Rozprawy doktorskie: „Contrôle feed-forward”

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Uwadukunze, Alain. "Optimisation de la performance des systèmes à partir de modèles identifiés : Application au design de projectiles et à la commande feedforward des systèmes Wiener". Electronic Thesis or Diss., Université de Lorraine, 2025. http://www.theses.fr/2025LORR0012.

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Dans de nombreuses applications techniques, l'objectif est d'optimiser les performances d'un système. Pour ce faire, il est nécessaire d'évaluer la sortie du système afin d'analyser la performance obtenue. Cependant, dans plusieurs scénarios concrets, les systèmes sont souvent coûteux à évaluer, rendant la tâche d'optimisation complexe. Pour remédier à ce problème, des modèles basés sur les données sont souvent identifiés afin d'estimer les fonctions objectives coûteuses, associées aux systèmes, puis sont utilisés pour estimer l'optimum. Si de mauvaises performances sont obtenues avec ces modèles, ces derniers doivent être améliorés en les ré-identifiant avec des nouvelles données. En revanche, comme l'évaluation des systèmes est coûteuse, ces données doivent être sélectionnées avec soin. L'objectif de cette thèse est de développer des approches qui peuvent être utilisées pour améliorer les modèles identifiés employés dans l'optimisation de la performance des systèmes. Ces approches sont utilisées dans deux applications différentes. La première concerne la conception aérodynamique, où le but est de déterminer les dimensions optimales d'un projectile sur la base de critères associés aux coefficients aérodynamiques. Ces coefficients sont coûteux à obtenir, ainsi, les configurations géométriques du projectile à évaluer, afin de trouver l'optimum, exigent une sélection attentive. Pour ce faire, des approches telles que l'optimisation bayésienne sont généralement utilisées, où un modèle de processus gaussien est utilisé pour représenter la relation statique entre la configuration du projectile et la fonction objective. Dans cette thèse, une procédure similaire à l'optimisation bayésienne, mais où des réseaux de neurones sont utilisés comme modèles à la place des processus gaussiens, est développée, afin de mieux gérer les ensembles de données plus volumineux. Ces deux approches sont utilisées pour résoudre le problème de conception aérodynamique, et il est démontré qu'elles permettent de réduire les coûts associés à l'optimisation. La seconde application concerne le domaine de contrôle et, plus particulièrement, l'identification pour le contrôle. L'accent est mis sur la conception de contrôleurs feed-forward pour des systèmes non linéaires pouvant être représentés par des structures de type Wiener. Plus précisément, il est montré comment un modèle de ces systèmes peut être utilisé pour concevoir le contrôleur. Une procédure d'amélioration itérative du modèle et de re-conception du contrôleur est également introduite dans le cas où le contrôleur initialement conçu ne permet pas d'obtenir des performances optimales. Globalement, les approches développées offrent des solutions efficaces pour minimiser les coûts d'évaluation des systèmes lors des tâches d'optimisation dans diverses applications d'ingénierie
In many engineering applications, the objective is to find the optimum performance of a system. To evaluate the performances, it is necessary to measure the output of the system for given inputs. However, in several real-life scenarios, systems are often expensive to evaluate making it difficult to perform the optimization tasks. To address this issue, data-driven models are often identified to estimate the expensive objective functions, associated with the systems, and are employed to approximate their optimum. If poor performances are obtained using these models, they must be improved by re-identifying them with new data. However, since the systems are expensive to evaluate, the data must be chosen carefully. The aim of this thesis is to develop approaches which can be used to improve identified models employed in system performance optimization. These approaches are applied in two different applications. The first one is the aerodynamic design where the goal is to find the optimum dimensions of a projectile based on criteria associated with aerodynamic coefficients. These coefficients are costly to acquire, hence the projectile geometry configurations to evaluate, to find the optimum, must be selected with care. This is usually achieved using approaches such as Bayesian Optimization where a Gaussian Process model is employed to model the static relationship between the projectile configuration and the objective function. In this thesis, a procedure similar to Bayesian Optimization but where Neural Networks are employed as data-driven models instead of Gaussian Processes is developed, to enable scalability for larger datasets. Both approaches are used to solve the aerodynamic design problem, and it is shown that they allow to reduce the costs associated to aerodynamic optimization. The second application concerns control engineering and more particularly the framework of identification for control. The focus is on feed-forward controller design for non-linear systems which can be represented by Wiener structures. More particularly, it is shown how a model of such systems can be used to design the controller. A procedure to iteratively improve the model and re-design the controller is also introduced in the case where the initially designed one does not allow to obtain optimal performances. Overall, the developed approaches provide effective solutions to minimizing system evaluation costs during optimization tasks in diverse engineering fields

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Chandorkar, Chaitrali Santosh. "Data Driven Feed Forward Adaptive Testing". PDXScholar, 2013. https://pdxscholar.library.pdx.edu/open_access_etds/1049.

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Test cost is a critical component in the overall cost of the product. Test cost varies in direct proportion with test time. This thesis introduces a data driven feed forward adaptive technique for reducing test time at wafer sort while maintaining the product defect level. Test data from first insertion of wafer is statistically analyzed to make a decision about adaptive test flow at subsequent insertions. The data driven feed forward technique uses a statistical screen to analyze test data from first probe of wafer and provides recommendations for test elimination at second insertions. At the second insertion dies are subjected to only the optimum number of tests for a reduced test flow. This technique is applicable only for the products which are tested at two or more insertions. The statistical screen identifies the dies for reduced test flow based upon correlation of tests across insertions. The tests which are repeated at both the insertions and are highly correlated are the candidates of elimination at second insertion. The feed forward technique is applied to a mixed signal analog product and figures of merit are evaluated. Application of technique to the production data shows that there is an average 55% test time reduction when a single site is tested per touchdown and up to 10% when 16 sites are tested in parallel per touchdown.

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Tanaka, Toshiyuki. "Control of growth dynamics of feed-forward neural network". Diss., Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/13445.

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PISCITELLI, DANIELE. "MUSCLE COORDINATION IN THE FEED-FORWARD CONTROL OF POSTURE". Doctoral thesis, Università degli Studi di Milano-Bicocca, 2017. http://hdl.handle.net/10281/158163.

