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This Thesis addressed the challenge of ensuring balanced currents in the phases of a multi-kW, interleaved dc-dc converter by means of closed-loop digital control. The Thesis examines uniformly-sampled, valley-current, peak-current and average-current control for a dual interleaved boost converter with inter-phase transformer which might form part of the power train of an electric vehicle. Also, an enhancement of the average-current control is investigated in which the transistor duty-ratio is updated more rapidly, which allows an improvement of approximately ten times in the response speed of the system. Based on the theoretical analysis, the average-current control methodology was determined to be the most suitable technique for this type of converter as it ensures well-balanced phase currents over a wide range. To provide a basis for control system analysis and design for interleaved converters, a modelling methodology is developed based on a combination of multi-rate data-sampled theory and a small-signal averaged converter model. The model is shown to represent accurately the interaction between the interleaved phases, revealing a reduced stability range compared with a non-interleaved converter. The modelling and control methods are validated using switched and average value simulations obtained with the SABER software and by experimental results from a 25 kW, 30 kHz converter prototype. The control techniques were implemented on a Texas Instruments TMS320F28335 digital signal controller.

Submitted by Renata Lopes (renatasil82@gmail.com) on 2016-01-07T18:22:40Z No. of bitstreams: 1 milenafariapinto.pdf: 3767169 bytes, checksum: 1c057d68b3cee498c456fe7c7610b2c2 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2016-01-25T16:53:33Z (GMT) No. of bitstreams: 1 milenafariapinto.pdf: 3767169 bytes, checksum: 1c057d68b3cee498c456fe7c7610b2c2 (MD5) / Made available in DSpace on 2016-01-25T16:53:33Z (GMT). No. of bitstreams: 1 milenafariapinto.pdf: 3767169 bytes, checksum: 1c057d68b3cee498c456fe7c7610b2c2 (MD5) Previous issue date: 2015-06-22 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / O presente trabalho propõe um sistema eletrônico que permite gerenciar, monitorar parâmetros e controlar de forma descentralizada um conjunto de luminárias à LED pertencentes a um sistema de iluminação pública. Estes parâmetros incluem nível de iluminação, consumo de energia, detecção da presença de pedestres, problemas na própria luminária e monitoração de variáveis ambientais como temperatura e umidade. Adicionalmente, o mesmo sistema é capaz também de detectar falhas na rede elétrica, permitindo monitorar e gerenciar os parâmetros de qualidade de rede de uma forma global. Basicamente, o sistema pode ser dividido em três partes. A primeira parte consiste de um módulo inteligente, chamado neste trabalho por SM, que é conectado a uma determinada luminária e à rede elétrica, sendo assim responsável por medir tanto os parâmetros provindos da luminária quanto da rede elétrica. Na segunda parte encontra-se o módulo controlador (CM) que possui a finalidade de coordenar as informações oriundas dos módulos inteligentes instalados nas luminárias, armazenando e posteriormente enviando os dados para um sistema supervisório. Além disso, o mesmo possui sensores de temperatura e umidade para prover informações sobre as condições climáticas, objetivando confiabilidade nos dados medidos pelos sensores dos módulos inteligentes. O sistema supervisório (SS) consiste da etapa final deste sistema proposto, o qual é responsável por salvar os dados obtidos em um certo período de tempo, analisar e monitorar possíveis falhas e enviar comandos para cada CM e/ou um respectivo SM. Com a finalidade de avaliar experimentalmente o sistema proposto neste trabalho, foram realizados experimentos para demonstrar tanto as funcionalidades do módulo bem como da avaliação dos algoritmos de processamento de sinais propostos, e obtendo ao final projeções econômicas para o protótipo. Os resultados obtidos mostraram eficiência, flexibilidade e interoperabilidade do sistema proposto. / The present paper proposes a system to manage, control and monitor a group of LED luminaires of a street lighting system, being able to control the light intensity of the luminaire and monitoring the power consumption, detection of pedestrians, fault conditions, environmental parameters such as temperature and humidity. Additionally, the system contains a voltage sensor coupled to the grid in order to monitor and manage the power quality parameters. Basically, the system can be divided in three essential parts. The first one regards the smart module, called in this work as SM, which has the responsibility to sensing the parameters stemming from power grid as well as luminaire. The second part is the control module (CM), which has the aim to coordinate the data received from each smart module, storing and subsequently sending the data to the supervisory system. Besides, the control module also has temperature and humidity sensors in order to check and register environmental conditions, providing, in this way, reliability of the measured data. The supervisory system (SS) consists of the final part of the proposed system and it is responsible to save the data in a local memory, to analyze and to monitor problems or even possible faults and sending commands to each CM and/or a respective SM. With the aim to evaluate the proposed system, it was performed experiments to demonstrate the system operation as well as the quality analysis capability. Due to the energy savings potential provided by the technology, it was also studied the economic feasibility of the prototype, aiming a future commercial product. The results have shown that the proposed system is scalable, flexible and efficient.

