Delay Compensation Method Research Articles

Grid-Current-Feedback Control for LCL-Filtered Grid Converters With Enhanced Stability

This paper proposes a second-order-generalized-integrator (SOGI)-based time-delay compensation method for extending the stable region of a dual-loop grid-current-feedback (GCF) control system. According to the analysis, stable region of the dual-loop system should be designed below a certain critical frequency, before time-delay compensation method can be applied. To always meet the requirement, relationship between single-loop converter-current-feedback and dual-loop GCF control is clarified, before a robust inner-loop gain for the dual-loop GCF scheme is determined. Enforcing this gain allows the converter to remain in its stable region, regardless of how its LCL -filter parameters and grid impedance vary. The SOGI-based delay compensation method can then be applied for widening the stable region of the dual-loop GCF scheme, as proven through s-domain Bode diagrams and z -domain root loci. These theoretical proofs are eventually validated by experimental results obtained in the laboratory.

Improving the performance of interferometric imaging through the use of disturbance feedforward.

In this paper, we present a disturbance compensation technique to improve the performance of interferometric imaging for extremely large ground-based telescopes, e.g., the Large Binocular Telescope (LBT), which serves as the application example in this contribution. The most significant disturbance sources at ground-based telescopes are wind-induced mechanical vibrations in the range of 8-60 Hz. Traditionally, their optical effect is eliminated by feedback systems, such as the adaptive optics control loop combined with a fringe tracking system within the interferometric instrument. In this paper, accelerometers are used to measure the vibrations. These measurements are used to estimate the motion of the mirrors, i.e., tip, tilt and piston, with a dynamic estimator. Additional delay compensation methods are presented to cancel sensor network delays and actuator input delays, improving the estimation result even more, particularly at higher frequencies. Because various instruments benefit from the implementation of telescope vibration mitigation, the estimator is implemented as a separate, independent software on the telescope, publishing the estimated values via multicast on the telescope's ethernet. Every client capable of using and correcting the estimated disturbances can subscribe and use these values in a feedforward for its compensation device, e.g., the deformable mirror, the piston mirror of LINC-NIRVANA, or the fast path length corrector of the Large Binocular Telescope Interferometer. This easy-to-use approach eventually leveraged the presented technology for interferometric use at the LBT and now significantly improves the sky coverage, performance, and operational robustness of interferometric imaging on a regular basis.

Real-time phase delay compensation of PGC demodulation in sinusoidal phase-modulation interferometer for nanometer displacement measurement.

As the phase delay between the carrier component of the detected interference signal and the carrier has adverse effect for phase generated carrier (PGC) demodulation, it is essential to compensate the phase delay to improve the accuracy of precision displacement measurement in sinusoidal phase-modulation interferometer (SPMI). In this paper, a real-time phase delay compensation method is proposed by regulating a compensating phase introduced to the carrier to maximize the output of the low pass filter so as to make the carrier synchronize with the interference signal. The influence of phase delay for PGC demodulation is analyzed and the method for real-time phase delay compensation is described in detail. The simulation of the method was performed to verify the validity of the phase delay compensation algorithm. A SPMI using an EOM was constructed and several comparative experiments were carried out to demonstrate the feasibility of the proposed method. The experimental results show that the phase delay can be compensated accurately in real time, and nanometer accuracy is achieved for precision displacement measurement.

Model Predictive Control for Three-Phase Four-Leg Grid-Tied Inverters

In order to improve the quality of the power injected into a grid, this paper presents a model predictive control strategy for three-phase four-leg grid-tied inverters. For the convenience of optimization, the discrete-time model of the inverter in which duty ratios are modeled as continuous control variables is investigated. A current tracking error oriented cost function is employed as a criterion to optimize duty ratios of the inverters. In order to eliminate the effects of sampling delay, a model predictive control with delay compensation method (MPC-DC) is proposed. Because there is a large amount of calculations in implementing predictive control algorithm, a double-CPU, namely FPGA plus DSP controller, is employed to implement parallel calculation, so as to reduce the computation time. Simulation and experimental results demonstrate the effectiveness of the proposed method.

A Time Delay Compensation Method Based on Area Equivalence For Active Damping of an <italic>LCL</italic> -Type Converter

Control of the LCL -type three-phase grid-connected converter is difficult due to high resonance peak of the LCL filter. Active damping is the state-of-the-art solution to this problem, but the damping performance will be affected by the inherent time delay of digital control, especially for high-power low switching frequency applications. Based on a discrete-time stability analysis of an LCL -type converter with capacitor-current-feedback active damping, a simple and effective time delay compensation method, which is based on area equalization concept, is proposed. The method can reduce the negative impact of the computation delay significantly. It has the potential to serve as a general solution to time delay compensation of a digitally controlled PWM converter. The validity of the proposed method is proved by experimental results.

