Camacho Santiago, Antonio
Total activity: 30
Research group
SEPIC - Power and Control Electronics Systems
Department
Department of Electronic Engineering
E-mail
antonio.camacho.santiagoestudiant.upc.edu
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    Reactive Power Control for Distributed Generation Power Plants to Comply With Voltage Limits During Grid Faults  Open access

     Camacho Santiago, Antonio; Castilla Fernandez, Miguel; Miret Tomas, Jaume; Guzman Sola, Ramon; Borrell Sanz, Angel
    IEEE transactions on power electronics
    Date of publication: 2014-11-01
    Journal article

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    Grid faults are one of the most severe problems for network operation. Distributed generation power plants can help to mitigate the adverse effects of these perturbations by injecting the reactive power during the sag and the postfault operation. Thus, the risk of cascade disconnection and voltage collapse can be reduced. The proposed reactive power control is intended to regulate the maximum and minimum phase voltages at the point of common coupling within the limits established in grid codes for continuous operation. In balanced three-phase voltage sags, the control increases the voltage in each phase above the lower regulated limit by injecting the positive sequence reactive power. In unbalanced voltage sags, positive and negative sequence reactive powers are combined to flexibly raise and equalize the phase voltages; the maximum phase voltage is regulated below the upper limit and the minimum phase voltage just above the lower limit. The proposed control strategy is tested by considering a distant grid fault and a large grid impedance. Selected experimental results are reported in order to validate the behavior of the control scheme.

    Grid faults are one of the most severe problems for network operation. Distributed generation power plants can help to mitigate the adverse effects of these perturbations by injecting reactive power during the sag and the post-fault operation. Thus, the risk of cascade disconnection and voltage collapse can be reduced. The proposed reactive power control is intended to regulate the maximum and minimum phase voltages at the point of common coupling within the limits established in grid codes for continuous operation. In balanced three-phase voltage sags, the control increases the voltage in each phase above the lower regulated limit by injecting positive sequence reactive power. In unbalanced voltage sags, positive and negative sequence reactive powers are combined to flexibly raise and equalize the phase voltages; maximum phase voltage is regulated below the upper limit and the minimum phase voltage just above the lower limit. The proposed control strategy is tested by considering a distant grid fault and a large grid impedance. Selected experimental results are reported in order to validate the behavior of the control scheme.

  • Modeling and design of voltage support control schemes for three-phase inverters operating under unbalanced grid conditions

     Castilla Fernandez, Miguel; Miret Tomas, Jaume; Camacho Santiago, Antonio; Garcia de Vicuña Muñoz de la Nava, Jose Luis; Matas Alcala, Jose
    IEEE transactions on power electronics
    Date of publication: 2014-11-01
    Journal article

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    Three-phase inverters equipped with voltage support control schemes have been successfully used to alleviate the negative impact of voltage imbalance on electric power systems. With these schemes, dc-link voltage ripple and current harmonics are significantly reduced by processing the positive and negative sequence components separately. However, the design methods for tuning the parameters of these control schemes have one or more of the following limitations: 1) the design is a very time-consuming task, 2) it is conservative, 3) it does not guarantee the specifications for all the considered situations, and 4) the system can be unstable in some abnormal conditions. As an alternative, this paper presents a design method based on the analysis of oscillations in nonlinear systems. The method proceeds by first developing simple and accurate models of the power system, second it reveals the system features through an in deep analysis of the derived models, and third it introduces a systematic design procedure for tuning the parameters of the control schemes. As an example, a voltage support control scheme for a three-phase inverter operating under an unbalanced voltage sag is designed and validated experimentally.

