Search for: hardware-in-the-loop
Total 22 records
Article IECON Proceedings (Industrial Electronics Conference), 7 November 2011 through 10 November 2011, Melbourne, VIC ; 2011 , Pages 4015-4020 ; 9781612849720 (ISBN) ; Zolghadri, M. R ; Poure, P ; Saadate, S ; Sharif University of Technology
FPGAs are interesting choices for control of power electronics converters and electrical drives. In this paper, implementation of the control method of a reduced switch- count five-leg converter is carried out. Two PWM methods are studied. For verification of the implemented controller in a practical manner, without risking the damaging of the real system, "FPGA in the loop" experiments are performed. It is shown that using the proposed methodology, FPGA implementation and verification is fast and effective. The provided results show the high performance of the implemented controller on the FPGA, therefore the feasibility and suitability of the FPGA for this application is approved
A novel deep learning backstepping controller-based digital twins technology for pitch angle control of variable speed wind turbine, Article Designs ; Volume 4, Issue 2 , 2020 , Pages 1-19 ; Abrazeh, S ; Mohseni, S. R ; Zeitouni, M. J ; Gheisarnejad, M ; Khooban, M. H ; Sharif University of Technology
MDPI AG 2020
This paper proposes a deep deterministic policy gradient (DDPG) based nonlinear integral backstepping (NIB) in combination with model free control (MFC) for pitch angle control of variable speed wind turbine. In particular, the controller has been presented as a digital twin (DT) concept, which is an increasingly growing method in a variety of applications. In DDPG-NIB-MFC, the pitch angle is considered as the control input that depends on the optimal rotor speed, which is usually derived from effective wind speed. The system stability according to the Lyapunov theory can be achieved by the recursive nature of the backstepping theory and the integral action has been used to compensate for...
M.Sc. Thesis Sharif University of Technology ; Hashemi, Matin ; Parniani, Mostafa
Real-time simulators are important in design and test of power systems. Real-time simulators with hardware-in-loop capabilities are used in design of new elements in order to achieve maximum compatibility between subsystems, or in diagnosis and maintenance.The purpose of this dissertation is to design a real-time simulator for electrical machines. For this purpose, a three-phase induction machine is chosen and its model is extracted and discretized. This procedure results in a system of differential equations in form of AX = B. The extracted equations needs to be solved in real-time at every time-step. The real-time algorithms are imple-mented on FPGA. The implemented real-time simulator...
Article IEEE Aerospace and Electronic Systems Magazine ; Volume 32, Issue 6 , 2017 , Pages 16-22 ; 08858985 (ISSN) ; Faghihinia, A ; Kalhor, A ; Sharif University of Technology
A 3 DOF platform was constructed in the Georgia Institute of Technology to perform new control strategies in an experimental framework. Also in this simulator, there isn't any sensor used by a real satellite for attitude determination. The setup was structured on data transmitting and synchronization of distributed elements for ADCS tests. In such a plan, not only can different elements of the test bed be used individually, but also they can support an integrated hardware in the loop test. Accordingly, reusing the hardware sources causes a cost reduction of development. Furthermore the geometric interferences of different parts are minimized in this plan. So, the test bed can be developed...
Article IEEE Transactions on Industrial Informatics ; Volume 9, Issue 3 , 2013 , Pages 1343-1350 ; 15513203 (ISSN) ; Philippe, P ; Shahrokh, S ; Mohammad Reza, M. R ; Sharif University of Technology
Fast fault detection (FD) and reconfiguration is necessary for fault tolerant power electronic converters in safety critical applications to prevent further damage and to make the continuity of service possible. The aim of this study is to minimize the number of the used additional voltage sensors in a fault tolerant three-phase converter. In this paper, first a practical implementation of a very fast FD scheme with reduced sensor number is discussed. Then, an optimization in this scheme is also presented to decrease the detection time. For FD, special time and voltage criterion are applied to observe the error in the estimated phase-to-phase voltages for a specific period of time. The...
Article ISA Transactions ; Volume 103 , 2020 , Pages 252-265 ; Nobakhti, A ; Sharif University of Technology
ISA - Instrumentation, Systems, and Automation Society 2020
This paper describes the design and implementation of a H∞-based robust controller for a commercial 2MW variable-speed variable-pitch wind turbine. The single controller is able to deliver specification performance for the entire full load region. Various aspects of modeling and design procedures including reduced order model validation, torsional mode damping of drivetrain and uncertainty estimation are explained in detail. To make the design more reliable and industrially attractive, simple routines for the derivation of required weighting functions are introduced. To investigate the benefits of the suggested design, its closed-loop performance is compared with the wind turbine's baseline...
