Position control of DC motors with experience mapping based prediction controller

The paper presents a new controller inspired by the human experience based, voluntary body action control (dubbed motor control) learning mechanism. The controller is called Experience Mapping based Prediction Controller (EMPC). EMPC is designed with auto-learning features without the need for the plant model. The core of the controller is formed around the motor action prediction-control mechanism of humans based on past experiential learning with the ability to adapt to environmental changes intelligently. EMPC is utilized for high precision position control of DC motors. The simulation results are presented to show that accurate position control is achieved using EMPC for step and dynamic demands. The performance of EMPC is compared with conventional PD controller and MRAC based position controller under different system conditions. Position Control using EMPC is practically implemented and the results are presented.

Accurate performance analysis of single and opportunistic AF relay cooperation with imperfect cascaded channel estimates

Given the significant gains that relay-based cooperation promises, the practical problems of acquisition of channel state information (CSI) and the characterization and optimization of performance with imperfect CSI are receiving increasing attention. We develop novel and accurate expressions for the symbol error probability (SEP) for fixed-gain amplify-and-forward relaying when the destination acquires CSI using the time-efficient cascaded channel estimation (CCE) protocol. The CCE protocol saves time by making the destination directly estimate the product of the source-relay and relay-destination channel gains. For a single relay system, we first develop a novel SEP expression and a tight SEP upper bound. We then similarly analyze an opportunistic multi-relay system, in which both selection and coherent demodulation use imperfect estimates. A distinctive aspect of our approach is the use of as few simplifying approximations as possible, which results in new results that are accurate at signal-to-noise-ratios as low as 1 dB for single and multi-relay systems. Using insights gleaned from an asymptotic analysis, we also present a simple, closed-form, nearly-optimal solution for allocation of energy between pilot and data symbols at the source and relay(s).

Common-mode voltage eliminated three-level inverter using a three-level flying-capacitor inverter and cascaded H-bridge

This paper proposes a new 3 level common mode voltage eliminated inverter using an inverter structure formed by cascading a H-Bridge with a three-level flying capacitor inverter. The three phase space vector polygon formed by this configuration and the polygon formed by the common-mode eliminated states have been discussed. The entire system is simulated in Simulink and the results are experimentally verified. This system has an advantage that if one of devices in the H-Bridge fails, the system can still be operated as a normal 3 level inverter mode at full power. This inverter has many advantages like use of single DC-supply, making it possible for a back to back grid-tied converter application, improved reliability etc.

Interleaved winding and suppression of natural frequencies

Ideally, it is desirable to design and manufacture a transformer winding that can render all its internal resonances non-excitable. This study examines the effectiveness of an interleaved winding in achieving this goal. While investigating its effectiveness, it led to the establishment of a much desired theoretical basis that reinforces the reasons put forward in the literature to explain internal insulation failures observed in interleaved windings used in extra high voltage (EHV) transformers. Numerical calculations along with experimental verification on actual transformer windings are presented. This study reveals that most of the natural frequencies that are normally non-excitable in the line and neutral current responses of an interleaved winding have been rendered excitable in the disk-to-disk voltages, thus, providing favourable conditions for insulation overstress because of resonant overvoltages. Prevalence of such a condition is an inherent characteristic of interleaved windings.

Estimation of Series Capacitance for a Three-Phase Transformer Winding From Its Measured Frequency Response

Recently, authors published a method to indirectly measure series capacitance (C-s) of a single, isolated, uniformly wound transformer winding, from its measured frequency response. The next step was to implement it on an actual three-phase transformer. This task is not as straightforward as it might appear at first glance, since the measured frequency response on a three-phase transformer is influenced by nontested windings and their terminal connections, core, tank, etc. To extract the correct value of C-s from this composite frequency response, the formulation has to be reworked to first identify all significant influences and then include their effects. Initially, the modified method and experimental results on a three-phase transformer (4 MVA, 33 kV/433 V) are presented along with results on the winding considered in isolation (for cross validation). Later, the method is directly implemented on another three-phase unit (3.5 MVA, 13.8 kV/765 V) to show repeatability.

A nearly constant switching frequency current hysteresis controller with generalized parabolic boundaries using 12-sided polygonal voltage space vectors for IM drives

In this paper, a current hysteresis controller with parabolic boundaries for a 12-sided polygonal voltage space vector inverter fed induction motor (IM) drive is proposed. Parabolic boundaries with generalized vector selection logic, valid for all sectors and rotational direction, is used in the proposed controller. The current error space phasor boundary is obtained by first studying the drive scheme with space vector based PWM (SVPWM) controller. Four parabolas are used to approximate this current error space phasor boundary. The system is then run with space phasor based hysteresis PWM controller by limiting the current error space vector (CESV) within the parabolic boundary. The proposed controller has simple controller implementation, nearly constant switching frequency, extended modulation range and fast dynamic response with smooth transition to the over modulation region.

A Three-Level Common-Mode Voltage Eliminated Inverter With Single DC Supply Using Flying Capacitor Inverter and Cascaded H-Bridge

A three-level common-mode voltage eliminated inverter with single dc supply using flying capacitor inverter and cascaded H-bridge has been proposed in this paper. The three phase space vector polygon formed by this configuration and the polygon formed by the common-mode eliminated states have been discussed. The entire system is simulated in Simulink and the results are experimentally verified. This system has an advantage that if one of devices in the H-bridge fails, the system can still be operated as a normal three-level inverter at full power. This inverter has many other advantages like use of single dc supply, making it possible for a back-to-back grid-tied converter application, improved reliability, etc.