  • Voltage support control strategies for static synchronous compensators under unbalanced voltage sags

     Castilla Fernandez, Miguel; Miret Tomas, Jaume; Camacho Santiago, Antonio; Matas Alcala, Jose; Garcia de Vicuña Muñoz de la Nava, Jose Luis
    IEEE transactions on industrial electronics
    Date of publication: 2014
    Journal article

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    Static synchronous compensators have been broadly employed for the provision of electrical ac network services, which include voltage regulation, network balance, and stability improvement. Several studies of such compensators have also been conducted to improve the ac network operation during unbalanced voltage sags. This paper presents a complete control scheme intended for synchronous compensators operating under these abnormal network conditions. In particular, this control scheme introduces two contributions: a novel reactive current reference generator and a new voltage support control loop. The current reference generator has as a main feature the capacity to supply the required reactive current even when the voltage drops in amplitude during the voltage sag. Thus, a safe system operation is easily guaranteed by fixing the limit required current to the maximum rated current. The voltage control loop is able to implement several control strategies by setting two voltage set points. In this paper, three voltage support control strategies are proposed, and their advantages and limitations are discussed in detail. The two theoretical contributions of this paper have been validated by experimental results. Certainly, the topic of voltage support is open for further research, and the control scheme proposed in this paper can be viewed as an interesting configuration to devise other control strategies in future works.

    Static synchronous compensators have been broadly employed for the provision of electrical ac network services, which include voltage regulation, network balance, and stability improvement. Several studies of such compensators have also been conducted to improve the ac network operation during unbal- anced voltage sags. This paper presents a complete control scheme intended for synchronous compensators operating under these abnormal network conditions. In particular, this control scheme introduces two contributions: a novel reactive current reference generator and a new voltage support control loop. The current reference generator has as a main feature the capacity to supply the required reactive current even when the voltage drops in amplitude during the voltage sag. Thus, a safe system operation is easily guaranteed by fixing the limit required current to the maximum rated current. The voltage control loop is able to imple- ment several control strategies by setting two voltage set points. In this paper, three voltage support control strategies are proposed, and their advantages and limitations are discussed in detail. The two theoretical contributions of this paper have been validated by experimental results. Certainly, the topic of voltage support is open for further research, and the control scheme proposed in this paper can be viewed as an interesting configuration to devise other control strategies in future works.

  • Power sharing control in islanded microgrid using event driven communication

     de Sousa Pérez, Óscar; Miret Tomas, Jaume; Camacho Santiago, Antonio; Marti Colom, Pau; Guzman Sola, Ramon
    Annual Conference of the IEEE Industrial Electronics Society
    Presentation's date: 2013-11-12
    Presentation of work at congresses

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    This paper presents a novel power sharing control strategy for islanded mode microgrids (MG). The goal is to enable renewable power sources connected to the point of com-mon coupling (PCC) through three-phase three-wire inverters to cooperatively feed linear and non-linear local loads. The strategy contribution is two-fold. First, a centralized controller is designed to facilitate the power sharing capability of all inverters by means of data communications regardless of load changes and inverter faults. Second, a communication protocol is designed following an event-driven paradigm in such a way that the consumed bandwidth is reduced. Selected simulation results show the main features of the power sharing control strategy.

    This paper presents a novel power sharing control strategy for islanded mode microgrids (MG). The goal is to enable renewable power sources connected to the point of com- mon coupling (PCC) through three-phase three-wire inverters to cooperatively feed linear and non-linear local loads. The strategy contribution is two-fold. First, a centralized controller is designed to facilitate the power sharing capability of all inverters by means of data communications regardless of load changes and inverter faults. Second, a communication protocol is designed following an event-driven paradigm in such a way that the consumed bandwidth is reduced. Selected simulation results show the main features of the power sharing control strategy.

  • Mixing local and distributed reactive power control for balancing inverters¿ effort in grid-connected photovoltaic systems

     Velasco Garcia, Manuel; Marti Colom, Pau; Camacho Santiago, Antonio; Miret Tomas, Jaume; Castilla Fernandez, Miguel
    International Conference on Systems and Control
    Presentation's date: 2013-10-29
    Presentation of work at congresses

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    Reactive power control methods have been proven to be a successful technique for maintaining voltages of photo-voltaic (PV) distributed generators (DG) within the admissible limits without enforcing to reduce the production of active power. Usually the control goal is achieved at the expenses of stressing PV inverters unequally. As a consequence, inverters deteriorate at different velocities. This paper presents a mixed local and distributed control strategy that aims at balancing the effort posed by each inverter while achieving the control goal. The local control is a drop-like method that locates inverters’voltages within the permissible voltage levels. Simultaneously, the distributed control, making use of a communication infrastructure, is in charge of driving the DG system to the point where all connected inverters inject the same current, thus balancing the stress between them.

