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This paper presents both an event- and a self-triggered sampling and regulation scheme for continuous time linear dynamic systems by using zero-sum game formulation. A novel performance index is defined wherein the control policy is treated as the first player and the threshold for control input error due to aperiodic dynamic feedback is treated as the second player. The optimal control policy and sampling intervals are generated using the saddle point or Nash equilibrium solution, which is obtained from the corresponding game algebraic Riccati equation. To determine the optimal event-based sampling scheme, an event-triggering condition is derived by utilizing the worst case control input error as the threshold. To avoid the additional hardware for the event-triggering mechanism, a near optimal self-triggering condition is derived to determine the future sampling instants given the current state vector. To guarantee Zeno-free behavior in both the event- and self-triggered closed-loop systems, the minimum intersample times are shown to be lower bounded by a nonzero positive number. Asymptotic stability of the closed-loop system is ensured using Lyapunov stability analysis. Finally, simulation examples are provided to substantiate the analytical claims. [ABSTRACT FROM AUTHOR]

This paper presents a novel oversampling deadbeat current control approach for permanent magnet synchronous motor drives capable of operating at a controller sampling frequency multiple of the power converter switching frequency. Model-based controllers suffer from heavy computational demand and performance degradation due to parameter uncertainties. The proposed controller concurrently with field-programmable gate array implementation permits to achieve a constant switching frequency and an optimal current ripple along with a high current-loop bandwidth and robust behavior to parameter variation. A disturbance observer has been added to the proposed controller in order to compensate for the converter voltage distortions. The proposed control strategy is tested through both simulations and experiments. [ABSTRACT FROM AUTHOR]

This paper proposes an online parameter estimation method based on a discrete-time dynamic model for the interior permanent-magnet synchronous motors (IPMSMs). The proposed estimation technique, which takes advantage of the difference in dynamics of motor parameters, consists of two affine projection algorithms. The first one is designed to accurately estimate the stator inductances, whereas the second one is designed to precisely estimate the stator resistance, rotor flux linkage, and load torque. In this paper, the adaptive decoupling proportional–integral (PI) controllers with the maximum torque per ampere operation, which utilize the previously identified parameters in real time, are chosen to verify the effectiveness of the proposed parameter estimation scheme. The simulation results via MATLAB/Simulink and the experimental results via a prototype IPMSM drive system with a TI TMS320F28335 DSP are presented under various conditions. A comparative study with the conventional decoupling PI control method is carried out to demonstrate the better performances (i.e., faster dynamic response, less steady-state error, more robustness, etc.) of the adaptive decoupling PI control scheme based on the proposed online parameter estimation technique. [ABSTRACT FROM PUBLISHER]

Generally, the modal degeneration problem existed in the design of ultrasonic motors using composite vibration modes can be overcome by adopting the same-order orthogonal-bending composite vibrations. The conventional excitation and the modified hybrid one of sandwich type orthogonal-bending composite vibrations with the same order are compared and analyzed in this paper. Compared with the conventional one, the modified hybrid excitation favors that two groups of ceramics exciting two orthogonal-bending modes are placed in the optimum excitation position. Moreover, the modified hybrid excitation can achieve larger vibration amplitude than the conventional one, while the amount of the ceramics adopted and the exciting voltages applied are the same. The first-order orthogonal-bending composite vibrations are chosen to analyze the advantage of the modified hybrid excitation. Finite-element method is adopted to compare the amplitudes of the models with the same sizes but different excitations. The prototypes corresponding to two excitations are fabricated and tested to verify the results of the theory and simulation. It is proved that the modified hybrid excitation can improve the performance of the sandwich type ultrasonic motors using bending composite vibrations. [ABSTRACT FROM PUBLISHER]

Interleaved converter legs are typically modulated with individual carriers per leg and phase-shifted pulse width modulation (PS-PWM) as it facilitates current balancing amongst the legs. Phase-disposition PWM (PD-PWM), despite the better harmonic performance, cannot be directly used due to the resulting current imbalance that may damage the converter. This paper addresses the current sharing issue and proposes a sorting algorithm implementation that enables single-carrier PD-PWM technique for interleaved two-level converter legs. An extension of the proposed algorithm through a switching state feedback loop, limiting the average switching frequency, is also developed. In both cases, the output current is of high quality and shared amongst the phase-legs, while the deviation between the phase-leg currents is well regulated. Simulation results demonstrate the general function of method for multiple interleaved legs as well as its current sharing capabilities for high-power applications. Experimental results from a low-power laboratory prototype validate the operation of the proposed approach. [ABSTRACT FROM PUBLISHER]

