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  • Sliding mode control of a three-phase four-wire LCL rectifier

     Biel Sole, Domingo; Doria Cerezo, Arnau; Fossas Colet, Enric
    International Workshop on Variable Structure Systems
    p. 1-5
    DOI: 10.1109/VSS.2014.6881139
    Presentation's date: 2014-06-29
    Presentation of work at congresses

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    In this paper a control algorithm for a three-phase four-wire rectifier with an inductive-capacitive-inductive filter is presented. The control scheme consists in an inner current loop designed using the Sliding Mode Control technique, and an two external loops that regulates the DC bus voltage and also keeps the split bus balanced. Numerical simulations are also provided to show the performance of the closed loop. © 2014 IEEE.

  • Sliding mode control of a three-phase three-wire LCL rectifier

     Biel Sole, Domingo; Doria Cerezo, Arnau; Repecho Del Corral, Victor; Fossas Colet, Enric
    IEEE International Symposium on Industrial Electronics
    p. 661-666
    DOI: 10.1109/ISIE.2014.6864690
    Presentation's date: 2014-06-01
    Presentation of work at congresses

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    This paper presents a dynamic analysis and the control design for a three-phase three-wire unity power factor rectifier with a LCL filter. The control algorithm is based on the sliding mode control techniques that provides good tracking performance and robustness with respect to parameter variations, and a PI controller to regulate the DC voltage. The sliding control design uses a decoupling matrix to solve the algebraic constraint on the grid currents. The control law has been tested in numerical simulations with satisfactory results. © 2014 IEEE.

  • Control avançat de sistemes d'energia

     Arias Pujol, Antoni; Batlle Arnau, Carles; Biel Sole, Domingo; Costa Castelló, Ramon; Doria Cerezo, Arnau; Fossas Colet, Enric; Franch Bullich, Jaime; Griño Cubero, Roberto; Husar, Attila Peter; Serra Prat, Maria; Cardoner Parpal, Rafael; Luna Pacho, Julio Alberto; Orellana Barcelo, Marcos; Repecho Del Corral, Victor; Strahl, Stephan; Olm Miras, Josep Maria
    Competitive project

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  • Sliding mode control of a single-phase LCL full-bridge rectifier

     Biel Sole, Domingo; Doria Cerezo, Arnau; Fossas Colet, Enric
    Annual Conference of the IEEE Industrial Electronics Society
    p. 3752-3755
    DOI: 10.1109/IECON.2013.6699733
    Presentation's date: 2013-11-12
    Presentation of work at congresses

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    This paper presents a dynamic analysis and the control design for a singe-phase full bridge recti¿er with a LCL ¿lter. The control algorithm is based on the sliding mode control techniques that provides good tracking performances and robustness against parameter variations. The control design also considers the connection to a non ideal power network with a grid impedance as well as higher harmonics components in the voltage. The control law has been tested in numerical simulations with satisfactory results (also in the case of non ideal power grid).

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    Control en modo deslizante de un rectificador monofásico con un filtro LCL  Open access

     Biel Sole, Domingo; Doria Cerezo, Arnau; Fossas Colet, Enric
    Seminario Anual de Automática, Electrónica Industrial e Instrumentación
    Presentation's date: 2013-07-11
    Presentation of work at congresses

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    En este artículo se presenta el análisis dinámico y el diseño de un controlador para un rectificador monofásico controlado con un filtro LCL. El algoritmo de control está basado en las técnicas de modos deslizantes que permiten unas buenas prestaciones de seguimiento y robustez en los convertidores de potencia. Durante el diseño se ha considerado la conexión a una red débil y con fuerte contenido armónico. La ley de control se ha validado mediante simulaciones numéricas con resultados satisfactorios incluso en casos de una red no ideal.

  • Root locus rules for polynomials with complex coefficients

     Doria Cerezo, Arnau; Bodson, Marc
    Mediterranean Conference on Control & Automation
    p. 663-670
    DOI: 10.1109/MED.2013.6608794
    Presentation's date: 2013-06
    Presentation of work at congresses

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    Applications were found recently where the analysis of dynamic systems with a special structure could be simplified considerably by transforming them into equivalent systems having complex coefficients and half the number of poles. The design of controllers for such systems can be simplified in the complex representation, but requires techniques suitable for systems with complex coefficients. In the paper, the extension of the classical root locus method to systems with complex coefficients is presented. The results are applied with some advantages to a three-phase controlled rectifier.

    Applications were found recently where the analy- sis of dynamic systems with a special structure could be simp li- fied considerably by transforming them into equivalent syst ems having complex coefficients and half the number of poles. The design of controllers for such systems can be simplified in th e complex representation, but requires techniques suitable for systems with complex coefficients. In the paper, the extensi on of the classical root locus method to systems with complex coefficients is presented. The results are applied with some advantages to a three-phase controlled rectifier.