  • Active damping control for a three phase grid-connected inverter using sliding mode control

     Guzman Sola, Ramon; Garcia de Vicuña Muñoz de la Nava, Jose Luis; Camacho Santiago, Antonio; Matas Alcala, Jose; Castilla Fernandez, Miguel; Miret Tomas, Jaume
    Annual Conference of the IEEE Industrial Electronics Society
    Presentation's date: 2013-11-12
    Presentation of work at congresses

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    This paper proposes a new active damping method based on virtual resistors for three-phase grid connected voltage source inverters (VSI) with LCL filter. The use of this filters is a standard solution to provide the proper attenuation to the sideband voltage harmonics of the modulation signal. However these grid filters can introduce an unstable dynamics if a passive or active damping is not properly introduced. The passive damping solution causes a decrease of the overall efficiency due to the associated losses and reduces the filter effectiveness but in contrast no more extra sensors are needed. Active damping methods are more efficient because they don't introduce losses but suffers from control and system complexity because in some cases a high number of sensors are needed. The proposed strategy employs a nonlinear sliding mode control (SMC) scheme in natural frame in combination with a Kalman filter to emulate a resistor in the LCL filter which damps the system actively without the use of extra sensors. Two current controllers are designed in order to control the active and reactive power independently and a voltage controller is designed to control the neutral point which is fixed with a third harmonic voltage in order to increase the control dynamic range.

    This paper proposes a ne w active damping method based on virtual resistors for three-phase grid connected voltage source inverters (VSI) with LCL filter. The use of this filters is a standard solution to provide the proper attenuation to the sideband voltage harmonics of the modulation signal. However these grid filters can introduce an unstable dynamics if a passive or active damping is not pr operly introduced. The passive damping solution causes a decrease of the overall efficiency due to the associated losses and reduces the filter effectiveness but in contrast no more extra sensors are needed. Active damping methods are more efficient because they don’t introduce losses but suffers from control and system complexity because in some cases a high number of sensors are needed. The proposed strategy employs a nonlinear sliding mode control (SMC) scheme in natural frame in combination with a Kalman filter to emulate a resistor in the LCL filter which damps the system actively without the use of extra sensors. Two current controllers are designed in order to control the active and reactive power independently and a voltage controller is designed to control the neutral point which is fixed with a third harmonic vol tage in order to increase the control dynamic range.

  • Distributed reactive power control methods to avoid voltage rise in grid-connected photovoltaic power generation systems

     Marti Colom, Pau; Velasco Garcia, Manuel; Fuertes Armengol, José Mª; Camacho Santiago, Antonio; Miret Tomas, Jaume; Castilla Fernandez, Miguel
    IEEE International Symposium on Industrial Electronics
    Presentation of work at congresses

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    A high density of grid-connected photovoltaic (PV) power generation systems is expected to occur in urban areas. The connection of distributed generation (DG) may cause serious problems in the distribution system such as voltage rise. Several voltage control strategies exist to avoid the over-voltage at the power grid. In particular, reactive power control methods have been proved to successfully bring DGs voltages within the admissible voltage range without reducing the production of active power. In addition, the possible use of communication infrastructure to link DGs opens up the development of new reactive power control methods where control actions at each DG may be decided using both local and global information. This paper presents a comparative study of existing and novel distributed reactive power control methods that have been designed exploiting the information exchange facility provided by a communication infrastructure.