M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza
In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using the method of hardware in the loop. Following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Lighthill’s theory inspired from slender body theory in aerodynamics scope could be viable to exercise upon the carangiform mode of swimming. By simplifying Lighthill’s equations in planar motion of fish robot, the number of degrees of freedom exceeds the number of the control variables. In view of the fact that the presented model is an under-actuated model, there exist some parametric and...
M.Sc. Thesis Sharif University of Technology ; Hashemi, Matin ; Parniani, Mostafa
Real-time simulators are playing a critical role in the design of power electronic systems. Using real-time simulator enables designers to reduce the time and cost of design by employing hardware-in-the-loop technique. In addition, this simulator can potentially reduce the risks which are associated with performing tests on actual systems. In this thesis, a real-time simulator is designed and implemented for power electronic applications. Concerning the fact that power switches are one of the most important elements in this simulator, an ideal switch model with conduction resistor and RC snubber circuit is used. This model is more accurate as compared to other models in the...
M.Sc. Thesis Sharif University of Technology ; Zolghadri, Mohammad Reza
Real-time Simulator plays an important role in the test of power electronic converters. Using of this simulators and Hardware-in-the-loop tests, cost and time of experiments will redused, furthermore those experiments which are not operative on the real system, can be achived. However, the accuracy of the used model in simulation as well as fast and easy programming of these simulators is very important. Therefore in this thesis, design and implementation of real-time simulator for power electronic converters have been discussed that in addition to high accuracy of the simulation, implementation of the several tests will be easy. As regards the power electronic switch is the most important...
Development of Heuristic Algorithms for Real-Time Model Predictive Control of Nonlinear Parameter Varying Systems with Uncertainty, Ph.D. Dissertation Sharif University of Technology ; Nobahari, Hadi
In this study, novel algorithms are presented for nonlinear parameter varying systems with uncertainty in the model predictive control using heuristic algorithms. To this end, some algorithms are developed which provide the possibility of estimating simultaneously states and control signal of the stochastic nonlinear systems. Then, the model predictive control algorithm is presented for stochastic nonlinear systems with uncertainty to estimate uncertainty and compensate it using ant colony optimization. Next, the model predictive control algorithm is developed for nonlinear system with matched bounded uncertainty using particle swarm optimization. Performance of the developed controllers is...
Development and Implementation of Multiple Model Filters for Online Identification and Compensation of Atmospheric Disturbances in Automatic Landing of Fixed Wing UAV, Ph.D. Dissertation Sharif University of Technology ; Nobahari, Hadi
In this study, a multiple model wind estimator is proposed to detect the wind type and to estimate the wind components as well as the states of a fixed-wing UAV without any direct measurement of the air data. Then, the identified wind model and the estimated states are compensated in the heuristic nonlinear model predictive controller during landing phase. For this purpose, a static multiple model approach is taken, comprised of four independent extended Kalman filters, each one is estimating the wind based on one of the four wind models including a constant wind, a “1-cosine” model, a wind shear and a microburst.Moreover, a new heuristic multiple model filter, called Multiple Model Extended...
Introduction of A Guidance Algorithm to Control A Quadrotor Approaching Time, Location, And Speed for Landing on A Moving Platform with Hardware in the Loop Simulation, M.Sc. Thesis Sharif University of Technology ; Nobahari, Hadi
In this thesis a guidance algorithm is developed to control middle phase landing of a quadrotor on a moving platform. Middle phase guidance is consisted of approaching time, speed, and angle constraints. In the first step proportional guidance algorithms was studied. Then a six-freedom model of a quadrotor dynamic was developed. At the next step an appropriate guidance algorithm was developed to control a quadrotor for the mentioned constraints. Finally, the parameters of the algorithm were optimized by numerical methods. Monte-Carlo method used to validate this method. For this reason, 850 numerical simulations with random initial and final conditions were performed and the statistics...
Combination of Linear MPC and Differential Game Theory for Optimal Cooperative Terminal Guidance Law with HIL Simulation, M.Sc. Thesis Sharif University of Technology ; Nobahari, Hadi
In this research, a cooperative terminal guidance algorithm has been derived for simultaneous multi-interceptor collision with a target. This algorithm is obtained using the combination of model predictive control method and differential game theory. One of the features of this method is the calculation of the optimal guidance command in the form of an explicit relationship. Another feature of this method is its resistance to disturbances due to the use of differential game theory. The first innovation of this research is the use of this hybrid method to create a guidance algorithm, even in the non-cooperative guidance problem. The next innovation is in creating a cooperative terminal...