This master’s thesis is an introduction to switching mode power supplies, especially focused on digital control. It summarizes the basic topologies of switching mode power supplies, and discusses the fundamental issues of digital power supply control. It also summarizes basic informations about Piccolo microcontrolers, about experimental kit and about main parts of sample source code. Also is described here own implementation of the control law and the theory and implementation of maximum power point tracking. The conclusion of this thesis deals with implemantation a testing of the designed digitally controled switching power supply.

With the development of information technology, the market for power management of telecom and computing equipment keeps increasing. Distributed power systems are widely adopted in the telecom and computing applications for the reason of high performance and high reliability. Recently industry brought out aggressively high efficiency requirements for a wide load range for power management in telecom and computing equipment. High efficiency over a wide load range is now a requirement. On the other hand, power density is still a big challenge for front-end AC/DC converters. For DPS systems, front-end AC/DC converters are under the pressure of continuous increasing power density requirement. Although increasing switching frequency can dramatically reduce the passive component size, its effectiveness is limited by the converter efficiency and thermal management. Technologies to further increase the power density without compromising the efficiency need to be studied. The industry today is also at the beginning of transferring their design from analog control to full digital control strategy. Although issues are still exist, reducing components count, reducing the development cycle time, increasing the reliability, enhancing the circuit noise immunity and reducing the cost, all of these benefits indicate a great potential of the digital control. This thesis is focusing on how to improve the efficiency and power density by taking the advantages of the digital control. A novel Ï /2 phase shift two Channel interleaving PFC is developed to shrink the EMI filter size while maintain a good efficiency. A sophisticated power management strategy that associates with phase shedding and adaptive phase angle control is also discussed to increase the efficient for the entire load range without compromising the EMI filter size. The method of current sampling is proposed for Ï /2 phase shift two Channel interleaving PFC and multi-channel adaptive phase angle shift PFC is proposed to accurately extract the average total current information. A noise free current sampling strategy is also proposed that adjusting the sampling edge according to duty cycle information. An isolated ZVS dual boost converter is proposed to be the DC/DC stage of the front-end converter. This PWM converter has similar performance as the LLC resonant converter. It has hold up time extension capability without compromising the normal operation efficiency. It can achieve ZVS for all the switches. The current limit and SR implementation is much easier than LLC. State plane method, which potentially can be extent to other complex topologies, is used to fully study this circuit. All the operation modes are understood through the state plane method. The best operation mode is discovered for the front end applications. Light load efficiency is improved by the proposed pulse skipping method to guarantee the ZVS operation meanwhile reduce the switching frequency. Current limit operation is also proposed to restrict a best operation mode by fully taking the advantage of digital control that precisely control the circuit under the over current condition. High efficiency high power density is achieved by new topology, innovative interleaving, and the sophisticated digital control method. / Master of Science

Cette thèse concerne la conception de commandes échantillonnées pour les systèmes non-linéaires en temps continu. Les systèmes échantillonnés sont des éléments inhérents aux systèmes contrôlés par ordinateur, les systèmes hybrides ou les systèmes embarqués. La conception et le calcul des contrôleurs numériques appropriés sont des taches difficiles car ils contiennent des composants à la fois continu et en temps discret. Ce travail s'inscrit dans une activité de recherche menée par S. Monaco et D. Normand-Cyrot dans le domaine des systèmes échantillonnés non-linéaires. L'idée de base est de concevoir des contrôleurs digitaux qui permettent de récupérer certaines propriétés en temps continu qui sont généralement dégradées par l'échantillonnage. Tel est le cas de l'émulation