  • Control of an active rectifier with an inductive-capacitive-inductive filter using a twisting based algorithm

     Doria Cerezo, Arnau; Puleston, Paul Federico; Kunusch, Cristian
    Annual Conference of the IEEE Industrial Electronics Society
    p. 3416-3421
    DOI: 10.1109/IECON.2013.6699677
    Presentation's date: 2013
    Presentation of work at congresses

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    This paper presents a novel controller for an active rectifier with an inductive-capacitive-inductive filter. The proposed control scheme comprises two levels. The internal level, is a current controller based on the second order sliding mode Twisting algorithm, which robustly ensures an unity power factor at the connection point. The slower external level is a PI controller in charge of regulating the output DC voltage to a desired reference. The controller setup also includes a finite-time observer of the current derivative that can be used to avoid direct (and sometimes problematic) numerical differentiation. Finally, simulation results are presented to validate the proposed control scheme.

    This paper presents a novel controller for an active rectifier with an inductive-capacitive-inductive filter. The proposed control scheme comprises two levels. The internal level, is a current controller based on the second order sliding mode Twisting algorithm, which robustly ensures an unity power factor at the connection point. The slower external level is a PI controller in charge of regulating the output DC voltage to a desired reference. The controller setup also includes a finite-time observer of the current derivative that can be used to avoid direct (and sometimes problematic) numerical differentiation. Finally, simulation results are presented to validate the proposed control scheme.

  • Memristive Port-Hamiltonian Control: Path-Dependent Damping Injection in Control of Mechanical Systems

     Doria Cerezo, Arnau; Van Der Heijden, Laurens; Jacquelien, Scherpen
    IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control
    p. 167-172
    DOI: 10.3182/20120829-3-IT-4022.00047
    Presentation's date: 2012-08-29
    Presentation of work at congresses

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    This paper presents the use of the memristor as a new element for designing passivity-based controllers. From the port-Hamiltonian description of the electrical circuits with memristors, a target dynamics is assigned to the matching equation proposed by the methodology known as Interconnection and Damping Assignment-Passivity-based Control. The inclusion of the memristor element extends the closed loop dynamics and it results in an extra term in the control algorithm that can be seen as a state-modulated gain. Two mechanical examples, in the form of a position control systems are included to show possible applications

  • Sensor-less sliding mode control of a stand-alone wound rotor synchronous generator with unbalanced load

     Muñoz Aguilar, Raul Santiago; Rodriguez Cortes, Pedro; Doria Cerezo, Arnau; Candela Garcia, Jose Ignacio; Luna Alloza, Alvaro
    IEEE International Conference on Industrial Electronics
    p. 3847-3852
    DOI: 10.1109/IECON.2011.6119960
    Presentation's date: 2011-11-07
    Presentation of work at congresses

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    This paper presents a Sliding Mode Control for a wound rotor synchronous machine acting as an isolated generator connected to an unbalanced load. In order to simplify the control methodology, the standard dq-model of the machine is connected to a balanced resistive load. A switching function is defined in order to fulfill the control objective. From the desired surface, the standard sliding methodology is applied to obtain a robust and very simple controller. Then, the actual measured voltage of the machines is acquired and treated trough a frequency locked loop algorithm in order to extract the positive sequence and control it to guarantee a good definition of the park transformation. A phase locked loop algorithm is also used to avoid speed sensors. Numerical simulations a validate the control law and show good performance and a fast response to load and reference changes.

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    Port-Hamiltonian Modeling of Systems with Position-Dependent Mass  Open access

     Jeltsema, Dimitri; Doria Cerezo, Arnau
    World Congress of the International Federation of Automatic Control
    p. 13468-13473
    Presentation's date: 2011-09-02
    Presentation of work at congresses

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    It is known that straightforward application of the classical Lagrangian and Hamiltonian formalism to systems with mass varying explicitly with position may lead to discrepancies in the formulation of the equations of motion. Systems with mass varying explicitly with position often arise from situations where the partitioning of a closed system of constant mass leads to open subsystems that exchange mass among themselves. One possible solution is to introduce additional non-conservative generalized forces that account for these effects. However, it remains unclear how to systematically interconnect the Lagrangian or Hamiltonian subsystems. In this paper, systems with mass varying explicitly with position and their properties are studied in the port-Hamiltonian modeling framework. The port-Hamiltonian formalism combines the classical Lagrangian and Hamiltonian approach with network modeling and is applicable to various engineering domains. One of the strong aspects of the port-Hamiltonian formalism is that power-preserving interconnections between port- Hamiltonian subsystems results in another port-Hamiltonian system with composite energy and interconnection structure. The motion of a heavy cable being deployed from a reel by the action of gravity is used as an example.