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INTRODUZIONE All’interno dell’ipotesi del uncontrolled manifold (UCM) sono stati esplorati due tipologie di aggiustamenti posturali anticipatori: aggiustamenti sinergici anticipatori (ASAs) ed aggiustamenti posturali anticipatori (APAs). Gli ASAs riflettono una diminuzione progressiva dell’indice di sinergia multimuscle-mode che stabilizza una variabile (e.g. coordinate antero-posteriori del centro di pressione, COPAP) in preparazione ad un rapido cambiamento in quella performance. Gli APAs, invece, sono interpretati come il risultato di segnali neurali atti a generare momenti di forza per ridurre gli effetti di eventuali perturbazioni prevedibili sulla postura. Se l’istante della perturbazione è conosciuto, gli ASAs sono funzionali per generare correzioni posturali indipendentemente dalla direzione della perturbazione. Al contrario, gli APAs sono utili solo se la direzione della perturbazione è conosciuta in anticipo. Obiettivo dello studio è stato esaminare gli ASAs e APAs in preparazione ad una perturbazione posturale auto-generata in due differenti condizioni: direzione della perturbazione conosciuta e non-conosciuta. Si è ipotizzato che gli APAs, al contrario degli ASAs, risultassero maggiormente sensibili alla preconoscenza della direzione della perturbazione. METODI Undici partecipanti sani in ortostatismo su piattaforma di forza hanno effettuato due task: (1) oscillazioni volontarie in direzione antero-posteriore a 0.5 HZ; (2) rilascio auto-generato di un carico in due condizioni: direzione della perturbazione (anteriore/posteriore rispetto al soggetto) conosciuta o non-conosciuta (randomizzata dal ricercatore). Sono stati acquisiti e analizzati i segnali elettromiografici di superficie (EMGs) di 13 muscoli (arto inferiore e tronco) e lo spostamento del COPAP. Il primo task è stato utilizzato per identificare quattro M-modes muscolari (gruppi di muscoli caratterizzati da pattern di attivazione parallela). Successivamente, la varianza inter-trail nel M-mode space è stata quantificata sia entro lo spazio del UCM sia perpendicolarmente (ORT) a questo per il COPAP. È stato calcolato l’indice di sinergia (∆V) che riflette la quantità di varianza inter-trial entro l’UCM. Inoltre, sono state quantificati indici di co-attivazione e attivazione reciproca (attività agonista-antagonista) di coppie di gruppi muscolari. RISULTATI ∆V ha mostrato una diminuzione di circa 200ms prima dell’inizio della perturbazione. Gli ASAs sono stati simili tra le due condizioni, con e senza la conoscenza della direzione della perturbazione (ANOVA non significativo per direzione). Al contrario, i tempi e la struttura degli APAs hanno presentato differenze rispetto alla conoscenza della direzione della perturbazione. Gli APAs sono comparsi in ritardo quando la direzione della perturbazione era sconosciuta (p < 0.05). Inoltre, l’analisi degli indici di co-attivazione ed attivazione reciproca hanno mostrato una maggiore presenza di pattern reciproci quando i soggetti conoscevano la direzione della perturbazione, mentre i pattern di co-attivazione erano più frequenti durante i trials senza conoscenza della direzione. DISCUSSIONE I risultati dimostrano l'esistenza di due distinti meccanismi di controllo feed-forward posturale fornendo supporto per un modello di controllo motorio basato su due gruppi di variabili, quelle che definiscono le grandezze desiderate delle variabili di performance di movimenti programmati (APAs) e quelle che definiscono la stabilità delle variabili di performance (ASAs). Questi risultati hanno potenziali implicazioni per chiarire la compromissione del controllo posturale nei disordini neurologici e potrebbero essere integrati in strategie riabilitative.
The framework of the uncontrolled manifold (UCM) hypothesis has been used to study a type of feed-forward postural adjustments anticipatory synergy adjustments (ASAs) compared to anticipatory postural adjustments (APAs). ASAs reflect attenuation of a synergy index stabilizing a variable (e.g., center of pressure anterior-posterior coordinate, COPAP) in preparation to a quick change in that variable, while APAs are the means of generating net forces and moments of force that minimize the effects of a predictable perturbation on posture. ASAs and APAs were explored in preparation to a self-triggered postural perturbation in conditions when the direction of the perturbation was known and unknown. Eleven healthy subjects stood on a force platform and performed two tasks: (1) voluntary cyclic body sway in the anterior-posterior (AP) direction at 0.5 Hz; and (2) self-paced load release task in two conditions where the perturbation direction was either known or unknown (randomized by the experimenter). Surface electromyograms of 13 leg and trunk muscles as well as COPAP displacements were recorded and analyzed. The first task was used to identify four muscle modes (M-modes, muscle groups with parallel scaling of activation levels). Further, inter-trial variance in the M-mode space was quantified within the UCM and orthogonal (ORT) space. An index of synergy (∆V) was computed reflecting the relative amount of inter-trial M-mode variance within the UCM for COP AP. The index of multi-M-mode synergies showed a drop starting about 200 ms prior to the time of perturbation. These ASAs were similar across conditions. In contrast, the timing and structure of APAs differed depended on knowledge of the perturbation direction. Namely, APAs were delayed when the perturbation direction was unknown. In addition, analysis of co-activation and reciprocal activation within agonist–antagonist muscle pairs showed predominance of reciprocal patterns in conditions when the subjects knew the perturbation direction and co- activation patterns when the perturbation direction was unknown. The results demonstrate the existence of two separate mechanisms of feed-forward control of vertical posture. These findings potentially have implication for elucidating impaired postural control in neurological and musculoskeletal disorders and being incorporated in rehabilitation strategies.

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Dudiki, Venkatesh. "Feed-Forward Compensation of Non-Minimum Phase Systems". Wright State University / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=wright1545163596477852.

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Carey, Abby (Abby M. ). "Valve characterization to implement feed-forward control of hydraulically actuated joints". Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/45763.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
Includes bibliographical references (leaf 39).
This thesis characterizes the flow behavior of a Hydraforce SP08-47CL valve given a specific pulse-width modulation (pwm) duty cycle. With a description of valve behavior, a feed-forward term can be implemented in the positional control loop of a hydraulically actuated robotic prototype. In order to isolate valve behavior, a test bed apparatus consisting of three separate hydraulic cylinders was constructed to decouple joint movement, and multiple tests were conducted, recording cylinder velocities given a constant pwm signal at a system pressure of 3.45MPa. After theoretically justifying the empirical results, a quadratic and bi-linear curve fit to the data provided a practical solution to an otherwise computationally expensive problem.
by Abby Carey.
S.B.

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Bender, John Andrew Laurent Gilles Dickinson Michael. "Elements of feed-forward and feedback control in Drosophila body saccades /". Diss., Pasadena, Calif. : California Institute of Technology, 2007. http://resolver.caltech.edu/CaltechETD:etd-03042007-163003.

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Burkhardt, Markus [Verfasser]. "Model-Based Feed-Forward Control for Mechatronic Systems with Structural Elasticity / Markus Burkhardt". Düren : Shaker, 2019. http://d-nb.info/1196487413/34.

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Crowley, Kevin Michael. "An Open Loop Feed-Forward Control Scheme for Bioinspired Artificial Hair Cell Sensors". Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/51611.

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This research documents the creation and use of an open-loop feed forward control scheme designed to manipulate the DC potential across lipid bilayer membranes in artificial hair cell sensors. Inspired by the human cochlea's non-linear gain phenomenon, whereby the cochlea can increase or decrease the effective gain of the auditory system, this controller is the first step in developing more sophisticated signal processing schemes for use with future bio-inspired artificial hair cell development. This open-loop controller allows for three preset gain mappings to tailor the DC offset in response to an external stimulus. Linear, nonlinear and sigmoidal mappings were created to observe the differences in system response during constant frequency and variable frequency excitation. In constant frequency testing, artificial hair cell sensors were excited at 100 Hz across a range of input intensities to observer current output response during increasing or decreasing excitation levels. Results showed average coherence values above 0.98 for the relationship between current output and fluid velocity, indicating a strong correlation between excitation and measured output. In the bilayer with stereocilia test case, RMS power increased with higher excitation levels but the various control laws did not appear to have any discernible impact on output power. In variable frequency testing, sensors were excited from 0-300 Hz to observe the real time effects of our control law on amplification or attenuation of output current with varying input intensity. Results of the variable frequency excitation could not definitively prove that the varied DC potential had an effect on current output due to excessive capacitive noise, but the controller did provide some encouraging results from its behavior during testing. We observed three distinct DC potential response curves for each mapping, indicating, that with some refinement, we should be able to manipulate output current with user defined gain tunings.
Master of Science

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Collins, Lisa May. "Feed forward control of a micro-CHP unit and its contribution to low energy housing in the UK". Thesis, University of Manchester, 2013. https://www.research.manchester.ac.uk/portal/en/theses/feed-forward-control-of-a-microchp-unit-and-its-contribution-to-low-energy-housing-in-the-uk(d9d72b8b-1f51-4c90-af2f-051e72fc3539).html.

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This investigation has analysed the impact on energy consumption for heating and cooling in UK housing stock, from the predicted future global warming effect, up to the 2080s. It was found that, up to the 2050s, it is likely that heating rather than cooling will remain the main source of energy use, in a pessimistic business-as-usual scenario. Micro-CHP (domestic scale combined heat and power plant) offers a medium term low carbon solution for the replacement of heating equipment. The operation of a micro-CHP unit in a time-of-use electricity tariff scenario for existing UK housing stock was simulated. The investigation analysed whether electrical export earnings could be increased by the use of feed forward control in comparison to a conventional control strategy of timed operation with optimised start, without serious compromise to fuel consumption. It has been found that the use of an auto-regressive model with exogenous input (ARX) model can adequately describe thermal characteristics of a typical house for a model based predictive controller. It was demonstrated that export earnings could be increased significantly without additional fuel consumption by accepting dynamic heating operation within a comfort range, rather than a static setpoint value. Compared to a conventional control strategy, overall CO2 emissions and peak network electricity demand were reduced. This approach increased electrical export earnings without additional fuel consumption during theoretical testing and has potential for further development. These finding confirm a positive case for utilising time-of-use electricity tariffs and could contribute significantly towards increasing the productivity of micro-CHP.

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Garcia, Andrew Michael. "Feed-Forward Air-Fuel Ratio Control during Transient Operation of an Alternative Fueled Engine". The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366034780.

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Franklin, Calenia L. "Design and Simulation of Boost DC - DC Pulse Width Modulator (PWM) Feed-Forward Control Converter". Wright State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=wright1594392395108745.

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Celanovic, Nikola. "Space Vector Modulation and Control of Multilevel Converters". Diss., Virginia Tech, 2000. http://hdl.handle.net/10919/29164.

