Equivalent force control method for generalized real-time substructure testing with implicit integration

2007 ◽  
Vol 36 (9) ◽  
pp. 1127-1149 ◽  
Author(s):  
Bin Wu ◽  
Qianying Wang ◽  
P. Benson Shing ◽  
Jinping Ou
Keyword(s):  
Real Time ◽  
Force Control ◽  
Control Method ◽  
Implicit Integration

Real-time hybrid testing with equivalent force control method incorporating Kalman filter

2015 ◽  
Vol 23 (4) ◽  
pp. 735-748 ◽  
Author(s):  
Pengfei Shi ◽  
Bin Wu ◽  
Billie F. Spencer ◽  
Brian M. Phillips ◽  
Chia-Ming Chang
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Force Control ◽  
Control Method ◽  
Hybrid Testing

Performance and Application of Equivalent Force Control Method for Real-Time Substructure Testing

2012 ◽  
Vol 138 (11) ◽  
pp. 1303-1316 ◽  
Author(s):  
Bin Wu ◽  
Guoshan Xu ◽  
Yan Li ◽  
P. Benson Shing ◽  
Jinping Ou
Keyword(s):  
Real Time ◽  
Force Control ◽  
Control Method

Bilateral teleoperation with continuously variable scaling and PD force control

2020 ◽  
pp. 014233121989592
Author(s):  
Burak Oztoprak ◽  
Eray A. Baran ◽  
Asif Sabanovic
Keyword(s):  
Real Time ◽  
Force Control ◽  
Control Method ◽  
Continuous Functions ◽  
Complete Analysis ◽  
Bilateral Teleoperation ◽  
Bilateral Control ◽  
Time Operation ◽  
Wide Range ◽  
Real Time Operation

This paper investigates the bilateral teleoperation with the possibility of continuously variable scaling during real-time operation. The algorithm proposed for this purpose provides the operator with the ability to change the scaling gains of force and velocity loops during operation. The controllers are derived to enforce exponentially decaying error dynamics on systems which have inner loop disturbance compensation. The proposed architecture assumes the scale factors as continuous functions of time which have continuous derivatives that are also included in the mathematical derivation. Unlike the existing studies, the presented framework allows real-time adaptation of scaling gains, which provides the user with the ability to conduct coarse and fine motion in the same operation. The Lyapunov stability proof of the proposed method is made and the margins of the controller gains are identified for practical operation. Furthermore, the operational accuracy is enhanced by the application of a PD force control loop which is also new for scaled bilateral teleoperation. The realization of PD loop is made using an [Formula: see text]-[Formula: see text]-[Formula: see text] filter to differentiate the force signal. The algorithm is validated on a setup consisted of two single DOF motion control systems. In order to provide a complete analysis, a wide range of experiments are made, velocity and force scales having sinusoidal patterns with different amplitudes and frequencies. Moreover, comparison with a classical bilateral control architecture is made to highlight the flexibility of the proposed control method. The efficacy of the proposed approach is solidified by the successful tracking responses obtained from these experiments.

scholarly journals Emulation of grid-forming inverters using real-time PC and 4-quadrant voltage amplifier

2021 ◽  
Author(s):  
Wolf Schulze ◽  
Maurizio Zajadatz ◽  
Michael Suriyah ◽  
Thomas Leibfried
Keyword(s):  
Real Time ◽  
Control Method ◽  
Current Control ◽  
Control Methods ◽  
Test Bed ◽  
Test Scenario ◽  
Power Semiconductors ◽  
Voltage Amplifier ◽  
Grid Side ◽  
Virtual Synchronous Machine

AbstractA test bed for the evaluation of novel control methods of inverters for renewable power generation is presented. The behavior of grid-following and grid-forming control in a test scenario is studied and compared.Using a real-time capable control platform with a cycle time of 50 µs, control methods developed with Matlab/Simulink can be implemented. For simplicity, a three-phase 4‑quadrant voltage amplifier is used instead of an inverter. Thus, the use of modulation and switched power semiconductors can be avoided. In order to show a realistic behavior of a grid-side filter, passive components can be automatically connected as L‑, LC- or LCL-filter. The test bed has a nominal active power of 43.6 kW and a nominal voltage of 400 V.As state-of-the-art grid-following control method, a current control in the d/q-system is implemented in the test bed. A virtual synchronous machine, the Synchronverter, is used as grid-forming control method. In combination with a frequency-variable grid emulation, the behavior of both control methods is studied in the event of a load connection in an island grid environment.

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