The primary focus of this thesis is to present a simple and practical implementation of an optimal-time response controller for multiphase interleaved dc-dc SMPS. This novel solution enables equal current sharing between phases not only in steady-state, but also during load transients, as well as bump-less transition between those two states. A digital voltage loop and multiple analog peak current programmed mode current loops are combined to implement a capacitor charge balance control algorithm with fairly simple hardware. This algorithm provides recovery from a disturbance in a single on-off switching action, which is performed in virtually the fastest possible time. The hybrid interface between the loops is provided through a structure combining a sample-and-hold circuit and a relatively slow successive-approximation DAC that provides control signals for all the loops in the system. Furthermore, for operation under light load conditions, the controller automatically switches into simply implemented pulse-frequency mode of operation.

This thesis presents the multivariable controller design and implementation for a high-precision 6-degree-of-freedom (6-DOF) magnetically levitated (maglev) positioner. The positioner is a triangular single-moving part that carries three 3-phase permanent-magnet linear-levitation-motor armatures. The three planar levitation motors not only generate the vertical force to levitate the triangular platen but control the platen's position in the horizontal plane. All 6-DOF motions are controlled by magnetic forces only. The positioner moves over a Halbach magnet matrix using three sets of two-axis Hall-effect sensors to measure the planar motion and three Nanogage laser distance sensors for the vertical motion. However, the Hall-effect sensors and the Nanogage laser distance sensors can only provide measurements of the displacement of all 6-axis. Since we do not have full-state feedback, I designed two Linear Quadratic Gaussian (LQG) multivariable controllers using a recursive discrete-time observer. A discrete hybrid H2/H(infinity) filter is implemented to obtain optimal estimates of position and orientation, as well as additional estimates of velocity and angular velocity for all 6 axes. In addition, an analysis was done on the signals measured by the Hall-effect sensors, and from there several digital filters were tested to optimize the readings of the sensors and obtain the best estimates possible. One of the multivariable controllers was designed to close the control loop for the three-planar-DOF motion, and the other to close the loop for the vertical motion, all at a sampling frequency of 800 Hz. Experimental results show a position resolution of 1.5 micrometers with position noise of 0.545 micrometers rms in the x-and y-directions and a resolution of less than 110 nm with position noise of 49.3 nm rms in z.

This thesis begins with a literature review focusing on electric vehicle (EV) applications. Systems used for steering, braking and energy storage are investigated, with specific concentration on torque control in various DC and AC motors commonly used in EVs. A final solution for a low range personal transportation EV in the form of a wheelchair is proposed. The theme for this thesis is motion control, focusing on a two axis (or two wheel drive) brushless DC hub motor (BLDCHM) EV, with torque and direction control tracking a user reference. The operation principle for a BLDCHM is documented and the dynamic and electrical equations derived. Simulation results for motor response under different load and speed conditions are compared to practical measurements. Current and torque control loops are designed, implemented and tuned on a single-axis test-bed with an induction motor (IM) load coupled via a torque transducer. A Texas Instrument DSP development kit is used for the control algorithm bench testing. The final control algorithm is then duplicated and expanded in simulation to form a dynamic two axis system for an electric wheelchair. It incorporates both motor drive and regenerative capabilities. After demonstrating two axis controls for BLDCHMs, a control algorithm is designed simulated and compared to traditional systems. The final solution focuses specifically on an intuitive response to the driver input whilst maintaining direction tracking, even when there is a difference in smoothness of the individual terrains traversed by the left and right wheels. In addition the motor drives are equipped with controllers that ensure regenerative braking in order to recover as much energy as possible when the wheelchair is commanded to decelerate. / M. Sc. Eng. University of KwaZulu-Natal, Durban 2014.