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This dissertation is the result of research and development of a power conditioning system for Superconductive Magnetic Energy Storage System. The dominant challenge of this research was to develop the power conditioning system that can match slowly varying dc voltage and dc current on the super conductive magnet side with the ac voltages and ac currents on the utility side. At the same time the power conditioning system was required to provide a bi-directional power flow to the superconductive magnet. The focus of this dissertation is a three-level diode clamped dc-ac converter which is a principle part of the power conditioning system. Accordingly, this dissertation deals with the space vector modulation of three-level converters and introduces a computationally very efficient three-level space vector modulation algorithm that is experimentally verified. Furthermore, the proposed space vector modulation algorithm is successfully generalized to allow equally efficient, real time implementation of space vector modulation to dc-ac converters with virtually any number of levels. The most important advantage of the proposed concept is in the fact that the number of instructions required to implement the algorithm is almost independent from the number of levels in a multilevel converter. More on the side of the control of multilevel converters, the particular attention in this dissertation is paid to the problem of charge balance in the split dc-link capacitors of three-level neutral-point-clamped converters. It is a known fact that although the charge balance in the neutral point can be maintained on a line cycle level, a significant third harmonic current flows into the neutral point for certain loading conditions, causing the neutral point voltage ripple. The logical consequence of that ripple is the deteriorated quality of the output voltage waveforms as well as the increased voltage stress on the switching devices. This was the motivation to more carefully explore the loading conditions that cause the unbalance, as well as to study the fundamental limitations of dc-link capacitor charge balancing algorithms. As a part of that work, a new model of the neutral point current in the rotating coordinate frame is developed as a tool in investigation of theoretical limitations and in providing some intuitive insight into the problem. Additionally, the low frequency ripple is quantified and guidelines are offered that can help size the dc-link capacitors. Because the study of the neutral point balance identified the loading conditions, that under some possible system constraints, cause an unavoidable neutral point voltage ripple, a feed forward type of control method is developed next. The proposed feed forward algorithm can effectively prevent the neutral point voltage ripple from creating distortions in the converter output voltage under all loading conditions and without causing additional disturbance in the neutral point voltage. The feed forward method is developed for a sine triangle as well as for the space vector type PWM algorithm. The simulation results that include the full dynamic model of the converter and load system validate the feed forward approach and prove that the feed forward algorithm can effectively compensate the effect of the neutral point voltage ripple. The simulation results are than experimentally verified.
Ph. D.

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Arvidsson, Marcus, i Daniel Karlsson. "Attenuation of Harmonic Distortion in Loudspeakers Using Non-linear Control". Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78645.

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The first loudspeaker was invented almost 150 years ago and even though much has changed regarding the manufacturing, the main idea is still the same. To produce clean sound, modern loudspeaker consist of expensive materials that often need advanced manufacturing equipment. The relatively newly established company Actiwave AB uses digital signal processing to enhance the audio for loudspeakers with poor acoustic properties. Their algorithms concentrate on attenuating the linear distortion but there is no compensation for the loudspeakers' non-linear distortion, such as harmonic distortion. To attenuate the harmonic distortion, this thesis presents controllers based on exact input-output linearisation. This type of controller needs an accurate model of the system. A loudspeaker model has been derived based on the LR-2 model, an extension of the more common Thiele-Small model. A controller based on exact input-output linearisation also needs full state feedback, but since feedback risk being expensive, state estimators were used. The state estimators were based on feed-forward or observers using the extended Kalman filter or the unscented Kalman filter. A combination of feed-forward state estimation and a PID controller were designed as well. In simulations, the total harmonic distortion was attenuated for all controllers up to 180 Hz. The simulations also showed that the controllers are sensitive to inaccurate parameter values in the loudspeaker model. During real-life experiments, the controllers needed to be extended with a model of the used amplifier to function properly. The controllers that were able to attenuate the harmonic distortion were the two methods using feed-forward state estimation. Both controllers showed improvement compared to the uncontrolled case for frequencies up to 40 Hz.

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Bosserd, James Addison. "Investigation of roll angle feed-forward control and look-ahead functions to improve automatic guidance on sloped terrain". [Ames, Iowa : Iowa State University], 2007.

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Ilves, Kalle. "Modeling and Design of Modular Multilevel Converters for Grid Applications". Doctoral thesis, KTH, Elektrisk energiomvandling, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-153762.

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This thesis aims to bring clarity to the dimensioning aspects and limiting factors of the modular multilevel converter (MMC). Special consideration is given to the dc capacitors in the submodules as they are a driving factor for the size and weight of the converter. It is found that if the capacitor voltages are allowed to increase by 10% the stored energy must be 21 kJ/MW in order to compensate the capacitor voltage ripple. The maximum possible output power can, however, be increased by injecting a second-order harmonic in the circulating current. A great advantage of cascaded converters is the possibility to achieve excellent harmonic performance at low switching frequencies. Therefore, this thesis also considers the relation between switching harmonics, capacitor voltage ripple, and arm quantities. It is shown that despite subharmonics in the capacitor voltages, it is still possible to achieve periodic arm quantities. The balancing of the capacitor voltages is also considered in further detail. It is found that it is possible to balance the capacitor voltages even at fundamental switching frequency although this will lead to a comparably large capacitor voltage ripple. Therefore, in order to limit the peak-to-peak voltage ripple, it is shown that a predictive algorithm can be used in which the resulting switching frequency is approximately 2–3 times the fundamental frequency. This thesis also presents two new submodule concepts. The first submodule simply improves the trade-off between the switching frequency and capacitor voltage balancing. The second submodule includes the possibility to insert negative voltages which allows higher modulation indices compared to half-bridge submodules. A brief comparison of cascaded converters for ac-ac applications is also presented. It is concluded that the MMC appears to be well suited for ac-ac applications where input and output frequencies are close or equal, such as in interconnection of ac grids. In low-frequency applications such as low-speed drives, however, the difficulties with handling the energy variations in the converter arms are much more severe in the MMC compared to the other considered topologies.

QC 20141010

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Hernández, Zavala Carlos Alberto [Verfasser]. "Assembling Technique Based on the Statistical Feed-Forward Control Model for Low Precision Manufacturing Processes / Carlos Alberto Hernández Zavala". Aachen : Shaker, 2013. http://d-nb.info/1051571618/34.

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Janeke, Hanna. "Modellering, identifiering och reglering av skannern i ett laserbatymetrisystem". Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2823.

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The purpose with this masters thesis was to model the scanner in a system for laser bathymetry. The model was then used to develop a controller for the scanner so a good search pattern was achieved.

Two different types of models have been tested, a physical model and a Black Box model of Box Jenkins type. The physical model has been derived from Lagranges equations. Identification experiments have been used to compute the Black Box model and to find the unknown parameters in the physical model.

Three different controllers have been tested, a PID controller, a model predictive controller and a controller with feedforward. The controller with feedforward gave the best result. By softening the reference signal and using feedforward a good search pattern was achieved.

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Xie, Manjing. "Digital Control for Power Factor Correction". Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/34258.

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This thesis focuses on the study, implementation and improvement of a digital controller for a power factor correction (PFC) converter. The development of the telecommunications industry and the Internet demands reliable, cost-effective and intelligent power. Nowadays, the telecommunication power systems have output current of up to several kilo amperes, consisting of tens of modules. The high-end server system, which holds over 100 CPUs, consumes tens of kilowatts of power. For mission-critical applications, communication between modules and system controllers is critical for reliability. Information about temperature, current, and the total harmonic distortion (THD) of each module will enable the availability of functions such as dynamic temperature control, fault diagnosis and removal, and adaptive control, and will enhance functions such as current sharing and fault protection. The dominance of analog control at the modular level limits system-module communications. Digital control is well recognized for its communication ability. Digital control will provide the solution to system-module communication for the DC power supply. The PFC converter is an important stage for the distributed power system (DPS). Its controller is among the most complex with its three-loop structure and multiplier/divider. This thesis studies the design method, implementation and cost effectiveness of digital control for both a PFC converter and for an advanced PFC converter. Also discussed is the influence of digital delay on PFC performance. A cost-effective solution that achieves good performance is provided. The effectiveness of the solution is verified by simulation. The three level PFC with range switch is well recognized for its high efficiency. The range switch changes the circuit topology according to the input voltage level. Research literature has discussed the optimal control for both range-switch-off and range-switch-on topologies. Realizing optimal analog control requires a complex structure. Until now optimal control for the three-level PFC with analog control has not been achieved. Another disadvantage of the three-level PFC is the output capacitor voltage imbalance. This thesis proposes an active balancing solution to solve this problem.
Master of Science

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Hernández, Zavala Carlos Alberto [Verfasser], i Rainer [Akademischer Betreuer] Tutsch. "Assembling Technique Based on the Statistical Feed-Forward Control Model for Low Precision Manufacturing Processes / Carlos Alberto Hernández Zavala ; Betreuer: Rainer Tutsch". Braunschweig : Technische Universität Braunschweig, 2013. http://d-nb.info/1175822566/34.

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Afacan, Kamil. "Modeling And Control Of A Stabilization System". Master's thesis, METU, 2004. http://etd.lib.metu.edu.tr/upload/12605576/index.pdf.