Bidirectional inductive power transfer (IPT) systems are attractive for applications such as electric vehicles and vehicle-to-grid systems which preferably require “contactless” and two-way power transfer. However, in contrast to unidirectional IPT systems, bidirectional IPT systems require more sophisticated control strategies to control the power flow. An indispensible component of such control strategies is the robust and accurate synchronization between the primary- and pickup-side converters, without which the transfer of real power in any direction cannot be guaranteed. This paper proposes a novel technique that synchronizes converters on both the primary and pickup sides of bidirectional IPT systems. The technique uses an auxiliary winding, located on the pickup side, to produce a synchronizing signal which, in turn, can be utilized to regulate the real power flow. This paper also presents a mathematical model for the proposed technique and investigates its sensitivity for component tolerances. The viability of the technique, which is applicable to both single- and multiple-pickup IPT systems, is demonstrated through both simulations and experimental results of a 1-kW prototype bidirectional IPT system. [ABSTRACT FROM PUBLISHER]

This paper investigates the problem of vehicle active suspension control with frequency band constraints and actuator input delay. First, the mathematical model of suspension systems is established, and the problem of suspension control with finite-frequency constraints is formulated to match the characteristics of the human body. Then, the finite-frequency method is developed to deal with the problem of suspension control with actuator input delay, based on the generalized Kalman–Yakubovich–Popov lemma. Compared with the traditional entire-frequency approach for active suspension systems, the finite-frequency approach proposed in this paper achieves better disturbance attenuation performance for the chosen frequency range while the constraints required by real situation are guaranteed in the controller design. The effectiveness and merits of the proposed method are verified by a number of simulations with several types of road disturbances. [ABSTRACT FROM AUTHOR]

Multiphase (more than three phases) power electronic converters are required mainly for feeding variable-speed multiphase drive systems. This paper presents one such solution by using a direct ac–ac converter that can be used to supply a nine-phase drive system. The input is a fixed-voltage and fixedfrequency three-phase input, and the output is a variable-voltage and variable-frequency nine-phase output. A simple pulsewidthmodulation technique is developed for the proposed ac–ac converter named as a nonsquare three-to-nine-phase matrixconverter configuration. The developed modulation technique is based on the comparison of a high-frequency carrier signal with the duty ratios. Although the carrier-based scheme is widely employed for the control of back-to-back converters, it has recently been used for controlling a three-to-three-phase matrix converter. This concept is extended in this paper for controlling a threeto-nine-phase matrix converter. With the two techniques that are proposed, one outputs 0.75 of the input magnitude and the other outputs reach 0.762 of the input. This is the maximum value of the output voltage in the linear modulation range that can be achieved in this configuration of the matrix converter. The viability of the proposed control techniques is proved analytically through simulation and an experimental approach. [ABSTRACT FROM PUBLISHER]

This paper proposes a new soft-switching bidirectional dc/dc converter. The proposed converter achieves zero-voltage switching (ZVS) for the entire main switches and zero-current switching for the rectifier diodes in the large-load range. These features reduce switching loss, voltage and current stresses, and diode reverse-recovery effect. The simple electrical isolated topology with the soft-switching characteristic provides an attractive solution for a battery charge/discharge system in an electric vehicle, distributed power system, or uninterruptible power system. This paper describes the operation principle and the ZVS condition in detail. The mathematical model based on the state-space averaging method is also deduced to depict the performance characteristic. Then, design guidelines are presented to ensure the ZVS condition for all the switches. Finally, simulation and experimental results obtained from a 1-kW prototype verify the discussed theoretical analysis. [ABSTRACT FROM AUTHOR]

This paper presents a novel initial value compensation (IVC) using an additional input for semi-closed control systems. The authors have already proposed the IVC approach using the additional input for residual vibration suppression in the fast and precise positioning control. In the approach, however, an essential subject has remained, i.e., the positioning control in the load side could not satisfy the required performance because the systems have been constructed under the assumption of a semi-closed control system. An improvement of the control performance in load position, therefore, is discussed in this paper, where the appropriate assignments of poles and zeros in IVC are ensured, considering the transfer functions of position in both sensor and load for the control initial values. The effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype. [ABSTRACT FROM AUTHOR]

