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  • A sensor-less sliding mode control scheme for a stand-alone wound rotor synchronous generator under unbalanced load conditions

     Muñoz Aguilar, Raul Santiago; Rodriguez Cortes, Pedro; Doria Cerezo, Arnau; Candela Garcia, Jose Ignacio; Luna Alloza, Alvaro
    International journal of electrical power and energy systems
    Vol. 60, p. 275-282
    DOI: 10.1016/j.ijepes.2014.03.003
    Date of publication: 2014-04-01
    Journal article

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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 and experimental results validate the control law and show good performance and a fast response to load and reference changes

  • 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.

    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.

  • Study of the stability of a direct stator current controller for a doubly fed induction machine using the complex hurwitz test

     Doria Cerezo, Arnau; Bodson, Marc; Batlle Arnau, Carles; Ortega, Romeo
    IEEE transactions on control systems technology
    Vol. 21, num. 6, p. 2323-2331
    DOI: 10.1109/TCST.2012.2234459
    Date of publication: 2013-11
    Journal article

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    In this brief, a new control scheme is presented for the doubly fed induction machine (DFIM). The proposed control algorithm offers the advantages of proven stability and remarkable simplicity. In contrast to the classical vector control method, where the DFIM is represented in a stator-flux-oriented frame, a model with orientation of the stator voltage is adopted. This approach allows the decomposition of the active and reactive powers on the stator side and their regulation on the rotor side. A main contribution of this brief is the use of the Hurwitz test for polynomials with complex coefficients that has had little prior application in control theory. This results in a proof that a proportional-integral (PI) control regulating the stator currents ensures global stability for a feedback-linearized DFIM. The specific condition that the PI gains must satisfy is derived as a simple inequality. The PI controller has a particular structure that directly relates the $d$-component of the rotor voltages to the $q$-component of the stator currents and vice versa. The feedback linearization stage only uses the direct measurement of the rotor and stator currents and is thus easily implementable. Furthermore, it is also shown that the PI controller (without the feedback linearization terms) is also stable for a large range of control gains and does not require the knowledge of the machine parameters. Finally, the control system is validated in simulations and in experiments.

  • Direct synchronous-asynchronous conversion system for hybrid electrical vehicle applications. An energy-based modeling approach

     Muñoz Aguilar, Raul Santiago; Doria Cerezo, Arnau; Puleston, Paul Federico
    International journal of electrical power and energy systems
    Vol. 47, p. 264-279
    DOI: 10.1016/j.ijepes.2012.11.012
    Date of publication: 2013-05-01
    Journal article

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    This paper presents a proposal for a series hybrid electric vehicle propulsion system. This new configuration is based on a wound-rotor synchronous generator (WRSM) and a doubly-fed induction machine (DFIM). The energy-based model of the whole system is obtained taking advantage of the capabilities of the port-based modeling techniques. From the dq port-controlled Hamiltonian description of the WRSM and DFIM, the Hamiltonian model of the proposed Direct Synchronous-Asynchronous Conversion System (DiSAC) is developed. Subsequently, the bond graph models of the DiSAC and associate systems are also provided. Numerical simulations are also presented in order to validate the proposed system.

    This paper presents a proposal for a series hybrid electric vehicle propulsion system. This new configuration is based on a wound-rotor synchronous generator (WRSM) and a doubly-fed induction machine (DFIM). The energy-based model of the whole system is obtained taking advantage of the capabilities of the port-based modeling techniques. From the dq port-controlled Hamiltonian description of the WRSM and DFIM, the Hamiltonian model of the proposed Direct Synchronous-Asynchronous Conversion System (DiSAC) is developed. Subsequently, the bond graph models of the DiSAC and associate systems are also provided. Numerical simulations are also presented in order to validate the proposed system

  • Memristive port-Hamiltonian control: path-dependent damping injection in control of mechanical systems

     Doria Cerezo, Arnau; Van Der Heijden, Laurens; Jacquelien, Scherpen
    European journal of control
    Vol. 19, num. 6, p. 454-460
    DOI: 10.1016/j.ejcon.2013.09.006
    Date of publication: 2013-10-11
    Journal article

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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 position control systems, are included to show possible applications.

    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 position control systems, are included to show possible applications.