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Elevation axis model of a barrel stabilization system is constructed. The nonlinearities which are considered in the model are orifice flow characteristics, coulomb friction, hard-stop limits, kinematics of the system and unbalance on the barrel. A Simulink®
model for the servo valve, actuation system and barrel is constructed. Servo valve identification is made via the actual test data. Compressibility of the hydraulic fluid is taken into consideration while modeling the actuation system. Friction model is simulated for different cases. Controller of the system is constructed by two PIDs, one for each of the velocity and the position loops. Velocity feed forward can reduce the time to make a quick move by the system. The disturbance is evaluated from a given road profile and disturbance feed forward is applied to the system.

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André, Simon. "Design and Optimization of Controllers for an Electro-Hydraulic System". Thesis, Linköpings universitet, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-107620.

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Electro-Hydraulic (EH) systems are commonly used in the industry for applications that require high power-weight ratios and large driving forces. The EH system studied in this master thesis have recently been upgraded with new hardware components and as a part of this upgrade a new controller was requested. The system consists of a controller that computes a control signal for an electric motor. The motor drives a gear pump that generates a flow of hydraulic fluid. The flow is then directed to a cylinder. The movements of a piston in the cylinder is affected by the flow and the piston position can be measured. The measured piston position is then fed back to the controller and the control loop is complete. The system was previously controlled using a Proportional-Integral-Derivative (PID) controller and the purpose of this thesis is to compare the old controller with alternative control strategies suitable for this application. The evaluation of the controllers is based on both software and hardware simulations and results in a recommendation for final implementation of the best suited controller. The control strategies chosen for investigation are: a retuned PID controller, a PID controller with feed forward from reference, a PID based cascade controller, a Linear Quadratic (LQ) controller, and a Model Predictive Controller (MPC). To synthesize the controllers an approximate model of the system is formed and implemented in the software environment Matlab Simulink. The model is tuned to fit recorded data and provides a decent estimation of the actual system. The proposed control strategies are then simulated and evaluated in Simulink with the model posing as the real system. These simulations resulted in the elimination of the cascade controller as a possible candidate since it proved unstable for large steps in the reference signal. The remaining four controllers were all selected for simulation on the real hardware system. Unfortunately the MPC was never successfully implemented on the hardware due to some unknown compatibility error and hence eliminated as a possible candidate. The three remaining control strategies, PID, PID with feed forward from reference and the LQ controller, were all successfully implemented and simulated on hardware. The results from the hardware simulations compared to simulations made with the old controller, as well as the results from the software simulations, were then evaluated. Depending on the purpose one of two control strategies is recommended for this application. The LQ controller achieved the best overall performance and is presented as the control strategy best suited for this application.

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23

Wynn, Jesse Stewart. "Visual Servoing for Precision Shipboard Landing of an Autonomous Multirotor Aircraft System". BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7111.

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Precision landing capability is a necessary development that must take place before unmanned aircraft systems (UAS) can realize their full potential in today's modern society. Current multirotor UAS are heavily reliant on GPS data to provide positioning information for landing. While generally accurate to within several meters, much higher levels of accuracy are needed to ensure safe and trouble-free operations in several UAS applications that are currently being pursued. Examples of these applications include package delivery, automatic docking and recharging, and landing on moving vehicles. The specific problem we consider is that of precision landing of a multirotor unmanned aircraft on a small barge at sea---which presents several significant challenges. Not only must we land on a moving vehicle, but the vessel also experiences random rotational and translational motion as a result of waves and wind. Because maritime operations often span long periods of time, it is also desirable that precision landing can occur at any time---day or night.In this work we present a complete approach for precision shipboard landing and address each of the aforementioned challenges. Our method is enabled by leveraging an on-board camera and a specialized landing target which can be detected in light or dark conditions. Features belonging to the target are extracted from camera imagery and are used to compute image-based visual servoing velocity commands that lead to precise alignment between the multirotor and landing target. To enable the multirotor to match the horizontal velocities of the barge, an extended Kalman filter is used to generate feed-forward velocity reference commands. The complete landing procedure is guided by a state machine architecture that incorporates corrections to account for wind, and is also capable of quickly reacquiring the landing target in a loss event. Our approach is thoroughly validated through full-scale outdoor flight tests and is shown to be reliable, timely, and accurate to within 4 to 10 centimeters.

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24

Ilves, Kalle. "Modeling and Design of Modular MultilevelConverters for Grid Applications". Licentiate thesis, KTH, Elektrisk energiomvandling, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-105779.

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Grid-connected high-power converters are found in high-voltage direct current transmission (HVDC), static compensators (STATCOMs), and supplies for electric railways. Such power converters should have a high reliability, high efficiency, good harmonic performance, low cost, and a small footprint. Cascaded converters are promising solutions for high-voltage high-power converters since they allow the combination of excellent harmonic performance and low switching frequencies. A high reliability can also be achieved by including redundant submodules in the chain of cascaded converters. One of the emerging cascaded converter topologies is the modular multilevel converter (M2C). This thesis aims to bring clarity to the dimensioning aspects and limiting factors of M2Cs. The dc-capacitor in each submodule is a driving factor for the size and weight of the converter. It is found that the voltage variations across the submodule capacitors will distort the voltage waveforms and also induce alternating components in the current that is circulating between the phase-legs. It is, however, shown that it is possible to control the alternating voltage by feed-forward control. It is also shown that if the circulating current is controlled, the injection of a second-order harmonic component can extend the operating region of the converter. The reason for this is that when the converter is operating close to the boundary of overmodulation the phase and amplitude of the second-order harmonic is chosen such that the capacitors are charged prior to the time when a high voltage should be inserted by the submodules. The controller that is used must be able to balance the sbmodule capacitor voltages. Typically, an increased switching frequency will enhance the performance of the balancing control scheme. In this thesis it is shown that the capacitor voltages can be balanced with programmed modulation, even if fundamental switching frequency is used. This will, however, increase the voltage ripple across the aforementioned capacitors. In order to quantify the requirements on the dc-capacitors a general analysis is provided in this thesis which is based on the assumption that the capacitor voltages are well balanced. It is found that for active power transfer, with a 50 Hz sinusoidal voltage reference, the capacitors must be rated for a combined energy storage of 21 kJ/MW if the capacitor voltages are allowed to increase by 10% above their nominal values.

QC 20121127

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25

Li, Bo. "Conception et test de cellules de gestion d'énergie à commande numérique en technologies CMOS avancées". Phd thesis, INSA de Lyon, 2012. http://tel.archives-ouvertes.fr/tel-00782429.

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Les technologies avancées de semi-conducteur permettent de mettre en œuvre un contrôleur numérique dédié aux convertisseurs à découpage, de faible puissance et de fréquence de découpage élevée sur FPGA et ASIC. Cette thèse vise à proposer des contrôleurs numériques des performances élevées, de faible consommation énergétique et qui peuvent être implémentés facilement. En plus des contrôleurs numériques existants comme PID, RST, tri-mode et par mode de glissement, un nouveau contrôleur numérique (DDP) pour le convertisseur abaisseur de tension est proposé sur le principe de la commande prédictive: il introduit une nouvelle variable de contrôle qui est la position de la largeur d'impulsion permettant de contrôler de façon simultanée le courant dans l'inductance et la tension de sortie. La solution permet une dynamique très rapide en transitoire, aussi bien pour la variation de la charge que pour les changements de tension de référence. Les résultats expérimentaux sur FPGA vérifient les performances de ce contrôleur jusqu'à la fréquence de découpage de 4MHz. Un contrôleur numérique nécessite une modulation numérique de largeur d'impulsion (DPWM). L'approche Sigma-Delta de la DPWM est un bon candidat en ce qui concerne le compromis entre la complexité et les performances. Un guide de conception d'étage Sigma-Delta pour le DPWM est présenté. Une architecture améliorée de traditionnelles 1-1 MASH Sigma-Delta DPWM est synthétisée sans détérioration de la stabilité en boucle fermée ainsi qu'en préservant un coût raisonnable en ressources matérielles. Les résultats expérimentaux sur FPGA vérifient les performances des DPWM proposées en régimes stationnaire et transitoire. Deux ASICs sont portés en CMOS 0,35µm: le contrôleur en tri-mode pour le convertisseur abaisseur de tension et la commande par mode de glissement pour les convertisseurs abaisseur et élévateur de tension. Les bancs de test sont conçus pour conduire à un modèle d'évaluation de consommation énergétique. Pour le contrôleur en tri-mode, la consommation de puissance mesurée est seulement de 24,56mW/MHz lorsque le ratio de temps en régime de repos (stand-by) est 0,7. Les consommations de puissance de command par mode de glissement pour les convertisseurs abaisseur et élévateur de tension sont respectivement de 4,46mW/MHz et 4,79mW/MHz. En utilisant le modèle de puissance, une consommation de la puissance estimée inférieure à 1mW/MHz est envisageable dans des technologies CMOS plus avancées. Comparé aux contrôlés homologues analogiques de l'état de l'art, les prototypes ASICs illustrent la possibilité d'atteindre un rendement comparable pour les applications de faible et de moyen puissance mais avec l'avantage d'une meilleure précision et une meilleure flexibilité.