The predictive control method deals with the prediction of the motor behavior based on a mathematical model of the motor. This model is dependent on the motor parameters. However, these parameters may not match with their actual values due to the measurement error or they may change during the operation of the motor. All these uncertainties and model inexactitude lead to inaccurate prediction of the motor behavior and deteriorate the performance of the predictive algorithm. This paper presents an extension of the predictive current control (PCC) method to improve the prediction accuracy for a permanent-magnet synchronous motor (PMSM). The proposed strategy not only reduces the current ripple but also improves the robustness of the system against parameter uncertainties. Simulation and experimental results that confirm the good performance of the proposed method are presented. [ABSTRACT FROM PUBLISHER]

This paper describes a d– q transformation to be applied to double-star permanent-magnet synchronous machines with interior magnets. The d– q model consists of two d–q reference frames decoupled with respect to each other and applies to a generic angular displacement between the winding sets. The decoupled d–q model simplifies the analysis of the machine behavior and the drive control implementation. Machine parameters are determined by a sequence of finite-element (FE) analyses. The effectiveness of the proposed modeling method is verified by a comparison with the results related to measurements on a test machine and FE simulations. It was assumed that the mutual inductances between the two winding sets can be represented with two coefficients. Although such an assumption inevitably leads to inaccuracy in the machine model, the simulation results with the proposed d–q model agree remarkably well with the experimental results and FE simulations. [ABSTRACT FROM PUBLISHER]

In this paper, the balance control of a ball and beam system is considered. Based on the T-S fuzzy modeling, the dynamic model of the ball and beam system is formulated as a strict feedback form with modeling errors. Then, an adaptive dynamic surface control (DSC) is utilized to achieve the goal of ball positioning subject to parameter uncertainties. The robust stability of the closed-loop system is preserved by using the Lyapunov theorem. In addition to simulation results, the proposed T-S fuzzy model-based adaptive dynamic surface controller is applied to a real ball and beam system for practical evaluations. Simulation and experimental results illustrate that the proposed control scheme has much better performance than that of conventional DSC. Furthermore, parameter uncertainties and external disturbance are considered to highlight the robustness of the proposed control scheme. [ABSTRACT FROM PUBLISHER]

In this paper, issues related to parameter identification and high-performance control of the drive system with an elastic joint are discussed. After a brief introduction, the mathematical model of the drive and the proposed high-performance control structure are presented. The effect of the location of closed-loop poles and cancellation of zeros of the structure is examined. Then, the mathematical models of the Kalman filters used in this study are presented, and the results of the identification procedure are described. The effectiveness of the proposed structure has been examined under simulation and experimental study. [ABSTRACT FROM PUBLISHER]

In this paper, we consider the friction compensation problem for a class of mechanical systems. The friction behavior is described by a nonlinear dynamical model. Since it is difficult to know the nonlinear parts in the frictional model accurately, two neural networks (NNs) are employed in the proposed intelligent controller. Due to the learning capability of the NNs, the designed NN controller can compensate the effects of the nonlinear friction. Stability of the thus proposed learning control system is guaranteed by a rigid proof. Simulation and experimental results are provided to verify the effectiveness of the proposed intelligent scheme. [ABSTRACT FROM PUBLISHER]

In this paper, analytical techniques and fuzzy logic method are applied to the dynamic modeling and efficient swimming control of a robotic fish. The bioinspired robotic fish, which follows an exact replica of a live mackerel (Scomber scombrus), is modeled by treating the undulating body and flapping tail independently using analytical methods. Comparing the results of simulations and experiments shows the feasibility of the dynamic model. Using this model, we found that the harmonic control of the Strouhal number and caudal fin angle of attack is a principal mechanism through which the robotic fish can obtain high thrust efficiency while swimming. The fuzzy control method, which is based on the knowledge of the robotic fish's dynamic behavior, has successfully utilized this principal mechanism. By comparing the thrust performance of the robotic fish with different control methods via simulation, we established that the fuzzy controller was able to achieve faster acceleration and smaller steady-state error than what could be achieved from an open-loop and conventional proportional–integral-derivative controller. The thrust efficiency during steady state was superior to that with conventional control methods. We also found that, when using the fuzzy control method, robotic fish can always swim near a “universal” Strouhal number that approximates to the swimming of live fish. [ABSTRACT FROM PUBLISHER]

This paper presents a retrofit system that exploits a fluorescent lamp's own stray electric fields for capacitive sensing. Occupancy detection for demand-side energy management is a key application. The experimental system demonstrates a detection range of 10 ft. between the lamp and the nearest edge of the occupant. A full system model is presented including the simulation of a lumped element capacitive model. The full system model is validated against experimental data. [ABSTRACT FROM AUTHOR]

