Implementation Of Control Algorithm Research Articles

Green Energy Solution for Grid Integrated Solar PV System for Water Storage Towers

In India, water storage towers are present almost everywhere, especially across small towns to rural areas. The storage tanks either utilize diesel powered or utility grid fed induction motor (IM) water pumps. The large spaces available with water storage towers can be utilized to plant solar PV panel for large storage towers water pumping operation, hence, making a switch from diesel or grid run storage towers to solar operated storage towers. This paper presents a robust control of grid integrated solar PV-based water pump system with efficient and smooth transition between standalone and grid interfaced modes. A smart DC link voltage control is presented for distributed generation system (DGS), which provides full control on DC link voltage for both modes of operation at all dynamic load conditions. An enhanced phase-locked loop (EPLL) control is utilized for grid source converter (GSC) in grid control operation, making it flexible to different grid scenarios and power quality. It works for harmonics suppression, load balancing and grid side converter control. An enhanced phase-locked loop (EPLL) is implemented for synchronization control algorithm, which provides an accurate estimation of voltage angle even during frequency ramps and exhibiting superior performance particularly in terms of robustness against DC offsets. The primary requirement for smooth operation of grid-tied solar PV system is effective power management between different sources. The issues of power management and power quality, are discussed in this work, and solutions are presented. The implemented control algorithms are tested successfully for dynamic solar insolation, varying load conditions, unbalance in load, sudden grid outage condition. The system appropriateness is validated by experimental results.

METHOD OF PROTOTYPING CONTROL UNITS BASED ON THE OPENPLC APPLICATION

The problem of designing control devices based on programmable logic controllers (PLCs) is their high cost and, as a rule, unavailability at the initial design stage. The purpose of the research is to reduce the time and cost of designing the system by creating prototypes of control units with the software implementation of control algorithms in the languages of the MEK 61131-3 standard and the execution of programs in the Arduino board. The research method consists in the decomposition of project models of operating and control automata of the control device and their implementation in the software environment of the OpenPLC application in the form of program organization components (POU) in Ladder Diagram, Function Block Diagram, Sequential Function Chart and Structured Text languages. The result of the study is a method of creating typical POU operating and control automata of the control system, which are executed in the Arduino board. An example of the application of the proposed methodology for the design of a prototype of the facility's temperature control system is given. The developed prototype was tested using a logical PLC and a physical prototype, which confirmed their functional compliance with the original and a reduction in the cost of the equipment by at least an order of magnitude.

On multi-use applications unlocking behind-the-meter flexibility for grid-serving services

This paper introduces multi-use applications to unlock behind-the-meter flexibility by integrating grid-serving capabilities with user-oriented control strategies. We deploy a hierarchical flexibility coordination process in a co-simulation research environment and propose a control strategy prioritizing self-consumption optimization with a secondary focus on grid-serving applications. This approach enhances the viability of behind-the-meter technologies, particularly benefiting battery energy storage systems with high investment costs. It also facilitates active grid operation amid the growing presence of distributed energy resources. The research’s key contribution lies in designing an information architecture to efficiently utilize behind-the-meter flexibility for grid-serving processes. The paper demonstrates the feasibility of a multi-use operation, combining user-oriented optimization and grid-serving flexibility provision for local grid congestion management. The implemented control algorithm in a home energy management system achieves grid-serving objectives while maintaining behind-the-meter asset performance. Co-simulation results show that in less than 2.5% of simulated time steps, transformer utilization exceeds operational limits in both scenarios, indicating the viability of multi-use operation for leveraging new value streams and managing grid congestion simultaneously.

End-to-end deep reinforcement learning for control of an autonomous underwater robot with an undulating propulsor

This paper focuses on the development and implementation of control algorithms for positioning an Autonomous Underwater Vehicle (AUV) with an undulating propulsor, using reinforcement learning methods. It provides an analysis and overview of works incorporating reinforcement learning methods such as Actor-only, Critic-only, and Actor-Critic. The paper primarily focuses on the Deep Deterministic Policy Gradient method and its implementation using deep neural networks to train the Actor-Critic agent. In the agent's architecture, a replay buffer and target neural networks were utilized to address the data correlation issue that induces training instability. An adaptive ar-chitecture was proposed for training the agent to force the robot to move from the initial point to any target point. Additionally, a random target point generator was incorporated at the training stage so as not to retrain the agent when the target points change. The training objective is to optimize the actor's policy by optimizing the critic and maximizing the reward function. Reward function is determined as the distance from the robot's center of mass to the target points. Consequently, the reward received by the agent increases when the robot gets closer to the target point and becomes maximal when the target point is reached with an acceptable error.

