Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589442
Sara Roos-Hoefgeest Toribio, Ignacio Alvarez Garcia, R. González
Localization of mobile robots in industrial environments is key in an increasingly automated industry. Nowadays, the inspection and repair of heavy steel plates is performed by human workers. Repair work often requires long hours in uncomfortable postures that can cause problems for the worker. We propose a mobile robot placed on top of a steel plate that must move along the plate to inspect and repair it, without leaving the sheet. Robot localization on the plate is key to generate the inspection and repair trajectories.There are different methods of localization, the most widely used require the use of expensive laser sensors to create a map using information from the environment and localize from it. This paper proposes a less expensive localization system for a mobile robot based on the installation of ArUco markers in the environment and the use of a ring of 8 calibrated cameras mounted on the robot that allow a 360° vision. This ensures a correct localization regardless of the working area. It is necessary to map the markers with respect to a common coordinate system.We propose a method to create the map using the ring. We validate the proposal through experiments comparing the localization obtained with the proposed system and a localization using a state-of-the-art SLAM method employing laser sensors.
{"title":"Mobile robot localization in industrial environments using a ring of cameras and ArUco markers","authors":"Sara Roos-Hoefgeest Toribio, Ignacio Alvarez Garcia, R. González","doi":"10.1109/IECON48115.2021.9589442","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589442","url":null,"abstract":"Localization of mobile robots in industrial environments is key in an increasingly automated industry. Nowadays, the inspection and repair of heavy steel plates is performed by human workers. Repair work often requires long hours in uncomfortable postures that can cause problems for the worker. We propose a mobile robot placed on top of a steel plate that must move along the plate to inspect and repair it, without leaving the sheet. Robot localization on the plate is key to generate the inspection and repair trajectories.There are different methods of localization, the most widely used require the use of expensive laser sensors to create a map using information from the environment and localize from it. This paper proposes a less expensive localization system for a mobile robot based on the installation of ArUco markers in the environment and the use of a ring of 8 calibrated cameras mounted on the robot that allow a 360° vision. This ensures a correct localization regardless of the working area. It is necessary to map the markers with respect to a common coordinate system.We propose a method to create the map using the ring. We validate the proposal through experiments comparing the localization obtained with the proposed system and a localization using a state-of-the-art SLAM method employing laser sensors.","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129137893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589766
Daniel D. Campo-Ossa, Enrique A. Sanabria-Torres, Jesus D. Vasquez-Plaza, Juan F. Patarroyo-Montenegro, Andres F. Lopez-Chavarro, Fabio Andrade-Rengifo
This paper presents a parametric comparative analysis between the virtual synchronous generator (VSG) method and the droop control method to emulate inertia in the voltage-source inverter (VSI). Droop controllers are commonly used to regulate sharing power in microgrids and distribute power generation proportionally among VSI’s depending on their rated power. Additionally, VSG has been used to regulate the Rate-of-Change-of-Frequency (RoCoF) of the microgrid using virtual inertia. Although both methods can be used to regulate the frequency variation, the influence of each method on the closed-loop eigenvalues is not the same. In this work, the transient response of the frequency is analyzed for each method to determine their advantages and disadvantages regarding frequency regulation in microgrid applications. The results were verified by conducting experimental trials using VSI’s. These experiments demonstrated that VSG is more suitable for regulating RoCoF and frequency nadir than droop controllers since it provides inertial support and improves frequency response.