Design and implementation of a modified communication disturbance observer for teleoperation systems

In this paper, a novel structure for a communication disturbance observer in teleoperation systems is proposed to achieve robust stability. A time delay compensation method based on the concept of network disturbance and a communication disturbance observer (CDOB) has been proposed in past research. Unlike model-based approaches, it works without a time delay model. Therefore, it can be implemented in teleoperation systems with unknown and time-varying delay. However, it has been observed that the system model errors and external disturbances seriously affect the steady-state characteristics. Hence, in this paper, to achieve robustness against disturbance and model uncertainty, the structure of the conventional CDOB is modified and a new structure for the CDOB in teleoperation systems is proposed, which uses the slave's delayed torque instead of its delayed position for time delay compensation. The desired transient response characteristic is achieved by designing the controller parameters. The time delay in the communication channel has been simulated by PCs in past studies, but in this paper, by implementing the communication channel through the TCP/IP protocol in the experimental setup, the effectiveness of the proposed structure is studied in the presence of real time delay and compared with the Smith predictor, the conventional CDOB, and other structures of CDOBs.

Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers

This paper investigates the control problem for a class of teleoperation systems with communication delays. The network-induced delays are usually inevitable in teleoperation systems, and may be time varying and unpredictable. Since the conventional Smith predictor is only useful for fixed delays, a novel delay compensation and controller design method is proposed in this paper. The proposed method combines a disturbance rejection controller and a communication disturbance observer (CDOB). Simulations are provided to show the effectiveness and superiority of the proposed delay compensation and controller design method.

Time calibration of thermal rolling shutter infrared cameras

The working principle of nearly all uncooled microbolometer thermal imaging systems is based on the rolling shutter principle. This results in time delays between rows giving rise to distorted and blurred images which are difficult to correlate with, for example instantaneous numerical simulation results for nondestructive evaluation. Until today high-end and high-cost thermal cameras need to be used for instantaneous measurements. Furthermore, quantitative defect evaluation on average conductive materials is difficult to perform as a result of the rolling shutter blur of the uncooled cameras. In this contribution, a time delay compensation method is designed. The developed algorithm is described and a measurement routine is elaborated to measure the inter- and intra-frame delays between two pixels. Finally, an artificial global shutter image sequence is developed using linear interpolation between the original fluctuating frames. We will show that by applying our proposed method, the intra-frame delay can be predicted and compensated with an accuracy of 16μs. Besides, there is only made use of low-cost equipment to provide a straight-forward methodology which makes it applicable for the further integration of low-cost microbolometers in industry. This means that we have made the application of low-cost microbolometers feasible for instantaneous measurements.

A 10.2 mW multi-mode continuous-time ΔΣ ADC with 70–87 dB DR and 0.7–10 MHz bandwidth for TD-SCDMA and LTE digital receivers

This paper presents a low power and area-efficient 3rd-order continuous-time delta-sigma (CT ΔΣ) modulator for LTE/TD-SCDMA digital receivers. In the proposed modulator, the integrators' coefficients are programmable to meet all LTE and TD-SCDMA signal bandwidths and dynamic range requirements. Moreover, to meet both the high performance and low-cost requirements, the proposed analog-to-digital converter (ADC) adopts: a low-cost excess loop delay compensation method, a non-return-to-zero feedback digital-to-analog converter (DAC) which is clocked by low-noise LC phase lock loop, an on-chip tuning scheme to reduce sensitivity to bandwidth variations, and dynamic element matching 9-level DACs. The CT ΔΣ modulator is designed and fabricated in a 0.13 μm 1-poly 6-metal standard CMOS technology and occupies an active area of 0.20 mm2. For all signal bandwidths of LTE/TD-SCDMA standards, the proposed ADC achieves 70---87 dB dynamic range, and 66---84 dB peak SNDR with 8.4---10.2 mW power consumption under 1.5 V power supply.

A SNR-Enhanced Mutual-Capacitive Touch-Sensor ROIC Using an Averaging With Three Specific TX Frequencies, a Noise Memory, and a Compact Delay Compensation Circuit

To enhance the signal-to-noise ratio of a mutual-capacitive touch-sensor, three methods are used to implement read-out integrated circuit (ROIC); an averaging method with three specific transmitter frequencies of ( $n+0.5$ ) times the frequency of a gate driving signal (GCLK) of LCD with an integer $n$ , a noise memory method that eliminates the dc and low frequency noise by subtracting the noise data from the measured data, and a compact delay compensation method. A digital dual-loop phase-locked-loop generates the three specific frequencies automatically from GCLK. The proposed ROIC applied to a $14\times 16$ touch-sensor panel on a 7.9-in LCD achieves the SNR of 52.9 dB with the frame rate of 367 Hz. The ROIC chip with a 0.35- $\mu \text{m}$ CMOS process takes an area of 5.64 mm $^{{\mathrm {2}}}$ and consumes power of 29.7 mW.

