A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to...A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
To reach an acceptable controller strategy and tuning it is important to state what is considered “good”. To do so one can set up a closed-loop specification or formulate an optimal control problem. It is an interes...To reach an acceptable controller strategy and tuning it is important to state what is considered “good”. To do so one can set up a closed-loop specification or formulate an optimal control problem. It is an interesting question, if the two can be equivalent or not. In this article two controller strategies, model predictive control (MPC) and constrained direct inversion (CDI) are compared in controlling the model of a pilot-scale water heater. Simulation experiments show that the two methods are similar, if the manipulator movements are not punished much in MPC, and they act practically the same when a filtered reference signal is applied. Even if the same model is used, it is still important to choose tuning parameters appropriately to achieve similar results in both strategies. CDI uses an analytic approach, while MPC uses numeric optimization, thus CDI is more computationally efficient, and can be used either as a standalone controller or to supplement numeric optimization.展开更多
Denurcioslu et al. presented a method named continuous-time general-ized predictive control(CGPC) in 1991, which is obtained on the basis of the mini-mization of a quadratic cost function. However, In engineering prac...Denurcioslu et al. presented a method named continuous-time general-ized predictive control(CGPC) in 1991, which is obtained on the basis of the mini-mization of a quadratic cost function. However, In engineering practice, the behav-ior of a control system is generally evaluated by observing its dynamic response con-cerned mainly with the clused-loup poles uf the system. A CGPC algorithm withclosed-loop pole-placement is propused in this paper which advances the results byDemircioglu et al.展开更多
In order to reach a compromise between fast response control and torques matching control in double turboshaft engines,research on nonlinear model predictive control for turboshaft engines based on double engines torq...In order to reach a compromise between fast response control and torques matching control in double turboshaft engines,research on nonlinear model predictive control for turboshaft engines based on double engines torques matching is conducted.Meanwhile,a Nonlinear Model Predictive Control(NMPC)method is proposed,which combines the control index of the power turbine speed with torques matching of double engines creatively.In addition to the control index,the difference of output torques between each engine is also incorporated in the objective function as a penalty term to ensure constant speed control and short torques matching time.Simulation results demonstrate that relative to unilateral torques matching,the settling time of the bidirectional matching method can be reduced by nearly 30.8%.Nevertheless,compared with the bidirectional torques matching method under the cascade PID controller,the NMPC method can decrease the overshoot of the power turbine speed by 65%and reduce the matching time by 15.5%synchronously.Besides fast response control of turboshaft engines,fast torques matching control of double engines is accomplished as well.展开更多
Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop...Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.展开更多
双母管式机组较为广泛地应用于热电联产机组中,但由于多炉多机和2根大容量母管互相影响,导致热电负荷跟踪不及时,母管压力控制自动化水平较低。为此,针对双母管系统的非线性、强耦合、大迟延特性,设计了基于广义扩张状态观测器的多模型...双母管式机组较为广泛地应用于热电联产机组中,但由于多炉多机和2根大容量母管互相影响,导致热电负荷跟踪不及时,母管压力控制自动化水平较低。为此,针对双母管系统的非线性、强耦合、大迟延特性,设计了基于广义扩张状态观测器的多模型预测控制(generalized extended state observer based muti-model predictive control,GESOMMPC)方法。首先,建立了基于间隙度量(gap-metric)的多模型控制对象用于逼近非线性系统;其次,设计了扩张状态观测器估计系统耦合的集总扰动,并作为前馈信号输入到预测控制器中;最后,设计基于扰动前馈的多模型预测控制器实现对双母管系统的控制。实验结果表明,相对于PID方法,所提方法在满足电热负荷的同时,可以在允许范围内保持母管压力稳定,且动态偏差更小,过渡过程时间更短。展开更多
