Optimal Controller Designs for Rotating Machines - Penalising the Rate of Change of Control Forcing

In the context of active control of rotating machines, standard optimal controller methods enable a trade-off to be made between (weighted) mean-square vibrations and (weighted) mean-square currents injected into magnetic bearings. One shortcoming of such controllers is that no concern is devoted to the voltages required. In practice, the voltage available imposes a strict limitation on the maximum possible rate of change of control force (force slew rate). This paper removes the aforementioned existing shortcomings of traditional optimal control.

Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems

Previous work has shown that robot navigation systems that employ an architecture based upon the idiotypic network theory of the immune system have an advantage over control techniques that rely on reinforcement learning only. This is thought to be a result of intelligent behaviour selection on the part of the idiotypic robot. In this paper an attempt is made to imitate idiotypic dynamics by creating controllers that use reinforcement with a number of different probabilistic schemes to select robot behaviour. The aims are to show that the idiotypic system is not merely performing some kind of periodic random behaviour selection, and to try to gain further insight into the processes that govern the idiotypic mechanism. Trials are carried out using simulated Pioneer robots that undertake navigation exercises. Results show that a scheme that boosts the probability of selecting highly-ranked alternative behaviours to 50% during stall conditions comes closest to achieving the properties of the idiotypic system, but remains unable to match it in terms of all round performance.

Voltage and current spectra for matrix power converters

Matrix power converters are used for transforming one alternating-current power supply to another, with different peak voltage and frequency. There are three input lines, with sinusoidally varying voltages which are 120◦ out of phase one from another, and the output is to be delivered as a similar three-phase supply. The matrix converter switches rapidly, to connect each output line in sequence to each of the input lines in an attempt to synthesize the prescribed output voltages. The switching is carried out at high frequency and it is of practical importance to know the frequency spectra of the output voltages and of the input and output currents. We determine in this paper these spectra using a new method, which has significant advantages over the prior default method (a multiple Fourier series technique), leading to a considerably more direct calculation. In particular, the determination of the input current spectrum is feasible here, whereas it would be a significantly more daunting procedure using the prior method instead.