Real-time electromagnetic transient simulation plays an important role in the planning, design, and operation of power systems. Inclusion of accurate and complicated models, such as the universal machine (UM) model and the universal line model (ULM), requires significant computational resources. This paper proposes a digital hardware emulation of the UM and the ULM for real-time electromagnetic transient simulation. It features accurate floating-point data representation, paralleled implementation, and fully pipelined arithmetic processing. The hardware is based on advanced field-programmable gate array (FPGA) using VHDL. A power system transient case study is simulated in real time to validate the design. On a 130-MHz input clock frequency to the FPGA, the achieved execution times for UM and ULM models are 2.5 \mu\s and 1.42 \mu\s, respectively. The captured real-time oscilloscope results demonstrate high accuracy of the emulator in comparison to the offline simulation of the original system in the EMTP-RV software. [ABSTRACT FROM PUBLISHER]

This paper presents an electromagnetic interference (EMI) model to evaluate the conducted common mode (CM) disturbances produced by matrix converters (MCs). The model is based on obtaining a high frequency (HF) equivalent circuit with HF sources representing the switching devices. The circuit resolution in the frequency domain allows the calculation of any EMI parameter with very low computational burden and avoids convergence problems, which are common in time domain methods. The original contribution lies in the source model implementation and placement. The simulation and experimental results for CM leakage currents validate the EMI model. [ABSTRACT FROM PUBLISHER]

This paper presents an improved semitheoretical fluorescent lamp model by including the effect of the lamp tube temperature on the lamp electrical parameters at different dimming levels. The experimental results have verified that the lamp tube temperature is a linear function of the lamp's input power and has significant influence on the lamp's electrical parameters during the dimming process. The comparison on the simulation and measurements shows that the improved lamp model can predict the lamp electrical characteristics accurately in a wide dimming range under both low- and high-frequency operations. [ABSTRACT FROM AUTHOR]

The increased integration of fuel cells with power electronics, critical loads, and control systems has prompted recent interest in accurate electrical terminal models of the polymer electrolyte membrane fuel cell. Advancement in computing technologies, particularly parallel computation techniques and various real-time simulation tools, has allowed the prototyping of novel apparatus to be investigated in a virtual system under a wide range of realistic conditions repeatedly, safely, and economically. This paper builds upon both advancements and provides a means of optimized model construction boosting the computation speeds for a fuel cell terminal model on a real-time simulator which can be used in a power hardware-in-the-loop application. An elaborate simulation model of the fuel cell stack system has been developed, and a significant improvement in the computation time has been achieved. The effectiveness of the proposed model developed on Opal RT's RT-LAB MATLAB/Simulink-based real-time engineering simulator is verified using the experimental results with a Ballard Nexa fuel cell stack system. [ABSTRACT FROM AUTHOR]

In this paper, a new bridgeless single-ended primary inductance converter power-factor-correction rectifier is introduced. The proposed circuit provides lower conduction losses with reduced components simultaneously. In conventional PFC converters (continuous-conduction-mode boost converter), a voltage loop and a current loop are required for PFC. In the proposed converter, the control circuit is simplified, and no current loop is required while the converter operates in discontinuous conduction mode. Theoretical analysis and simulation results are provided to explain circuit operation. A prototype of the proposed converter is realized, and the results are presented. The measured efficiency shows 1% improvement in comparison to conventional SEPIC rectifier. [ABSTRACT FROM AUTHOR]

In this paper, the development of an innovative nonlinear control scheme is traced for the looper and tension system in hot strip finishing mills. The proposed scheme is based on almost disturbance decoupling and feedback linearization control. First, the system is full-state-linearized using feedback linearization. Then, almost disturbance decoupling controllers are used to attenuate the disturbances. As a result, by tuning the disturbance attenuation parameter within the actuator limitations, the effect of the disturbance on the strip tension and looper angle can be attenuated to an arbitrary degree of accuracy. Simulation results show the effectiveness of the proposed controllers compared with the conventional ones. [ABSTRACT FROM PUBLISHER]

This paper presents a specific controller architecture devoted to obtain a permanent-magnet synchronous motor (PMSM) drive that is robust to mechanical sensor failure. In order to increase the reliability which is a key issue in industrial and transportation applications (electric or hybrid ground vehicle or aerospace actuators), two virtual sensors (a two-stage extended Kalman filter and a back-electromotive-force adaptive observer) and a maximum-likelihood voting algorithm are combined with the actual sensor to build a fault-tolerant controller (FTC). The observers are evaluated through simulation and experimental results. The FTC feasibility is proved through simulations and experiments on a 1.1-kW PMSM drive. [ABSTRACT FROM AUTHOR]