A Reduced Device-Count Hybrid Multilevel Inverter Topology with single DC Source and Improved Fault Tolerance

A new hybrid multilevel power converter topology is presented in this paper. The proposed power converter topology uses only one DC source and floating capacitors charged to asymmetrical voltage levels, are used for generating different voltage levels. The SVPWM based control strategy used in this converter maintains the capacitor voltages at the required levels in the entire modulation range including the over-modulation region. For the voltage levels: nine and above, the number of components required in the proposed topology is significantly lower, compared to the conventional multilevel inverter topologies. The number of capacitors required in this topology reduces drastically compared to the conventional flying capacitor topology, when the number of levels in the inverter output increases. This topology has better fault tolerance, as it is capable of operating with reduced number of levels, in the entire modulation range, in the event of any failure in the H-bridges. The transient as well as the steady state performance of the nine-level version of the proposed topology is experimentally verified in the entire modulation range including the over-modulation region.

Implementation of throughput enhancing client-AP association scheme On a WLAN controller

In a typical enterprise WLAN, a station has a choice of multiple access points to associate with. The default association policy is based on metrics such as Re-ceived Signal Strength(RSS), and “link quality” to choose a particular access point among many. Such an approach can lead to unequal load sharing and diminished system performance. We consider the RAT (Rate And Throughput) policy [1] which leads to better system performance. The RAT policy has been implemented on home-grown centralized WLAN controller, ADWISER [2] and we demonstrate that the RAT policy indeed provides a better system performance.

Nearly Constant Switching Frequency Hysteresis Current Controller with Fast Online Computation of Boundary for a 2-Level Induction Motor Drive

A nearly constant switching frequency current hysteresis controller for a 2-level inverter fed induction motor drive is proposed in this paper: The salient features of this controller are fast dynamics for the current, inherent protection against overloads and less switching frequency variation. The large variation of switching frequency as in the conventional hysteresis controller is avoided by defining a current-error boundary which is obtained from the current-error trajectory of the standard space vector PWM. The current-error boundary is computed at every sampling interval based on the induction machine parameters and from the estimated fundamental stator voltage. The stator currents are always monitored and when the current-error exceeds the boundary, voltage space vector is switched to reduce the current-error. The proposed boundary computation algorithm is applicable in linear and over-modulation region and it is simple to implement in any standard digital signal processor: Detailed experimental verification is done using a 7.5 kW induction motor and the results are given to show the performance of the drive at various operating conditions and validate the proposed advantages.

Modeling Equitable Distribution of Water: Dynamic Inversion-Based Controller Approach

It is a well-known fact that most of the developing countries have intermittent water supply and the quantity of water supplied from the source is also not distributed equitably among the consumers. Aged pipelines, pump failures, and improper management of water resources are some of the main reasons for it. This study presents the application of a nonlinear control technique to overcome this problem in different zones in the city of Bangalore. The water is pumped to the city from a large distance of approximately 100km over a very high elevation of approximately 400m. The city has large undulating terrain among different zones, which leads to unequal distribution of water. The Bangalore, inflow water-distribution system (WDS) has been modeled. A dynamic inversion (DI) nonlinear controller with proportional integral derivative (PID) features (DI-PID) is used for valve throttling to achieve the target flows to different zones of the city. This novel approach of equitable water distribution using DI-PID controllers that can be used as a decision support system is discussed in this paper.

Hysteresis current controller for a general n-level inverter fed drive with online current error boundary computation and nearly constant switching frequency

A space vector-based hysteresis current controller for any general n-level three phase inverter fed induction motor drive is proposed in this study. It offers fast dynamics, inherent overload protection and low harmonic distortion for the phase voltages and currents. The controller performs online current error boundary calculations and a nearly constant switching frequency is obtained throughout the linear modulation range. The proposed scheme uses only the adjacent voltage vectors of the present sector, similar to space vector pulse-width modulation and exhibits fast dynamic behaviour under different transient conditions. The steps involved in the boundary calculation include the estimation of phase voltages from the current ripple, computation of switching time and voltage error vectors. Experimental results are given to show the performance of the drive at various speeds, effect of sudden change of the load, acceleration, speed reversal and validate the proposed advantages.

A Nearly Constant Switching Frequency Current Error Space Vector Based Hysteresis Controller for an IM Drive with 12-sided Polygonal Voltage Space Vectors

In this paper, a current error space vector (CESV) based hysteresis controller for a 12-sided polygonal voltage space vector inverter fed induction motor (IM) drive is proposed, for the first time. An open-end winding configuration is used for the induction motor. The proposed controller uses parabolic boundary with generalized vector selection logic for all sectors. The drive scheme is first studied with a space vector based PWM (SVPWM) control and from this the current error space phasor boundary is obtained. This current error space phasor boundary is approximated with four parabolas and then the system is run with space phasor based hysteresis PWM controller by limiting the CESV within the parabolic boundary. The proposed controller has increased modulation range, absence of 5th and 7th order harmonics for the entire modulation range, nearly constant switching frequency, fast dynamic response with smooth transition to the over modulation region and a simple controller implementation.

A fractional order proportional integral controller for path following and trajectory tracking of miniature air vehicles

In this paper, a fractional order proportional-integral controller is developed for a miniature air vehicle for rectilinear path following and trajectory tracking. The controller is implemented by constructing a vector field surrounding the path to be followed, which is then used to generate course commands for the miniature air vehicle. The fractional order proportional-integral controller is simulated using the fundamentals of fractional calculus, and the results for this controller are compared with those obtained for a proportional controller and a proportional integral controller. In order to analyze the performance of the controllers, four performance metrics, namely (maximum) overshoot, control effort, settling time and integral of the timed absolute error cost, have been selected. A comparison of the nominal as well as the robust performances of these controllers indicates that the fractional order proportional-integral controller exhibits the best performance in terms of ITAE while showing comparable performances in all other aspects.