Examination of a Magnetorheological Damper Control System with Vibration Energy Harvesting

Abstract The study deals with the experimental examination of a magnetorheological (MR) damper control system with vibration energy harvesting using a specially engineered electronic unit (EU). Unlike a typical MR damper control system, which requires an external energy source, the developed system is powered exclusively by energy extracted from a vibrating structure (mechanical system with one-degree-of freedom) and processed through the EU. The work describes the structure and functions of the EU, presents the test rig and the control algorithm implementation, and discusses the test results of the control system under harmonic kinematic excitations of low frequency range.

Modeling and Control Simulation of Power Converters in Automotive Applications

This research introduces a model-based approach for the analysis and control of an onboard charger (OBC) system for contemporary electrified vehicles. The primary objective is to integrate the modeling of SiC/GaN MOSFETs electrothermal behaviors into a unified simulation framework. The motivation behind this project stems from the fact that existing literature often relies on finite element method (FEM) software to examine thermal dynamics, necessitating the development of complex models through partial derivative equations. Such intricate models are computationally demanding, making it difficult to integrate them with circuit equations in the same virtual environment. As a result, lengthy wait periods and a lack of communication between the electrothermal models limit the thorough study that can be conducted during the design stage. The selected case study for examination is a modular 1ϕ (single phase) onboard computer (OBC). This system comprises a dual active bridge (DAB) type DC/DC converter, which is positioned after a totem pole power factor correction (PFC) AC/DC converter. Specifically, the focus is directed toward a 7 kW onboard computer (OBC) utilizing high-voltage SiC/GaN MOSFETs to ensure optimal efficiency and performance. A systematic approach is presented for the assessment and selection of electronic components, employing circuit models for the totem pole power factor correction (PFC) and dual active bridge (DAB) converter. These models are employed in simulations closely mimicking real-world scenarios. Furthermore, rigorous testing of the generated models is conducted across a spectrum of real-world operating conditions to validate the stability of the implemented control algorithms. The validation process is bolstered by a comprehensive exploration of parametric variations relative to the nominal case. Notably, each simulation adheres to the recommended operational limits of the selected components and devices. Detailed data sheets encompassing electrothermal properties are provided for contextual reference.

Automated PLC Code Generation for the Implementation of Mode-Based Control Algorithms in Buildings

Faulty programming of control functions in Building Automation and Control Systems (BACS) might result in inefficient building operations. To reduce programming errors, an automated implementation process of control functions might be a promising solution. Recently, Building Information Modeling (BIM) contributes to digitizing building construction projects but is rarely used in the planning and implementation of control functions in BACS. The control description in BIM also remains unclear. Regarding these problems, a control documentation method for BIM and an automated control implementation approach can simplify control implementation in BACS and hence improve the building operation. In the previous work, we developed the MODI method for a structured planning process of mode-based control algorithms for building energy systems. This method showed the potential to support digitized control planning and implementation in BACS. Based on this, in this paper, we introduce a documentation method to report mode-based control algorithms in the industrial foundation class (IFC), enabling data sharing among BIM, and a software-assisted approach to automatically generate PLC codes for implementing these algorithms. The case study demonstrates the documentation of a desired mode-based control strategy for an energy supply network in IFC and the implementation of this strategy in a PLC program. In the simulation phase, we test the implemented control strategy to verify the functionalities of the PLC program. The results prove that mode-based control strategies can be fully automatically implemented in a PLC program based on IFC data.

Study of an improved single neuron PID control algorithm in the Tokamak plasma density control system

Tokamak is an important device for controlled nuclear fusion research. The plasma electronic density control system (PEDCS) is an important system for controlling the Tokamak discharge process, which should be of high stability, rapidity, and accuracy. Gas seeding systems are widely used in many Tokamak devices to achieve plasma electronic density control. According to the mechanism model analysis for the plasma electronic density object, an adapted single neuron proportion integration differentiation (PID) control algorithm with the radial basis function (RBF) neural network tuning is studied. The principle and the implementation of the intelligent control algorithm are described in detail in this paper. The intelligent controller enables the system to optimize the PID parameters online according to the density state in the discharge process. The experimental results show that the adapted algorithm achieves a good control effect and also improves the control performance. The proposed method provides a useful reference for Tokamak devices and other similar control systems.

