Sharif Digital Repository

The design and implementation of linear and nonlinear control methods for a three-pole active magnetic bearing (AMB) is presented in this paper. It is shown that the system has nearly linear dynamics by adding a bias to coil currents. A decentralized PID feedback law and an integral sliding mode controller are proposed and the unknown state variables of the system are estimated by the Kalman filter. The optimal gains of the linear controller are determined by the LQG technique. To evaluate the effectiveness of the proposed controllers, they are implemented on an experimental setup. The experimental results show that the proposed methods can effectively stabilize the three-pole AMB. The... 

This paper presents a new method for tuning linear controllers such as Proportional-Integrating (PI) and Proportional-Resonant (PR) structures which are frequently used in different power electronic and power system applications. Those controllers are placed within a general structure offered by the Internal Model Principle (IMP) of control theory. In this paper, the first perspective uses the well-known concept of Linear Quadratic Regulator (LQR) to address the problem as a regulation problem. Matrix Q of the LQR design is then finely adjusted in order to assure desired transient response for the system. The second perspective is based on redefining the LQR problem in order to make it... 

The averaged switch modeling approach is a powerful method for representing the behavior of a wide variety of converters through equivalent circuits. The model is not linear and it is common to perform a small signal linearization about an operating point and design a linear controller. Models obtained with such method involve considerable approximation and produce results that are limited for high performance controller designs. In this paper a piecewise affine approximation technique is introduced for modeling PWM converters. This model is much more precise in predicting the dynamic response of averaged nonlinear model comparing the linear model. This paper also presents a piecewise linear... 

Three different controllers, i.e., active controller, nonlinear controller, and active sliding mode controller are designed and examined for the synchronization of pairs of three different chaotic systems, i.e., Chen, Lü, and Lorenz. The synchronizing methods are then compared from various point of views including synchronizing error variance, convergence time, control effort, maximum and minimum values of the control signal. Our results indicate that the nonlinear controller synchronizes pairs of the different chaotic systems generally better than two other controllers according to the defined criteria. © 2006 Elsevier B.V. All rights reserved  

The design and implementation of the hybrid control method for a three-pole active magnetic bearing (AMB) is proposed in this paper. The system is inherently nonlinear and conventional nonlinear controllers are a little complicated while the proposed hybrid controller has a piecewise linear form, i.e., linear in each sub-region. A state-feedback hybrid controller is designed in this study and the unmeasurable states are estimated by an observer. The gains of the hybrid controller are obtained by the LQR method in each sub-region. To evaluate the performance, the designed controller is implemented on an experimental setup. The experimental results show that the proposed method can efficiently... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has... 

This paper first discusses dynamic characteristics of wind turbines with doubly fed induction generator (DFIG). Rotor back electromotive force (EMF) voltages in DFIG reflect the effects of stator dynamics on rotor current dynamics, and have an important role on rotor inrush current during the generator voltage dip. Compensation of these voltages can improve DFIG ride-through capability and limit the rotor current transients. It is found that the electrical dynamics of the DFIG are in nonminimum phase for certain operating conditions. Also, it is shown that the dynamics of DFIG, under compensation of rotor back EMF and grid voltages, behave as a partially linearizable system containing... 

The constitutive equation of an Euler-Bernoulli beam under the excitation of moving mass is considered. The dynamics of the uncontrolled system is governed by a linear, self-adjoint partial differential equation. A Dirac-delta function is used to describe the position of the moving mass along the beam and its inertial effects. An approximate formulation to the problem is obtained by limiting the inertial effect of the moving mass merely to the vertical component of acceleration. Having defined a "critical velocity" in terms of the fundamental period and span of the beam, it is shown that for smaller velocities, the approximate and exact approaches to the problem almost coincide. Since, the... 

The main objective of this paper is to design a fast,non-expensive and practical controller for towercranes. The controllers are designed to transfer theloads from point to point, as fast as possible, and at thesame time the load swing is kept small during thetransfer process. Moreover, variations of the systemparameters such as cable length are taken intoconsideration. It is shown how the state feedbackcontrollers along with the gain scheduling could beused for a time varying linear model with varyingparameters. For this reason, linear controllers aredesigned for a number of operating points, where theirparameters are interpolated for conditions in between.In this way, a globally nonlinear... 

Linear controllers have been widely used for controlling Active Power Filters (APFs). However, due to their limitations, a tradeoff between the bandwidth of the current control loop (CCL) and the voltage control loop (VCL) need to be made to remain stable in all conditions. This tradeoff leads to imperfect usage of the APF's capacity. Nonlinear controllers can eliminate such limitations and simultaneously remain stable in all conditions. In this paper, a new nonlinear controller for controlling the output current and the DC voltage (Vdc) of an APF is proposed. Feedback linearization method is applied on the CCL and the VCL is controlled via indirect method. In this method, an auxiliary... 

This paper presents a new method for tuning various linear controllers such as Proportional-Integral (PI), Proportional-Integral-Derivative (PID) and Proportional-Resonant (PR) structures which are frequently used in power electronics and power system applications. The linear controllers maintain a general structure defined by the Internal Model Principle (IMP) of control theory. The proposed method in this paper is twofold. The first perspective uses the well-known concept of the Linear Quadratic Regulator (LQR) to address the problem as a regulation problem. The Q matrix of the LQR design is then finely adjusted in order to assure the desired transient response for the system. The second... 

This paper presents a new controller for power system stabilizer (PSS) that, unlike the conventional linear controllers, consists of both a linear and a nonlinear part. The linear part is properly designed to improve the small-signal stability margin and the damping of the local electromechanical modes. The nonlinear part is then designed to improve transient stability margin of the system without violating the features offered by the linear controller. Both parts are designed based on a perspective which attributes the system oscillations to a Hopf bifurcation (HB) phenomenon. More specifically, the design of the nonlinear part is done through the definition of a nonlinear index that... 

This paper investigates the robustness of strong structural controllability for linear time-invariant directed networked systems with respect to structural perturbations, including edge additions and deletions. In this regard, an algorithm is presented that is initiated by endowing each node of a network with a successive set of integers. Using this algorithm, a new notion of perfect graphs associated with a network is introduced, and tight upper bounds on the number of edges that can be added to, or removed from a network, while ensuring strong structural controllability, are derived. Moreover, we obtain a characterization of critical edges with respect to edge additions and deletions;...