    A high density of grid-connected photovoltaic (PV) power generation systems is expected to occur in urban areas. The connection of distributed generation (DG) may cause serious problems in the distribution system such as voltage rise. Several voltage control strategies exist to avoid the over-voltage at the power grid. In particular, reactive power control methods have been proved to successfully bring DGs voltages within the admissible voltage range without reducing the production of active power. In addition, the possible use of communication infrastructure to link DGs opens up the development of new reactive power control methods where control actions at each DG may be decided using both local and global information. This paper presents a comparative study of existing and novel distributed reactive power control methods that have been designed exploiting the information exchange facility provided by a communication infrastructure.

  • Control strategies based on effective power factor for distributed generation power plants during unbalanced grid voltage

     Camacho Santiago, Antonio; Castilla Fernandez, Miguel; Miret Tomas, Jaume; Matas Alcala, Jose; Guzman Sola, Ramon; de Sousa Pérez, Óscar; Marti Colom, Pau; Garcia de Vicuña Muñoz de la Nava, Jose Luis
    Annual Conference of the IEEE Industrial Electronics Society
    Presentation's date: 2013-11-13
    Presentation of work at congresses

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    Unbalanced voltages in three-phase power systems is a common perturbation propagated along the grid. Distributed Generation plants have gained widespread attention due to their capability to improve power quality in a distributed manner, including voltage unbalance mitigation. A conventional control strategy to command power plants during balanced grid voltages, is the use of power factor to inject/absorb reactive power depending on grid conditions. Advanced control strategies during unbalanced grid voltages can be selected prioritizing positive or negative sequence active and reactive power. This selection determines the voltage support service and therefore can improve the voltage profile, i.e. phase-voltages can be properly supported and voltage imbalance simultaneously corrected. Based on the definition of effective power factor in IEEE 1459 Standard, the reactive power needed for any control strategy is obtained and the resulting effects are described.

    Unbalanced voltages in three-phase power systems is a common perturbation propagated along the grid. Distributed Generation plants have gained widespread attention due to their capability to improve power quality in a distributed manner, including voltage unbalance mitigation. A conventional control strategy to command power plants during balanced grid voltages, is the use of power factor to inject/absorb reactive power depending on grid conditions. Advanced control strategies during unbalanced grid voltages can be selected prioritizing positive or negative sequence active and reactive power. This selection determines the voltage support service and therefore can improve the voltage profile, i.e. phase-voltages can be properly supported and voltage imbalance simultaneously corrected. Based on the definition of effective power factor in IEEE 1459 Standard, the reactive power needed for any control strategy is obtained and the resulting effects are described.

  • CONTROL COOPERATIVO PARA LA GESTION OPTIMA DE LA ENERGIA EN MICRORREDES ELECTRICAS

     Garcia de Vicuña Muñoz de la Nava, Jose Luis; Matas Alcala, Jose; Guerrero Zapata, Josep Maria; Miret Tomas, Jaume; Font Mateu, Josep; Cruz Vaquer, Juan; Guzman Sola, Ramon; Camacho Santiago, Antonio; Ortega García, Carlos; Borrell Sanz, Angel; pellitero rodriguez, carlos; Castilla Fernandez, Miguel
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  • Control scheme with voltage support capability for distributed generation inverters under voltage sags

     Miret Tomas, Jaume; Camacho Santiago, Antonio; Castilla Fernandez, Miguel; Garcia de Vicuña Muñoz de la Nava, Jose Luis; Matas Alcala, Jose
    IEEE transactions on power electronics
    Date of publication: 2013-05
    Journal article

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    Voltage sags are one of the main problems in transmission and distribution grids with high penetration of distributed generation. This paper proposes a voltage support control scheme for grid-connected power sources under voltage sags. The control is based on the injection of reactive current with a variable ratio between positive and negative sequences. The controller determines, also, the amount of reactive power needed to restore the dropped voltage magnitudes to new reference values confined within the continuous operation limits required in grid codes. These reference values are chosen in order to guarantee low current injection when fulfilling the voltage support objective. Selected experimental results are reported in order to validate the effectiveness of the proposed control.

