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Boundary control of a vertical nonlinear flexible manipulator considering disturbance observer and deflection constraint with torque and boundary force feedback signals
, Article International Journal of Systems Science ; 2021 ; 00207721 (ISSN) ; Najafi Ardekany, A ; Alasty, A ; Sharif University of Technology
Taylor and Francis Ltd
2021
Abstract
In this paper, boundary control (BC) laws are designed to find a BC solution for a single-link nonlinear vertical manipulator to suppress the link’s transverse vibrations and control the rigid body nonlinear large rotating motion. The governing equations of motions and boundary conditions, which all consist of a set of PDEs and ODEs have been derived based on the Hamilton principle. It is desired to regulate large angular orientation, suppress the flexible link’s transverse vibrations and compensate the boundary disturbance simultaneously. The amount of elastic boundary vibration has remained within the constraint range. By considering novel Barrier-Integral Lyapunov functional in order to...
Boundary control of a vertical nonlinear flexible manipulator considering disturbance observer and deflection constraint with torque and boundary force feedback signals
, Article International Journal of Systems Science ; Volume 53, Issue 4 , 2022 , Pages 704-725 ; 00207721 (ISSN) ; Najafi Ardekany, A ; Alasty, A ; Sharif University of Technology
Taylor and Francis Ltd
2022
Abstract
In this paper, boundary control (BC) laws are designed to find a BC solution for a single-link nonlinear vertical manipulator to suppress the link’s transverse vibrations and control the rigid body nonlinear large rotating motion. The governing equations of motions and boundary conditions, which all consist of a set of PDEs and ODEs have been derived based on the Hamilton principle. It is desired to regulate large angular orientation, suppress the flexible link’s transverse vibrations and compensate the boundary disturbance simultaneously. The amount of elastic boundary vibration has remained within the constraint range. By considering novel Barrier-Integral Lyapunov functional in order to...
Implementation of drirect torque control method on brushless doubly fed induction machines in unbalenced situations
, Article 7th Power Electronics, Drive Systems and Technologies Conference, PEDSTC 2016, 16 February 2016 through 18 February 2016 ; 2016 , Pages 70-75 ; 9781509003754 (ISBN) ; Barati, F ; Oraee, H ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2016
Abstract
This paper presents a new method for implementing the direct torque control (DTC) on the brushless doubly fed induction machines (BDFM) in presence of turbulence in voltage grid. It is supposed irrupts in three phase voltage grid suddenly. Effects of these events on closed-loop operation are inevitable and in some cases could lead to system instability. It presumed that grid voltages disturbance effect on back-To-back converter's outputs is negligible. Control of a complex machine is problematic. Hence, firstly has explained performance of the control method on BDFM, Proposed a new method for reducing turbulence effects of system operation afterward. Simulation results on BDFM model with...