Comparison of heuristic dynamic programming and dual heuristicprogramming adaptive critics for neurocontrol of a turbogenerator

This paper presents the design of an optimal neurocontroller that replaces the conventional automatic voltage regulator (AVR) and the turbine governor for a turbogenerator connected to the power grid. The neurocontroller design uses a novel technique based on the adaptive critic designs (ACDs), specifically on heuristic dynamic programming (HDP) and dual heuristic programming (DHP). Results show that both neurocontrollers are robust, but that DHP outperforms HDP or conventional controllers, especially when the system conditions and configuration change. This paper also shows how to design optimal neurocontrollers for nonlinear systems, such as turbogenerators, without having to do continually online training of the neural networks, thus avoiding risks of instability.     

An improved Backstepping technique using sliding mode control for transient stability enhancement and voltage regulation of SMIB power system

The problem of transient stability and voltage regulation for a single machine infinite bus (SMIB) system is addressed in this paper. An improved Backstepping design method for transient stability enhancement and voltage regulation of power systems is discussed beginning with the classical Backstepping to designing the nonlinear excitation control of synchronous generator. Then a more refined version of this technique will be suggested incorporating the sliding mode control to enhance voltage regulation and transient stability. The proposed method is based on a standard third-order model of a synchronous generator connected to the grid (SMIB system). It is basically implemented on the excitation side of the synchronous generator and compared to the classical Backstepping controller as well as the conventional controllers which are the automatic voltage regulator and the power system stabiliser. Simulation results prove the effectiveness of the proposed method which ameliorates to a great extent the transient stability compared to the other methods.     

Multi machine power system excitation control design via theories of feedback linearization control and nonlinear robust control

The dynamics of a large-scale power system are both nonlinear and interconnected. The equilibrium of such a system is typically unknown and uncertain, and the controllers within are also subject to physical limitations. In this paper, a new application of nonlinear robust control is presented for power system control design. It is assumed that the controllers are designed as a part of generator excitation system design. First, a customized exact feedback linearization scheme is developed for the power system under investigation. This new linearization scheme allows one to transform the power system with a single-axis system model into a linear uncertain system with an unknown equilibrium. Based on the latest development of nonlinear robust control theory, a novel control design is then applied to stabilize the resulting linearized uncertain system. Finally, a nonlinear decentralized excitation control is obtained by the inverse transformation. Compared with existing control schemes, the proposed control is free from such common deficiencies of power system nonlinear controllers as network dependence and equilibrium dependence. Detailed stability analysis and engineering judgment in the control design are provided. The results of simulation studies are presented.     

Asymptotic Tracking Control for Wind Turbines in Variable Speed Mode

This paper presents a variable speed control strategy for wind turbines in order to capture maximum wind power. Wind turbines are modeled as a two-mass drive-train system with generator torque control. Based on the obtained wind turbine model, variable speed control schemes are developed. Nonlinear tracking controllers are designed to achieve asymptotic tracking for a prescribed rotor speed reference signal so as to yield maximum wind power capture. Due to the difficulty of torsional angle measurement, an observer-based control scheme that uses only rotor speed information is further developed for global asymptotic output tracking. The effectiveness of the proposed control methods is illustrated by simulation results.      

Nonlinear control design for excitation controller and power system stabilizer

The paper focuses on the design of excitation controller and power system stabilizer (PSS) control schemes to enhance voltage regulation and transient stability. To design the excitation controller, the nonlinear models of the synchronous generator and electrical system are suitably arranged to give an input-output nonlinear model, which is subsequently made linear by a compensating law. The PSS control scheme is designed according to a new approach, based on the inverse system theory, which guarantees satisfactory swing damping by reducing the mutual influence between transient stability and voltage regulation. The results obtained by numerical simulations in different operating conditions confirm the effectiveness of the proposed design, also in the presence of model parameter inaccuracy.     

