Hadi Y. Kanaan

Sliding-Mode Robot Control With Exponential Reaching Law

In this paper, sliding-mode control is applied on multi-input/multi-output (MIMO) nonlinear systems. A novel approach is proposed, which allows chattering reduction on control input while keeping high tracking performance of the controller in steady-state regime. This approach consists of designing a nonlinear reaching law by using an exponential function that dynamically adapts to the variations of the controlled system. Experimental study was focused on a MIMO modular robot arm. Experimental results are presented to show the effectiveness of the proposed approach, regarding particularly the chattering reduction on control input in steady-state regime.

A comparative study of shunt hybrid and shunt active power filters for single-phase applications: simulation and experimental validation

The aim of this paper is to compare the performance of the single-phase shunt active power filter (SPSAPF) and the single-phase shunt hybrid power filter (SPSHPF) that adopt both an indirect current control scheme with a unipolar pulse width modulation (U-PWM) strategy. The SPSHPF topology includes, in addition to the components of the SPSAPF, a power factor correction capacitor connected in series with a transformer. The primary winding of the transformer is connected to the single-phase voltage-source inverter, which is the main part of the filter. The indirect current control technique that is implemented for both filters is based on extracting the source current reference from the distorted waveform of the load current. The U-PWM control technique is based on comparing simultaneously a triangular high frequency carrier signal with a slow-varying regulation signal and its opposite. The double comparison process results in the gate signals for the semiconductors. A laboratory prototype for each filter is built. It is demonstrated that the rating of the inverter used in the SPSHPF is three to four times lower than the one corresponding to the SPSAPF. In addition, the performance of the SPSHPF is found to be much better than that of the SPSAPF as far as the line current distortion is concerned.

Large-Signal Modeling and Steady-State Analysis of a 1.5-kW Three-Phase/Switch/Level (Vienna) Rectifier With Experimental Validation

In this paper, a large-signal modeling technique has been developed for a three-phase, three-level Vienna rectifier operating in continuous conduction mode. The considered circuit is a fifth-order system with time-varying variables on the ac side. This model is first established in the direct abc reference frame using the state space averaging technique, then modified through an abc/dqo transform and adequate duty cycle alteration to avoid time-dependency. The system stability in a closed loop, using a multiloop PI-based control scheme, is proved by the convergence of the phase plane trajectories to the nominal point for any initial condition. These curves are drawn as ac line peak currents as a function of total output dc voltage. The different relationships governing the system inputs/outputs are verified not only for the nominal operating point, but also for a wide operation range. The accuracy of the proposed model is verified on a 1.5-kW experimental prototype controlled by the DS-1104 board of dSPACE. The converter large signal behavior is experimentally analyzed using output time domain responses toward different input variations. Significantly high accordance between the experimental results and the theoretical model, implemented with SIMULINK/Matlab, is verified.

Vienna Rectifier With Power Quality Added Function

The aim of this paper is to introduce power quality added function to the standard Vienna rectifier in order to compensate reactive power and to cancel current-type harmonics drawn by nonlinear loads connected to the same point of common coupling. A theoretical investigation that demonstrates the ability of such topology to compensate harmonics and limited reactive power is first presented. Then, the design and implementation of a linear quadratic regulator with integral action is presented. The converter is controlled as a whole i.e., a multiple-input-multiple-output system, and uses an augmented model that was developed in the d- q frame. Experimental results obtained with a digital-signal-processor-based DS1103 controller and the converter operating at a 20-kHz switching frequency proved the effectiveness of the theoretical study and the high performance of the proposed control strategy in compensating load harmonics and limited reactive power.

Comparison of fuzzy logic and proportional integral controller of voltage source active filter compensating current harmonics and power factor

This paper presents and compares the performance of two control techniques namely fuzzy logic FL and proportional integral PI applied to a voltage source inverter operating as an active power filter. The controllers permit to compensate harmonics and reactive power generated by the non-linear load simultaneously. This work is performed in order to make an accurate comparison of fuzzy logic controller and classical control technique such as PI controller. The fuzzy logic controller implemented uses Sugeno method, and is optimized by using adaptive neuro fuzzy inference system ANFIS. Steady state and transient performance are compared for different methods. The obtained results show the fuzzy logic controller is performing much better than the PI controller over a wide operating range.