Modern switch-mode power supplies (SMPS) used for point-of-load (PoL) applications need to meet increasingly stringent requirements on voltage regulation, while minimizing physical volume and optimizing conversion efficiency. The focus of this thesis is the voltage regulation capability of low-power PoL converters during load transients. The main objective is to investigate converter topologies and control techniques that can achieve fast and smooth transient performance without significant penalty in volume and efficiency. The digital control method is used due to its ability to implement sophisticated control algorithms. The first part of this thesis investigates a dual output stages converter, with a small auxiliary output stage connected in parallel with the main output stage. While the main output stage is responsible for steady-state operation and designed to achieve optimum efficiency, the auxiliary stage is activated when a load transient occurs, to help suppress voltage deviation. Experimental results on a 6 V-to-1 V, 3W buck converter shows 35% improvement in peak transient voltage deviation while maintaining the same efficiency profile, compared to an equivalent buck converter. The second part of this thesis introduces a flyback-transformer based buck (FTBB) converter. In this topology, the conventional buck inductor is replaced with the primary winding of the flyback transformer, an extra switch, and a set of small auxiliary switches on the secondary side. During heavy-to-light load transients the inductor current is steered away from the output capacitor to the input port, achieving both energy recycling and savings due to reduced voltage overshoots. The light-to-heavy transient response is improved by reducing the equivalent inductance of the primary transformer winding to its leakage value. Compared to an equivalent buck converter, experiment results on a 6 V-to-1 V, 3 W prototype show three times smaller maximum output voltage deviation during load transients and, for frequently changing loads, about 7% decrease in power losses.

Modern switch-mode power supplies (SMPS) used for point-of-load (PoL) applications need to meet increasingly stringent requirements on voltage regulation, while minimizing physical volume and optimizing conversion efficiency. The focus of this thesis is the voltage regulation capability of low-power PoL converters during load transients. The main objective is to investigate converter topologies and control techniques that can achieve fast and smooth transient performance without significant penalty in volume and efficiency. The digital control method is used due to its ability to implement sophisticated control algorithms. The first part of this thesis investigates a dual output stages converter, with a small auxiliary output stage connected in parallel with the main output stage. While the main output stage is responsible for steady-state operation and designed to achieve optimum efficiency, the auxiliary stage is activated when a load transient occurs, to help suppress voltage deviation. Experimental results on a 6 V-to-1 V, 3W buck converter shows 35% improvement in peak transient voltage deviation while maintaining the same efficiency profile, compared to an equivalent buck converter. The second part of this thesis introduces a flyback-transformer based buck (FTBB) converter. In this topology, the conventional buck inductor is replaced with the primary winding of the flyback transformer, an extra switch, and a set of small auxiliary switches on the secondary side. During heavy-to-light load transients the inductor current is steered away from the output capacitor to the input port, achieving both energy recycling and savings due to reduced voltage overshoots. The light-to-heavy transient response is improved by reducing the equivalent inductance of the primary transformer winding to its leakage value. Compared to an equivalent buck converter, experiment results on a 6 V-to-1 V, 3 W prototype show three times smaller maximum output voltage deviation during load transients and, for frequently changing loads, about 7% decrease in power losses.

[pt] Este trabalho apresenta uma solução para o problema de posicionamento automático preciso de um corpo em um plano horizontal, atendendo à restrição de não gerar campo magnético significativo junto ao objeto a ser posicionado. A motivação do trabalho reside na necessidade, por parte do Laboratório de Supercondutividade Aplicada e Magnetismo (LSAM) do Departamento de Física, de um posicionador para experimentação em magnetocardiografia. Inicialmente são discutidas as tecnologias de automação aplicáveis ao problema, justificando-se a opção por um sistema pneumático de atuação. O sistema posicionar montado é então descrito em profundidade, abordando-se os aspectos relacionados à geometria do problema em questão, materiais, montagens mecânicas e o sistema de controle digital. A seguir é apresentada uma abordagem matemática para o problema de controle de posição em malha fechada, visando à definição de uma lei de controle aplicável ao caso em estudo. Alguns resultados analíticos são obtidos para controle de sistema caracterizados por atrito Coulombiano, ao mesmo tempo em que se desenvolve um modelo para simulação numérica da dinâmica de movimento do posicionador. Com base nestas duas ferramentas, é apresentada uma discussão sobre a aplicabilidade dos controladores da família PID ao caso específico considerado. Por fim, resultados reais obtidos com a lei de controle proposta são comparadores aos resultados simulados, mostrando-se a validade e a utilidade do modelo teórico. / [en] This thesis presents a solution or the problem of automatic precise positioning of na object in the horizontal plane, not generating any significative magnetic field in the region close to the object to be positioned. The study presented was developed as part of an effort to fulfill a necessity for a positioning system for magnetocardiography experimentation in the Magnetism and Applied Supercondutivity Laboratory of the Departament of Physics of this University. A discussion over applicable automation option is presents, along with a justification for a choice of a pneumatic actuating system. The whole precise positioning assembly is described in detail, including subjects such as movement geometry, material, mechanical structures and the digital control system. A mathematical study of the closed of the closed loop position control problem is then developed, aiming to define a control algorithm applicable to the problem. Algebraic analysis is used to describe the influence of Coulomb friction over the equations of motion of a proportional position control system, while a model for simulations experiments of the assembly´s positioning dynamics is developed. These tools are used as the basis for a discussion over the applicability of the PID controlers in the case in study. Moreover, the behavior of the proposed algorithm is recorded and compared to the results of the simulations, showing the correctness and the utility of the theoretical analysis.