The traditional PI controller for a hybrid energy storage system(HESS)has certain drawbacks,such as difficult tuning of the controller parameters and the additional filters to allocate high-and low-frequency power flu...The traditional PI controller for a hybrid energy storage system(HESS)has certain drawbacks,such as difficult tuning of the controller parameters and the additional filters to allocate high-and low-frequency power fluctuations.This paper proposes a model predictive control(MPC)method to control three-level bidirectional DC/DC converters for grid-connections to a HESS in a DC microgrid.First,the mathematical model of a HESS consisting of a battery and ultra capacitor(UC)is established and the neutral point voltage imbalance of a three-level converter is solved by analyzing the operating modes of the converter.Secondly,for the control of the grid-connected converters,an MPC method is proposed for calculating steady-state reference values in the outer layer and the dynamic rolling optimization in the inner layer.The outer layer ensures the voltage regulation and establishes the current predictive model,while the inner layer,using the model predictive current control,makes the current follow the predictive value,thus reducing the system current ripple.This cascaded topology has two independent controllers and is free of filters to realize the high-and low-frequency power allocation for a HESS.Therefore,it allows two types of energy storage devices to independently regulate the voltage and realizes the power allocation of the battery and UC.Finally,simulation studies are conducted in PSCAD/EMTDC,and the effectiveness of the proposed HESS control strategy is verified in a case,such as a controller comparison and fault scenario.展开更多
针对新型多通道双晶单色器系统易受晶体片平行度误差影响导致性能失效的问题,提出一种迭代学习模型预测控制器(Iterative Learning Model Predictive Control,ILMPC)策略。该策略将主-从轴晶体片平行度误差转换为从轴电机的重复参考运...针对新型多通道双晶单色器系统易受晶体片平行度误差影响导致性能失效的问题,提出一种迭代学习模型预测控制器(Iterative Learning Model Predictive Control,ILMPC)策略。该策略将主-从轴晶体片平行度误差转换为从轴电机的重复参考运动轨迹,采用ILC迭代消除周期性机械安装误差,再利用MPC对单个转动周期内从轴电机的随机性误差进行抑制。最终在单轴电机运动实验平台上对该策略进行轨迹跟踪验证。实验结果表明,在晶体片有效工作区间内从轴电机的位置跟踪误差达到1.44″,相比于PID控制、MPC、DOB+MPC以及ILC+PID组合控制器策略,分别降低了99.64%,98.52%,98.26%和73.33%。研究结果验证了所提出的ILMPC策略在补偿晶体片平行度误差和提高平行对准精度方面的有效性,该策略对于改善新型多通道双晶单色器性能具有较好的实际应用价值。展开更多
基金National Natural Science Foundation of China(No.61463025)Opening Foundation of Key Laboratory of Opto-technology and Intelligent Control(Lanzhou Jiaotong University),Ministry of Education(No.KFKT2018-8)
文摘A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.
文摘To reach an acceptable controller strategy and tuning it is important to state what is considered “good”. To do so one can set up a closed-loop specification or formulate an optimal control problem. It is an interesting question, if the two can be equivalent or not. In this article two controller strategies, model predictive control (MPC) and constrained direct inversion (CDI) are compared in controlling the model of a pilot-scale water heater. Simulation experiments show that the two methods are similar, if the manipulator movements are not punished much in MPC, and they act practically the same when a filtered reference signal is applied. Even if the same model is used, it is still important to choose tuning parameters appropriately to achieve similar results in both strategies. CDI uses an analytic approach, while MPC uses numeric optimization, thus CDI is more computationally efficient, and can be used either as a standalone controller or to supplement numeric optimization.
文摘Denurcioslu et al. presented a method named continuous-time general-ized predictive control(CGPC) in 1991, which is obtained on the basis of the mini-mization of a quadratic cost function. However, In engineering practice, the behav-ior of a control system is generally evaluated by observing its dynamic response con-cerned mainly with the clused-loup poles uf the system. A CGPC algorithm withclosed-loop pole-placement is propused in this paper which advances the results byDemircioglu et al.
基金co-supported by the National Natural Science Foundation of China(No.51576096)Qing Lan and 333 Project and Research Funds for Central Universities(No.NF2018003).