船舶电站柴油机双脉冲H∞调速器的研究

船舶电力系统频率的稳定性主要取决于船舶电站柴油机调速系统的转速响应特性．为了抑制负荷的扰动,提高柴油机双脉冲调速器的动态精度,本文将H_∞控制理论应用于柴油机调速系统的设计,将系统的性能要求转化为标准H_∞控制问题．建立了采用双脉冲H_∞调速器的柴油机调速系统的数学模型,针对外部干扰和模型的不确定性,双脉冲H_∞调速器的设计可以归结为混合灵敏度问题．计算机仿真实验结果表明,本文设计的双脉冲H_∞调速器能在充分考虑系统模型不确定性的情况下,有效提高系统的动态精度和抑制扰动的能力,改善船舶电力系统频率的稳定性．     

船舶电站柴油机双脉冲H∞调速器的研究

船舶电力系统频率的稳定性主要取决于船舶电站柴油机调速系统的转速响应特性.为了抑制负荷的扰动, 提高柴油机双脉冲调速器的动态精度, 本文将H_∞控制理论应用于柴油机调速系统的设计,将系统的性能要求转化为标准H_∞控制问题.建立了采用双脉冲${\rm H}_\infty$调速器的柴油机调速系统的数学模型,针对外部干扰和模型的不确定性, 双脉冲H_∞调速器的设计可以归结为混合 灵敏度问题.计算机仿真实验结果表明, 本文设计的双脉冲H_∞调速器能在充分考虑系统模型不确定性的情况下,有效提高系统的动态 精度和抑制扰动的能力,改善船舶电力系统频率的稳定性.     

Decentralized adaptive stabilization in the presence of unknown backlash-like hysteresis

Due to the difficulty of handling both hysteresis and interactions between subsystems, there is still no result available on decentralized stabilization of unknown interconnected systems with hysteresis, even though the problem is practical and important. In this paper, we provide solutions to this challenging problem by proposing two new schemes to design decentralized output feedback adaptive controllers using backstepping approach. For each subsystem, a general transfer function with arbitrary relative degree is considered. The interactions between subsystems are allowed to satisfy a nonlinear bound with certain structural conditions. In the first scheme, no knowledge is assumed on the bounds of unknown system parameters. In case that the uncertain parameters are inside known compact sets, we propose an alternative scheme where a projection operation is employed in the adaptive laws. In both schemes, the effects of the hysteresis and the effects due to interactions are taken into consideration in devising local control laws. It is shown that the designed local adaptive controllers can ensure all the signals in the closed-loop system bounded. A root mean square type of bound is obtained for the system states as a function of design parameters. This implies that the transient system performance can be adjusted by choosing suitable design parameters. With Scheme II, the proposed control laws allow arbitrarily strong interactions provided their upper bounds are available. In the absence of hysteresis, perfect stabilization is ensured and the L₂ norm of the system states is also shown to be bounded by a function of design parameters when the second scheme is applied.     

Nonlinear fractional‐order power system stabilizer for multi‐machine power systems based on sliding mode technique

This paper presents two novel nonlinear fractional‐order sliding mode controllers for power angle response improvement of multi‐machine power systems. First, a nonlinear block control is used to handle nonlinearities of the interconnected power system. In the second step, a decentralized fractional‐order sliding mode controller with a nonlinear sliding manifold is designed. Practical stability is achieved under the assumption that the upper bound of the fractional derivative of perturbations and interactions are known. However, when an unknown transient perturbation occurs in the system, it makes the evaluation of perturbation and interconnection upper bound troublesome. In the next step, an adaptive‐fuzzy approximator is applied to fix the mentioned problem. The fuzzy approximator uses adjacent generators relative speed as own inputs, which is known as semi‐decentralized control strategy. For both cases, the stability of the closed‐loop system is analyzed by the fractional‐order stability theorems. Simulation results for a three‐machine power system with two types of faults are illustrated to show the performance of the proposed robust controllers versus the conventional sliding mode. Additionally, the fractional parameter effects on the system transient response and the excitation voltage amplitude and chattering are demonstrated in the absence of the fuzzy approximator. Finally, the suggested controller is combined with a simple voltage regulator in order to keep the system synchronism and restrain the terminal voltage variations at the same time. Copyright © 2014 John Wiley & Sons, Ltd.     

