Sharif Digital Repository

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... 

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... 

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... 

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... 

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... 

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... 

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... 

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...