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    Reduction of Current Harmonic Distortion in Three-Phase Grid-Connected Photovoltaic Inverters via Resonant Current Control  Open access

     Castilla Fernandez, Miguel; Miret Tomas, Jaume; Camacho Santiago, Antonio; Matas Alcala, Jose; Garcia de Vicuña Muñoz de la Nava, Jose Luis
    IEEE transactions on industrial electronics
    Date of publication: 2013-04
    Journal article

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    The resonant current control has been extensively employed to reduce the current harmonic distortion in a wide range of grid-connected distributed generation applications, including photovoltaic (PV) inverters, wind and water turbines, and fuel-cell inverters. However, the performance of these systems is deteriorated when the utility grid voltage experiences abnormal conditions such as voltage harmonics and imbalances. Several advanced control solutions have been recently introduced to cope with this problem but at the cost of a signi¿cant increase in the control computational load. This paper ¿rst analyzes the limitations of the standard resonant current control operating under abnormal grid conditions and then introduces a control scheme that improves the current harmonic distortion in such adverse conditions without increasing the computational load of the standard current control. This theoretical contribution is validated by means of selected experimental results from a three-phase PV inverter.

    The resonant current control has been extensively employed to reduce the current harmonic distortion in a wide range of grid-connected distributed generation applications, including photovoltaic (PV) inverters, wind and water turbines, and fuel-cell inverters. However, the performance of these systems is deteriorated when the utility grid voltage experiences abnormal conditions such as voltage harmonics and imbalances. Several advanced control solutions have been recently introduced to cope with this problem but at the cost of a significant increase in the control computational load. This paper first analyzes the limitations of the standard resonant current control operating under abnormal grid conditions and then introduces a control scheme that improves the current harmonic distortion in such adverse conditions without increasing the computational load of the standard current control. This theoretical contribution is validated by means of selected experimental results from a three-phase PV inverter

  • Flexible voltage support control for three-phase distributed generation inverters under grid fault

     Camacho Santiago, Antonio; Castilla Fernandez, Miguel; Miret Tomas, Jaume; Vasquez Quintero, Juan Carlos; Alarcon Gallo, Eduardo
    IEEE transactions on industrial electronics
    Date of publication: 2013-04
    Journal article

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    Ancillary services for distributed generation (DG)systems become a challenging issue to smartly integrate renewable-energy sources into the grid. Voltage control is one of these ancillary services which can ride through and support the voltage under grid faults. Grid codes fromthe transmission system operators describe the behavior of the energy source, regulating voltage limits and reactive power injection to remain connected and support the grid under fault. On the basis that different kinds of voltage sags require different voltage support strategies, a flexible control scheme for three-phase grid-connected inverters is proposed. In three-phase balanced voltage sags, the inverter should inject reactive power in order to raise the voltage in all phases. In one- or two-phase faults, the main concern of the DG inverter is to equalize voltages by reducing the negative symmetric sequence and clear the phase jump. Due to system limitations, a balance between these two extreme policies is mandatory. Thus, over- and undervoltage can be avoided, and the proposed control scheme prevents disconnection while achieving the desired voltage support service. The main contribution of this work is the introduction of a control algorithm for reference current generation that provides flexible voltage support under grid faults. Two different voltage sags have been experimentally tested to illustrate the behavior of the proposed voltage support control scheme.

  • Control scheme for photovoltaic three-phase inverters to minimize peak currents during unbalanced grid-voltage sags

     Miret Tomas, Jaume; Castilla Fernandez, Miguel; Camacho Santiago, Antonio; Garcia de Vicuña Muñoz de la Nava, Jose Luis; Matas Alcala, Jose
    IEEE transactions on power electronics
    Date of publication: 2012
    Journal article

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    Nowadays, the majority of the photovoltaic (PV) power sources are connected to the public grid. One of the main connection problems occurs when voltage sags appear in the grid due to short circuits, lightning, etc. International standards regulate the grid connection of PV systems, forcing the source to remain connected during short-time grid-voltage faults. As a consequence, during the voltage sag, the source should operate with increasing converter currents to maintain the injection of the generated power. This abnormal operation may result in nondesired system disconnections due to overcurrents. This paper proposes a controller for a PV three-phase inverter that ensuresminimum peak values in the grid-injected currents, as compared with conventional controllers. From the system analysis, a design method is presented in order to set the parameters of the control scheme. Selected experimental results are reported in order to validate the effectiveness of the proposed control.