  • Two applications of sliding mode control in energy generation and power electronics

     Biel Sole, Domingo; Doria Cerezo, Arnau; Fossas Colet, Enric; Muñoz Aguilar, Raul Santiago; Ramos Lara, Rafael Ramon
    DOI: 10.1007/978-3-642-22164-4
    Date of publication: 2011-09-07
    Book chapter

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    The ideal sliding dynamics of a stand alone synchronous generator  Open access

     Doria Cerezo, Arnau; Fossas Colet, Enric; Muñoz Aguilar, Raul Santiago
    European Nonlinear Dynamics Conference
    DOI: 10.3267/ENOC2011Rome
    Presentation's date: 2011-07-24
    Presentation of work at congresses

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    The closes loop dynamics of a sliding-mode controlled stand alone synchronous generator with a resistive load is stuided in this paper. The resulting dynamics is piecewise continous, robust in front of parameter and load variations and performs a good regulacions of the output variable. In the ideal case we can find limit cycles tha may remain when actuators saturation effects are considered. Along the paper, numerical simulations and experimental results illustrate the complexity of the encountered behavior.

  • Técnicas de control avanzado para la mejora de la operación de convertidores vsi conectados a la red eléctrica

     Doria Cerezo, Arnau; Biel Sole, Domingo; Fossas Colet, Enric; Olm Miras, Josep Maria; Costa Castelló, Ramon; Orellana Barcelo, Marcos; Griño Cubero, Roberto
    Competitive project

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  • Mechanical memory elements: modeling of systems with position-dependent mass revisited

     Jeltsema, Dimitri; Doria Cerezo, Arnau
    IEEE Conference on Decision and Control
    p. 3511-3516
    DOI: 10.1109/CDC.2010.5717274
    Presentation's date: 2010-12-16
    Presentation of work at congresses

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  • Output feedback passivity based controllers for dynamic positioning of ships

     Muhammad, Shah; Doria Cerezo, Arnau
    Dynamic Positioning Conference
    Presentation's date: 2010-10-12
    Presentation of work at congresses

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  • Best Presentation in Session Award at the 2010 American Control Conference (2010 ACC ThA)

     Muñoz Aguilar, Raul Santiago; Doria Cerezo, Arnau; Fossas Colet, Enric
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    A sliding mode control for a wound rotor synchronous generator with an isolated RL load  Open access  awarded activity

     Muñoz Aguilar, Raul Santiago; Doria Cerezo, Arnau; Fossas Colet, Enric
    American Control Conference
    p. 2551-2556
    Presentation's date: 2010-07-01
    Presentation of work at congresses

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    In this paper a sliding mode controller for the stator voltage amplitude of a stand-alone wound rotor synchronous generator is presented. The standard dq-model of the electrical machine connected to an isolated inductive load is obtained. Then, a control law is designed in the framework of sliding mode control. The controller introduces a dynamic extension so that the stator amplitude relative degree is one. Numerical simulations are also presented to validate the presented control law.

    Best Presentation in Session Award, Americal Control Conference 2010

  • Sliding Mode Control of the Stand Alone Wound Rotor Synchronous Generator  Open access  awarded activity

     Muñoz Aguilar, Raul Santiago
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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    En esta Tesis ha sido analizado el control de la màquina sincrónica de rotor bobinado actuando en isla. Para esta configuración, la velocidad mecànica determina la frecuencia, y la tensión de rotor se utiliza para fijar la amplitud de la tensión de estator. Debido a que la constante de tiempo eléctrica es mucho más ràpida comparada con la constante de tiempo mecánica, la velocidad mecánica fue considerada constante y externamente regulada y la investigación se enfocó en la regulación de la amplitud de la tensión de estator.Cuatro diferentes controladores basados en técnicas de modos deslizantes fueron diseñados en el marco de referencia dq. Las leyes de control obtenidas regulan la amplitud de la tensión de estator independientemte del valor de la carga. Adicionalmente, sólo las medidas de tensión y posición del rotor (para calcular la transformada dq) son necesarias. La estabilidad de los puntos de equilibrio obtenidos fueron probados al menos utilizando anàlisis de pequeña señal.Se realizó la validación por simulación y experimental de cada controlador en diferentes escenarios. Los resultados obtenidos validan los diseños y muestran las principales ventajas y desventajas de el sistema en lazo cerrado.El capítulo 2 cubre los problemas de modelado de la màquina sincrónica de rotor bobinado. Partiendo de las ecuaciones trifásicas generales, y utilizando la transformada de Park, se encontraron el modelo en dq del generador sincrónico de rotor bobinado (WRSG) en isla, alimentando tanto carga resistiva como inductiva. Los puntos de equilibrio del sistema obtenido fueron analizados y calculados, luego se definió el objetivo de control. Finalmente, se obtuvieron modelos lineales aproximados y sus respectivas funciones de transferencia.Los controladores PI son los más usados en la industria porque ofrecen buen desempeño y son sencillos de implementar. En el capítulo 3, se obtuvieron las reglas de sintonización para el controlador PI, y se analizaron estos resultados con el objetivo de proponer nuevos controladores que mejoraran el desempeño de la clásica aproximación PI.El esquema de control en modos deslizantes para la WRSG conectada a una carga resistiva fue diseñado en el capítulo 4. Éste, también incluye un completo análisis de estabilidad del sistema en lazo cerrado. El capítulo 5 presenta dos diseños basados en modos deslizantes para regular la amplitud de la tensión de estator para el WRSG actuando en isla. Ambos diseños usan la componente d de la tensión de estator en la función de conmutación. El primer caso es un control anidado, donde un lazo externo PI es añadido para proveer la referencia de la componente d de la tensión. En la segunda aproximación un término integral es añadido a la superficie de conmutación.El caso de alimentar una carga inductiva es estudiado en el capítulo 6. El controlador requiere una extensión dinámica debido a que la amplitud de la tensión de estator es una salida de grado relativo cero. Como resultado, un controlador robusto, que no depende de los parámetros de la máquina ni de los valores de carga es obtenido. En el capítulo 7 los resultados de simulación y experimentales para los controladores diseñados para el WRSG actuando en isla son presentados. En primer lugar, una descripción completa del banco es presentada. Esta incluye detalles de la etapa de adquisición de datos y de la DSP utilizada. En segundo lugar, se hace la descripción del procedimiento de simulación. Luego, las simulaciones y experimentos, que contienen diferentes escenarios, con cambios de referencia y variaciones de carga para cada controlador son presentados.