{"title":"Parametric Comparative Analysis between Virtual Synchronous Generator and Droop-based Inertia for Inverter-Based Microgrids","authors":"Daniel D. Campo-Ossa, Enrique A. Sanabria-Torres, Jesus D. Vasquez-Plaza, Juan F. Patarroyo-Montenegro, Andres F. Lopez-Chavarro, Fabio Andrade-Rengifo","doi":"10.1109/IECON48115.2021.9589766","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589766","url":null,"abstract":"This paper presents a parametric comparative analysis between the virtual synchronous generator (VSG) method and the droop control method to emulate inertia in the voltage-source inverter (VSI). Droop controllers are commonly used to regulate sharing power in microgrids and distribute power generation proportionally among VSI’s depending on their rated power. Additionally, VSG has been used to regulate the Rate-of-Change-of-Frequency (RoCoF) of the microgrid using virtual inertia. Although both methods can be used to regulate the frequency variation, the influence of each method on the closed-loop eigenvalues is not the same. In this work, the transient response of the frequency is analyzed for each method to determine their advantages and disadvantages regarding frequency regulation in microgrid applications. The results were verified by conducting experimental trials using VSI’s. These experiments demonstrated that VSG is more suitable for regulating RoCoF and frequency nadir than droop controllers since it provides inertial support and improves frequency response.","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129317793","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589645
M. Bhaskar, D. Almakhles, Sanjeevikumar Padmanaban
In modern days, to achieve low emission of Green-House Gases (GHG), clean system, easy maintenance, high starting torque, and high efficiency, Internal Combustion (IC) engines are gradually being changed by electric motors. Smart vehicular systems (SV) either functioned from moderately or fully electrical energy generated from renewable sources. The energy storage, i.e., battery or ultra-capacitor system, gains energy from the IC engine. Alternative the electric grid, e.g., IC engines and electric grids are used to charge the battery in Hybrid Smart Electric Vehicle (H-SEV) and Plug-in Smart Electric Vehicle (PSEV), respectively. Power Electronics skills play an imperative role in the energy conversion between Grid-vehicle-Wheel (G-VW) and Wheel-vehicle-Grid (W-V-G). This letter discusses smart vehicular systems with their demand, curiosity, challenges, and power electronic skills.
{"title":"Smart Vehicular System: Demand, Curiosity, Challenges, And Power Electronics Skills","authors":"M. Bhaskar, D. Almakhles, Sanjeevikumar Padmanaban","doi":"10.1109/IECON48115.2021.9589645","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589645","url":null,"abstract":"In modern days, to achieve low emission of Green-House Gases (GHG), clean system, easy maintenance, high starting torque, and high efficiency, Internal Combustion (IC) engines are gradually being changed by electric motors. Smart vehicular systems (SV) either functioned from moderately or fully electrical energy generated from renewable sources. The energy storage, i.e., battery or ultra-capacitor system, gains energy from the IC engine. Alternative the electric grid, e.g., IC engines and electric grids are used to charge the battery in Hybrid Smart Electric Vehicle (H-SEV) and Plug-in Smart Electric Vehicle (PSEV), respectively. Power Electronics skills play an imperative role in the energy conversion between Grid-vehicle-Wheel (G-VW) and Wheel-vehicle-Grid (W-V-G). This letter discusses smart vehicular systems with their demand, curiosity, challenges, and power electronic skills.","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130282708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589646
Takuma Yamaguchi, Syota Matsubayashi, Tatsuya Suzuki, K. Miwa
Safety and acceptability are the main concerns in the design of driver assistance systems. However, these two requirements sometimes conflict with each other depending on the situation and the driver. This conflict is particularly emphasized in the case of elderly drivers. To solve this problem, this paper proposes a driver-vehicle cooperation scheme, an "instructor-like assisting control" consisting of model predictive constraint satisfaction and a multi-modal human-machine inter-face. The proposed assisting scheme is expected to improve the drivers’ inherent driving characteristics, which is recognized as a "coaching effect" in cognitive science. This effect was verified by long-term experiments over one month using a driving simulator.
{"title":"Verification of Coaching effect by Instructor-like Assistance System Based on Model Predictive Constraint Satisfaction","authors":"Takuma Yamaguchi, Syota Matsubayashi, Tatsuya Suzuki, K. Miwa","doi":"10.1109/IECON48115.2021.9589646","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589646","url":null,"abstract":"Safety and acceptability are the main concerns in the design of driver assistance systems. However, these two requirements sometimes conflict with each other depending on the situation and the driver. This conflict is particularly emphasized in the case of elderly drivers. To solve this problem, this paper proposes a driver-vehicle cooperation scheme, an \"instructor-like assisting control\" consisting of model predictive constraint satisfaction and a multi-modal human-machine inter-face. The proposed assisting scheme is expected to improve the drivers’ inherent driving characteristics, which is recognized as a \"coaching effect\" in cognitive science. This effect was verified by long-term experiments over one month using a driving simulator.","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130379242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589058
Zheng Zhang, X. Lai, Min Wu, Sheng Du
Complicated geological environments lead to a high risk of drilling incidents. Incident early warning for drilling process is in demand for industry field. An incident early warning method for loss and kick based on sparse autoencoder and decision fusion is proposed in this paper. Sparse autoencoder is employed to detect the abnormality of the drilling parameter time series. Mann-Kendall trend test approach is performed to extract the trend of the time series that is detected as abnormal. The abnormality detection and trend extraction results of each drilling parameter are fused to get the final incident early warning result. Experiments are executed with the actual data collected from a practical drilling process. The experiment results indicate the effectiveness of the proposed method.