In this paper, a real-time walking trajectory generation method with three-mass models at constant body height for 3-D biped robots is extended for a diagonal walking. By realization of the diagonal walking, the availability is improved. The modeling of this method is more precise than that of conventional real-time walking trajectory generation methods. In this method, the zero-moment point equation of a body is derived, and an analytic solution of a body trajectory at a constant body height in a single support phase is obtained. Because the analytic solution is used, real-time trajectory generation can be realized. In addition, this method has advantages of the body trajectory at the constant body height. The validities are confirmed from simulations of the 2-D walking and an experiment of the 3-D diagonal walking. [ABSTRACT FROM AUTHOR]

Inmodern drive systems, inverters are a fundamental component. To improve the performance of this component, ensure their operability, and check their reliability, motor-load test-beds are used during the process of development. Unfortunately, there are several drawbacks and disadvantages inherent to conventional motor-load testbeds. In order to avoid these problems, a new concept for a hardware-in-the-loop-based electronic testbed has been developed. A well-defined second inverter in combination with a mathematical model of the machine-load combination is used to replace the conventional test setup. Different machine-load combinations can be easily simulated with one system by simply changing the mathematical models. This paper shows the system topology, analyzes the components of the testbed, and presents the experimental results that verify the feasibility and capability of the method proposed. [ABSTRACT FROM AUTHOR]

Abstract-This paper presents a modulation technique based on the generalized pulsewidth-modulation strategy for matrix converters. The proposed technique uses a discontinuous modulation to clamp each output leg of the converter during 1200 of the output voltage period, achieving a reduced number of switchings compared with the traditional modulation techniques. Aside from that, the major attraction of the proposed technique is an additional algorithm that lags the clamping of each output leg of the converter to synchronize it with the peak of the corresponding output current (load current), avoiding high switching losses (switching at high currents). Therefore, this technique reduces the number of switchings as well as guarantees only medium and low current switchings. Simulation and experimental results show the efficiency of the proposed technique. [ABSTRACT FROM AUTHOR]

In this paper, we propose a new robust congestion- control strategy for a differentiated-services (DiffServ) network. A sliding-mode-based variable structure control technique is utilized to design a congestion controller on the basis of a fluid flow model. The performance of our proposed scheme is then demonstrated on a DiffServ network. Our proposed algorithm is developed for an interconnected network as a hop-by-hop distributed-control approach. A formal analysis of the controlled network is conducted, where it is shown that the error dynamics of the overall time-delay-dependent system is ℒ∞ stable. Numerical simulations are provided to demonstrate the capabilities of our proposed methodology. [ABSTRACT FROM AUTHOR]

This paper presents a new practical formula to calculate the critical value of interphase reactor (IPR) in a six-phase diode rectifier with tap-changer. In addition, a mathematical model of the double-tap IPR has been established by equivalent circuit method. Simulation and experimental results verify the validity of the formula and mathematical model. On the basis of the above achievements, a simple and effective approach is provided to design the IPR and to analyze the performance of the whole system. [ABSTRACT FROM AUTHOR]

This paper presents a novel approach for navigation of cleaning robots in an unknown workspace. To do so, we propose a new map representation method as well as a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with a shorter path and increased flexibility than a rectangular cell map representation. Then, we propose the complete coverage navigation and map construction methods which enable the ëleaning robot to navigate the complete workspace without complete information about the environment. Finally, we evaluate the performance of our proposed triangular cell map via the existing distance-transform-based path-planning method comparing it to that of the rectangular cell map. Also, we verify the effectiveness of the proposed methods through computer simulations. [ABSTRACT FROM AUTHOR]

This paper presents a novel mathematical model-based feedforward compensator design for the nonlinear friction in table drive systems using the Group Method of Data Handling (GMDH). In the proposed approach, the nonlinear friction can be autonomously modeled as a polynomial expression for appropriate control state variables according to the process of GMDH and, as a result, the complicated structural modeling and its parameterization, indispensable to conventional model-based strategies, can be completely eliminated. In addition, since the proposed GMDH-based model can achieve the generalization ability for table drive conditions, the robust compensation for friction can be attained against the change of drive conditions. Experimental verifications using a table drive system of actual machine tools show the significant performance improvement of the proposed algorithm in the trajectory control with velocity reversal motion. [ABSTRACT FROM AUTHOR]