    The control of the stand-alone the wound rotor synchronous generator has been analyzed in this dissertation. For this islanded configuration, the mechanical speed determines the frequency, and the rotor voltage is used to set the stator voltage amplitude. Due to the electrical time constant is so fast compared with the mechanical time constants, the mechanical speed was considered constant and externally regulated and the research was focused on the stator voltage amplitude regulation.Four different controllers based on sliding mode control techniques were designed in the dq reference frame. The obtained control laws regulate the stator voltage amplitude irrespectively of the load value. Furthermore, only voltage and rotor position measures (to compute the dq transformation), are required. The stability of the obtained equilibrium points was proved at least using small-signal analysis. Simulation and experimental validation of each controller containing several scenarios were carried out. The obtained results validate the designs and show the main advantages and disadvantages of each closed loop system. Chapter 2 covers the modeling issues of the wound rotor synchronous machine. From the general three-phase dynamical equations, and using the Park transformation, the dq-model of the stand-alone wound rotor synchronous generator feeding both a resistive and an inductive load are obtained. Equilibrium points of the obtained systems are analyzed and, after defining the control objective, the desired equilibrium points are computed.Finally, linear approximated models are obtained and their transfer functions are also presented.PI controllers are the most used in the industry because they offers good performance and are easily implementables. In Chapter 3 we obtain the tuning rule for the PI controller, and we analyze these results in order to propose new controllers which improve the classic PI approach.The sliding mode control scheme for the WRSG connected to a resistive load is designed in Chapter 4. It also includes a complete stability analysis of the closed loop system. Chapter 5 presents two sliding mode designs to regulate the stator voltage amplitude for a stand-alone wound rotor synchronous generator. Both use the stator voltage d-component error in the switching function. The first case is a nested controller, where an outer PI loop is added to provide the proper d-voltage component reference. In the second approach an integral term is added to the switching function. The case of feeding an inductive load is studied in Chapter 6. The controller introduces a dynamic extension because the stator voltage amplitude is a zero relative degree output. As result, a robust controller, which neither depends on the machine parameters nor on the load values, is obtained. In Chapter 7 the simulation and the experimental results of the designed controllers for the stand-alone wound rotor synchronous generator are presented. Firstly, a complete description of the bench is provided. It also includes details of the data acquisition stage and the used DSP card. Secondly, the description of the simulation procedure is commented. Then, the simulation and experiments which contains several scenarios, with reference change and load variations evaluated for each controller are presented.

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    Two sliding mode control approaches for the stator voltage amplitude regulation of a stand-alone WRSM  Open access

     Doria Cerezo, Arnau; Utkin, Vadim; Muñoz Aguilar, Raul Santiago; Fossas Colet, Enric
    International Workshop on Variable Structure Systems
    p. 440-445
    Presentation's date: 2010-06-28
    Presentation of work at congresses

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    In this paper two sliding mode control alternatives to regulate the stator voltage amplitude for a stand alone wound rotor synchronous generator are presented. Both controllers use the stator voltage d-component error in the sliding surface. In a first case an outer PI loop controller is added to provide the proper d-voltage component reference. The second approach consists in extending the dynamic system to include the integral term as state variable and to modify the former sliding surface by adding this new state. Finally, simulations results are done in order to validate the proposed algorithms.

