TAGANROG STATE UNIVERSITY of RADIOENGENEERING

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TAGANROG STATE UNIVERSITY of RADIOENGENEERING
Dept. of Synergetic and Control Processes
Dept. of Electrical Engineering
Perspectives of VTB Development
from Simulation to System Design
Anatoly KOLESNIKOV Gennadiy VESELOV Andrey POPOV
Mikhail MEDVEDEV Alexander KOLESNIKOV Andrey
KUZMENKO Boris TOPCHIEV
Roger A. DOUGAL Enrico SANTI Igor KONDRATIEV
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Virtual Test Bed

• Supporting mission-oriented and design oriented
  approaches

• Network-oriented and platform independent
  computing

• Advanced visualization techniques

• Preserving the value of existing models and
  existing modeling skills

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The Foundations of Synergetic Control Theory

• mechanical
• electromagnetic
• chemical

• heat
• ecological
• .

Task of aggregated regulators synthesis
Field of initial conditions
Invariant manifolds
Set of invariants (desired state)
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Principle of dynamic compression of phase space
dimension
Initial dimension V n
Final dimension V 0 or 1
Dynamic Decomposition in Synergetic Controlled
Systems
Full nonlinear model
Decomposed model 1
Decomposed model 2
Final decomposed model
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Synergetic Control Theory

• Building the natural control laws for various
  objects

• New methods of automatic controllers design

adequate nonlinear models
analyticity of procedures
vector control

• Effective controllers for various objects and
  systems

reliability
flexibility
energy efficiency
adaptability
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New approach to design of controlled technical
systems
Creation a new generation of high-performance
technical systems
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Complex VTB-SCT Ideology
Technical objects and systems
Mathematical models
Invariants control goals
VTB libraries
Synergetic methods of controllers design
(feedback forming)
Analysis and simulation
VTB libraries
Synergetic controllers
Simulation of controlled objects
Simulation of complex systems on invariant
manifolds
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Technical system hardware realization
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Complex VTB-SCT Application

• Analysis and simulation of processes in PS
  objects
• New synergetic controllers for PS objects

DC generators
electric power generators
synchronous generators
boost converters
electric power converters
buck converters
cuk converters
buck-boost converters
SEPIC converters
electric power consumers
DC motors
induction motors
synchronous motors
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Complex VTB-SCT Application

• Synergetic controller libraries for VTB

• Coordinating control strategies

generators groups
power converters groups
consumers group with limit power
power system of electric vehicle

• Synergetic strategies of automatic motion control

manipulating robots
vehicles (mobile robots)
submersible craft
aircraft
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Control strategy for electric vehicle power
system
Induction motor
Vehicle
Feedback
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Stages of control strategy development
1. Synthesis of control algorithms for local
controllers
Boost ConverterFuel cell
DC/AC ConverterMotor
Cuk ConverterSuper Capacitor
2. Synthesis of coordinating control strategy
Analysis the typical operating modes of power
system
Forming the principles of power redistribution in
the system
Development the coordinating control strategy for
vehicle power system
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Synergetic Controller for Boost Converter
with Fuel Cell System
x1 current x2 voltage u impulse width z
constant disturbance x2s preset voltage
Control
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Main goal of control
Output voltage stabilization
Accounting for limitation of control and current
Additional goals of control
Disturbance suppression
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Closed-loop system simulation in VTB package
Simulation results
Transients of converter and fuel cell system
voltages
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Synergetic Control for Cuk Converter
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Closed-loop system simulation in VTB package
Simulation results
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Synergetic Control for Induction Motor
System of induction motor vector control
Sensed information
Settings
Control actions
amplitude and frequency
DC bus
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XY coordinate system oriented to rotor flux
Control goals
motor speed stabilization
rotor flux stabilization
rated value
optimal value (energy saving invariant)
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Closed-loop system simulation in VTB
Simulation results
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Closed-loop system simulation in VTB (energy
saving control)
Simulation results
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Efficiency Comparison
DC/AC ConverterMotor
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Vehicle Power System Simulation in VTB
Closed-loop system structure VTB Schematic Editor
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Rapid acceleration and deceleration
Simulation results
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Synergetic Control for Electric Vehicle Motion
Control system structure
Path planner
Goals of control

• motion along required path with constant contour
  speed

• going around the immobile and mobile obstacles

• adaptation to wheels sliding and external
  disturbances

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Simulation results
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Thanks for your attention
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Stable motion with tractive resistance changing
Simulation results
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Rapid acceleration and deceleration (energy
saving control)
Simulation results
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