Improved self-oscillating control of a quadratic buck converter for constant voltage applications

A great number of switching power supplies are used to provide a variable voltage for resistive-inductive loads. However, some applications in industry, require a regulated current with a constant voltage such as battery charging systems, LED drivers, and laboratory equipment for power converters connected to PV cells. Additionally, some constant voltage systems are intrinsically unstable, and therefore, they cannot be used without a closed-loop compensatory circuit. Hence, this article describes a novel smooth starter system behaving as a current source for constant voltage applications. The proposed technology is implemented by a quadratic buck converter, and then, a self-oscillating control technique is applied for performing the output current regulation of the converter, which is capable of aiding to improve the system performance, stabilize the overall system, protect the converter from transient current oscillations, and provide an acceptable control performance. In addition to practical aspects, soft starter methods and limitation of the constant voltage power converter are mentioned and described in this article. The designed structure has not only the advantages of smooth response and simplicity to construct but also performs a nearly zero steady-state error regulation. The power stage, the control scheme, and the modulator are explained in detail and validated by experiments.     

Combining fuzzy, PID and regulation control for an autonomous mini-helicopter

This paper reports on the synthesis of different flight controllers for an X-Cell mini-helicopter. They are developed on the basis of the most realistic mathematical model currently available. Two hybrid intelligent control systems, combining computational intelligence methodologies with other control techniques, are investigated. For both systems, Mamdani-type fuzzy controllers determine the set points for altitude/attitude control. These fuzzy controllers are designed using a simple rule base. The first scheme consists of conventional SISO PID controllers for z-position and roll, pitch and yaw angles. In the second scheme, two of the previous PID controllers are used for roll and pitch, and a linear regulator is added to control altitude and yaw angle. These control schemes mimic the action of an expert pilot. The designed controllers are tested via simulations. It is shown that the designed controllers exhibit good performance for hover flight and control positioning at slow speed.     

大型柴油车电子调速器设计

提出了一种数字式电子调速器设计方案.硬件方面进行了合理的器件选型,设计了转速信号处理、执行器驱动等电路.通过对执行器特性的分析,提出了分段自适应PID控制策略,确立了PID相关参数的分段规律,制定了详细的数值列表.为了更好地解决柴油机运动滞后问题,在PID调速控制中引入了史密斯预估校正.最后,为了验证设计方案可靠性与合...     

Inverse control for nonlinear excitation and governor control

This paper presents the results of a study of the Inverse Control technique for the design of excitation and governor controllers for a power system. Control laws for rotor angle and field flux are derived. The closed loop system is shown to be asymptotically stable. The system can be transferred to a new operating condition corresponding to any desired terminal voltage Vl and tie-line power P_tie. Although this control law was not experimentally tested on a power system, implementation issues are discussed in robotic and aerospace applications.     

PI controller design using ABC algorithm for MPPT of PV system supplying DC motor pump load

Maximum power point tracking (MPPT) is used in photovoltaic (PV) systems to maximize its output power. A new MPPT system has been suggested for PV–DC motor pump system by designing two PI controllers. The first one is used to reach MPPT by monitoring the voltage and current of the PV array and adjusting the duty cycle of the DC/DC converter. The second PI controller is designed for speed control of DC series motor by setting the voltage fed to the DC series motor through another DC/DC converter. The suggested design problem of MPPT and speed controller is formulated as an optimization task which is solved by artificial bee colony (ABC) to search for optimal parameters of PI controllers. Simulation results have shown the validity of the developed technique in delivering MPPT to DC series motor pump system under atmospheric conditions and tracking the reference speed of motor. Moreover, the performance of the ABC algorithm is compared with genetic algorithm for various disturbances to prove its robustness.