A comparative study and unification of two methods for controlling dynamically substructured systems

SummaryThis paper addresses the problem of advanced testing of systems via the principle of dynamic substructuring. Use is made of the hybrid simulation (HS) scheme framework to develop a new method of synthesis for the dynamically substructured system (DSS) scheme of Stoten and Hyde. Principal reasons for doing this are (i) to improve upon the original method of DSS synthesis by adopting the more intuitive framework of HS and (ii) to enable the amalgamation of HS and DSS into a unified substructured system (USS) scheme, so that the significant advantages of DSS can be incorporated into an existing HS scheme as a straightforward retrofit. Having established the common framework for HS/DSS, the paper also illustrates, by way of an example, compensator/controller synthesis for the two schemes, together with their advantages and disadvantages. In doing this, both schemes are retained in their basic forms, that is, there are no additional control embellishments used in this work, such as delay compensation, adaptive control, or other advanced control methods. In order to maintain as much transparency as possible, use is made of well‐known classical control techniques. Common problems associated with the substructure testing technique are also investigated, including the effects of physical parameter uncertainty, pure delays in signals, and a ‘split‐mass’ in the substructure formulation. It is shown that, although the new formulation of controlled DSS requires more design effort than compensated‐HS, the advantages of DSS in terms of stability and robustness significantly outweigh this small disadvantage at the design stage. Copyright © 2016 John Wiley & Sons, Ltd.

Comparison of delay compensation methods for real-time hybrid simulation using frequency-domain evaluation index

The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenarios, however, needs to be quantitatively evaluated. In this study, four compensation methods (i.e., the polynomial extrapolation, the linear acceleration extrapolation, the inverse compensation and the adaptive inverse compensation) are selected and compared experimentally using a frequency evaluation index (FEI) method. The effectiveness of the FEI method is first verified through comparison with the discrete transfer function approach for compensation methods assuming constant delay. Incomparable advantage is further demonstrated for the FEI method when applied to adaptive compensation methods, where the discrete transfer function approach is difficult to implement. Both numerical simulation and laboratory tests with predefined displacements are conducted using sinusoidal signals and random signals as inputs. Findings from numerical simulation and experimental results demonstrate that the FEI method is an efficient and effective approach to compare the performance of different compensation methods, especially for those requiring adaptation of compensation parameters.

Simultaneous Query for Wireless Sensor Networks: A Power Based Solution

We study the problem of supporting simultaneous query in WSNs. For such networks, the network efficiency can be significantly improved if the poller can obtain information via a simultaneous query. Two fundamental cases of such queries are studied in this paper: counting and identifying active neighboring nodes. We propose two mechanisms, Power based counting (Poc) and Power based identification (Poid), which achieve the goals by allowing neighbors to respond simultaneously to a poller. A key observation that motivates our design is that the power of a superposed signal increases with the number of component signals under the condition that the component signals are synchronized precisely. However, such high precision of synchronization is rather difficult to achieve in WSNs. To address this challenge, we design delicate delay compensation methods to reduce the phase offset of each component signal. Moreover, we propose a novel probabilistic estimation technique to overcome the hardware limitations on the observed received power. Poid currently works only in sparse networks though, we discuss and analyze the time complexity of applying Poid in dense networks. Experimental results show that the average accuracy of Poc and Poid is above 95 and 91 percent, respectively. In addition, our methods achieve substantially lower energy consumption and estimation delay compared with the state-of-the-art solutions.

Experimental Investigation on a Hybrid Series Active Power Compensator to Improve Power Quality of Typical Households

In this paper, a transformerless hybrid series active filter using a sliding-mode control algorithm and a notch harmonic detection technique are implemented on a single-phase distribution feeder. This method provides compensation for source current harmonics coming from a voltage fed type of nonlinear load (VSC) and reactive power regulation of a residential consumer. The realized active power filter enhances the power quality while cleaning the point of common coupling (PCC) from possible voltage distortions, sags, and swells initiated through the grid. Furthermore, to overcome drawbacks of real-time control delay, a computational delay compensation method, which accurately generates reference voltages, is proposed. Based on an improved compensation strategy, while the grid current remains clean even with a small compensation gain, voltage disturbances initiated by the power system are obstructed by the compensator, and the PCC became free of voltage harmonics and protected from sag and swell. Simulation and experimental results carried on a 1.6-kVA prototype are presented and discussed.