Exploring Micro Aerial Vehicle Mechanism and Controller Design Using Webots Simulation

Quadrotor Micro Aerial Vehicle (MAV) is one of the Unmanned Aerial Vehicle (UAV) which very versatile with their capabilities for specific purposes. Understanding and controlling MAV is important for various applications, from surveillance and delivery services to disaster response and entertainment. In engineering education, providing a hardware platform for understanding MAV mechanism and the controller design is very challenging in terms of cost and safety issue. This paper presents a study on drone mechanisms and controller design using Webots, a versatile robot simulation environment. The primary objectives of this research were to simulate and analyze the behavior of drones in a line following task, employing PID controller as the control strategies, and to evaluate the suitability of Webots as a simulation tool for drone-related teaching and learning as well as research. In the methodology section, the setup of the Webots-based drone simulation, including the selection of a suitable drone model, sensor configurations, and the implementation of control algorithms will be explained. Line following task will be focused to analyze the drone mechanism and the controller design. Data on the drone performance will be collected through the experiment and will be analyzed rigorously. The findings reveal the effectiveness of Webots as a platform for simulating drone behavior. The advantages of using simulation tools like Webots, including cost-effectiveness, safety, and the ability to test and refine control algorithms before deployment on physical drones was proved in this study. It is shown that Webots can be leveraged to teach and train individuals in drone technology without the need for physical hardware.

High-speed polarization tracking using thin film lithium niobate integrated dynamic polarization controller.

Dynamic polarization controllers (DPCs) are essential devices in various optical applications. We develop a thin film lithium niobate (TFLN) integrated DPC driven by the real-time implemented Jacobian control algorithm for fast polarization tracking. Experimental results demonstrate a high polarization tracking speed of 100 krad/s when targeting a specific linear state of polarization, with a low control loop delay of 420 ns, half-wave control voltages of 2.75 V, and a fast polarization restoring time of 1.6 us. Compared to previously reported integrated DPCs, the TFLN-based DPC achieves significantly higher tracking speed and lower loop delay. The results highlight the effectiveness of the Jacobian method and the outstanding performance of TFLN-based DPCs. The study opens up possibilities for further advancements in DPC solutions using TFLN technology.

Energy and Cost Analysis of an Integrated Photovoltaic and Heat Pump Domestic System Considering Heating and Cooling Demands

The integration of photovoltaic panels and heat pumps in domestic environments is a topic that has been studied extensively. Due to their electrical nature and the presence of elements that add thermal inertia to the system (water tanks and the building itself), the functioning of compression heat pumps can be manipulated to try to fulfill a certain objective. In this paper, following a rule-based control concept that has been identified in commercial solutions and whose objective is to improve the self-consumption of the system by actively modulating the heat pump compressor, a parametric analysis is presented. By making use of a lab-tested model, the performance of the implemented control algorithm is analyzed. The main objective of this analysis is to identify and quantify the effects of the main parameters in the performance of the system, namely the climate (conditioning both heating and cooling demands), the photovoltaic installation size, the thermal insulation of the building and the control activation criteria. A total of 168 yearly simulations have been carried out. The results show that the average improvement in self-consumption is around 13%, while the cost is reduced by 2.5%. On the other hand, the heat from the heat pump and the power consumed increase by 3.7% and 5.2%, respectively. Finally, a linear equation to estimate the performance of the controller is proposed.

REALISATION OF MPC ALGORITHM FOR QUANSER QUBE-SERVO

This paper offers an in-depth look into the design and implementation of a Model Predictive Control (MPC) algorithm for the QUANSER QUBE-SERVO system. The QUBE-SERVO is a sophisticated laboratory experimental setup consisting of a servo motor, an encoder, and a rotary module. This combination provides a robust platform for investigating and testing various control strategies. In particular, the central focus of this study is the usage of the MPC algorithm for controlling the position of the QUBE-SERVO’s rotary disc load module. The MPC algorithm plays a pivotal role in this application by predicting the future behaviors of the system, and controlling the system by minimizing an objective function over a defined finite horizon. This makes it a versatile and effective tool for controlling complex systems. One of the key challenges in practical control applications is maintaining system stability in the presence of disturbances and uncertainties. To this end, we propose a MPC algorithm designed specifically to stabilize the QUBE-SERVO under such conditions. The functionality of this algorithm is not limited to the QUBE-SERVO system alone, and can be extended to other control systems exhibiting similar characteristics. The effectiveness of the proposed MPC algorithm is rigorously tested through simulation studies. These studies involve subjecting the QUBE-SERVO to various reference signals and disturbances. The results of the simulations provide strong evidence of the algorithm’s capability to effectively track reference signals, while also rejecting disturbances and uncertainties, thereby corroborating its efficacy for the QUBE-SERVO application. Moreover, the original MPC algorithm was enhanced to improve its performance for trajectory tracking tasks. We also discuss the integration of the MPC algorithm within the MatLAB and LabVIEW programming environments, which served as the base platforms for designing and running the simulations in this project. This paper, therefore, presents a comprehensive and practical approach for the successful implementation of the MPC algorithm in the QUANSER QUBE-SERVO system, and demonstrates its potential for wider application in similar control systems.

