Master-slave Control Strategy Research Articles

Source-Storage-Load Coordinated Master-Slave Control Strategy for Islanded Microgrid Considering Load Disturbance and Communication Interruption.

When there is a sudden load disturbance in an islanded microgrid, the peer-to-peer control model requires the energy resource to maintain a margin of generation, resulting in a relatively limited regulation range, that is, voltage/frequency sometimes requires additional control to maintain stability. A "source-storage-load" coordinated master-slave control strategy is proposed in this study to address the aforementioned issues. The system voltage and frequency will be stable as long as the output frequency and voltage of the master resource are stable. Furthermore, it can fully utilize the power supply capacity of resources to support the supply-demand balance. The following tasks are included in the proposed strategy: 1) to improve the operational security in the face of load disruption, a source-storage-load coordinated control method based on the "ramping speed" ratio is proposed, which can quickly restore the balance of supply and demand; 2) to improve the communication reliability in the face of interruption, a channel planning method is proposed, which can address the communication interruption problem by constructing an internal network among source-storage-load; and 3) to improve the mode switching stability of resources subjected to external disturbance, the external disturbance suppression and stability analysis involved in the regulation process are completed using sliding-mode control and small signal model methods. Related case studies are carried out to verify the effectiveness of the proposed strategies.

A non-singular terminal sliding mode controller for a communication-based hybrid microgrid

The paper proposes a robust and effective networked control for a hybrid based islanded microgrid. Renewable energy sources with energy storage systems are linked in parallel using voltage source inverters to supply the loads in a microgrid. The master-slave control strategy is implemented. CAN and the ZigBee networks are selected to share data, where the master controller transmits the reference signals to the slave controllers in the microgrid via these two networks. As the control loop incorporates a communication network and energy storage systems, the impacts of external disturbances, parametric uncertainties, and time delay executed by the devices introduce challenges in control of voltage and current. Thereby, it is crucial to use a robust and stable control approach. Using the binary iteration algorithm, stability criteria in the form of linear matrix inequalities based on the Lyapunov-Krasovskii function are employed to derive the system's maximum allowable delay boundary. As the reliability of the communication network can be affected, a nonsingular terminal sliding mode controller is employed. The proposed robust control method was implemented in MATLAB/Simulink and the True-time 2.0 simulator and its performance were evaluated under different loads, uncertainties, disturbances, and communication impairments. Simulation results show that the desired performance i.e., maintaining the microgrid's stability with accurate voltage and current control even in unallowable delay limits is met.

Master-slave Control Strategy of Surgical Robots for Gastrointestinal Surgery

The precise construction of the master-slave control strategy is a fundamental requirement for robot-assisted surgery. In this study, we propose a master-slave control strategy for gastrointestinal surgical robots based on the natural orifice transluminal endoscopic surgery surgical robot developed by Tianjin University. The forward and inverse kinematics of the continuum mechanism at the slave manipulator are investigated. A master-slave coordinate mapping system for surgical robots is established by analyzing the kinematic characteristics of the master and slave manipulators. Additionally, an intuitive mapping algorithm and a control flowchart for the robot are developed. The proportional control and incremental control strategies tailored for natural orifice transluminal endoscopic surgery procedures are proposed based on intuitive mapping control. Finally, a master-slave trajectory tracking experiment is performed to validate the feasibility of the proposed master-slave control strategy.

Novel adaptive power distribution master–slave control strategy for a biogas–solar–wind battery islanded microgrid based on a microturbine

Novel adaptive power distribution master–slave control strategy for a biogas–solar–wind battery islanded microgrid based on a microturbine

A Passive Decomposition Based Robust Synchronous Motion Control of Multi-Motors and Experimental Verification.

