis of the joint modules. Fault tolerance and fault detection are formulated as a decentralized control problem for modular and reconfigurable robots in this thesis work. The modularity of the system is exploited to derive a strategy dependent only on a single joint module, while eliminating the need for the motion states of other joint modules. While the traditional fault tolerant and detection schemes are suitable for robots with the whole dynamic model, this proposed technique is ideal for modular and reconfigurable robots because of its modular nature. The proposed methods have been investigated with simulations and experimentally tested using a 3-DOF modular and reconfigurable robot.

Wide-area Power System Oscillation Damping using Model Predictive Control Technique

2011 ◽  
Vol 131 (7) ◽  
pp. 536-541 ◽  
Author(s):  
Tarek Hassan Mohamed ◽  
Abdel-Moamen Mohammed Abdel-Rahim ◽  
Ahmed Abd-Eltawwab Hassan ◽  
Takashi Hiyama
Keyword(s):  
Model Predictive Control ◽  
Power System ◽  
Predictive Control ◽  
Wide Area ◽  
Control Technique ◽  
Oscillation Damping

Parametric Study of Damping Characteristics of Magneto-Rheological Damper: Mathematical and Experimental Approach

2020 ◽  
Vol 15 (3) ◽  
pp. 37-48
Author(s):  
Zubair Rashid Wani ◽  
Manzoor Ahmad Tantray
Keyword(s):  
Structural Control ◽  
Research Work ◽  
Testing Machine ◽  
Input Voltage ◽  
Damping Coefficient ◽  
Control Technique ◽  
Damping Force ◽  
Active Devices ◽  
Active Structural Control ◽  
Magneto Rheological

The present research work is a part of a project was a semi-active structural control technique using magneto-rheological damper has to be performed. Magneto-rheological dampers are an innovative class of semi-active devices that mesh well with the demands and constraints of seismic applications; this includes having very low power requirements and adaptability. A small stroke magneto-rheological damper was mathematically simulated and experimentally tested. The damper was subjected to periodic excitations of different amplitudes and frequencies at varying voltage. The damper was mathematically modeled using parametric Modified Bouc-Wen model of magneto-rheological damper in MATLAB/SIMULINK and the parameters of the model were set as per the prototype available. The variation of mechanical properties of magneto-rheological damper like damping coefficient and damping force with a change in amplitude, frequency and voltage were experimentally verified on INSTRON 8800 testing machine. It was observed that damping force produced by the damper depended on the frequency as well, in addition to the input voltage and amplitude of the excitation. While the damping coefficient (c) is independent of the frequency of excitation it varies with the amplitude of excitation and input voltage. The variation of the damping coefficient with amplitude and input voltage is linear and quadratic respectively. More ever the mathematical model simulated in MATLAB was in agreement with the experimental results obtained.

Sign in / Sign up

Export Citation Format

Share Document