Attitude maneuvers avoiding forbidden directions

Many space missions require the execution of large-angle attitude slews during which stringent pointing constraints must be satisfied. For example, the pointing direction of a space telescope must be kept away from directions to bright objects, maintaining a prescribed safety margin. In this paper we propose an open-loop attitude control algorithm which determines a rest-to-rest maneuver between prescribed attitudes while ensuring that any of an arbitrary number of body-fixed directions of light-sensitive instruments stays clear of any of an arbitrary number of space-fixed directions. The approach is based on an application of a version of Pontryagin’s Maximum Principle tailor-made for optimal control problems on Lie groups, and the pointing constraints are ensured by a judicious choice of the cost functional. The existence of up to three first integrals of the resulting system equations is established, depending on the number of light-sensitive and forbidden directions. These first integrals can be exploited in the numerical implementation of the attitude control algorithm, as is shown in the case of one light-sensitive and several forbidden directions. The results of the test cases presented confirm the applicability of the proposed algorithm.

Design and Implementation of an Energy-Efficient Vehicle Platoon Control Algorithm Using Prescribed Performance and Extremum Seeking Control

Platooning has emerged as a promising approach to enhancing the fuel efficiency of vehicles, but determining the inter-vehicular distance that achieves the minimum consumption remains a challenge. In this article, an algorithm is proposed that employs extremum seeking control integrated with the prescribed performance control technique to find the optimal inter-vehicular distance. The algorithm utilizes the predecessor-following architecture to track the desired distance while minimizing the estimated aerodynamic drag coefficient to seek the optimal value. To estimate the coefficient, an observer is designed. Simulation results are presented to demonstrate the effectiveness of the approach. The proposed algorithm exhibits a significant improvement over existing methods that do not incorporate prescribed performance. Consequently, our scheme provides a valuable contribution to the field of platooning and paves the way for future research directions.

The Design and Processor-In-The-Loop Implementation of a Super-Twisting Control Algorithm Based on a Luenberger Observer for a Seamless Transition between Grid-Connected and Stand-Alone Modes in Microgrids

The abrupt transfer from grid-connected (GC) to stand-alone (SA) operation modes is one of the major issues that may threaten the stability of a distributed generation (DG) system. Furthermore, if the islanding mode happens, it is vital to take into consideration the load voltages or load current waveforms as soon as feasible. This paper develops an advanced control technique based on a super-twisting sliding mode controller (ST-SMC) for a three-phase inverter operating in both the GC and SA modes. This control scheme is proposed to ensure a smooth transition from the GC to SA mode and enhance the load voltage waveforms under the islanding mode. In addition, to minimize the operational costs of the system and the complexity of the studied model, a digital Luenberger observer (DLO) with a proper design is adopted for estimating the inverter-side current. The control scheme of the whole system switches between a current control mode during the GC mode and a voltage control mode during the SA mode. The super-twisting control algorithm is applied to the outer voltage control loop involved in the cascaded voltage/current control scheme in the SA mode. Simulation tests of a three-phase inverter are performed for the purpose of assessing the suggested control performance by using the PowerSim (PSIM) software and comparing it with a classical PI controller. Furthermore, a processor-in-the-loop (PIL) implementation in a DSP board TMS32F28335 while debugging is conducted using code composer studio 6.2.0. The obtained results show efficient control properties, such as a smooth transition among the microgrid (MG) operating modes, as well as effectiveness and robustness during both the GC and SA operation modes.

