Passivity-Based Control of Water Pumping System Using BLDC Motor Drive Fed by Solar PV Array with Battery Storage System

In remote locations, it is advisable to combine solar water pumping with electric energy storage and power supply for other forms of consumption. In such complex systems, individual subsystems feature their own local control, and the general automatic control of the system in different modes of its operation is carried out in accordance with an energy management strategy (EMS). In this paper, the functions of local and general control of the solar water pumping system with battery storage and external power supply are combined in the system of passivity-based control (PBC). The EMS is constructed in such a way that for all modes, only two PBC systems are developed, which are switched depending on the battery’s state of charge and the current levels of the two main disturbances—solar irradiation and electrical consumption. For each system, two control influence former (CIF) structures were synthesized and their operation was investigated by computer simulation. Despite the simplicity of CIFs’ implementation, due to the introduced interconnection and damping coefficients, such control allows the provision of the required voltage regulation with a static error up to 1%, sufficient quality of transients during disturbances and switching of the system structure, as well as system asymptotic stability.

An improved IDA-PBC method with link-side damping injection and online gravity compensation for series elastic actuator

Elastic elements in series elastic actuator (SEA) will cause residual vibration in position control. Incorporating link-side damping injection and friction compensation, we propose an improved interconnection and damping assignment passivity-based control (IDA-PBC+) method to suppress residual vibration. Damping on the motor side and link side can be adjusted simultaneously. In addition, the desired motor-side trajectory planning and online gravity compensation are also introduced to improve control performance and steady-state accuracy. The effectiveness of the proposed method in suppressing residual vibration is experimentally verified with a two-degree-of-freedom SEA device.