  • Propulsor híbrido para vehículo urbano liviano

     Roqueiro, Nestor; Muñoz Aguilar, Raul Santiago; Griño Cubero, Roberto; Fossas Colet, Enric; Doria Cerezo, Arnau; Batlle Arnau, Carles; Riera Colomer, Jordi; Olm Miras, Josep Maria; Pagano, Daniel Juan; Valencia da Luz, Mauricio; Oliveira, Amir; Nicolazzi, Lauro; de Souza Vieira, Rodrigo; Gaudenzi Faria, Marcelo; de Lima, Sigmar; de Souza Campos, David
    Competitive project

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  • Output-feedback IDA control design via structural properties: application to thyristor controlled series capacitors

     Espinosa Pérez, Gerardo; Maya Ortiz, Paul; Doria Cerezo, Arnau; Moreno, Jaime A.
    IEEE Conference on Decision and Control
    p. 2837-2842
    DOI: 10.1109/CDC.2009.5400461
    Presentation's date: 2009-12-16
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    Virtual laboratories on energy management systems: the Hybrid Electric Vehicle case  Open access

     Escolà, Alba; Doria Cerezo, Arnau; Costa Castelló, Ramon
    IFAC Symposium on Advances in Control Education
    p. 1-6
    Presentation's date: 2009-10-22
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    Due to environment and social needs, energy management is becoming a key easy which must be transversely introduced to engineering students. Unfortunately most of this topics are difficult to analyze in traditional laboratories, this paper presents a virtual laboratory on Hybrid Electrical Vehicles specially designed to illustrate the power flow and the energy management algorithms involved in this type of device. The paper describes the models behind the interactive virtual laboratory, the different configurations which can be taken into account and the implementation technology.

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    Energy-based modelling and simulation of a series hybrid electric vehicle propulsion system  Open access

     Muñoz Aguilar, Raul Santiago; Doria Cerezo, Arnau; Puleston, Paul
    European Conference on Power Electronics and Applications
    p. 1-10
    Presentation's date: 2009-09-08
    Presentation of work at congresses

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    This paper presents an energy-based model of a series hybrid electric vehicle. The proposed propulsion system has a new configuration using a wound-rotor synchronous generator (WRSM) and a doublyfed induction machine (DFIM). From the classic dq dynamical equations of the WRSM and DFIM the port-controlled Hamiltonian models of each machine is described. One of the abilities of the port-based models is that the complete model is easy to obtain by means of interconnection rules. Following this, the Hamiltonian model of the whole system is obtained. Similarly, the bond graph approach allows to build a complex model by interconnecting several subsystems. This paper also contains bond graph models of the machines and the propulsion system. Numerical simulations are also presented in order to validate the proposed models.

    Postprint (author’s final draft)

  • ACES CONTROL AVANÇAT DE SISTEMES D'ENERGIA

     Serra Prat, Maria; Franch Bullich, Jaime; Costa Castelló, Ramon; Batlle Arnau, Carles; Doria Cerezo, Arnau; Griño Cubero, Roberto; Biel Sole, Domingo; Riera Colomer, Jordi; Olm Miras, Josep Maria; Sarmiento Carnevali, Maria Laura; Fossas Colet, Enric
    Competitive project

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    Torque ripple minimization for a Switched Reluctance Motor  Open access

     Blanqué Molina, Balduino; Doria Cerezo, Arnau
    European Conference on Power Electronics and Applications
    p. 1-8
    Presentation's date: 2009-09-08
    Presentation of work at congresses

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    This paper presents the desired current references in order to minimize the torque ripple for a Switched Reluctance Motor. From the torque equation, and using switch on and switch off angles, the desired current waveforms are obtained. Simulations validates the study and are compared with the constant current references case

  • Virtual laboratory for the dissemination of energy management systems. The case of the metropolitan transport system

     Escolà, Alba; Babot Branzuela, Ferran; Doria Cerezo, Arnau; Costa Castelló, Ramon
    IEEE International Conference on Emerging Technologies and Factory Automation
    p. 1-8
    DOI: 10.1109/ETFA.2009.5347137
    Presentation's date: 2009-09-23
    Presentation of work at congresses

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  • Port-Based Modeling in Different Domains

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric
    Date of publication: 2009-08-19
    Book chapter

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    Sliding mode control of an isolated wound rotor synchronous generator  Open access

     Doria Cerezo, Arnau; Fossas Colet, Enric; Muñoz Aguilar, Raul Santiago; Utkin, Vadim
    European Control Conference
    p. 2728-2733
    Presentation's date: 2009-08-23
    Presentation of work at congresses

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  • Simultaneous IDA-passivity-based control of a wound rotor synchronous motor

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Espinosa, G
    47th IEEE Conference on Decision and Control
    p. 3187-3191
    Presentation's date: 2008-12-10
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  • Bond graph models of electromechanical systems: the AC generator case