Recently, with the trend of redundancy design, the importance of synchronous motion control of multiple motors has been emphasized in various fields such as automotive, construction, and industrial engineering. Therefore, this paper proposed a novel passive decomposition-based robust synchronous control strategy for a multi-motor system, guaranteeing that both the tracking error of each motor and the synchronous error between motors are ultimately and synchronously bounded, even under the presence of parametric uncertainty and unstructured external disturbance. Specifically, a passive decomposition is used to obtain the locked and shape systems from the original system, and then a sliding mode control system along with robust compensations is designed for each decomposed system to achieve the precise synchronous motion control of the n number of motors. Here, the controller for the locked system reduces the tracking errors of motors for a given desired trajectory, while the controller for the shaped system decreases the synchronous errors between motors. Furthermore, the control system is generally and conveniently formulated to adopt the arbitrary n number of motors that must track a given desired trajectory and be synchronized. Compared to other related studies, this work especially focused on increasing the robustness of the entire system using both high-order sliding mode control and two separate compensation terms for model uncertainty and unstructured external disturbance. Finally, to validate the effectiveness of the proposed synchronous control strategy, the extensive experimental studies on two/three/four-geared BLDC motors with a high dead-zone effect were conducted, and we also compared the synchronous control performance of the proposed control strategy with the other representative control approaches, a master-slave control scheme and an independent one to address the superiority of the proposed control system. Regardless of the number of motors, due to the robustness of the control system, it is found that the proposed control ensures the tracking and synchronous errors are less than 1 degree for the sine-wave trajectory while it guarantees that the errors are below 1.5 degree for the trapezoidal trajectory. This control approach can be widely and generally applied to the multiple motor control required in various engineering fields.

A Forward-Type Single-Stage Multi-Input Inverter With Series-Time-Overlapping Power Supply

A Forward type single-stage multi-input inverter with series-time-overlapping power supply is proposed. The circuit structure and topological family, energy management control strategy (EMCS), high frequency (HF) switching process analysis, the relationship between multiple duty cycles and power decoupling, common mode interference suppression between multiple inputs are fully studied. The circuit structure is composed of multi-input selection switches in series and an isolated bidirectional Forward type single input single output inverter. This topological family includes 6 circuits such as full-bridge type. A master-slave energy management SPWM compound control strategy with independent control of input source power based on input voltage feedforward and output voltage feedback is proposed. It realizes the energy management of the input source by controlling the instantaneous value of the output voltage and the output power ratio of the multiple inputs and achieves the smooth switching between the two power supply modes. The designed and developed 3kVA inverter prototype has excellent performances such as single-stage power conversion, HF electrical isolation, high conversion efficiency, small size and weight, wide duty cycle adjustment range, high output waveform quality, and strong load adaptability.

Active Gate Driver for Dynamic Current Balancing of Parallel-Connected SiC MOSFETs

In high-power applications, parallel connection of discrete silicon carbide (SiC) MOSFETs is necessary to increase the current rating. However, the unbalanced dynamic current during switching transient may cause unequal power loss and thermal distribution, which is a great challenge in parallel applications. In this paper, a dynamic current balancing method based on a new active gate driver (AGD) is proposed to improve the current sharing. The principle of the AGD is based on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">di/dt</i> feedback control and voltage controlled current source to adjust gate drive current of SiC MOSFETs. Therefore, the switching trajectory of the paralleled devices can be changed to achieve current balance. In addition, by using master-slave control strategy, the proposed AGD can be easily used for multiple paralleled devices. The double pulse tests are conducted to verify the effectiveness of the proposed AGD. For two paralleled devices, the turn-on and turn-off switching energy imbalances are reduced from 13.4% and 56.0% (12.1% and 52.9%) to 8.8% and 15.3% (8.0% and 8.8%) by the current source (current sink) circuit. For six paralleled devices, the degrees of turn-on and turn-off switching energy imbalances can be reduced from 21.8% and 16.1% to 11.8% and 7.8% by the proposed AGD. <fn fn-type="other" id="fn3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> This work was supported by Key-Area Research and Development Program of Guangdong Province under Grant 2021B0101310004, and the research program sponsored by Eaton. (<i>Corresponding author</i>: <i>Junming Zhang</i>) Y. He, X. Wang, S. Shao, and J. Zhang are with the College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China (e-mail: ; ; ; ). </fn>

An Improved Master-Slave Control Strategy for Automatic DC Voltage Control Under the Master Station Failure in MTDC System

The master-slave (MS) control is often used in multi-terminal direct current (MTDC) system due to its stable dc voltage control and precise power regulation. However, the MS switching, which aims to maintain dc voltage control under the master station failure, relies heavily on the high-speed communication between the power dispatch center and each station. Some methods in existing works are proposed to address the high communication dependence, at the cost of steady-state control performance. In this article, an improved MS control including five-state control process is proposed to realize the automatic MS switching without communication participation. Based on logic judgment, the multilayer dc voltage clamping mechanism is created to enhance the redundancy of the dc voltage control, and a reasonable dc voltage recovery process is included to eliminate the dc voltage deviation caused by the master station failure. Furthermore, the power and dc voltage hybrid controller are developed to improve the dynamic performance of each station during the MS switching. Simulation and experimental results demonstrate the effectiveness and advantages of proposed method.

Design and Performance Verification of a Novel RCM Mechanism for a Minimally Invasive Surgical Robot.