Made available in DSpace on 2014-06-11T19:22:35Z (GMT). No. of bitstreams: 0 Previous issue date: 2006-12-21Bitstream added on 2014-06-13T20:29:10Z : No. of bitstreams: 1 melo_ga_me_ilha.pdf: 6893159 bytes, checksum: a70518b6cdac1869ab5705bc69904150 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Este trabalho apresenta o desenvolvimento e implementação de um emulador para a característica estática de saída (Tensão versus Corrente) equivalente àquela de fontes de energia com células combustível. O emulador apresenta como vantagens, em relação à aquisição de uma FC, o baixo custo, o reduzido espaço físico e a flexibilidade via software para a implementação de diversas características baseadas em diferentes tipos de células combustível. Neste sentido, o emulador proposto permite a realização de ensaios preliminares durante a fase de projeto e os testes dinâmicos dos subsistemas de condicionamento de energia, sem a necessidade do acoplamento com o sistema de geração à células combustível, reduzindo-se os custos associados a estes testes laboratoriais. O emulador proposto consiste em um conversor Buck isolado Full-Bridge, com potência de saída de 2kW e alimentação via barramento de 400VCC, permitindo a emulação da característica nominal de saída de um conjunto de células tipo PEM (Proton Exchange Membrane - Membrana de Troca Protônica), em uma faixa de tensão de saída variando entre 32VCC e 72VCC, dependendo da corrente drenada pela carga. O circuito principal de controle é realizado através... / This work presents a design and implementation of an emulator to the static output characteristic (Voltage versus Current) that is similar to Fuel Cell generators. There are many advantages on using the Fuel Cell emulator. The emulator is cheaper, smaller and more flexible than the real Fuel Cell systems, because it is possible to emulate different characteristics through the use of a computer. In this context, a Fuel Cell emulator is proposed in this work in order to allow laboratory testes in the power conditioning system during its design and development stage. The proposed emulator is an insulated Full-Bridge converter with Buck operation, 2kW output power and 400VCC input voltage. This emulator achieves the output characteristic of a PEM (Proton Exchange Membrane) Fuel Cell stack with output voltage range of 32VCC to 72VCC, depending on the output current. The main control circuit is based on FPGA (Field Programmable Gate Array) and VHDL (Very High Speed Integrated Circuit Hardware Description Language) language. The experimental results demonstrate that the proposed emulator achieves the output static characteristic of the PEMFC Fuel Cell System and this output characteristic can be easily modified in order to obtain another desirable static... (Complete abstract click electronic access below)