Compensation method of the excess loop delay in continuous‐time delta‐sigma analog‐to‐digital converters based on model matching approach

Continuous-time (CT) delta-sigma (Δ∑) analog-to-digital converters (ADCs) have one important constrain, namely the excess loop delay. Most excess loop delay compensation methods need to know the exact value of the excess loop delay in advance. However, the value of the excess loop delay is a uniformly distributed random variable. To improve system performance with the same loop filter, a new compensation algorithm for the excess loop delay of CT Δ∑ ADCs based on the model matching method is presented in this study. Compared with previous compensation methods, the model matching algorithm is more practical because the value of the excess loop delay varies randomly every clock period. It is shown through simulation that a mean value based algorithm can improve the SQNR performance of CT Δ∑ ADCs for the most probable values of the excess loop delay.

Dynamic Doppler Frequency Shift Errors: Measurement, Characterization, and Compensation

Positioning calibration under dynamic conditions is becoming increasingly of interest for high precision fields, such as additive manufacturing and semiconductor lithography. Heterodyne interferometry is often used to calibrate a stage’s position because interferometry has a high dynamic range and direct traceability to the meter. When using heterodyne interferometry, filtering is routinely performed to process and determine the measured phase change, which is proportional to the displacement from one target location to another. The filtering in the signal processing introduces a phase delay dependent on the detection frequency, which leads to displacement errors when target velocity is non-constant as is the case in dynamic calibrations. This paper presents a phase delay compensation method by measuring instantaneous detection frequency and solving for the corresponding phase delay in a field-programmable gate array (FPGA) in real time. The FPGA hardware-in-the-loop simulation shows that this method can significantly decrease the displacement error from ±100’s nm to ±3 nm in dynamic cases and it will still keep subnanometer resolution for quasi-static calibrations.

Design and Evaluation of Digital Baseband Converter Sub-channel Delay Compensation Method on Bandwidth Synthesis

The effect of sub-channel delay on bandwidth synthesis is investigated to eliminate the “phase step” phenomenon in bandwidth synthesis during the test of CDBE (Chinese Digital Backend). Through formula derivation, we realize that sub-channel delay may cause phase discontinuity between different sub-channels. Theoretical analysis shows that sub-channel delay can induce bandwidth synthesis error in group delay measurement of the linear system. Furthermore, in the differential delay measurement between two stations, bandwidth synthesis error may occur when the LO (Local Oscillator) frequency differences of corresponding sub-channels are not identical. Error-free conditions are discussed under different applications. The phase errors among different sub-channels can be removed manually. However, the most effective way is the compensation of sub-channel delay. A sub-channel delay calculation method based on Modelsim is proposed. The compensation method is detailed. Simulation and field experiments are presented to verify our approach.

Time delay compensation method for tip-tilt control in adaptive optics system.

The time delay engendered by wavefront sampling and data processing inevitability exists in almost all the wavefront sensor (WFS) based adaptive optics (AO) systems. Also, when WFS is used for tip-tilt aberration detection, the time delay significantly reduces the tip-tilt correction performance of the AO system. In this paper, we focus on researching time delay in a tip-tilt (TT) control system and introduce a predicted signal compensation method (PSCM) to compensate the time delay by modifying the WFS detected signals. Based on a precise model of a TT dynamic control system, the detection delay of TT corrections included in a WFS detected signal can be compensated. Experiments are conducted in the lab: the pure integrator (I), proportional and integral (PI) wavefront TT controllers, and these controllers with PSCM are compared to test the efficiency of the PSCM for TT corrections. For the PI controller, the rejection bandwidth increases from 52 to 62Hz by using PCSM; meanwhile, the open-loop phase margin increases from 45 to 60deg. In addition, astronomical observation results are also given based on the PI wavefront TT controller. The PSCM improves the Strehl ratio by a factor of 1.3. The new method is proven to improve the AO system closed-loop performance not only for increasing the closed-loop rejection bandwidth but also in favor of the error attenuation at low frequency. Furthermore, the method does not introduce more noise to the system.

Experimental study of wireless structural vibration control considering different time delays

With the development of wireless communication technology, active structural vibration control based on a wireless sensor network has tended to replace the traditional wired control method. However, the problem of time delay in a wireless control system is inevitable and requires serious attention. In this study, a wireless active vibration control scheme consisting of a cantilever beam with a piezoelectric actuator is proposed and implemented. Experimental results indicate that wireless control gives good control performance; however, because of the influence of time delay, the performance of wireless control is slightly worse than that of wired control. Therefore, a novel method for time delay compensation is presented in this study to resolve this problem. This approach takes advantage of the finite difference method to extend the state space of the cantilever beam. Additional time delay states are used to form the extended state space model for time delay compensation. Simulation and experimental results demonstrate that this method can effectively compensate for time delay and enables the wireless control system to exhibit excellent control performance that can be favorably compared with that of wired control.

官能評価に基づく機能モードごとの通信遅延補償設計法

官能評価に基づく機能モードごとの通信遅延補償設計法