Minimally invasive surgical robots have the advantages of high positioning accuracy, good stability, and flexible operation, which can effectively improve the quality of surgery and reduce the difficulty for doctors to operate. However, in order to realize the translation of the existing RCM mechanism, it is often necessary to add a mobile unit, which is often bulky and occupies most space above the patient's body, thus causing interference to the operation. In this paper, a new type of planar RCM mechanism is proposed. Based on this mechanism, a 3-DOF robotic arm is designed, which can complete the required motion for surgery without adding a mobile unit. In this paper, the geometric model of the mechanism is first introduced, and the RCM point of the mechanism is proven during the motion process. Then, based on the establishment of the geometric model of the mechanism, a kinematics analysis of the mechanism is carried out. The singularity, the Jacobian matrix, and the kinematic performance of the mechanism are analyzed, and the working space of the mechanism is verified according to the kinematic equations. Finally, a prototype of the RCM mechanism was built, and its functionality was tested using a master-slave control strategy.

A Hybrid Master–Slave Control Strategy for Multiple Distributed Generators in Microgrid

The problem of insufficient regulation ability in isolated microgrid operations in traditional master–slave control is targeted in this research. A hybrid master–slave control strategy is proposed to operate multiple distributed generators (DGs) in a microgrid with alleviated regulation characteristics. Firstly, a virtual synchronous generator control is adopted in the master DG to provide voltage and frequency support for the system; however, the lack of participation of the slave DG control in traditional PQ droop control in the system regulation makes a master DG susceptible to any load variation. The problem is resolved by proposing an improved droop control strategy, which ensures that the slave DG has similar output droop characteristics as the master DG and thus can respond to system load disturbances alongside the master DG. Secondly, virtual coordinate transformation and virtual impedance control are introduced to realize the decoupling and precise distribution of output power of multiple DGs. Finally, a simulation and experimental platform for a multi-DGs parallel system are established to verify the effectiveness of the proposed strategy.

Multi-architecture power distribution strategy for flexible DC interconnection system considering the capacity limitation

The flexible DC interconnection system, which cascades and unitedly controls several converter stations, can effectively improve the new energy consumption and significantly increase the power quality, thus has been widely used in the power grid. This interconnection system generally uses master–slave control strategy, where chooses one station as the master station to ensure the direct-side voltage’s stability and maintain the input and output power balance. However, in some emergency cases, the input or output power can increase to a huge value that even exceeds the capacity of the master station, which not only threatens the safety of the master station but also leads to power imbalance and abnormal fluctuation of the direct-side voltage. Therefore, to avoid the capacity exceedance of the master station, a multi-architecture power distribution strategy is proposed in this study, which sufficiently considers the capacity limitation in the system architecture and innovatively prioritizes the capacity factor in the control strategy of the master station. Furthermore, the proposed strategy also fully considers cases where the system contains different types of slave stations, such as the station with redundant power and the station that can support bidirectional power flow. The strategy then optimizes the power distribution and adjusts the power flow based on the system’s different architectures. The reliability and effectiveness of the proposed strategy are finally verified by simulation.

Single-Stage Multi-Input Buck Type High-Frequency Link's Inverters With Multiwinding and Time-Sharing Power Supply

A circuit structure, topological family, and unipolar phase-shift SPWM master-slave power distribution energy management control strategy (EMCS) of the single-stage Buck type multi-input high-frequency (HF) link's inverters with multiwinding time-sharing power supply are proposed in this article, in order to reduce the power conversion stage, volume and weight, and increase conversion efficiency and reliability. The key technologies of this kind of inverter, such as circuit structure and topological family, EMCS, power supply mode (PSM), and steady-state principle characteristics, are deeply studied. The circuit structure is composed of multiple isolated HF inverting bridges, a HF transformer with multi-input single-output, a cycloconverter and an output <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LC</i> filter. The EMCS is to generate the bipolar tristate multilevel SPWM waves by phase-shift between the right arm and the left arm of multiple HF inverting bridges; the cycloconverter demodulates it into the unipolar tristate multilevel SPWM wave, and performs zero voltage commutation. The experimental results of the designed and developed 1kVA multi-input inverter prototype have shown it has the advantages of single-stage power conversion, HF electrical isolation, high conversion efficiency, small volume and weight, high reliability, stable output voltage, multi-input source master-slave power distribution, and smooth switching of different PSMs.