Thesis (MTech (Electrical Engineering)--Cape Peninsula University of Technology, 2011 / Modern technologies have led to extensive digital music reproduction and distribution. It is fitting then that digital audio be amplified directly from its source rather than being converted to an analogue waveform before amplification. The benefits of using a digital controller for audio processing include being able to easily reconfigure the system and to add additional functions at a later stage. Digital audio is primarily stored as Pulse Code Modulation (PCM) while Pulse Width Modulation (PWM) is the most popular scheme used to drive a class-D amplifier. The class-D amplifier is selected in many applications due to its very high energy efficiency. Conventional PCM to PWM conversion is inherently nonlinear. Various interpolation schemes are presented in this research project which help to address the nonlinearity. Digitally generated PWM has a limited resolution which is constrained by the system clock. This thesis presents noise shaping techniques which increase the effective resolution of the PWM process without having to use an excessively high system clock. Noise shaping allows a low resolution modulator to be used to reproduce high resolution audio.

CAPES / Este trabalho apresenta a aplicação dos métodos de otimização por enxame de partículas e por colônia de formigas na otimização dos parâmetros de um controlador não linear de estrutura variável baseado em um controlador de variância mínima generalizada. Este controlador é composto por duas parcelas distintas: uma parcela linear e outra não linear. A parcela não linear do controlador apresenta dois parâmetros que afeta diretamente o comportamento do controlador e tais parâmetros são obtidos de maneira empírica. As metaheurísticas foram aplicadas para se obter os valores otimizados destes parâmetros. Foi considerada uma função custo que leva em consideração o erro de rastreamento e a variação da ação de controle. Um exemplo numérico do projeto deste controlador também é apresentado. O controlador otimizado foi experimentado em três plantas reais: controle de velocidade de um servomecanismo, controle de nível e controle de vazão em uma planta didática industrial. Os resultados obtidos enfatizam a melhora do desempenho do controlador com os parâmetros otimizados. Também é apresentada a comparação do desempenho deste controlador com um controlador PI. / This work presents the application of particle swarm optimization and ant colony optimization in the parameters optimization of a non-linear controller with variable structure based on generalized minimum variance control. This controller is composed of two parts: linear and non-linear. The non-linear term of the controller consists of two parameters that directly affects the control action, and are obtained by trial and error. Metaheuristic methods were applied to find out the optimized values of these parameters. The cost function used in metaheuristic methods takes account the error and the control signal. A numerical example of the design of this controller is also presented. Three practical experiments were considered: a servomechanism velocity control and two control loops in a didactic industrial plant, level and flow control. Experimental results emphasize the improvement of the system performance when the optimization methods are applied. A comparision with PI controller is shown.

CAPES / Este trabalho apresenta a aplicação dos métodos de otimização por enxame de partículas e por colônia de formigas na otimização dos parâmetros de um controlador não linear de estrutura variável baseado em um controlador de variância mínima generalizada. Este controlador é composto por duas parcelas distintas: uma parcela linear e outra não linear. A parcela não linear do controlador apresenta dois parâmetros que afeta diretamente o comportamento do controlador e tais parâmetros são obtidos de maneira empírica. As metaheurísticas foram aplicadas para se obter os valores otimizados destes parâmetros. Foi considerada uma função custo que leva em consideração o erro de rastreamento e a variação da ação de controle. Um exemplo numérico do projeto deste controlador também é apresentado. O controlador otimizado foi experimentado em três plantas reais: controle de velocidade de um servomecanismo, controle de nível e controle de vazão em uma planta didática industrial. Os resultados obtidos enfatizam a melhora do desempenho do controlador com os parâmetros otimizados. Também é apresentada a comparação do desempenho deste controlador com um controlador PI. / This work presents the application of particle swarm optimization and ant colony optimization in the parameters optimization of a non-linear controller with variable structure based on generalized minimum variance control. This controller is composed of two parts: linear and non-linear. The non-linear term of the controller consists of two parameters that directly affects the control action, and are obtained by trial and error. Metaheuristic methods were applied to find out the optimized values of these parameters. The cost function used in metaheuristic methods takes account the error and the control signal. A numerical example of the design of this controller is also presented. Three practical experiments were considered: a servomechanism velocity control and two control loops in a didactic industrial plant, level and flow control. Experimental results emphasize the improvement of the system performance when the optimization methods are applied. A comparision with PI controller is shown.