  • On the passivity-based power control of a doubly-fed induction machine

     López-García, Irvin; Espinosa-Pérez, Gerardo; Siguerdidjane, Houria; Doria Cerezo, Arnau
    International journal of electrical power and energy systems
    Vol. 45, num. 1, p. 303-312
    DOI: 10.1016/j.ijepes.2012.08.067
    Date of publication: 2013-02-01
    Journal article

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    In this paper the stator-side power regulation control problem of DFIM is approached. It is shown how a passivity-based controller can deal with this problem establishing a viable solution from both a dynamic performance perspective and a practical implementation point of view. The evaluation of the presented scheme is carried out by considering typical operation conditions, namely: active power generation with demanded or delivered reactive power. Special interest is given to the rigorous establishment of the stability properties of the closed-loop system, which allows for achieving remarkable dynamic responses, in terms of convergence rates as well as the region of attraction of the equilibrium point defined by a given operation regime. From a practical viewpoint, the usefulness of the scheme is concluded by realizing that the requirements imposed concerning the structural features of both the generator by itself and the power converter required for its operation, can be fulfilled by commercially available off-the-shelf devices.

  • Comments on ¿Control and Performance of a Doubly-Fed Induction Machine Intended for a Flywheel Energy Storage System¿

     Doria Cerezo, Arnau
    IEEE transactions on power electronics
    Vol. 28, num. 1, p. 605-606
    DOI: 10.1109/TPEL.2012.2195680
    Date of publication: 2013-01
    Journal article

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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).

    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).

  • 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.

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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.

    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.

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    Control of a Stand-Alone Wound Rotor Synchronous Generator: Two Sliding Mode Approaches via Regulation of the d-Voltage Component  Open access

     Doria Cerezo, Arnau; Utkin, Vadim; Muñoz Aguilar, Raul Santiago; Fossas Colet, Enric
    IEEE transactions on control systems technology
    Vol. 20, num. 3, p. 779-786
    DOI: 10.1109/TCST.2011.2142310
    Date of publication: 2012-05
    Journal article

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    In this brief 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 -component error in the sliding surface. In a first case an outer proportional-integral (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, both simulations and experimental results validates the proposed algorithms

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    Passivity-based control applied to the dynamic positioning of ships  Open access

     Muhammad, Shah; Doria Cerezo, Arnau
    IET control theory and applications
    Vol. 6, num. 5, p. 680-688
    DOI: 10.1049/iet-cta.2010.0554
    Date of publication: 2012-03-15
    Journal article

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    A family of passivity-based controllers for dynamic positioning of ships is presented. The authors exploit the idea of shaping the energy function of the closed-loop system to obtain different formulations of the passivity-based control law using the interconnection and damping assignment-passivity-based control (IDA-PBC)methodology. A salient feature of this study is that the proposed control laws are output feedback controllers and the relative velocity measurement is not required. First, we design and analyse two static controllers which can be seen as a non-linear version of the conventional proportional-derivative (PD) controllers. In presence of unknown disturbances, these controllers do not provide the desired regulation properties. To remove this discrepancy we propose, also in the context of the IDA-PBC technique, a dynamic extension of the system and obtain two new controllers that have the desired regulation properties. These new control laws can be seen as a non-linear version of the conventional proportional-integral derivative (PID) controllers. Simulations are included to validate the theoretical results.

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    Port-Hamiltonian Formulation of Systems With Memory  Open access

     Jeltsema, Dimitri; Doria Cerezo, Arnau
    Proceedings of the IEEE
    Vol. 100, num. 6, p. 1928-1937
    DOI: 10.1109/JPROC.2011.2164169
    Date of publication: 2012-06
    Journal article

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    In this paper, we consider memristors, meminductors, and memcapacitors and their properties as port-Hamiltonian systems. The port-Hamiltonian formalism naturally arises from network modeling of physical systems in a variety of domains. Exposing the relation between the energy storage, dissipation, and interconnection structure,this framework underscores the physics of the system. One of the strong aspects of the port-Hamiltonian formalism is that a power-preserving interconnection between port-Hamiltonian systems results in another port-Hamiltonian system with composite energy, dissipation, and interconnection structure. This feature can advantageously be used to model, analyze, and simulate networks consisting of complex interconnections of both conventional and memory circuit elements. Furthermore, the port-Hamiltonian formalism naturally extends the fundamental properties of the memory elements beyond the realm of electrical circuits.