lorsque les contrôleurs en temps continu sont mis en ouvre en utilisant des bloqueurs d'ordre zéro. Cette thèse apporte des contributions dans trois directions complémentaires. La première concerne les développements théoriques: une nouvelle conception de type ``backstepping digital" est proposée pour les systèmes en forme ``strict-feedback". Cette méthode est comparée à d'autres stratégies proposées dans la littérature. La deuxième contribution est le développement d'un logiciel pour la synthèse des contrôleurs et d'une ``boîte à outils" pour simuler (en Matlab) les systèmes échantillonnés non-linéaires et leurs contrôleurs. Cette boîte à outils inclut plusieurs algorithmes pour la synthèse de contrôleurs échantillonnés tels que: commande de type multi-échelle, reproduction entrée-sortie/Lyapunov, backstepping digital, etc. La troisième contribution concerne plusieurs études de cas menées pour mettre en évidence les performances des contrôleurs échantillonnés, calculés avec l'aide du logiciel. Des résultats expérimentaux et des simulations sont décrits pour divers exemples réels dans les domaines électriques et mécaniques. / This thesis is concerned with the sampled-data control of non-linear continuous-time systems. Sampled-data systems are present in all computer controlled, hybrid or embedded systems. The design and computation of suitable digital controllers represent unavoidable tasks since both continuous and discrete-time components interact. The basic framework of this work takes part of a wide research activity performed by S. Monaco and D. Normand-Cyrot regarding non-linear sampled-data systems. The underlying idea is to design digital controllers that recover certain continuous-time properties that are usually degraded through sampling as it is the case when continuous-time controllers are implemented by means of zero-order holder devices (emulated control). This thesis brings contributions into three different directions. The first one regards theoretical developments: a new digital backstepping-like strategy design for strict-feedback systems is proposed. This method is compared with other strategies proposed in the literature. The second contribution is the development of a control designer and of a simulation toolbox (in Matlab) for non-linear sampled-data systems. This toolbox includes different digital design strategies such as: multi-rate control, input-output/Lyapunov matching, digital backstepping design, etc. The third contribution concerns several case studies conducted to highlight the performances of the sampled-data controller designs, computed by the means of the software toolbox. Experimental and simulation results are described for various real examples especially in the area of electrical and mechanical processes. / Teza de față se concentrează asupra studiului controlului eșantionat pentru sisteme neliniare în timp continuu. Sistemele eșantionate sunt componente indispensabile oricăror sisteme de control bazate pe dispozitive de calcul, sisteme hibride sau sisteme embedded. Sinteza și calculul comenzilor digitale, potrivite pentru astfel de sisteme, devine o sarcină dificilă o dată ce presupune existența de dinamici în timp discret respectiv în timp continuu.Cadrul de bază al acestei lucrări se regăsește în activitatea de cercetare realizată de Salvatore Monaco și Dorothée Normand-Cyrot în domeniul sistemelor eșantionate neliniare. Ideea care stă la bază este de a sintetiza comenzile digitale urmărind menținerea unor proprietăți impuse în timp continuu sub eșantionare. Aceste proprietăți sunt în general degradate sub eșantionare cum este cazul comenzilor emulate, când comenzile continue sunt implementate practic cu ajutorul extrapolatoarelor de ordin 0.Această teză își aduce aportul în 3 direcții complementare. Prima adresează dezvoltările teoretice unde o nouă sinteză de tip backstepping digital este propusă pentru sisteme în formă <strict-feedback>. Această metodă, dezvoltată în două versiuni, este comparată cu alte strategii similare propuse în literatură. A doua contribuție a tezei este legată de dezvoltarea unui toolbox software pentru sinteza de controllere digitale pentru sisteme nelinare sub eșantionare. Acest toolbox include strategii diferite pentru sinteza eșantionată precum: comandă de tip multi-rate, reproducere intrare-ieșire/Lyapunov, backstepping digital și alte soluții care sunt obiectul unor noi extensii. A treia contribuție este dată de studiile de caz dezvoltate pentru a scoate în evidență performanțele comenzilor eșantionate testate și calculate cu ajutorul aplicației software. Rezultatele experimentale și de simulare sunt obținute pentru diverse exemple reale din domeniul electric și mecanic.