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26

Palaj, Lukáš. "Aplikace lokálních aproximátorů pro řízení reálného mechatronického systému". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229786.

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Cieľom práce je aplikácia lokálnych aproximátorov pre riadenie reálnych mechatronických sústav pomocou metódy dopredného riadenia predstavujúcej zaujímavú alternatívu k metódam využívajúcim globálne aproximátory. Po ukážkových príkladoch funkcie lokálnych aproximátorov bol navrhnutý algoritmus implementovaný pre riadenie dvoch sústav, elektronickej škrtiacej klapky a výukového modelu magnetickej levitácie, predstavujúcich vysoko nelineárne a nestabilné sústavy. Skúmali sme, či riadiaci algoritmus bude mať pozitívny vplyv na presnosť regulácie, ďalej bola skúmaná jeho schopnosť prispôsobiť sa zmene parametrov sústavy a tiež prípadná možnosť jeho implementácie pre mikrokontrolér znížením vzorkovacej frekvencie. Výsledky ukázali, že riadenie založené na lokálnych modeloch zlepšilo riadenie v porovnaní s jednoduchým PID regulátorom a že má schopnosť adaptability. Veľmi výhodné sa zdá byť jeho použitie pre zariadenia umožnujúce vzorkovaciu frekvenciu do 1 kHz.

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27

Masoud, Khalid Hasan. "Circuits and controls for grid-connected inverters". Thesis, Queensland University of Technology, 2002.

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28

Larsson, Viktor, i L. Viktor Larsson. "Simulation and Testing of Energy Efficient Hydromechanical Drivlines for Construction Equipment". Thesis, Linköpings universitet, Fluida och mekatroniska system, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-107495.

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Increased oil prices and environmental issues have increased a need of loweringthe emissions from and the fuel consumption in heavy construction machines. Anatural solution to these issues is a lowered input power through downsizing ofthe engine. This implies a demand on higher transmission efficiency, in order tominimize the intrusion on vehicle performance. More specifically, alternatives tothe conventional torque converter found in heavier applications today, must beinvestigated. One important part of this is the task of controlling the transmissionwithout jeopardising the advantages associated with the torque converter, such asrobustness and controllability.In this thesis, an alternative transmission concept for a backhoe loader is investigated.The studied concept is referred to as a 2-mode Jarchow power-splittransmission, where a mechanical path is added to a hydrostatic transmission inorder to increase transmission efficiency. The concept is evaluated in computerbased simulations as well as in hardware-in-the-loop simulations, where a physicalhydrostatic transmission is exposed for the loads caused by the vehicle duringvarying conditions. The loads are in turn simulated according to developed modelsof the mechanical parts of the vehicle drive line.In total, the investigated concept can be used instead of the torque converterconcept, if the hydrostatic transmission is properly controlled. The results alsoshow that there is a high possibility that the combustion engine in the backhoeloader can be downsized from 64 kW to 55 kW, which would further increase thefuel savings and reduce the emissions.

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29

Lin, Lung, i 林龍. "Feed-forward Control of a Piezoelectric-Actuated System". Thesis, 2014. http://ndltd.ncl.edu.tw/handle/00540377667162531345.

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碩士
明志科技大學
機械工程系機械與機電工程碩士班
102
This paper studies tracking-control problem of a piezo-actuated system. In order to mitigate the effect of the nonlinear hysteresis observed in the piezo-actuated system, different hysteresis models including Bouc-Wen polynomial and Prandtle-Ishlinskii (P-I) are used to design inverse-hysteresis-based feed-forward controller. The latter is applied to counteract the nonlinear hysteretic effects of the system. In addition, Particle Swarm Optimization (PSO) technique is adopted to estimate the parameters of the Bouc-Wen and P-I models so that the inverse hysteresis controllers can be obtained. To further improve tracking control performances, PID feedback control scheme is augmented with the feed-forward scheme. Experimental validations indicate that the feed-forward inverse P-I control achieves best tracking performances in comparison with those obtained using the Bouc-Wen and polynomial hysteresis model. 　　In order to overcome the time-varying features and uncertainties of the piezo-actuated system, an online control scheme based on least mean squares (LMS) criterion is also implemented in the thesis. By means of the LMS criterion parameters of the P-I hysteresis and its inverse can be online identified. The feed-forward controller can be designed accordingly. It turns out that the online control scheme based on the LMS criterion and P-I model performs slightly better than its counterpart using the off-line approach.

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30

Chen, Yung-Chu, i 陳勇助. "Feed-Forward Delta Modulation Control for Power Converters". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/67270658252528166308.

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博士
國立中正大學
電機工程所
98
The objective of this dissertation is to propose a feed-forward delta modulation (FDM) control scheme for switching mode power converters. The proposed FDM uses a control signal to generate a variable integrating slope to obtain better control capability. Hence, the proposed FDM control scheme is able to achieve easy implementation and fast response. In this dissertation, system configuration, operation principle, mathematical derivation and the effect of circuit parameter variation on system performance for both CDM and FDM have been presented. Based on the characteristic curves, optimum values of modulator are selected. By comparing to the CDM, the proposed FDM can improve the performance of DC–AC inverters. The advantages include: wider switching frequency range with smaller electromagnetic interference (EMI), larger fundamental component with less harmonics, higher duty ratio linearity and elimination of asymmetrical operation. Also, the proposed FDM can be applied to DC–DC converters which cannot be done by using the CDM. It can achieve fast transient response with a voltage-mode control. The FDM controller design strategy for DC–DC converters is given in this dissertation followed by a design example. Finally, simulated and experimental results are shown to verify the performance of the proposed FDM for both DC–AC inverter and DC–DC converter.

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31

Yi-ChienShen i 沈以謙. "Non-Electrolytic Capacitor LED Driver with Feed-Forward control". Thesis, 2014. http://ndltd.ncl.edu.tw/handle/ye5e8y.

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碩士
國立成功大學
電機工程學系
102
In this thesis, a non-electrolytic capacitor LED driver with feed-forward control is proposed. It includes an AC-DC PFC converter and a DC-DC LLC resonant converter. Typically, the output of the AC-DC converter is a DC bus voltage with 120 Hz ripple, and this ripple will cause high current ripple on the LED load. Therefore, the electrolytic capacitor (E-cap) is used to reduce the output current ripple. But the use of the E-cap will lead to the shorter lifetime of the lighting system. In this thesis, an analog feed-forward control is proposed to reduce the output current ripple. In this control, the 120 Hz ripple signal acts as feed-forward signal. This signal can be used to modulate the switching frequency of the LLC resonant converter to reduce the output current ripple. Finally, the hardware prototype with an input voltage of 90~264 VRMS, output voltage of 43 V, and constant output current of 3.5 A/150 W is implemented to verify the proposed control schemes and the feasibility of the system. Under universal input voltage range, the output current ripple is below 25 % without electrolytic capacitor, and the power factor is higher than 0.97 and the highest efficiency is 90 %, which meets the IEC 61000-3-2 Class C standard requirements. Moreover, there is no visible flicker in the LED light output.

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32

RAVALA, KALPANA. "Effect of fluid motion on movement performance and finger-force pattern during manipulation of Containers/Cups filled with Liquid". 2011. http://hdl.handle.net/1993/4845.

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The purposes of this study were to: 1) evaluate how movement performance of the thumb and fingers were modified during manipulation of objects with and without fluids and 2) to quantify movement performance and accuracy during manipulation of objects, in two different modes of manipulation, i.e., pendulum and inverted pendulum. Twenty young healthy adults (age 24-35) were recruited and performed two predictable cyclic tracking tasks and episodic short-duration precision movement task. No change in movement performance observed in open-loop or episodic tasks. However, in closed-loop task, mode of manipulation (IP versus P) had a significant effect on amplitude consistency (P<0.001), and temporal accuracy (P<0.050).Fluid motion had a significant effect on RMS of index finger contact forces (p < 0.01) in episodic task. In conclusion, fluid motion had no significant effect on movement performance and accuracy. The quality of movement was better in pendulum mode than inverted pendulum movement.

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33

"Robust stabilization and regulation of nonlinear systems in feed forward form". 2006. http://library.cuhk.edu.hk/record=b5892894.