  • 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

  • Modeling of Systems With Position-Dependent Mass Revisited: A Port-Hamiltonian Approach

     Jeltsema, Dimitri; Doria Cerezo, Arnau
    Journal of applied mechanics. Transactions of the ASME
    Vol. 78, num. 6, p. 1-6
    DOI: 10.1115/1.4003910
    Date of publication: 2011-11
    Journal article

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  • Sliding mode control of a stand-alone wound rotor synchronous generator

     Muñoz Aguilar, Raul Santiago; Doria Cerezo, Arnau; Fossas Colet, Enric; Cardoner Parpal, Rafael
    IEEE transactions on industrial electronics
    Vol. 58, num. 10, p. 4888-4897
    DOI: 10.1109/TIE.2011.2116754
    Date of publication: 2011-10
    Journal article

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    This paper presents a sliding mode control for a wound rotor synchronous machine acting as an isolated generator. The standard dq model of the machine is connected to a resistive load. A switching function is defined in order to fulfill control objectives, and the ideal sliding dynamics is proved to be stable. From the desired surface, the standard sliding methodology is applied to obtain a robust and very simple controller. Numerical simulations and experimental results validate the control law and show good performance and a fast response to load and reference changes.

  • 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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    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.

  • 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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    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.

  • 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.

  • Passivity-based control of a wound-rotor synchronous motor

     Doria Cerezo, Arnau; Batlle Arnau, Carles; Espinosa Pérez, Gerardo
    IET control theory and applications
    Vol. 4, num. 10, p. 2049-2057
    DOI: 10.1049/iet-cta.2009.0641
    Date of publication: 2010-10
    Journal article

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    Output-feedback IDA stabilisation of an SMIB system using a TCSC  Open access

     Espinosa Pérez, Gerardo; Maya Ortiz, Paul; Doria Cerezo, Arnau; Moreno, Jaime A.
    International journal of control
    Vol. 83, num. 12, p. 2471-2482
    DOI: 10.1080/00207179.2010.531145
    Date of publication: 2010-12-12
    Journal article

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    Interconnection and damping assignment (IDA) passivity-based control (PBC) is currently a well-known viable alternative for solving regulation control problems of a wide class of nonlinear systems. However, a distinctive feature that, in spite of its appearance under several applications, has not been exhaustively exploited, is the flexibility that this technique exhibits for designing output-feedback controllers (OFCs). The purpose of this article is to illustrate this attractive characteristic by approaching the (practically important) case study given by the improvement of the transient stability properties of power systems. The particular system composed by a synchronous generator connected to an infinite bus via a thyristor controlled series capacitor is considered. Two OFCs are presented, one that does not involve the unmeasurable state and another that, although including this state, presents some input-to-state stability properties that allow for establishing a sort of separation principle concerning an observer-based structure for the closed-loop system. The advantages of both controllers are illustrated by numerical simulations when a three-phase short circuit at the generator bus is induced.

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    De la mecánica clásica y las leyes de Kirchhoff a los sistemas hamiltonianos con puertos  Open access

     Batlle Arnau, Carles; Doria Cerezo, Arnau
    La Gaceta de la Real Sociedad Matemática Española
    Vol. 13, num. 1, p. 31-52
    Date of publication: 2010
    Journal article

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    En este artículo exponemos los orígenes conceptuales de la teoría PHS (port-Hamiltonian systems), empezando por las leyes de Kirchhoff y enlazando con las ecuaciones de la mecánica clásica, para acabar con la estructura geométrica subyacente a todo el formalismo, conocida como estructura de Dirac, y con los métodos de control asociados. Concluimos con un apunte de las generalizaciones y desarrollos más recientes.

    Postprint (author’s final draft)

  • 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.

  • 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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  • 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 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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  • 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
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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

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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.

  • 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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    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; Sarmiento Carnevali, Maria Laura; Costa Castelló, Ramon; Doria Cerezo, Arnau; Griño Cubero, Roberto; Biel Sole, Domingo; Olm Miras, Josep Maria; Batlle Arnau, Carles; Riera Colomer, Jordi; Fossas Colet, Enric
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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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    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 interconnection and damping assignment passivity-based control: the induction machine case study

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Espinosa-Perez, Gerardo; Ortega, Romeo
    International journal of control
    Vol. 82, num. 2, p. 241-255
    Date of publication: 2009-02
    Journal article

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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
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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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  • Bidirectional power flow control of a power converter using passive Hamiltonian techniques

     Batlle Arnau, Carles; Doria Cerezo, Arnau; Fossas Colet, Enric
    International journal of circuit theory and applications
    Vol. 36, num. 7, p. 769-788
    Date of publication: 2008-10
    Journal article

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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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  • 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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  • 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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  • 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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  • 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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  • 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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