     Batlle Arnau, Carles; Doria Cerezo, Arnau
    14th International Symposium on Industrial Electronics
    p. 1064-1069
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  • Laboratorio Virtual para la difusión de los sistemas de gestión energética. El caso del sistema de transporte metropolitano

     Escolà, Alba; Doria Cerezo, Arnau; Costa Castelló, Ramon
    Jornadas de Automática
    p. 1-6
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  • IDA passivity-based control of single phase back-to-back converters

     Espinosa-Perez, G; Martinez-Perez, I; Sandoval Rodriguez, G; Doria Cerezo, Arnau
    14th International Symposium on Industrial Electronics
    p. 74-79
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  • Fitxed daprenentatge interactiu de teoria de sistemes lineals

     Doria Cerezo, Arnau; Costa Castelló, Ramon; Mañanas Villanueva, Miguel Angel
    Jornada d'Innovació Docent UPC
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  • Control digital avanzado para el seguimiento de señales periódicas. Aplicación a convertidores electrónicos de potencia.

     Olm Miras, Josep Maria; Griño Cubero, Roberto; Costa Castelló, Ramon; Doria Cerezo, Arnau; Fossas Colet, Enric
    Competitive project

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  • A stator voltage oriented PI controller for the doubly-fed induction machine

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Ortega, R
    American Control Conference
    p. 5438-5443
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  • Modeling, simulation and control of a doubly-fed induction machine controlled by a back-to back converter

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric
    Gesellschaft Für Angewandte MAthematik und Mechanik
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  • Fichas interactivas para el aprendizaje de la teoría de sistemas lineales

     Fabregas Cornellà, Josep; Doria Cerezo, Arnau; Costa Castelló, Ramon
    V Jornadas de Enseñanza a Través de Internet/Web de la Ingeniería de Sistemas y Automática. II Congreso Español de Informática (CEDI)
    p. 97-102
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  • ServoHis : Un laboratorio Virtual para el estudio de servomecanismos con control relé

     Escolà, A; Doria Cerezo, Arnau; Costa Castelló, Ramon
    Seminario Anual de Automática, Electrónica Industrial e Instrumentación
    p. 389-393
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  • Modeling, simulation and control of doubly-fed induction machine controlled by Back-to-Back converter  Open access

     Doria Cerezo, Arnau
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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    Aquesta Tesi estudia el control d'un sistema complex, un sistema d'emmagatzement d'energia cinètica, incloent les seves especificacions de control, modelat, disseny de controladors, simulacions, muntatge i validació experimental.Primerament, s'estudia l'interconnexió i control dels sistemes electromecànics. Es presenta el formalisme Hamiltonià (PCHS) en general, i després particularitzant en els sistemes electromecànics, inclòs els sistemes d'estructura variable (VSS).L'IDA-PBC (Interconnection and damping assignment-passivity based control) és una tècnica de control basat en els PCHS. En aquesta Tesi s'estudien el problemes que apareixen en controlar, per IDA-PBC, sortides de grau relatiu u quan el paràmetres nominals del controlador són incerts. Per evitar-los es proposa introduir una acció integral que pot ésser interpretada dins l'estructura Hamiltoniana.En aquesta Tesi també es presenten dues modificacions que permeten millorar el rang d'aplicacions de la tècnica IDA-PBC. Primer, es demostra que el fet de descomposar la tècnica de l'IDA-PBC en deformar la funció d'energia i una injecció de fregament, redueix el conjunt de sistemes que es poden estabilitzar mitjançant aquest mètode. Per evitar aquest problema, es proposa fer simultàniament els dos passos donant lloc a l'anomenat SIDA-PBC. Per altre costat, el mètode IDA-PBC requereix el coneixement de la funció energia (o Hamiltonià). Això representa un problema perquè, en general, el punt d'equilibri depèn de paràmetres incerts. En aquest treball es desenvolupa una metodologia per seleccionar l'estructura Hamiltoniana que redueix aquesta dependència dels paràmetres. Aquesta tècnica permet millorar la robustesa dels les sortides d'ordre relatiu superior a u.El sistema d'emmagatzement d'energia cinètica consisteix en una màquina d'inducció doblament alimentada (DFIM) amb un volant d'inèrcia, controlada pel rotor per un convertidor de potència back-to-back (B2B). L'objectiu és gestionar el flux d'energia entre la DFIM i una càrrega local connectada a la xarxa, commutant entre diferents punts de funcionament. Per això es planteja una gestió de l'energia, basada en la velocitat òptima de la DFIM.Pel què fa al control de la DFIM, es proposa un nou esquema de control que ofereix importants avantatges, i que és considerablement més senzill que el mètode clàssic, el vector control. Aquest nou controlador permet una fàcil descomposició de les potències activa i reactiva de l'estator, i el seu control a través de les tensions de rotor. Aquest disseny s'obté aplicant el procediment que millora la robustesa de l'IDA-PBC.S'han estudiat d'altres controladors, com el vector control clàssic. També a partir de la tècnica IDA-PBC, on l'equació en derivades parcials que apareix en aplicar el mètode es pot resoldre fixant l'energia en llaç tancat, i afegint nous termes a la matriu d'interconnexió. Per obtenir un controlador definit globalment s'afegeix un terme de fregament depenent dels estats, que desacobla la part elèctrica i mecànica del sistema. Finalment, també es prova que mitjançant el SIDA-PBC es pot modelar l'energia total (elèctrica i mecànica) de la DFIM. Tots aquest controladors han estat simulats i comparats. El controlador robust IDA-PBC s'ha validat experimentalment amb uns resultats satisfactoris. A la Tesi també es presenta un controlador que permet el flux bidireccional de potència pel B2B. L'estudi de la dinàmica zero adverteix que les tècniques de control estàndard no garanties en l'estabilitat en ambdós direccions, i per això s'utilitza un controlador IDA-PBC. Pel disseny s'utilitza un model basat en GSSA (generalized state space averaging), on es descomposa i es trunca el sistema per determinades freqüències, i que permet expresar els objectius de control (tensió constant al bus de contínua i factor de potència unitari) com un problema de regulació. Les simulacions i els resultats experimentals validen, tant la llei de control, com les simplificacions efectuades.Els controladors proposats i validats experimentalment són usats, finalment, per implementar la gestió de potència del sistema d'emmegatzement d'energia cinètica. Els resultats confirmen el bon comportament del sistema i dels controladors IDA-PBC proposats.