{"title":"Incident early warning based on sparse autoencoder and decision fusion for drilling process","authors":"Zheng Zhang, X. Lai, Min Wu, Sheng Du","doi":"10.1109/IECON48115.2021.9589058","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589058","url":null,"abstract":"Complicated geological environments lead to a high risk of drilling incidents. Incident early warning for drilling process is in demand for industry field. An incident early warning method for loss and kick based on sparse autoencoder and decision fusion is proposed in this paper. Sparse autoencoder is employed to detect the abnormality of the drilling parameter time series. Mann-Kendall trend test approach is performed to extract the trend of the time series that is detected as abnormal. The abnormality detection and trend extraction results of each drilling parameter are fused to get the final incident early warning result. Experiments are executed with the actual data collected from a practical drilling process. The experiment results indicate the effectiveness of the proposed method.","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130537084","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589244
Zipeng Huang, Yaodong Pan, R. Bauer
This paper addresses the distributed event-triggered leader-follower formation tracking control problem for multi- agent systems (MASs) with general linear agent dynamics in a sampled-data environment. A new distributed state-estimate- based event-triggering communication mechanism is proposed to manage the inter-agent communication at each sampling instant. Then, a formation control protocol is designed based on the combined measurement of all locally-available triggered sampled information for each follower agent. The event-generator and formation controller gains are co-designed from the sufficient linear matrix inequality (LMI) conditions that ensure the uniform ultimate boundedness for the closed-loop formation error dynamics. In addition, the free parameters in the derived conditions are optimized to produce event-generator and controller gains to maximize system performance. Lastly, the developed protocols were validated using simulations of a group of linearized miniature quadcopters.
{"title":"Multi-Quadcopter Formation Control Using Sampled-Data Event-Triggered Communication With Gain Optimization","authors":"Zipeng Huang, Yaodong Pan, R. Bauer","doi":"10.1109/IECON48115.2021.9589244","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589244","url":null,"abstract":"This paper addresses the distributed event-triggered leader-follower formation tracking control problem for multi- agent systems (MASs) with general linear agent dynamics in a sampled-data environment. A new distributed state-estimate- based event-triggering communication mechanism is proposed to manage the inter-agent communication at each sampling instant. Then, a formation control protocol is designed based on the combined measurement of all locally-available triggered sampled information for each follower agent. The event-generator and formation controller gains are co-designed from the sufficient linear matrix inequality (LMI) conditions that ensure the uniform ultimate boundedness for the closed-loop formation error dynamics. In addition, the free parameters in the derived conditions are optimized to produce event-generator and controller gains to maximize system performance. Lastly, the developed protocols were validated using simulations of a group of linearized miniature quadcopters.","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129086632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589492
Chio-Kuan Choi, Io-Wa Iam, Iok-U. Hoi, C. Lam