Implementation of a New Linear Control Technique Based on Experimentally Validated Small-Signal Model of Three-Phase Three-Level Boost-Type Vienna Rectifier

In this paper, the design and implementation of a new multiple-input-multiple-output linear control technique based on a theoretically established and experimentally validated small- signal model for the three-phase three-level boost-type ac/dc Vienna converter are presented. Averaging and local linearization techniques are used to derive the dynamic model expressed in the dqo reference frame. The resulted transfer functions are discretized for the sake of a digital controller design. Multiple-loop control strategy is adopted and consists of inner current feedback loops, which are based on the straightforward looping technique that neglects interactions between the dq components of control inputs and currents, respectively, and of an outer voltage loop, which is designed to ensure dc voltage regulation by adjusting the magnitude of the references for the inner current loops. The output dc voltage unbalance is also controlled in the inner loops. The proposed modeling and control approaches are first simulated and then validated on a 1.5-kW laboratory prototype supported by the DS 1104 digital real-time controller board of dSPACE. The obtained results prove the accuracy of the proposed new small-signal model and, therefore, its reliability for dynamic analysis and control design purposes. It is also proved that a judicious choice of controller parameters, as well as an adequate rating of boost inductors, allows one to meet the IEEE standard requirements in terms of ac line-current total harmonic distortion and power factor. The efficiency of the proposed control technique is maintained in case of disturbances occurring on both source and load sides.

A new voltage balancing controller applied on 7-level PUC inverter

In this paper a novel model of the packed U-cell (PUC) inverter is derived considering the concept of single-phase multilevel converters. Based on the proposed model, a voltage balancing controller is designed to apply on the 7-level PUC inverter. The applied controller is in charge of fixing the capacitor voltage in PUC structure at a desired value to have the seven levels of the voltages at the output. The 7-level pulse width modulation (PWM) technique is used to produce the associated pulses for firing the PUC switches. The performance of the introduced controller is investigated via simulations in various conditions including changes in the load and DC bus voltage variations. The results prove the ability of the good dynamic performance and fast response of the controller in stable and unstable conditions.

A comparison between three modeling approaches for computer implementation of high-fixed-switching-frequency power converters operating in a continuous mode

In this paper, a comparative evaluation of three simulation tools for modeling and numerically implementing switch mode power converters is presented. The first simulation technique is based on the use of a state-space averaged model of the converter, the second approach makes use of the switching function concept, whereas the third one consists of using the Power System Blockset tool of Matlab/Simulink. The three modeling techniques are applied to a same DC-to-DC boost topology operating in a continuous conduction mode, with a fixed switching frequency. These techniques are compared on the basis of their rapidity, precision and limitations.

Fuzzy PID Control of a Five DOF Robot Arm

This paper studies the application of fuzzy logic control on a five degrees of freedom (DOF) robot arm, the Maker 100 of U.S. Robots. The elaboration of the fuzzy control laws is based on two structures of coupled rules fuzzy PID controllers. The fuzzy PID controllers are numerically simulated and the simulation results confirm the success of the fuzzy PID control in trajectory tracking problems. Seeking a performance optimization, a systematic study of the choice of tuning parameters of the controllers is done. The success of the proposed fuzzy control law is again affirmed by a comparative evaluation with respect to the computed torque control method and the direct adaptive control method, the last two controls being also numerically implemented using the same dynamic model of the robot arm.

Design and Implementation of Space Vector Modulation-Based Sliding Mode Control for Grid-Connected 3L-NPC Inverter

This paper presents a closed-loop space vector modulation (SVM)-based sliding mode controller (SMC) for a three-level grid-connected neutral point clamped (3L-NPC) inverter. The nonlinear SMC based on Gaos reaching law has been designed to control the grid current and inject desired amount of active and reactive power into the network. Due to using single dc source at the NPC inverter dc bus, neutral point voltage is controlled through redundant switching states and instantaneous dc voltage feedback integrated into SVM technique. Meanwhile, there is no external voltage controller involved, thus no associated fine tuning issues are existed. The performance of the proposed hybrid controller to inject a desired active/reactive power to the grid is investigated through external perturbations such as change in the line current amplitude/phase shift, ac voltage fluctuation, as well as dc voltage variation. Full converter state-space model was developed and simulated. Experimental results are provided to verify the fast dynamic performance, low content of line current THD%, and good voltage balancing of dc bus capacitors of the NPC inverter.