    This Thesis studies a complex multidomain system, the Flywheel Energy Storage System, including the control objectives specification, modeling, control design, simulation, experimental setup assembling and experimental validation stages.The port interconnection and control of electromechanical systems is studied. The port Hamiltonian formalism is presented in general, and particularized for generalized electromechanical systems, including variable structure systems (VSS).Interconnection and damping assignment-passivity based control (IDA-PBC) is a well known technique for port Hamiltonian systems (PCHS). In this Thesis we point out the kind of problems that can appear in the closed-loop structure obtained by IDA-PBC methodsfor relative degree one outputs, when nominal values are used in a system with uncertain parameters. To correct this, we introduce an integral control, which can be cast into the Hamiltonian framework.This Thesis also presents two new approaches which improve the range of applicability of the IDA-PBC technique. First, we show that the standard two-stage procedure used in IDA-PBC consisting of splitting the control action into the sum of energy-shaping and damping injection terms is not without loss of generality, and effectively reduces the set of systems that can be stabilized with IDA-PBC. To overcome this problem we suggest to carry out simultaneously both stages and refer to this variation of the method as SIDA-PBC.Secondly, we present an improvement of the IDA-PBC technique. The IDA-PBC method requires the knowledge of the full energy (or Hamiltonian) function. This is a problem because, in general, the equilibrium point which is to be regulated depends on uncertain parameters. We show how select the target port-Hamiltonian structure so that this dependence is reduced. This new approach allows to improve the robustness for higher relative degree outputs.The Flywheel Energy Storage System consists of a doubly-fed induction machine (DFIM), controlled through the rotor voltage by a power electronics subsystem (a back-to-back AC/AC converter (B2B)), and coupled to flywheel. The control objective is to optimally regulate the power flow between the DFIM and a local load connected to the grid, and this is achieved by commuting between different steady-state regimes. A police management based on the optimal speed for the DFIM is proposed.In this Thesis we propose a new control scheme for the DFIM that offers significant advantages, and is considerably simpler, than the classical vector control method. This controller allows an easy decomposition of the active and reactive powers on the stator side and their regulation, acting on the rotor voltage, via stator current control. This design was obtained applying the new robust IDA-PBC procedure.Other controllers are also designed along the dissertation. The classical vector control is studied. We also apply the classic IDA-PBC technique. It is shown that the partial differential equation that appears in this method can be circumvented by fixing the desired closed-loop total energy and adding new terms to the interconnection structure. Furthermore, to obtain a globally defined control law we introduce a state--dependent damping term that has the nice interpretation of effectively decoupling the electrical and mechanical parts of the system. This results in a globally convergent controller parameterized by two degrees of freedom. Finally, we also prove that with SIDA-PBC we can shape the total energy of the full (electrical and mechanical) dynamics of the DFIM. These different controllers (vector control, IDA-PBC, SIDA-PBC and robust IDA-PBC) are simulated and compared. The IDA-PBC robust controller is also experimentally tested and shown to work satisfactorily.A controller able to achieve bidirectional power flow for the B2B converter is presented. Standard techniques cannot be used since it is shown that no single output yields a stable zero dynamics for power flowing both ways. The controller is computed using standard IDA-PBC techniques for a suitable generalized state space averaging truncation of the system, which transforms the control objectives, namely constant output voltage dc-bus and unity input power factor, into a regulation problem. Simulation and experimental results for the full system confirm the correctness of the simplifications introduced to obtain the controller.The proposed and tested controllers for the DFIM and the B2B are used to implement the power management policy. These results show a good performance of the flywheel energy storage system and also validate the IDA-PBC technique, with the proposed improvements.