The market share of renewable energy grows rapidly with the rising issues like global warming and environment pollution. As a kind of flexible and mature way to collect solar energy, photovoltaic (PV) panels have been widely installed on lands. To save precious land resources, PV panels can be installed on water to form floating-PV farm. In this paper, an inductive power transfer (IPT) converter for wireless power transmission is proposed for the floating-PV system, which can avoid of possible electrical hazard and reduce the exposure of the components, thus enhance the performance of anti-humidity and anti-salinity of the floating-PV system. However, the varying irradiance conditions caused by changeable weather of lake or seashore scenario gives challenge to the trackable range of MPPT control strategy for the IPT converter. To address this problem, an irradiance-adaptive hybrid maximum power point tracking (MPPT) control strategy for the floating-PV system is also proposed, which can achieve the maximum power point (MPP) of the PV panels even under a wide range of irradiance conditions. In addition, the IPT converter with the proposed MPPT control strategy does not require a DC-DC converter to achieve the MPPT in a wide irradiance range, thus saving the system cost. Finally, the IPT converter with irradiance-adaptive hybrid MPPT control strategy is theoretically analyzed, and its feasibility is verified on an experiment platform.1
{"title":"An Inductive Power Transfer Converter with Irradiance-Adaptive Hybrid MPPT Control Strategy for Floating-PV System","authors":"Chio-Kuan Choi, Io-Wa Iam, Iok-U. Hoi, C. Lam","doi":"10.1109/IECON48115.2021.9589492","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589492","url":null,"abstract":"The market share of renewable energy grows rapidly with the rising issues like global warming and environment pollution. As a kind of flexible and mature way to collect solar energy, photovoltaic (PV) panels have been widely installed on lands. To save precious land resources, PV panels can be installed on water to form floating-PV farm. In this paper, an inductive power transfer (IPT) converter for wireless power transmission is proposed for the floating-PV system, which can avoid of possible electrical hazard and reduce the exposure of the components, thus enhance the performance of anti-humidity and anti-salinity of the floating-PV system. However, the varying irradiance conditions caused by changeable weather of lake or seashore scenario gives challenge to the trackable range of MPPT control strategy for the IPT converter. To address this problem, an irradiance-adaptive hybrid maximum power point tracking (MPPT) control strategy for the floating-PV system is also proposed, which can achieve the maximum power point (MPP) of the PV panels even under a wide range of irradiance conditions. In addition, the IPT converter with the proposed MPPT control strategy does not require a DC-DC converter to achieve the MPPT in a wide irradiance range, thus saving the system cost. Finally, the IPT converter with irradiance-adaptive hybrid MPPT control strategy is theoretically analyzed, and its feasibility is verified on an experiment platform.1","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130574253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589162
Kangwagye Samuel, Sehoon Oh
Instability which occurs when the robot’s end effector contacts a very stiff environment is a challenge in designing control systems for safe physical interaction and cooperation of robots with environment. One of the reasons for the instability is force disturbances caused by the mechanical factors of the robot system. To this effect, this paper presents the design, analysis, and implementation of a robust impedance controller for a force servo system. To suppress the force disturbances, a force disturbance observer (FDOB) is implemented in the impedance-controlled system. For comparison purposes, impedance control system when the FDOB is not implemented is also designed and analyzed. Further, using the passivity approach, coupled stability conditions of the designed impedance control systems are derived and analyzed to assess the effect of FDOB on passivity and overall control performance. Simulations and experiments are conducted to evaluate performance of the designed impedance control systems and it is found that the FDOB-based control system shows superior performance by improving contact stability compared to direct force sensor feedback control system.