     

A new model reference control architecture: Stability,performance, and robustness

In this paper, we develop a new model reference control architecture to effectively suppress system uncertainties and achieve a guaranteed transient and steady‐state system performance. Unlike traditional robust control frameworks, only a parameterization of the system uncertainty given by unknown weights with known conservative bounds is needed to stabilize uncertain dynamical systems with predictable system performance. In addition, the proposed architecture's performance is not dependent on the level of conservatism of the bounds of system uncertainty. Following the same train of thought as adaptive controllers that modify a given reference system to improve system performance, the proposed method is inspired by a recently developed command governor theory that minimizes the effect of system uncertainty by augmenting the input signal of the uncertain dynamical and reference systems. Specifically, a dynamical system, called a command governor, is designed such that its output is used to modify the input of both the controlled uncertain dynamical and reference systems. It is theoretically shown that if the command governor design parameter is judiciously selected, then the controlled system approximates the given original, unmodified reference system. The proposed approach is advantageous over model reference adaptive control approaches because linearity of the uncertain dynamical system is preserved through linear control laws, and hence, the closed‐loop performance is predictable for different command spectrums. Additionally, it is shown that the architecture can be modified for robustness improvements with respect to high frequency content due to, for example, measurement noise. Modifications can also be made in order to accommodate actuator dynamics and retain closed‐loop stability and predictable performance. The main contribution of this paper is the rigorous analysis of the stability and performance of a system utilizing the command governor framework. A numerical example is provided to illustrate the effectiveness of the proposed architecture. Copyright © 2015 John Wiley & Sons, Ltd.     

数字式电子调速器的研究

简述了电子调速器的产生和发展、优点以及应用的领域,电子调速器的四个组成部分：控制器、执行器、执行器驱动机构和传感器,各个组成部分的作用,不同调速系统采用的不同的执行器和传感器;分述了不同的控制策略：PID控制、模糊控制、模糊PID控制和模糊自适应PID控制,以及对调速系统的调速性能和稳定性的提高;不同系统采用的不同的建模和仿真方法,提出了现阶段电子调速技术存在的几个问题：控制算法的选择、控制器的处理能力和执行器的精度;今后发展的方向：引入智能控制算法、多CPU结构体系的采用、控制器的抗干扰以及专用执行器和传感器的开发和扩展更广阔的应用领域.     

基于变速趋近律的Buck型变换器抗扰动控制

针对带有输入电压波动、输出负载突变以及电感电容参数摄动等匹配和非匹配扰动的Buck型变换器系统,提出一种基于变速趋近律和扰动观测器的抗扰动控制方法.设计反余切型辅助函数构造变速趋近律,通过改变系统状态的收敛速度,保证系统具有较快的瞬态响应速度和较小的控制器抖振.通过对系统模型进行低通滤波,设计一种新型扰动观测器估计系统...     

Robust adaptive fault tolerant control for a process with actuator faults

This paper studies design and implementation of an enhanced multivariable adaptive control scheme for an uncertain nonlinear process exposed to actuator faults. For adaptive fault compensation, a model reference adaptive control (MRAC) strategy is utilized as main controller. A new adaptation algorithm making possible to improve transient performance of adaptive control is integrated to the controller. With the help of further modifications, some restrictive conditions on multivariable adaptive design are relaxed so that the system requires less plant information. The resulting controller has a simpler structure than the other matrix factorization based controllers. At the final stage of design, a robust adaptive control scheme is obtained with consideration of practical implementation problems such as sensor noises, external disturbances and unmodeled​ system dynamics. It is proved that the controller guarantees closed-loop signal boundedness and asymptotic output tracking. Real-time experiment results acquired from quadruple tank benchmark system are presented in order to exhibit the effectiveness of the proposed scheme.     

Adaptive output control of nonlinear systems with uncertain dead-zone nonlinearity

In this note, we present a new scheme to design adaptive controllers for uncertain systems preceded by unknown dead-zone nonlinearity. The control design is achieved by introducing a smooth inverse function of the dead-zone and using it in the controller design with backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the unknown system parameters. It is shown that the proposed controller not only can guarantee stability, but also transient performance.     

Adaptive controller designs for robot manipulator systems using Lyapunov direct method

Two different controllers for robot manipulator systems based on the general adaptive control theory using Lyapunov direct method are designed. A way of improving the transient response and convergence speed of a multivariable system in conjunction with this controller is established.