文摘In order to reach a compromise between fast response control and torques matching control in double turboshaft engines,research on nonlinear model predictive control for turboshaft engines based on double engines torques matching is conducted.Meanwhile,a Nonlinear Model Predictive Control(NMPC)method is proposed,which combines the control index of the power turbine speed with torques matching of double engines creatively.In addition to the control index,the difference of output torques between each engine is also incorporated in the objective function as a penalty term to ensure constant speed control and short torques matching time.Simulation results demonstrate that relative to unilateral torques matching,the settling time of the bidirectional matching method can be reduced by nearly 30.8%.Nevertheless,compared with the bidirectional torques matching method under the cascade PID controller,the NMPC method can decrease the overshoot of the power turbine speed by 65%and reduce the matching time by 15.5%synchronously.Besides fast response control of turboshaft engines,fast torques matching control of double engines is accomplished as well.
文摘Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.
文摘双母管式机组较为广泛地应用于热电联产机组中,但由于多炉多机和2根大容量母管互相影响,导致热电负荷跟踪不及时,母管压力控制自动化水平较低。为此,针对双母管系统的非线性、强耦合、大迟延特性,设计了基于广义扩张状态观测器的多模型预测控制(generalized extended state observer based muti-model predictive control,GESOMMPC)方法。首先,建立了基于间隙度量(gap-metric)的多模型控制对象用于逼近非线性系统;其次,设计了扩张状态观测器估计系统耦合的集总扰动,并作为前馈信号输入到预测控制器中;最后,设计基于扰动前馈的多模型预测控制器实现对双母管系统的控制。实验结果表明,相对于PID方法,所提方法在满足电热负荷的同时,可以在允许范围内保持母管压力稳定,且动态偏差更小,过渡过程时间更短。
基金supported in part by the State Grid Corporation of China under Grant No.521500190017.
文摘The traditional PI controller for a hybrid energy storage system(HESS)has certain drawbacks,such as difficult tuning of the controller parameters and the additional filters to allocate high-and low-frequency power fluctuations.This paper proposes a model predictive control(MPC)method to control three-level bidirectional DC/DC converters for grid-connections to a HESS in a DC microgrid.First,the mathematical model of a HESS consisting of a battery and ultra capacitor(UC)is established and the neutral point voltage imbalance of a three-level converter is solved by analyzing the operating modes of the converter.Secondly,for the control of the grid-connected converters,an MPC method is proposed for calculating steady-state reference values in the outer layer and the dynamic rolling optimization in the inner layer.The outer layer ensures the voltage regulation and establishes the current predictive model,while the inner layer,using the model predictive current control,makes the current follow the predictive value,thus reducing the system current ripple.This cascaded topology has two independent controllers and is free of filters to realize the high-and low-frequency power allocation for a HESS.Therefore,it allows two types of energy storage devices to independently regulate the voltage and realizes the power allocation of the battery and UC.Finally,simulation studies are conducted in PSCAD/EMTDC,and the effectiveness of the proposed HESS control strategy is verified in a case,such as a controller comparison and fault scenario.
文摘针对新型多通道双晶单色器系统易受晶体片平行度误差影响导致性能失效的问题,提出一种迭代学习模型预测控制器(Iterative Learning Model Predictive Control,ILMPC)策略。该策略将主-从轴晶体片平行度误差转换为从轴电机的重复参考运动轨迹,采用ILC迭代消除周期性机械安装误差,再利用MPC对单个转动周期内从轴电机的随机性误差进行抑制。最终在单轴电机运动实验平台上对该策略进行轨迹跟踪验证。实验结果表明,在晶体片有效工作区间内从轴电机的位置跟踪误差达到1.44″,相比于PID控制、MPC、DOB+MPC以及ILC+PID组合控制器策略,分别降低了99.64%,98.52%,98.26%和73.33%。研究结果验证了所提出的ILMPC策略在补偿晶体片平行度误差和提高平行对准精度方面的有效性,该策略对于改善新型多通道双晶单色器性能具有较好的实际应用价值。