A novel dynamic model and control approach for SSSC to contribute effectively in AGC of a deregulated power system

2018 ◽  
Vol 95 ◽  
pp. 239-253 ◽  
Author(s):  
Javad Morsali ◽  
Kazem Zare ◽  
Mehrdad Tarafdar Hagh
Keyword(s):  
Power System ◽  
Dynamic Model ◽  
Control Approach ◽  
Deregulated Power System ◽  
And Control

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Experimental validation on the integrated design and control of a parallel robot

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 173-181 ◽  
Author(s):  
Qing Li
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Dynamic Models ◽  
Integrated Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Approximation Techniques ◽  
Control Approach ◽  
Modeling Errors ◽  
And Control

Due to the demands from the robotic industry, robot structures have evolved from serial to parallel. The control of parallel robots for high performance and high speed tasks has always been a challenge to control engineers. Following traditional control engineering approaches, it is possible to design advanced algorithms for parallel robot control. These approaches, however, may encounter problems such as heavy computational load and modeling errors, to name it a few. To avoid heavy computation, simplified dynamic models can be obtained by applying approximation techniques, nevertheless, performance accuracy will suffer due to modeling errors. This paper suggests applying an integrated design and control approach, i.e., the Design For Control (DFC) approach, to handle this problem. The underlying idea of the DFC approach can be illustrated as follows: Intuitively, a simple control algorithm can control a structure with a simple dynamic model quite well. Therefore, no matter how sophisticate a desired motion task is, if the mechanical structure is designed such that it results in a simple dynamic model, then, to design a controller for this system will not be a difficult issue. As such, complicated control design can be avoided, on-line computation load can be reduced and better control performance can be achieved. Through out the discussion in the paper, a 2 DOF parallel robot is redesigned based on the DFC concept in order to obtain a simpler dynamic model based on a mass-balancing method. Then a simple PD controller can drive the robot to achieve accurate point-to-point tracking tasks. Theoretical analysis has proven that the simple PD control can guarantee a stable system. Experimental results have successfully demonstrated the effectiveness of this integrated design and control approach.

Market Power in Deregulated Power System

2018 ◽  
pp. 480-510 ◽  
Author(s):  
Mohammad Quadeer Fahad ◽  
Mohd Tauseef Khan ◽  
Anwar Shahzad Siddiqui
Keyword(s):  
Power System ◽  
Market Power ◽  
Power Industry ◽  
Competitive Market ◽  
Power Markets ◽  
Total Output ◽  
Wholesale Market ◽  
Private Companies ◽  
Deregulated Power System ◽  
And Control

In today's competitive market, deregulation of power industry is inevitable. The aim of deregulating the power markets is to bring competition into them and thereby make them more economically efficient. In an economically efficient market, no consumer or producer has the ability to impact on prices by itself or by collaborating with any other participant. However, the electricity wholesale market is not a perfect market and the potential for market power exploitation is an issue. Sometimes private companies collaborate with each other to get more profit, driving the prices to a higher level and thus acquiring a market power which is an anti-competitive practice. Thus, market power is the capability of a seller or a group of sellers to profitably maintain the prices above a competitive level and control the total output for a noteworthy period of time.

scholarly journals CAD DESIGN AND CONTROL OF TRIPLE INVERTED-PENDULUMS SYSTEM

2018 ◽  
Vol 18 (3) ◽  
pp. 481-497
Author(s):  
Mustafa T Hussein
Keyword(s):  
Dynamic Model ◽  
Lagrange Equation ◽  
Vertical Position ◽  
Cad Model ◽  
Nonlinear Dynamic Model ◽  
Pendulum System ◽  
Control Approach ◽  
Linearized Model ◽  
And Control ◽  
Future Work

This work is aimed to study the dynamic behavior and control of the triple invertedpendulumsystem. A nonlinear dynamic model of the inverted-pendulums fixed on a cart,based on CAD model is developed. The Lagrange equation is used to obtain the nonlineardynamic models of the system. The dynamic model is then linearized around operatingpoint. An augmented dynamic model using the linearized model is also derived. Two controlapproaches are used to stabilize the pendulums in vertical position. First approach: StateFeedback Control based on the linearized model is used to generate the input force control tostabilize the system. Second approach: Model Predictive Control is designed based onaugmented dynamic Model to control the motion of the system. In order to verify thedeveloped model and the chosen controller gains several simulations for different carts’paths are carried out. Several 3D animations are also presented to verify the usefulness ofthe designed CAD model and the controllers. As a future work: the 3D model of the tripleinverted-pendulum system gives a valuable resource for virtual reality work. Beside, anotheradvanced control approach can be applied on the derived dynamic model.

Design and Hybrid Impedance Control of a Powered Rowing Machine

2017 ◽  
Author(s):  
Humberto de las Casas ◽  
Hanz Richter ◽  
Antonie van den Bogert
Keyword(s):  
Dynamic Model ◽  
Impedance Control ◽  
Force Sensor ◽  
Return Stroke ◽  
Control Approach ◽  
Return Spring ◽  
Force Velocity ◽  
Experimental Trials ◽  
Belt Transmission ◽  
And Control

A conventional rowing machine was modified with an electric motor and a robust impedance control system to mimic the behavior of a conventional rower and subsequently expand its versatility. The powered machine has programmable impedance and can produce controlled forces during the return stroke, allowing for eccentric exercise. Conventional rowers do not allow eccentric loading, an exercise modality known to contribute significantly to the efficacy of training. Eccentric loading is particularly important to diminish the detrimental effects of humans operating in microgravity for long periods of time. Conventional rowers include a flywheel, a fan and a freewheeling clutch. These elements were removed and replaced by a torque-controlled motor and a belt transmission selected on the basis of the forces and velocities encountered in the rowing exercise. A hybrid dynamic model was developed for the conventional rowing machine to account for its force-velocity characteristics and the transitions between the coupled (pull stroke) and the decoupled (return stroke) of the freewheeling clutch. Machine parameters such as flywheel inertia, air damping coefficients and return spring constants were identified from a set of experimental data and fitted to the model. The model was then used to design the robust hybrid impedance controller which includes a virtual flywheel and a force sensor to determine the transitions between pull and return strokes. The controller reproduces the operation of the original machine and can also be programmed to produce arbitrary impedances. The paper describes the hybrid dynamic model and control approach and the real-time experimental trials.

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