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Zhu Minghui.
Thesis (M.Phil.)--Chinese University of Hong Kong, 2006.
Includes bibliographical references (leaves 144-149).
Abstracts in English and Chinese.
Abstract --- p.v
Chapter 1 --- Introduction --- p.1
Chapter 1.1 --- Small Gain Theorem --- p.1
Chapter 1.2 --- Stabilization for Feedforward Systems --- p.2
Chapter 1.3 --- Output Regulation for Feedforward Systems --- p.4
Chapter 1.4 --- Organization and Contributions --- p.5
Chapter 2 --- Input-to-State Stability for Nonlinear Systems --- p.7
Chapter 3 --- Small Gain Theorem with Restrictions for Uncertain Time-varying Non- linear Systems --- p.13
Chapter 3.1 --- Input-to-State Stability Small Gain Theorem with Restrictions for Uncer- tain Nonlinear Time-varying Systems --- p.14
Chapter 3.1.1 --- Nonlinear Time Invariant Systems Case --- p.14
Chapter 3.1.2 --- Uncertain Time-varying Nonlinear Systems Case --- p.16
Chapter 3.1.3 --- Remarks and Corollaries --- p.28
Chapter 3.2 --- Semi-Uniform Input-to-State Stability Small Gain Theorem with Restric- tions for Uncertain Nonlinear Time-varying Systems --- p.38
Chapter 3.3 --- Asymptotic Small Gain Theorem with Restrictions for Uncertain Nonlinear Time-varying Systems --- p.44
Chapter 3.4 --- Input-to-State Stability Small Gain Theorem with Restrictions for Uncer- tain Time-varying Systems of Functional Differential Equations --- p.49
Chapter 4 --- A Remark on Various Small Gain Conditions --- p.52
Chapter 4.1 --- Introduction --- p.52
Chapter 4.2 --- Preliminary --- p.53
Chapter 4.3 --- The Sufficient and Necessary Condition for Input-to-State Stability of Time-varying Systems --- p.56
Chapter 4.3.1 --- ISS-Lyapunov functions for Time-varying Systems --- p.56
Chapter 4.3.2 --- A Remark on Input-to-State Stability for Time-varying Systems --- p.61
Chapter 4.4 --- Comparison of Various Small Gain Theorems --- p.63
Chapter 4.4.1 --- Comparison of Theorem 4.1 and Theorem 4.2 --- p.63
Chapter 4.4.2 --- "Comparison of Theorem 4.1 and Theorem 4.3, Theorem 4.2 and Theorem 4.3" --- p.68
Chapter 4.5 --- Two Small Gain Theorems for Time-varying Systems --- p.70
Chapter 4.6 --- Conclusion --- p.73
Chapter 5 --- Semi-global Robust Stabilization for A Class of Feedforward Systems --- p.74
Chapter 5.1 --- Introduction --- p.74
Chapter 5.2 --- Main result --- p.76
Chapter 5.3 --- Conclusion --- p.91
Chapter 6 --- Global Robust Stabilization for A Class of Feedforward Systems --- p.93
Chapter 6.1 --- Main Result --- p.93
Chapter 6.2 --- Conclusion --- p.104
Chapter 7 --- Global Robust Stabilization and Output Regulation for A Class of Feedforward Systems --- p.105
Chapter 7.1 --- Introduction --- p.105
Chapter 7.2 --- Preliminary --- p.107
Chapter 7.3 --- Global Robust Stabilization via Partial State Feedback --- p.108
Chapter 7.3.1 --- RAG with restrictions --- p.110
Chapter 7.3.2 --- Fulfillment of the restrictions --- p.114
Chapter 7.3.3 --- Small gain conditions --- p.117
Chapter 7.3.4 --- Uniform Global Asymptotic Stability of Closed Loop System . . . . --- p.118
Chapter 7.4 --- Global Robust Output Regulation --- p.118
Chapter 7.5 --- Conclusion --- p.134
Chapter 8 --- Conclusion --- p.136
Chapter A --- Appendix --- p.138
List of Figures --- p.143
Bibliography --- p.144
Biography --- p.150

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34

Bender, John Andrew. "Elements of feed-forward and feedback control in Drosophila body saccades". Thesis, 2007. https://thesis.library.caltech.edu/864/1/thesis-ds.pdf.

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I have developed a new experimental preparation of the fruit fly, Drosophila melanogaster. A fly is glued to a steel pin, which is held in the field between two magnets such that the fly is free to rotate about only one axis. Such "magnetically tethered" flies perform rapid yaw turns, similar to the behaviors termed "body saccades" in free flight. Saccades can be evoked by visual stimulation, in a manner suggesting that the underlying neural circuitry may be performing an angular threshold calculation. Once a saccade is initiated, however, visual feedback has very little effect on its dynamics, but rotational feedback from the haltere system plays an important role in structuring the time course of saccades. Vision is important, though, in maintaining a stable orientation in both intact flies and flies with asymmetrical wing alterations. The halteres are known to mediate responses to Coriolis forces correlated with the fly's rotations in flight, but flies with modified halteres also exhibit distorted saccade dynamics when they are not free to rotate. This suggests that the halteres may be involved in saccade initiation, although the precise mechanisms are not clear. There is preliminary evidence suggesting that the haltere strokes may be actively modulated during flight.

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35

Kumar, Abhishek. "Feed-Forward Internal Model Control applied on Load Frequency control in Power System". Thesis, 2014. http://ethesis.nitrkl.ac.in/6487/1/212EC3153-6.pdf.

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In an interconnected power system, both area frequency and tie-line power interchange fluctuation occurs frequently due to system parameter uncertainties modelling error and environmental disturbance. The objective of load frequency control (LFC) is to bring the steady state frequency error to zero after power demand transient and to minimize the transient deviation in these variables (both area frequency and tie-line power interchange). This paper is based on two degree of freedom (2DF) internal Model Control (IMC) with feed forward controller and IMC filter design, recently developed by Liu and Gao [5] to improve disturbance rejection and to minimize the effect of uncertainties . The feed-forward is added with Saxena and Hote [3] reported work on SOPDT model and results increasing in the robustness of the system.

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Singh, Rohit. "Design of Internal Model Control and Internal Model Feed-Forward Control For Liquid Level System". Thesis, 2015. http://ethesis.nitrkl.ac.in/7417/1/2015_MT_Design_Singh.pdf.

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This project is concerned with the study of liquid level system and designing Internal Model Control (IMC) and Internal Model-Feed-Forward Control (IMC-FF) for this system. Liquid Level System has various configurations such as: Single Tank System, Two-Tank Interacting and Non-Interacting System, Three-Tank Non-Interacting System. In this project IMC and IMC-FF are designed for all these configurations and the responses of these controllers are compared with PID, PID plus Feed-Forward controllers. After comparison it is found that for first order system (single tank system) there is not much difference between IMC and IMCFF but for higher order systems (two-tank interacting, two –tank non-interacting, three-tank non-interacting system) IMC-FF performs better than IMC. PID and PID plus Feed-Forward performance are not good enough as compared to IMC and IMC-FF. PID plus Feed-Forward perform better than PID in case of negative disturbances but if the disturbances are positive the performance of PID is better than PID plus Feed-Forward.At the end of the project empirical formulae are derived for rise time, settling time,percentage overshoot and peak time. When desired values of these performance indices have to be obtained these formulae are used to evaluate the filter coefficient for IMC-FF. Once the filter coefficient is known, IMC-FF can be designed very easily.The software used for the simulation purpose is MATLAB and for mathematical modeling, a practical set up of four tank system is used.

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37

Chiu, I.-Fan, i 邱奕範. "The Study on Command and Friction Disturbance Feed Forward Control for Machine Tools". Thesis, 2002. http://ndltd.ncl.edu.tw/handle/05187543759687395808.

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碩士
國立成功大學
機械工程學系碩博士班
90
ABSTRACT Recently, the developments of high-performance CNC machines have attracted much attention from the industry. The main concern is that the motion controllers of CNC machine tools must be capable of achieving high speed and highly accurate machining. Hence, the aim of this thesis is to develop appropriate servo control structures such that the goal of high speed and highly accurate machining can be achieved. In this study, an experiment is first conducted to identify the friction disturbance model of a two-axis ball-screw table, in which the Karnopp model is used to approximate the actual friction disturbance. Then, based on the approximate friction model, a friction disturbance feed-forward compensator is proposed to reduce the machining error due to friction disturbance. In addition, “motion planning before interpolation” and a command feed-forward controller are employed to reduce the contouring error and the tracking error resulting from the servo lag. All the experiments conducted in this study are implemented using DSP-based motion card. According to the experimental results, it is found that the proposed servo control structure exhibits better performance than the conventional ones.

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TSAI, IOU-LUNG, i 蔡侑龍. "A Fully Differential Class D Audio Amplifier with Feed-Forward Common-Mode Control". Thesis, 2017. http://ndltd.ncl.edu.tw/handle/mhgh24.