  • On the use of communication infrastructure in distributed power generation: a preliminary case study

     Marti Colom, Pau; Velasco Garcia, Manuel; Castilla Fernandez, Miguel; Miret Tomas, Jaume; Camacho Santiago, Antonio
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2012-09-19
    Presentation of work at congresses

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    Penetration of distributed power generation poses new problems in energy distribution. For example, photovoltaic generation systems may difficult the voltage management in distribution lines and voltage rise may occur. To overcome this problem, several voltage control strategies are available and they can be classified as autonomous or distributed regarding whether communication is available between dispersed generators. Through a preliminary case study, this paper investigates the impact that the communication infrastructure has for a given distributed voltage control strategy. Communication issues like transmission rate, delays, and losses are analyzed with respect to the voltage control application performance.

  • Reactive power control for voltage support during type C voltage-sags

     Camacho Santiago, Antonio; Castilla Fernandez, Miguel; Miret Tomas, Jaume; Matas Alcala, Jose; Alarcon Cot, Eduardo Jose; Garcia de Vicuña Muñoz de la Nava, Jose Luis; Marti Colom, Pau
    Annual Conference of the IEEE Industrial Electronics Society
    Presentation's date: 2012-10-27
    Presentation of work at congresses

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  • Fast grid synchronization technique based on a multiple cascaded general integrator scheme for distributed generation inverters

     Matas Alcala, Jose; Castilla Fernandez, Miguel; Garcia de Vicuña Muñoz de la Nava, Jose Luis; Miret Tomas, Jaume; Alarcon Gallo, Eduardo; Camacho Santiago, Antonio
    IEEE International Symposium on Industrial Electronics
    Presentation's date: 2012
    Presentation of work at congresses

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    This paper proposes a new structure for grid synchronization based on generalized integrators (GI) that lead to fast detection of positive and negative components of the grid voltage. The GI are used as a band pass filter (GI-BPF) mainly to provide in-phase and quadrature components of grid voltage. The proposed structure consists in the cascaded connection of multiple GI-BPF to achieve a faster time response than a single GI-BPF but with the same bandwidth characteristics. This structure is used with a frequency locked loop and a positive sequence detector to operate under unbalanced voltage sags. Simulations and experimental results of a photovoltaic power system injecting power to the grid in the stationary reference frame are shown to validate this proposal. Comparisons between this proposal and one that uses a single GI-BPF in the sequence detector are provided. The results show that the proposed cascaded GI-BPF achieves a considerably time response reduction in the sequence grid detection under a fault with the same quality-filter characteristics.

  • Coordinated reactive power control for static synchronous compensators under unbalanced voltage sags

     Castilla Fernandez, Miguel; Miret Tomas, Jaume; Camacho Santiago, Antonio; Matas Alcala, Jose; Alarcon Gallo, Eduardo; Garcia de Vicuña Muñoz de la Nava, Jose Luis
    IEEE International Symposium on Industrial Electronics
    Presentation's date: 2012
    Presentation of work at congresses

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    Unbalanced voltage sags strongly deteriorate the performance of power converters and electrical machines connected to the distribution network. In particular, a reduction of the power quality is noticed in these equipments, which is caused by a ripple in the output power and an increase of the current harmonic distortion. Several solutions based on reactive power compensation have been introduced to cope with this problem. Among them, static synchronous compensators have confirmed the superior performance due to the possibility of using all rated power exclusively to voltage support. This paper presents a simple reactive power control algorithm for static synchronous compensators operating under unbalanced voltage sags. The main feature of the proposed algorithm is that it allows a fine adjustment of the amount of reactive power injected by the positive- and negative-sequence components. Thus the control algorithm provides voltage support at the output of the static synchronous compensator. Specifically the proposed control conveniently corrects both the positive- and negative-sequence voltage. Selected simulation results are provided to validate the proposal.