Dynamic Performance Improvement of a Single-Phase VSI with Digital Implementation of an On-Line Optimal Trajectory Control Algorithm

A single-phase voltage source inverter (VSI) still suffers from a long settling time and significant voltage overshoot/undershoot under the abrupt step-change of load current. This article analyzes the comprehensive large-signal dynamic process and limitation of the linear controller during step change in load current. The combination of linear and nonlinear control is presented which is a realistic, simple, and low-cost technique for enhancing the dynamic response of the single-phase VSI. A nonlinear controller based on the simplified capacitor charge balance algorithm is employed to drive the inductor current and capacitor voltage to attain the target value by precisely following the projected optimal trajectory during the transient process in a brief period. A linear PI controller is utilized during the steady-state operations such as input voltage variations, temperature drifts, and component ageing. The complete mathematical derivation as well as a design method is presented to guide the practical hardware implementation for the given main circuit parameters and identified load step change. Even though accurate time instants can be obtained using off-line numerical calculations, reasonable simplifications are provided for real-time practical engineering applications in DSP. Finally, simulation and experimental verifications prove that the single-phase VSI achieves a substantial settling time decrease and reduced voltage oscillations.

Rate Integrating Hemispherical Resonator Gyroscope Detection Error Analysis and Compensation

Compensation for the hemispherical resonator gyroscope (HRG) detection error significantly improves gyroscope performance as well as provides a basis for the implementation of high-precision control algorithms. In this article, an identification method is proposed in which the precession factor and the detection error parameters, including gain error, nonorthogonal angle error, and phase error, can be identified simultaneously in a single test. First, we analyze the detection error caused by gyroscope manufacturing as well as the inconsistency in circuit device parameters. Second, the detection error is modeled, and the impact of the error on the standing wave azimuth detection and the control system is discussed. Third, a method is presented for identifying the error parameters based on the nonlinear least squares. Finally, experiments are conducted to verify the effectiveness of the identification and compensation method. As a result of compensation, the bias instability decreases by 33 times from 5.08°/h to 0.15°/h, and the scale factor nonlinearity decreases by four times from 50.26 to 10.23 ppm.

Prototype and Design of Six Axis Robotic Manipulator

The paper presents a design of six axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows to track the current position of each axis and use this to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows to tune parameters of the controllers for both control loops: inner, related to the speed of the robot and outer, related to it’s position.

Magnetorheological fluids: A concise review of composition, physicochemical properties, and models

Magnetorheological fluids (MRFs) are classified as intelligent materials whose rheological and mechanical properties can be modified by interaction with an external magnetic field. These unique features allow for a controlled change of their viscosity, which is applied in technology to build adaptive devices and effectively suppress vibrations in various mechanical systems. In this paper, we overview and discuss our previous results regarding advances and physicochemical MRF properties in the context of broader literature. We concentrated on such properties as flow, yield strength, and viscoelastic behavior under shearing flows. We briefly discussed continuum and discrete MRFs modeling. Since the magnetic core is mainly based on iron or its compounds, depending on its chemical composition, morphology, stabilizing agents, and the liquid medium’s viscosity, its rheological and micromechanical properties can be moderated. To predict the behavior of such a fluid, it is necessary to propose and implement an appropriate model. Simple models like Bingham can consider the quasi-static and dynamic behavior of the MRFs, while discrete models are applied to the development and implementation of the MRF control algorithms. Thus, analytical and numerical simulation compromise the accuracy, quantity of considered phenomena, and computational cost.

Design and Implementation of an Active Vibration Control Algorithm Using Servo Actuator Control Installed in Series with a Spring-Damper

The membrane-type air spring can be used to suppress lateral vibration of a vibration isolation table. However, compared to voice coil actuators, pneumatic actuators are difficult to use for precise vibration control, because servo valves have nonlinear dynamic characteristics. Therefore, actuators, such as voice coil actuators, can be placed in parallel with air springs, allowing force-type actuators to provide additional force to the system. These actuators generate force. In the case of a ball-screw mechanism device or a linear servomotor, it is an actuator that generates displacement. These actuators are represented as serial active systems. Serial active systems are structurally simpler than parallel active systems. However, there are very few studies on vibration isolation systems using serial active systems compared to parallel active systems. As the two are different types of systems, a new control algorithm suitable for the serial active system is needed. This study proposes a system in which an actuator capable of accurately controlling displacement is connected in series with a support spring-damper. A new active vibration control algorithm for the proposed control system is also developed, which is termed the position input and position output. The proposed control algorithm uses the displacement of the system as an input and outputs the desired displacement of the actuator installed in series with the damper and spring. The proposed control algorithm increases the damping at the target frequency and reduces the response of the system. Numerical studies and experiments were conducted on the single-degree-of-freedom and multi-degree-of-freedom systems. The results show the efficacy of the proposed control system and the novel control algorithm for the vibration suppression of the lateral vibration of a vibration isolation table.