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碩士
國立臺北大學
電機工程學系
105
This paper presents a Fully Differential Class-D audio amplifier with Feed-Forward Common-Mode Control to suppress even distortions and supply noise at output due to the differential feedback gain mismatch. A filter order enhance (FOE) technique is utilized to increase an extra 1 st -order attenuation of the loop filter and thus filter out-of-band signals without consumes active power for low-power consideration. The proposed Class-D amplifier achieves a THD of 0.0039% (-88dB) and a power efficiency of 96 % when drive a 8Ω load. The quiescent current is 1.34 mA, and the maximum output power of 0.65 W at 1% THD. The chip is fabricated in TSMC 0.18μm 1P6M CMOS process, supply voltage use 3.3 V, chip area is 0.63 mm2.

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39

juo, Ji-chi, i 卓季錡. "A High Resolution Fourth-Order Feed-Forward Control Sigma-Delta A/D Modulator". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/98750129038476476788.

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碩士
南台科技大學
電子工程系
97
This thesis briefly describes conventional A/D conversion, as well as its performance modeling. We then discuss how sigma-delta converters use the technique of noise shaping in addition to oversampling to allow high resolution conversion of relatively low bandwidth signals. After that, we presents a 4th-order 1-bit cascade-of-integrators feed-forwardΔ-Σ converter. The clock frequency of the converter is 5.12 MHz, and the input signal is a 20 KHz Sine wave. The design is carried out as follows. First, MATLAB and SIMULINK are used to simulate the ideal and non-ideal system-level behaviors, and the design parameters are optimized by the Delta-Sigma Toolbox. Then, the transistor level simulation is done by Hspice with TSMC 0.18μm CMOS 1P6M models. For a 3V supply and the oversampling ratio to be 128, the SNR is 90 dB and power consumption is 8.5 mW of the designed converter.

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40

Wu, Cheng-Lin, i 吳長林. "A Fuzzy Self-tuning Feed-forward Controller Considering Motion Command and Control Effort". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/6qjj67.

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碩士
國立臺北科技大學
自動化科技研究所
97
In control scheme, feedback system focuses on improving robustness for external disturbance and increasing system stability. In the other hand, feed-forward controller shapes motion command to enhance tracking performance. A typical feed-forward controller installs signal velocity and acceleration into inside circuit. But that way always affects control force output, even causes actuator saturation and system instability. A completion motion trajectory includes different sections with different velocitys and accelerations. The traditional feed-forward controller is fixed gains the corresponding tuning gains are based on trial and error method. The tracking performance will be restricted within the section with biggest velocity and acceleration in order to fulfill the actuator limitation. This paper presents an intelligent fuzzy self-tuning strategy considering the velocity, acceleration and output voltage to automatically tune the gains of feed-forward controller. This self-tuning feed-forward controller can dramatically improve the tracking performance and sustain the actuator output within the saturation limitation.

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41

Duong, Thien Chi. "Flow Control of Real Time Multimedia Applications Using Model Predictive Control with a Feed Forward Term". 2010. http://hdl.handle.net/1969.1/ETD-TAMU-2010-12-8949.

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Multimedia applications over the Internet are getting more and more popular. While non-real-time streaming services, such as YouTube and Megavideo, are attracting millions of visiting per day, real-time conferencing applications, of which some instances are Skype and Yahoo Voice Chat, provide an interesting experience of communication. Together, they make the fancy Internet world become more and more amusing. Undoubtedly, multimedia flows will eventually dominate the computer network in the future. As the population of multimedia flows increases gradually on the Internet, quality of their service (QoS) is more of a concern. At the moment, the Internet does not have any guarantee on the quality of multimedia services. To completely surpass this limitation, modifications to the network structure is a must. However, it will take years and billions of dollars in investment to achieve this goal. Meanwhile, it is essential to find alternative ways to improve the quality of multimedia services over the Internet. In the past few years, many endeavors have been carried on to solve the problem. One interesting approach focuses on the development of end-to-end congestion control strategies for UDP multimedia flows. Traditionally, packet losses and delays have been commonly used to develop many known control schemes. Each of them only characterizes some different aspects of network congestion; hence, they are not ideal as feedback signals alone. In this research, the flow accumulation is the signal used in feedback for flow control. It has the advantage of reflecting both packet losses and delays; therefore, it is a better choice. Using network simulations, the accumulations of real-time audio applications are collected to construct adaptive flow controllers. The reason for choosing these applications is that they introduce more control challenges than non-real-time services. One promising flow control strategy was proposed by Bhattacharya and it was based on Model Predictive Control (MPC). The controller was constructed from an ARX predictor. It was demonstrated that this control scheme delivers a good QoS while reducing bandwidth use in the controlled flows by 31 percent to 44 percent. However, the controller sometime shows erratic response and bandwidth usage jumps frequently between lowest and highest values. This is not desirable. For an ideal controller, the controlled bandwidth should vary near its mean. To eliminate the deficiency in the strategy proposed by Bhattacharya, it is proposed to introduce a feed forward term into the MPC formulation, in addition to the feedback terms. Simulations show that the modified MPC strategy maintains the benefits of the Bhattacharya strategy. Furthermore, it increases the probability of bandwidth savings from 58 percent for the case of Bhattacharya model to about 99 percent for this work.

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42

Chen, Chih-Wei, i 陳志威. "AC-DC NON-ISOLATED SELF-ADJUSTED FEED-FORWARD CONTROL BUCK PFC LED DRIVER IC". Thesis, 2015. http://ndltd.ncl.edu.tw/handle/5fs7m3.

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碩士
國立交通大學
電機學院電機與控制學程
103
LED (Light Emitting Diodes) is currently the most potential energy-saving light source. In the future, it will be comprehensive to replace traditional incandescent bulbs and other light sources into the mainstream trend. The ENERGY STAR, Solid State Lighting (SSL) specification issued by U.S. Department of Energy (DOE) defined that the requirements of any power level are required to provide mandatory power factor correction (PFC). This standard applies to a range of specific products including residential applications. For example, power factor (PF) of LED drivers must be greater than 0.7, and PF of commercial applications shall be greater than 0.9. The non-isolated buck PFC LED driver is proposed to reduce volume and cost due to the large isolated transformer. The self-adjusted feed-forward control (SAFFC) technique is proposed to adjust the LED current with small deviation in the entire universal range of AC input voltage. The proposed auto-tracking off-time control (ATOFTC) technique can achieve high efficiency and high accuracy at the same time. In this thesis, the THD is controlled within 13% and the minimum is 11.25% in the entire universal range. The maximum PF and efficiency can achieve 0.989 and 94.74% respectively.

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43

Huang, Hau-Luen, i 黃晧倫. "Independent Component Analysis-Based Feed-Forward Neural Network for Applications of Active Noise Control". Thesis, 2007. http://ndltd.ncl.edu.tw/handle/73680378043527749812.

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碩士
中興大學
機械工程學系所
95
In this study, an application of active noise control (ANC) using an independent component analysis-based feed-forward neural network (FFNN) is investigated. We consider a speech source and a noise source generating mixture signals in the space. Two microphones located at two distinct places are used to measure the mixture signals. Since the signal sources and the transmission paths are unknown, we apply a FFNN with MJH algorithm（FFNN_MJH）for the measured signals to obtain estimates of the signal sources. These estimates are then used for an ANC controller such that suitable control signal can be generated to drive a loudspeaker. It is desired that one of the microphone can observe the speech while ignoring the noise by use of the loudspeaker. Computer simulation shows that the observed microphone can effectively retain the speech while attenuating the noise with respective to tonal or harmonic noises. The proposed system also maintains a certain degree of robustness with respective to the uncertainty in the transmission paths of the loudspeaker, demonstrating its feasibility.

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44

Po-YaoYeh i 葉柏? "Positive Feed-Forward Control Scheme for Distributed Buck Conversion System with Maximum Power Harvesting Function". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/11211093648801941653.

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碩士
國立成功大學
電機工程學系碩博士班
98
This thesis presents the positive feed-forward control (PFFC) scheme for the distributed buck conversion system with the multiple voltage sources. Since the employed voltage sources are non-ideal, the output voltage level of the individual voltage source varies with the output current of the individual voltage source. Moreover, the employed voltage sources with the different electrical characteristics have different power ratings. With the use of the conventional negative-feedback control (NFBC) schemes, the maximum input power of the individual power module cannot be limited at the output power rating of the corresponding voltage source. Therefore, the proposed PFFC scheme is used to ensure the maximum power harvesting function for the individual power module. Furthermore, the average current-mode control (ACMC) associated with PFFC is able to ensure the stability for the power converter including the input filter. Finally, the SIMPLIS? simulation and experimental results show that the paralleled buck power module system achieves the maximum power harvesting function.

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45

ZHAO, JIA-XIAN, i 趙家賢. "Adaptive Hybrid Feed-forward Active Noise Control With Filter to Shape Frequency Response of Secondary Path". Thesis, 2003. http://ndltd.ncl.edu.tw/handle/94869074940773340739.