  • Decoupled sliding mode control for three-phase LCL VSI operating at fixed switching frequency

     Alarcon Gallo, Eduardo; Garcia de Vicuña Muñoz de la Nava, Jose Luis; Castilla Fernandez, Miguel; Miret Tomas, Jaume; Matas Alcala, Jose; Camacho Santiago, Antonio
    IEEE International Symposium on Industrial Electronics
    Presentation's date: 2012
    Presentation of work at congresses

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  • Optimal online sampling period assignment: theory and experiments

     Cervin, Anton; Velasco Garcia, Manuel; Marti Colom, Pau; Camacho Santiago, Antonio
    IEEE transactions on control systems technology
    Date of publication: 2011-07
    Journal article

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  • Networked sliding mode control of the double integrator system using the event-driven self-triggered approach

     Marti Colom, Pau; Velasco Garcia, Manuel; Camacho Santiago, Antonio; Martin Rull, Enric Xavier; Fuertes Armengol, José Mª
    IEEE International Symposium on Industrial Electronics
    Presentation's date: 2011-06-28
    Presentation of work at congresses

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    Sliding mode control (SMC) methods rely on applying a high-frequency switching control. In networked control systems (NCS), high-frequency operations/transactions are not desirable because communication bandwidth consumption increases dramatically. This paper studies the application of event-driven self-triggered techniques to sliding mode control over networks as a means for reducing the bandwidth utilization. To this end, sliding mode control with hysteresis is adopted and control updates are forced to only occur at the hysteresis band boundary. This paper elaborates on the conditions that must be fulfilled in order to ensure such operation for the case of the double integrator system. Simulation results illustrate the presented concepts.

  • Runtime Allocation of Optional Control Jobs to a Set of CAN-Based Networked Control Systems

     Marti Colom, Pau; Camacho Santiago, Antonio; Velasco Garcia, Manuel; El Mongi Ben Gaid, Mohamed
    IEEE transactions on industrial informatics
    Date of publication: 2010-09-23
    Journal article

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  • Design of an embedded control system laboratory experiment

     Marti Colom, Pau; Velasco Garcia, Manuel; Fuertes Armengol, José Mª; Camacho Santiago, Antonio; Buttazzo, Giorgio
    IEEE transactions on industrial electronics
    Date of publication: 2010-10-01
    Journal article

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    This paper presents a prototype laboratory experiment to be integrated in the education of embedded control system engineers. The experiment, a real-time control of a dynamical system, is designed to drive students to a deeper understanding and integration of the diverse theoretical concepts that often come from different disciplines such as real-time systems and control systems. Rather than proposing the experiment for a particular course within an embedded system engineering curriculum, this paper describes how the experiment can be tailored to the needs and diverse background of both undergraduate and graduate students education.

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    Design of an embedded control system laboratory experiment  Open access

     Marti Colom, Pau; Velasco Garcia, Manuel; Fuertes Armengol, José Mª; Camacho Santiago, Antonio; Buttazzo, Giorgio
    IEEE transactions on industrial electronics
    Date of publication: 2010-02-08
    Journal article

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    This paper presents a prototype laboratory experiment to be integrated in the education of embedded control system engineers. The experiment, a real-time control of a dynamical system, is designed to drive students to a deeper understanding and integration of the diverse theoretical concepts that often come from different disciplines such as real-time systems and control systems. Rather than proposing the experiment for a particular course within an embedded system engineering curriculum, this paper describes how the experiment can be tailored to the needs and diverse background of both undergraduate and graduate students education.

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    Self-triggered networked control systems: an experimental case study  Open access

     Camacho Santiago, Antonio; Marti Colom, Pau; Velasco Garcia, Manuel; Lozoya, Camilo; Villa Millaruelo, Ricardo; Fuertes Armengol, José Mª; Griful Ponsati, Eulalia
    IEEE International Conference on Industrial Technology
    Presentation's date: 2010-03-14
    Presentation of work at congresses

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    A self-triggered controller is characterized, in general, by a non-periodic sequence of job activations. And each job execution, apart from performing sampling, control algorithm computation and actuation, calculates the next job activation time as a function of the plant state. This paper describes the implementation of self-triggered controllers in networked control systems (NCS). The implementation corroborates that self-triggered control can be used for minimizing bandwidth utilization while providing similar control performance than periodic controllers.