{"title":"FDOB-Based Robust Impedance Control of Force Sensor Implemented Force Servo System","authors":"Kangwagye Samuel, Sehoon Oh","doi":"10.1109/IECON48115.2021.9589162","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589162","url":null,"abstract":"Instability which occurs when the robot’s end effector contacts a very stiff environment is a challenge in designing control systems for safe physical interaction and cooperation of robots with environment. One of the reasons for the instability is force disturbances caused by the mechanical factors of the robot system. To this effect, this paper presents the design, analysis, and implementation of a robust impedance controller for a force servo system. To suppress the force disturbances, a force disturbance observer (FDOB) is implemented in the impedance-controlled system. For comparison purposes, impedance control system when the FDOB is not implemented is also designed and analyzed. Further, using the passivity approach, coupled stability conditions of the designed impedance control systems are derived and analyzed to assess the effect of FDOB on passivity and overall control performance. Simulations and experiments are conducted to evaluate performance of the designed impedance control systems and it is found that the FDOB-based control system shows superior performance by improving contact stability compared to direct force sensor feedback control system.","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130657408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589317
Sarah Kassir, M. Doumiati, M. Machmoum, M. E. Rafei, C. Francis
In this paper, we present a robust nonlinear de-centralized control scheme for an islanded DC microgrid (MG) where the main control goals are to achieve a sustained stability for the DC bus voltage at a certain desired value, to maintain the power balance in the system and to insure robustness against disturbances and perturbations. The proposed control strategy uses the Model Free Super-Twisting Sliding Mode (MFSMC) as it needs no accurate representation of the environment in order to be effective which makes it a suitable choice for system with nonlinear model prone to parameters variation. The studied microgrid is composed of a solar photo-voltaic (PV) unit and a hybrid energy storage system including a battery and a supercapacitor (SC) along with DC loads. To attain the intended objectives, a hierarchical cascaded control strategy is designed with two levels: a high-level control that stabilizes the DC bus voltage at a reference value by generating a current reference to be tracked, and a low-level control composed of an energy management system EMS based on a passive filtration to distribute the reference current between the storage system units according to their dynamic specifications. Simulations on MATLAB/Simulink are carried out to evaluate the effectiveness and robustness of the proposed control scheme under various operating conditions created by random variations of power generation and consumption. Noise sensitivity test is also carried out for this controller and for a model-based one that is the Feedback linearization control technique (FL).
{"title":"DC microgrid voltage stability by Model Free Super-Twisting Sliding Mode Control","authors":"Sarah Kassir, M. Doumiati, M. Machmoum, M. E. Rafei, C. Francis","doi":"10.1109/IECON48115.2021.9589317","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589317","url":null,"abstract":"In this paper, we present a robust nonlinear de-centralized control scheme for an islanded DC microgrid (MG) where the main control goals are to achieve a sustained stability for the DC bus voltage at a certain desired value, to maintain the power balance in the system and to insure robustness against disturbances and perturbations. The proposed control strategy uses the Model Free Super-Twisting Sliding Mode (MFSMC) as it needs no accurate representation of the environment in order to be effective which makes it a suitable choice for system with nonlinear model prone to parameters variation. The studied microgrid is composed of a solar photo-voltaic (PV) unit and a hybrid energy storage system including a battery and a supercapacitor (SC) along with DC loads. To attain the intended objectives, a hierarchical cascaded control strategy is designed with two levels: a high-level control that stabilizes the DC bus voltage at a reference value by generating a current reference to be tracked, and a low-level control composed of an energy management system EMS based on a passive filtration to distribute the reference current between the storage system units according to their dynamic specifications. Simulations on MATLAB/Simulink are carried out to evaluate the effectiveness and robustness of the proposed control scheme under various operating conditions created by random variations of power generation and consumption. Noise sensitivity test is also carried out for this controller and for a model-based one that is the Feedback linearization control technique (FL).","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123845894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-13DOI: 10.1109/IECON48115.2021.9589796
Amandus Bach, R. Muñoz-Aguilar, I. Colak
In this paper, a common current control structure in the stationary reference frame, comprising a proportional resonant (PR-)controller and additional resonant control units for harmonic suppression, is applied to a modular multilevel converter (MMC). Discretization of the controllers as well as different control targets in the context of distorted grid quantities are addressed. Current harmonic rejection is achieved applying a resonant band-pass unit to generate the according references for the current control. Simulations are performed to evaluate the designed control.
{"title":"Application of Resonant Controllers for Current Harmonic Suppression and Rejection in Grid-Tied Modular Multilevel Converters","authors":"Amandus Bach, R. Muñoz-Aguilar, I. Colak","doi":"10.1109/IECON48115.2021.9589796","DOIUrl":"https://doi.org/10.1109/IECON48115.2021.9589796","url":null,"abstract":"In this paper, a common current control structure in the stationary reference frame, comprising a proportional resonant (PR-)controller and additional resonant control units for harmonic suppression, is applied to a modular multilevel converter (MMC). Discretization of the controllers as well as different control targets in the context of distorted grid quantities are addressed. Current harmonic rejection is achieved applying a resonant band-pass unit to generate the according references for the current control. Simulations are performed to evaluate the designed control.","PeriodicalId":443337,"journal":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123885459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：