Hardware-in-the-loop optimization of an active vibration controller in a flexible beam structure using evolutionary algorithms, Article Journal of Intelligent Material Systems and Structures ; Vol. 25, issue. 10 , 2014 , p. 1211-1223 ; Hosseini Kordkheili, S. A ; Afshari, S. S ; Sharif University of Technology
In this study, active vibration control of a cantilevered flexible beam structure equipped with bonded piezoelectric sensor/actuators is investigated. The linear quadratic regulator technique together with an observer is adopted to design the controller as well as to provide the full-state feedback. Two different approaches are subsequently used for simultaneously integrated optimization of the controller and observer parameters. In the first approach, a linear experimental model of the system is obtained using identification techniques, and the optimization is then performed based on a computer simulation of the system. However, in the second approach, a hardware-in-the-loop optimization...
Article IEEE Transactions on Industrial Electronics ; Volume 60, Issue 8 , May , 2013 , Pages 3360-3371 ; 02780046 (ISSN) ; Poure, P ; Saadate, S ; Zolghadri, M. R ; Sharif University of Technology
In this paper, an FPGA-based fault-tolerant back-to-back converter without redundancy is studied. Before fault occurrence, the fault-tolerant converter operates like a conventional back-to-back six-leg converter, and after the fault, it becomes a five-leg converter. Design, implementation, and experimental verification of an FPGA-based reconfigurable control strategy for this converter are discussed. This reconfigurable control strategy allows the continuous operation of the converter with minimum affection from a fault in one of the semiconductor switches. A very fast detection scheme is used to detect and locate the fault. Implementation of the fault detection and of the fully digital...
Fast detection of open-switch faults with reduced sensor count for a fault-tolerant three-phase converter, Article 2011 2nd Power Electronics, Drive Systems and Technologies Conference, PEDSTC 2011 ; 2011 , Pages 546-550 ; 9781612844213 (ISBN) ; Zolghadri, M ; Poure, P ; Saadate, S ; Sharif University of Technology
Fast fault detection and reconfiguration is necessary in power electronic converters in lots of applications to prevent further damage and to make possible the continuity of service. In this paper a very fast fault detection scheme is presented that minimizes the use of voltage sensors. A fault tolerant topology is studied. Control and fault detection system are implemented on a single FPGA and hardware in the loop experiments are performed to evaluate the detection scheme, the digital controller and the structure
Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010, Istanbul ; Volume 5 , 2010 , Pages 203-210 ; 9780791849194 (ISBN) ; Vosoughi, G. R ; Farshchi, M ; Nemati, A ; Sharif University of Technology
In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using hardware in the loop methodology. Up to now, few researches have focused on autonomous control of fish robot in dynamic environments which may be the result of difficulties in modeling of hydrodynamic effects on fish robot. Therefore, following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Then, kinematics control to track desired trajectories was designed for under-actuated model of robot. Adaptive sliding mode controller, capable of adapting according to changes and uncertainties, was...
Article International Journal of Robotics Research ; Volume 28, Issue 7 , 2009 , Pages 883-894 ; 02783649 (ISSN) ; Namvar, M ; Sharif University of Technology
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system as a consequence of external applied forces is the same as any other free-floating rigid-body (with different inertial properties). This allows 0-g emulation of a scaled spacecraft prototype under the test in a 1-g laboratory environment. The controller consisting of motion feedback and force/moment feedback adjusts the motion of the test spacecraft so as to match that of the flight spacecraft, even if the latter has flexible appendages (such as solar panels) and the former is rigid. The stability of the overall system is analytically investigated, and the...
Multiple model extended continuous ant colony filter applied to real-time wind estimation in a fixed-wing UAV, Article Engineering Applications of Artificial Intelligence ; Volume 92 , 2020 ; Sharifi, A ; Sharif University of Technology
Elsevier Ltd 2020
In this study, a new heuristic multiple model filter, called Multiple Model Extended Continuous Ant Colony Filter, is proposed to solve a nonlinear multiple model state estimation problem. In this filter, a bank of extended continuous ant colony filters are run in parallel to solve the multiple model estimation problem. The probability of each model is continually updated and consequently both the true model and the states of the nonlinear system are updated based on the weighted sum of the filters. The new multiple model filter is tested on an engineering problem. The problem is to estimate simultaneously the states of a fixed-wing unmanned aerial vehicle as well as the wind model, applied...
Article Energies ; Volume 5, Issue 6 , 2012 , Pages 1713-1733 ; 19961073 (ISSN) ; Karimi, H ; Etemadi, A ; Iravani, R ; Sharif University of Technology
This paper presents a high performance real-time simulator for power electronic systems applications and primarily intended for controller hardware-in-the-loop (CHIL) testing. The novelty of the proposed simulator resides in the massively parallel hardware architecture that efficiently exploits fine-grained parallelism without imposing severe communication overhead time that can limit the performance. The simulator enables the use of a nanosecond range simulation timestep to simulate power electronic systems. Through the use of this nanosecond range simulation timestep, the simulator minimizes the error arising from the intersimulation timestep switching phenomenon associated with CHIL. The...