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    Efficient utilization of bus idle times in CAN-based networked control systems  Open access

     Marti Colom, Pau; Camacho Santiago, Antonio; Velasco Garcia, Manuel; El Mongi Ben Gaid, Mohamed
    IFAC Workshop on Distributed Estimation and Control in Networked Systems
    Presentation's date: 2010-09-13
    Presentation of work at congresses

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    This paper presents a novel approach to networked control systems (NCS) analysis and design that provides increased control performance for a set of control loops that exchange control data over the Controller Area Network (CAN). This is achieved by enabling the following functionality for each control loop: first, standard periodic messaging is guaranteed to ensure stability, and second, non-periodic additional messaging is added whenever the bus is idle in such a way that the aggregated control performance for all control loops is improved. The proposed approach, named Maximum Difference (MD) policy, is computable in a distributed manner, and is practically feasible (computationally efficient and CAN-implementable). We theoretically prove that the MD policy behaves better than static strategies. Simulation results complement the theoretical derivations and show that the MD policy outperforms static, random and Largest Error First policies.

    Postprint (author’s final draft)

  • Achieving periodic execution of networked control systems in the absence of global time

     Marti Colom, Pau; Velasco Garcia, Manuel; Camacho Santiago, Antonio; Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza Graells, Jordi; Yepez Castillo, Jose Gregorio; Lozoya, Camilo; Griful Ponsati, Eulalia
    Simposio en Ingeniería de Sistemas y Automática en Bioingeniería
    Presentation's date: 2010-09-09
    Presentation of work at congresses

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  • Synchronizing sampling and actuation in the absence of global time in networked control systems

     Marti Colom, Pau; Camacho Santiago, Antonio; Velasco Garcia, Manuel; Mares Marti, Pere; Fuertes Armengol, José Mª
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2010-10-15
    Presentation of work at congresses

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    The successful operation of Networked Control Sys- tems (NCS) requires employing appropriate approaches for dealing with network induced time delays, i.e. time intervals elapsed from consecutive sampling and actua- tion operations. Effective approaches often require to im- pose periodic execution for the sampling and/or actuation operations, enforcing synchronized constant time delays. And considering that sampling and actuation is performed in different nodes, global time between nodes achieved by clock synchronization is the standard assumption or strat- egy that enables such synchronized operations. This pa- per presents a technique that permits to implement these synchronized operations in NCS in the absence of global time. Experimental results corroborate the effectiveness of the presented approach.

  • SimpleRTK: Minimal Real-Time Kernel for Time/Event-Driven Control Applications

     Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza Graells, Jordi; Marti Colom, Pau; Velasco Garcia, Manuel; Yepez Castillo, Jose Gregorio; Lozoya, Camilo; Camacho Santiago, Antonio; García, Daniel
    Jornadas de Tiempo Real
    Presentation's date: 2010-02-05
    Presentation of work at congresses

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  • Implementation of event-driven control systems: a real-time systems engineering approach

     Camacho Santiago, Antonio; Marti Colom, Pau; Velasco Garcia, Manuel; Yepez Castillo, Jose Gregorio; Lozoya, Camilo; Ayza Graells, Jordi; Fuertes Armengol, José Mª
    Jornadas de Tiempo Real
    Presentation's date: 2009-02-05
    Presentation of work at congresses

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  • Sistemas de control en red basados en eventos: estudio preliminar al muestreo disparado por funciones de Lyapunov

     Yepez Castillo, Jose Gregorio; Velasco Garcia, Manuel; Marti Colom, Pau; Camacho Santiago, Antonio; Ayza Graells, Jordi; Villa Millaruelo, Ricardo; Fuertes Armengol, José Mª
    Jornadas de Automática
    Presentation's date: 2009-09-03
    Presentation of work at congresses

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