Research on multi-cylinder synchronous control system of multi-directional forging hydraulic press

A master-slave synchronization control strategy based on RBF network adaptive sliding mode control is proposed to solve the problem of lack of effective control strategy and control accuracy in the process of synchronous motion of three horizontal cylinders of multi-directional die forging hydraulic press in VL ball cage forming process. According to the high-order nonlinear mathematical model of the single-cylinder electro-hydraulic servo system, the RBF network adaptive sliding mode controller is designed. The joint simulation model is established by using AMEsim and MATLAB to solve the tracking accuracy and synchronous control accuracy of the system, and the control effect is verified by comparing with the conventional PID control. The simulation results show that the RBF network adaptive sliding mode controller has strong robustness, and the three horizontal cylinder displacement synchronization controllers of the multi-directional die forging press designed in this paper have good synchronization performance.

Master-slave synchronous control method for attenuating dual mode electromechanical transmission system torsional vibration

The high-power electromechanical transmission (EMT) system is a typical dual-mode hybrid power transmission system. The torque fluctuation of internal combustion engine causes serious shock and vibration problems of EMT. Suppressing torsional vibration based on high dynamic motor torque regulation is an important way to improve the working life and stability of EMT system. First, a lbased on the lumped parameter linear dynamic model,the torsional vibration characteristics are analyzed. Second, a fluctuating speed estimation method is proposed based on the uniformly accelerated motion model and linear regression, and a digital high pass filter is designed. Then, a master-slave coupling active torsional vibration control strategy is proposed, and a PD control algorithm based on speed feedback is designed. The variation rules of control parameters is analyzed. Finally, the control effect is verified by experiments. The results show that the lever coefficient K ab and differential coefficient K d of master-slave control can change the natural frequency of torsional vibration of the system, thus significantly changing the vibration response of the system. Selecting appropriate control parameters can achieve peak clipping of EMT torsional resonance.

Development of a Novel Dual Servo Magnetic Levitation Stage

The main objective of this paper is to propose, design, and control a novel dual servo magnetic levitation stage which is precise and vacuum compatible. The dual servo mechanism, comprising a coarse stage and a fine stage, was applied to a magnetic levitation stage system for the first time. The dual servo stage achieves high precision and a long stroke at the same time. The fine stage, which comprises voice coil motors, achieves high-precision motion by overcoming the limit of the coarse stage, the form of which is a planar motor. The planar motor was mathematically modeled and analyzed with respect to the main design parameters, after which the fine stage was optimally designed to be driven by high force. Both stages including a common heat exchanger were manufactured, and the heat exchanger cools down the heat given off from the planar motor and voice coil motors. The position measuring system consisted of laser interferometers and capacitive sensors, and the integrated dual servo stage was controlled with a master–slave control scheme. The experimental results showed a precision of 10 nm, thus confirming the suitability of the developed magnetic levitation stage for a high-precision fabrication process such as wafer lithography.

Multilevel Dynamic Master-Slave Control Strategy for Resilience Enhancement of Networked Microgrids

Conventional power management methods of networked microgrids (NMGs) are limited to the failure of pinned communication terminals and heavy communication burdens. This paper proposes a multilevel dynamic master-slave control strategy via two-level dynamic leaders to realize the resilience enhanced power management of NMGs. The first level dynamic leader with considerations of distributed energy resources (DERs) feature is selected to guide the output of DERs and achieve the power management within individual microgrid (MG). Subsequently, the secondary level leader considering each MG feature is selected among the bidirectional interlinking converters (BICs), whose signals would be shared with other BICs by communication to achieve power management among MGs. Moreover, the local weight selecting method (LWSM) is proposed to automatically select the two-level dynamic leaders according to the real-time system operation state. Compared with conventional methods, the communication among MGs is essentially realized through the dynamic DER leaders instead of pinned ones. Therefore, unreliability issues in the event of pinned terminal outage and converters’ communication failure can be fully addressed and the communication bus within each only needs to transmit one DER’s signals. The proposed strategy can be also extended to NMGs with various topologies and provide the “plug and play” capabilities of DERs or MGs. Finally, the effectiveness and feasibility of the proposed strategy are verified through the PSCAD/EMTDC platform.

