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The hardware evolution had promoted amazing possibilities of interaction in virtual environments, attracting a lot of research in the most diverse fields, especially in games. In this work, we explore the animation data captured by Microsoft Kinect in real-time for developing user interaction in a virtual simulated environment. We use physically based characters with balance treatment and proportional-derivative...
This papers deals with the control of active and reactive powers in wind energy conversion systems (WECS) powered by dual-stator-winding squirrel-cage induction generators (BDFIG). In these systems, the MPPT technics based on a torque control present coupling with reactive power objectives. A High Order Sliding Mode MIMO control is proposed for satisfying the power objectives in a decoupled way. The...
The well-known maximum torque per ampere (MTPA) strategy is usually integrated the field oriented control (FOC) to improve the efficiency of interior permanent-magnet (IPM) synchronous motor drives. As an alternative to the FOC, direct torque control (DTC) has attracted extensive attention from both academia and industry in the last few decades, due to its distinctive advantages, e.g., fast dynamic...
Precise force detection is required to realize precise force control, and a lot of research have been conducted for precise and robust force estimation. Based on the industrial trends that the number of load-side encoders is increasing in various industrial fields, a force observer using load-side encoder information has already been proposed to avoid the estimation performance deterioration in the...
The paper is concerned with the robust finite-time stabilization problem of quadrotors subject to inertia uncertainty and disturbances. The underlying stabilization problem consists of controller designs for position loop and attitude loop, both of which are carried out based on the terminal sliding mode control approach. First, a robust finite-time position controller is designed by considering the...
The rapid advancements in induction motor drives has led to the development of robust non-linear controller such as Fuzzy Logic Controller (FLC). The proportional integral or derivative controllers (PI, PID, and PD) have been in use for induction motor drives for past decades as speed and current controller's. However, these controllers are fixed to motor parameter changes which results in decrease...
This paper focuses to improve wind turbine systems efficiency, in other words, to maximize the output power delivered by the wind turbine. To do this it is necessary to have a good controller. In this study, we use a nonlinear synergetic controller. Synergetic control theory is applied to reach the maximum power point tracking (MPPT) of a variable speed energy conversion system. A comparison with...
A passivity-based controllers with integral actions is proposed to control the current loop of permanent magnet synchronous motor (PMSM). The Port-controlled Hamiltonian system with dissipation (PCHD) model of permanent magnet synchronous motor with voltage disturbance is established by introduction of the state error and the integral action. The Lyapunov function is constructed to analyze the stability...
In this paper, a simple and robust speed estimator and Pseudo Derivative Feedback (PDF-PDF) controller are proposed for sensorless PMSM drive to improve its performance at standstill and low speed regions. The speed estimator is formed using stator flux and electromagnetic torque based model reference adaptive system, which performs better during transient conditions and reduces steady state error...
In this paper, a joint torque control problem for two-inertia systems is considered. To attain robust performance and good tracking, a two degrees of freedom control system is designed by using the H∞ loop shaping method which is based on the normalized coprime factorization. The joint torque is estimated using the motor angle with Kalman filter, and the estimated value is used as the output of an...
The paper deals with a full sliding mode approach for induction motor drives direct torque and flux control. The proposed solution is composed by an integral sliding-mode control and by a speed-sensorless sliding mode observer. The suggested Integral Sliding-Mode Direct Torque Control (ISMDTC) is formulated in the stator flux reference frame, without employing current regulators. The adopted sliding...
To enhance the control precision of permanent magnet synchronous motor (PMSM) under parameter variations and load torque disturbances, a minimal reduced-order load torque observer (MRLTO) based discrete-time sliding mode control (DSMC) scheme is presented. First, a DSMC controller is presented on the basis of the second-order discrete-time PMSM dynamics model to enhance the speed tracking response...
In order to improve the speed-regulation performance of the permanent-magnet synchronous motor (PMSM) system under uncertainties and disturbances, an equivalent disturbance observer (EDO) based discrete-time integral sliding mode control (DISMC) scheme is proposed. To avoid the high-frequency noise caused by the differential terms of conventional sliding mode control (SMC), a discrete-time integral...
Conventional direct torque control (DTC) achieves faster dynamic response compared to field-oriented control in permanent magnet synchronous motor drives (PMSM). However, it usually features large torque and stator flux ripple which deteriorates the steady performance of PSM drive. Various duty- based DTC schemes have been proposed to reduce torque ripple at the expense of increased complexity and...
In electrified powertrain control, meeting the torque demands and ensuring efficient Electrical Machine (EM) operations are two essential but conflicting demands. A multi-objective Linear Parameters Varying (LPV) controller is proposed to address the problem of these conflicting objectives. The synthesis of multi-objective controller is based on the selection of optimal weighting functions optimized...
By using the vector control for direct-drive permanent magnet synchronous motor (DD-PMSM), the current static decoupling between d-axis and q-axis is realized, however, there still exists the dynamic coupling relationship. The d-q currents cannot be decoupled by the tradition PI method, and although the decoupling is accomplished to some extent by the internal model decoupling control method, the...
In this paper, the fractional order PID (FOPID) control scheme of a 3-axis motion platform is proposed. Firstly, a mathematical model of the 3-axis motion platform is derived, then a control law is developed to track the angular position. Tuned FOPID controller is compared with classic PID controller (IOPID). The simulation results are provided to verify the efficiency and correctness of the proposed...
To deal with parametric uncertainty, load disturbance together with other nonlinear factors in highspeed permanent magnet synchronous motor (PMSM) systems, an adaptive robust controller (ARC) is proposed based on direct torque control method. In the high-speed PMSM modeling process, the unknown nonlinear factors, including modeling error and uncertain disturbance, are considered. Based on the optimized...
An active disturbance rejection controller (ADRC) is designed and originally implemented on a real torsional plant. The torsional plant resembles the dynamics of a rotational system. Due to mass imbalance, centrifugal imbalance, and the non-coincidence between the principal and geometric axes of a rotating disc, the system parameters of this torsional plant are varying constantly. In addition, an...
This paper proposes a robust chattering-free sliding-mode (CFSM) control for an electronic throttle (ET) system in drive-by-wire vehicles. Although boundary layer method is used in traditional linear sliding-mode based-electronic throttle control systems to remove control chattering, both the tracking precision and control robustness are affected. The uniqueness of the proposed CFSM controller is...
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