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    Robust Hamiltonian passive control for higher relative degree outputs  Open access

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric
    Date: 2006-09
    Report

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    We present an improvement of the well-know Interconnection and Damping Assignment-Passivity-based Control (IDA-PBC) technique. The IDA-PBC method is based on the Port –controlled Hamiltonian Systems description and requires the knowledge of the full energy (or Hamiltonian) function. This is a problem because, in general, the equilibrium point which is to be regulated depends on uncertain parameters. In this paper, we show how select the target port-Hamiltonian structure so that this dependence is reduced. This new approach allows to improve the robustness for higher relative degree outputs, and, for illustration purposes, is applied to a simple academic nonlinear system

  • Industrial Controllers: Subproject of MATEO (Matching Technologies and Opportunities)

     Fossas Colet, Enric; Biel Sole, Domingo; Griño Cubero, Roberto; Costa Castelló, Ramon; Doria Cerezo, Arnau
    Competitive project

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    Experiments on generation and conversion  Open access

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric; Ortega, R
    Date: 2006-04
    Report

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    Experimental results of the flywheel energy storage systems are presented. This report finalizes the work of the UPC in the context of the GeoPlex European Project. This document contains only the experimental results of the system, while the associated theoretical results and simulations are presented in previous works. The experimental results validates the policy management, the port Hamiltonian models and the developed controllers using the IDA-PBC approach along the project

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    Report on theorerical results of power generation and conversion  Open access

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric
    Date: 2006-04
    Report

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    Experimental results of a new controller able to support bidirectional power flow in a full-bridge rectifier with boost-like topology are obtained. The controller is computed using port Hamiltonian passivity techniques for a suitable generalized state space averaging truncation system, which transforms the control objectives, namely constant output voltage dc-bus and unity input power factor, into a regulation problem. Simulation results for the full system show the essential correctness of the simplifications introduced to obtain the controller, although some small experimental discrepancies point to several aspects that need further improvement.

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    Experimental results on an IDA-PBC controller for a full-bridge boost converter  Open access

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric
    Date: 2006-04
    Report

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    Experimental results of a new controller able to support bidirectional power flow in a full-bridge rectifier with boost-like topology are obtained. The controller is computed using port Hamiltonian passivity techniques for a suitable generalized state space averaging truncation system, which transforms the control objectives, namely constant output voltage dc-bus and unity input power factor, into a regulation problem. Simulation results for the full system show the essential correctness of the simplifications introduced to obtain the controller, although some small experimental discrepancies point to several aspects that need further improvement.

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    Improving the robustness of hamiltonian passive control  Open access

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric
    Date: 2006-03
    Report

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    Interconnection and damping assignment passivity based control (IDA-PBC) is a well know technique for port Hamiltonian dissipative systems (PHDS). In this paper we point out the kind of problems that can appear in the closed-loop structure obtained by IDA-PBC methods for relative degree one outputs, when nominal values are used in a system with uncertain parameters. In particular, we show that, in general, the positive semidefiniteness of dissipation matrix breaks down, at least, in a neighborhood of the desired regulation point, preventing thus the use of LaSalle’s theorem. Nevertheless, we present an example where the closed-loop system regulates to a fixed point, albeit different from the desired one. To correct this, we introduce an integral control, which can be cast into Hamiltonian framework. Numerical simulations for our example show that the closed-loop system regulates to the desired point, although a rich dynamical behaviour is obtained when the feedback parameters are varied.

  • A robustly stable PI controller for the doubly-fed induction machine

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Ortega, R
    The 32nd Annual Conference of the IEEE Industrial Electronic Society
    p. 5113-5118
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  • Energy-based modelling and control of a multi-domain energy storage and management system

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric; Ortega, R
    5th Vienna Symposium on Mathematical Modelling
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    GeoPlex experimental setup: generator and converter  Open access

     Doria Cerezo, Arnau; Batlle Arnau, Carles; Fossas Colet, Enric
    Date: 2006-01
    Report

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    The experimental setup of the Flywhell Energy Storage System is presented. The system is made of a doubly-fed induction machine coupled to a flywheel and a back-to-back converter

  • Energy-based modelling and simulation of the interconnection of a back-to-back converter and a doubly-fed induction machine

     Batlle Arnau, Carles; Doria Cerezo, Arnau
    American Control Conference
    p. 1851-1856
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  • Simultaneous Interconnection and damping assignment passivity-based control: two practical examples

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Espinosa, G; Ortega, R
    3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
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