Techno-Economic Model-Based Capacity Design Approach for Railway Power Conditioner-Based Energy Storage System

The railway power conditioner-based energy storage system (RPC-based ESS) is a promising technology to improve the regenerative braking energy (RBE) utilization and power quality of ac direct-fed (25 kV) and AT-fed (2 × 25 kV) railway power systems. However, despite its benefits from the technical perspective, economic viability must be concerned in industrial applications. The capacity is one of the critical issues affecting ESS performance in technical and economic aspects. Therefore, this paper presents a comprehensive approach to designing the capacity for the RPC-based ESS by considering multiple objectives, including the RBE utilization rate, power quality standard, and net lifetime benefit. The proposed approach develops a technical-economic model for the RPC-based ESS based on variables such as the system capacity for RBE utilization and power quality improvement, lifetime cost, and electric charge-based benefits. Moreover, the master-slave control strategy is employed to control the RPC-based ESS to implement the capacity design objectives. Finally, the correctness and effectiveness of the proposed method are validated by sufficient tests based on field load data of a Chinese traction substation.

Synchronization implementation of two eccentric rotors actuated with swung and fixed motors

In a vibrating screen machinery, two eccentric rotors (ERs) are actuated by swung and fixed motors. When the working efficiency of vibrating screens is the highest, the motion trajectory of the vibrating body is an ellipse. However, to implement elliptical trajectory, the ideal synchronization between the two ERs must be needed. Hence, the self-synchronous theory and synchronous control method for the vibrating screen machinery are explored. First, the mathematic model of the vibration system is deduced based on Lagrange equation; then, the synchronous condition and stability criterion are inferred from averaged small parameter method. In addition, the synchronization controllers, related to speed and phase of the ERs, are designed by with sliding mode control (SMC), and the master–slave control strategy is applied to design the control structure. Meanwhile, the stability performance of the controllers is demonstrated by Lyapunov theory and Hurwitz condition. Finally, computer simulations are implemented to validate the theoretical reliability of self-synchronization and synchronous control. The simulation results show that the system can be self-synchronized, but the ideal synchronization is difficult to achieve when the two ERs are self-synchronously rotated, which leads to non-ideal dynamic characteristics; nevertheless, the ideal synchronization can be implemented by the proposed synchronous control method.

A novel closed-form solutions method based on the product of exponential model for the minimally invasive surgical robot

PurposeThis study aims to represent a novel closed-form solutions method based on the product of the exponential model to solve the inverse kinematics of a robotic manipulator. In addition, this method is applied to master–slave control of the minimally invasive surgical (MIS) robot.Design/methodology/approachFor MIS robotic inverse kinematics, the closed-form solutions based on the product of the exponential model of manipulators are divided into the RRR and RRT subproblems. Geometric and algebraic constraints are used as preconditions to solve two subproblems. In addition, several important coordinate systems are established on the surgical robot and master–slave mapping strategies are illustrated in detail. Finally, the MIS robot can realize master–slave control by combining closed-form solutions and master–slave mapping strategy.FindingsThe simulation of the instrument manipulator based on the RRR and RRT subproblems is executed to verify the correctness of the proposed closed-form solutions. The fact that the accuracy of the closed-form solutions is better than that of the compensation method is validated by the contrastive linear trajectory experiment, and the average and the maximum tracking errors are 0.1388 mm and 0.3047 mm, respectively. In the animal experiment, the average and maximum tracking error of the left instrument manipulator are 0.2192 mm and 0.4987 mm, whereas the average and maximum tracking error of the right instrument manipulator are 0.1885 mm and 0.6933 mm. The successful completion of the animal experiment comprehensively demonstrated the feasibility and reliability of the master–slave control strategy based on the novel closed-form solutions.Originality/valueThe proposed closed-form solutions are error-free in theory. The master–slave control strategy is not affected by calculation error when the closed-form solutions are used in the surgical robot. And the accuracy and reliability of the master–slave control strategy are greatly improved.

Study on Stability of Hand-in-hand Structure of Multi-terminal DC Hydrogen Production System

Multi-terminal DC (MTDC) hydrogen production systems are becoming one of the important forms of power distribution systems with the increasing growth of distributed renewable energy sources (such as PV and wind turbines), energy storage devices, and DC loads. To explore the key factors in stability analysis, the circuit diagram of MTDC hydrogen production system in hand-in-hand structure composed of voltage source converters (VSCs), DC lines, renewable energy and DC hydrogen production load was established in this paper. The overall state space model of the system was put forward, taking the master-slave converter control strategy into consideration. Then, the small-signal stability analysis of the MTDC hydrogen production system was carried out by comparing and analyzing the moving trajectories of the dominant eigenvalues in different system parameters. The key factor affecting the stability of the system such as DC capacitance of the converter and the electrolyzer power in the DC bus are determined. On this basis, a simulation model of the low-voltage MTDC hydrogen production system was built based on MATLAB/Simulink to verify the correctness of the theoretical analysis.