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碩士
國立中興大學
機械工程學系
91
Active noise control (ANC) and implementation with a pseudo inverse model of secondary path for an acoustic duct system are studied and discussed in this thesis. Two methods are developed to obtain the pseudo inverse model of secondary path first. An adaptive hybrid feed-forward (AHFF) structure is then proposed with a pseudo inverse model of secondary path and a model of primary path and used to design an ANC controller to actively reduce noise in the acoustic duct. Performances of the AHFF-ANC controller with respect to noise of narrow-band or wideband are investigated. Both results of computer simulation and experiment show better performances of noise attenuation as compared to that of the conventional filter-X least mean squared method, demonstrating the effectiveness of the proposed AHFF-ANC design method.

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CHEN, HUNG-WEI, i 陳泓瑋. "Design and Implementation of a Single-Phase Inverter with Active Damping Control and Feed Forward Loop". Thesis, 2018. http://ndltd.ncl.edu.tw/handle/v9s5u7.

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碩士
國立臺北科技大學
電機工程系
106
The object of the thesis is to design and implement a DC/AC inverter using micro-controller for single phase power system. In this thesis, the prototype full bridge single phase inverter, and the associated unipolar voltage switching method are used. In addi-tion, an active damping control loop is added in which the capacitor current and virtual resistance are used to increase system damping and reduce the output voltage oscillation at light load. In this thesis, the output LC filter, the capacitor current feedback circuit, feed forward loop and the voltage control loop are designed for the required proportional-intregral controller to provide output voltage regulation and improve system dynamic response. The design specifications in the implemented inverter include the input voltage is DC 400V, the output voltage is AC 110Vrms/60Hz, switching frequency is 21kHz, the rated capacity is 500VA and the toltal harmonic distortion of the output voltage is less than 5%. To achieve the required digital control, the microcontroller TMS320F28035 by Texas Instruments is utilized.

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47

Yu, Yehn, i 游越. "Establishing a feed-forward control strategy of fed-batch fermentation for the kinetic model of yeast growth". Thesis, 2012. http://ndltd.ncl.edu.tw/handle/52111503619881440780.

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碩士
國立屏東科技大學
食品科學系所
100
The object of this study is to establish a kinetic model for Saccharomyces cerevisia growth in a fed-batch fermentation to achieve a high cell density using feed-forward strategy. The feeding time course was adjusted based on the prediction of yeast growth to keep the concentration of carbon course in the fermentation medium within a certain rang, so that the growth of S. cerevidiae maintained at its log phase. Component and factorial analyses were also conducted to identify a set of carbon and nitrogen sources for this study. Steepest ascent was used to identify an appropriate C/N ratio. The results indicated that sucrose and soytone were the most effective carbon and nitrogen sources, respectively, for biomass production in this case (p <0.05). When the medium contains 2 g/L of sucrose and has a C/N ratio of 15:1, the yield of cell mass based on the sucrose consumption (YX/S) reaches 51.35%. Under these conditions, the growth of yeast can reach the log phase within 0~3 h post-incubation. The YX/S and specific growth rate (μ) during this log phase were 74.29% and 0.26 h-1, respectively. The concentration of carbon source in the fermentation medium was controlled in a range of 1~2 g/L through adjustment of feeding frequency. Unfortunately, the primary result showed that the sugar concentration in the medium accumulated up to 5 g/L after 18.10 h post-incubation due to unknown influence factors. To adjusted the deviation of the predicted outcome, a holding time of 0.5 h lag phase was applied and an extra delay time was also calculated and added based on the increasing sugar concentration for each feeding interval. For more accurate prediction on sugar consumption, fine tune the prediction model according to the track of experimental sugar demand. The result shows that the prediction model was approximately a quadratic equation, and the variation of substrate concentration seemed to be steadily controlled in a range of the prediction model from 0.85 g/L to 1.90 g/L with a stable growth of yeast in the specific growth rate of 0.16 h-1, and harvest 28.33 folds of initial biomass after 18.95 h post-incubation. In conclusion, the design of this feed-forward model is capable of controlling yeast growth effectively, and may provide a potential approach to develop an automatic process for high cell mass production using yeast.

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48

Torres, Bonet Tomas. "Design, Simulation and Implementation of High Precision Control Algorithms for a Galvanometer Laser Scanner". Thesis, 2014. http://hdl.handle.net/1828/5603.

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This thesis focuses on the theory, design, simulation and implementation of several digital controllers for periodic signals on a laser scanning galvanometer. A model for the galvanometer was obtained and veri ed using closed loop identi cation techniques. Using this model, controllers were designed and simulated using MATLAB and then implemented on a custom FPGA control processor with a focus on tracking performance. The types of controllers used were: an Iterative Learning Controller, an RST pole placement controller, an Adaptive Feed-forward cancellation controller, a combined Iterative Learning and Adaptive Feed-forward cancellation controller and a simple PID controller. The simulated results were better than the experimental results because of system noise and modelling uncertainties but the relative performance between each of the controllers was similar for both the simulation and experimental setup. The experimental results achieved were very good with one controller reaching errors under 50 rad.
Graduate
0537
t_Torres_bonet@hotmail.com

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49

Bahrami, Asl Babak. "Futuristic Air Compressor System Design and Operation by Using Artificial Intelligence". Thesis, 2018. http://hdl.handle.net/1805/17932.

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Indiana University-Purdue University Indianapolis (IUPUI)
The compressed air system is widely used throughout the industry. Air compressors are one of the most costly systems to operate in industrial plants in terms of energy consumption. Therefore, it becomes one of the primary targets when it comes to electrical energy and load management practices. Load forecasting is the first step in developing energy management systems both on the supply and user side. A comprehensive literature review has been conducted, and there was a need to study if predicting compressed air system’s load is a possibility. System’s load profile will be valuable to the industry practitioners as well as related software providers in developing better practice and tools for load management and look-ahead scheduling programs. Feed forward neural networks (FFNN) and long short-term memory (LSTM) techniques have been used to perform 15 minutes ahead prediction. Three cases of different sizes and control methods have been studied. The results proved the possibility of the forecast. In this study two control methods have been developed by using the prediction. The first control method is designed for variable speed driven air compressors. The goal was to decrease the maximum electrical load for the air compressor by using the system's full operational capabilities and the air receiver tank. This goal has been achieved by optimizing the system operation and developing a practical control method. The results can be used to decrease the maximum electrical load consumed by the system as well as assuring the sufficient air for the users during the peak compressed air demand by users. This method can also prevent backup or secondary systems from running during the peak compressed air demand which can result in more energy and demand savings. Load management plays a pivotal role and developing maximum load reduction methods by users can result in more sustainability as well as the cost reduction for developing sustainable energy production sources. The last part of this research is concentrated on reducing the energy consumed by load/unload controlled air compressors. Two novel control methods have been introduced. One method uses the prediction as input, and the other one doesn't require prediction. Both of them resulted in energy consumption reduction by increasing the off period with the same compressed air output or in other words without sacrificing the required compressed air needed for production.
2019-12-05

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50

(5931020), Babak Bahrami Asl. "FUTURISTIC AIR COMPRESSOR SYSTEM DESIGN AND OPERATION BY USING ARTIFICIAL INTELLIGENCE". Thesis, 2020.

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The compressed air system is widely used throughout the industry. Air compressors are one of the most costly systems to operate in industrial plants in therms of energy consumption. Therefore, it becomes one of the primary target when it comes to electrical energy and load management practices. Load forecasting is the first step in developing energy management systems both on the supply and user side. A comprehensive literature review has been conducted, and there was a need to study if predicting compressed air system’s load is a possibility.

System’s load profile will be valuable to the industry practitioners as well as related software providers in developing better practice and tools for load management and look-ahead scheduling programs. Feed forward neural networks (FFNN) and long short-term memory (LSTM) techniques have been used to perform 15 minutes ahead prediction. Three cases of different sizes and control methods have been studied. The results proved the possibility of the forecast. In this study two control methods have been developed by using the prediction. The first control method is designed for variable speed driven air compressors. The goal was to decrease the maximum electrical load for the air compressor by using the system's full operational capabilities and the air receiver tank. This goal has been achieved by optimizing the system operation and developing a practical control method. The results can be used to decrease the maximum electrical load consumed by the system as well as assuring the sufficient air for the users during the peak compressed air demand by users. This method can also prevent backup or secondary systems from running during the peak compressed air demand which can result in more energy and demand savings. Load management plays a pivotal role and developing maximum load reduction methods by users can result in more sustainability as well as the cost reduction for developing sustainable energy production sources. The last part of this research is concentrated on reducing the energy consumed by load/unload controlled air compressors. Two novel control methods have been introduced. One method uses the prediction as input, and the other one doesn't require prediction. Both of them resulted in energy consumption reduction by increasing the off period with the same compressed air output or in other words without sacrificing the required compressed air needed for production.

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