Sistemas de levitação magnética são inerentemente não-lineares e, quando con- trolados digitalmente, normalmente, esbarram em limitações do hardware empregado. O objetivo desta tese é apresentar aspectos teóricos e práticos durante a aplicação da teoria de controle H1 não-linear em sistemas de levitação magnética. A primeira con- tribuição desta tese é apresentar um procedimento de projeto de um controlador H1 não-linear que utiliza funções de ponderação com dinâmica, obtidas a partir do projeto de um controlador H1 linear. Assim como no caso linear, essas funções de ponderação possibilitam a rejeição de perturbações, ruídos de sensor, aumento da robustez, den- tre outras especificações. A segunda contribuição é apresentar um procedimento de conversão de uma rotina implementada em ponto-flutuante para ponto-fixo, utilizando minimização de norma l1, que foi implementada em um DSP de 32 bits em ponto- fixo. Resultados experimentais também são apresentados, nos quais a performance do controlador não-linear é especificamente avaliada na fase inicial de levitação. / Electromagnetic suspension systems are inherently nonlinear and often face hard- ware limitation when digitally controlled. The goal of this thesis is to present theoretical and practical aspects during the nonlinear H1 control applied on an electromagnetic suspension system. The first contribution is the design of a nonlinear H1 controller, including dynamic weighting functions, obtained from a linear H1 controller. Just as in the linear case, this dynamic weighting functions provide the disturbance and noise sensor rejection, robustness improvement, among other specifications. The second con- tribution is to present a procedure able to translate a floating-point algorithm into a fixed-point algorithm by using l1 norm minimization due to conversion error, which was then implemented into a 32-bit fixed-point DSP. Experimental results are also pre-sented, in which the performance of the nonlinear controller is evaluated specifically in the initial suspension phase.

A utilização de conversores multiníveis tem sido uma importante alternativa para aplicações de alta potência e média tensão, graças aos altos níveis de potência alcançáveis por estas estruturas. Recentemente, esta topologia de conversores foi aplicada em sistemas com fontes alternativas para alimentar um sistema de geração distribuída, nos quais diferentes fontes de energia eram utilizadas. Com base nas características dos conversores multinível e sua potencial aplicabilidade em sistemas de geração distribuída, este trabalho tem como objetivo construir um sistema multinível conectado a rede de distribuição para utilização de fontes alternativas de energia como fontes primárias. Considerando que a energia fornecida pelas fontes alternativas pode sofrer variações, propõe-se a integração de sistemas armazenadores de energia, como capacitores, ao sistema multinível. Por isso, este trabalho desenvolve uma estratégia de controle para máxima transferência de potência ativa entregue à rede a fim de obter um fluxo ótimo. A topologia multinível deste trabalho possui em sua configuração dois módulos inversores conectados em série. Neste caso, é possível que pelo menos um desses inversores funcione com uma modulação em baixa frequência processando a maior parcela de potência. Assim, duas estratégias de controle modulação de fase e modulação de amplitude para a transferência de potência realizada pelo inversor de baixa frequência são analisadas. As vantagens e desvantagens de cada um dos métodos são expostas e então a estratégia mais adequada, no caso a modulação de amplitude, é utilizada na operação do conversor multinível. Além disso, são apresentados a modelagem das plantas e o projeto dos controladores de cada um dos módulos inversores. Por fim, a validação da proposta é feita através dos resultados de simulações e experimentais que mostram a capacidade do sistema de geração em transferir potência constante para a rede de distribuição e manter a corrente quase sem distorções em fase com a tensão. / The utilization of multilevel converters has been an important alternative for medium voltage applications with high power and power quality demand, thanks to the high power levels achievable for this kind of structure. Recently, this converter topology was proposed as a new possibility in renewable energy source applications, mainly in system delivering power to the grid, where different renewable energy resources may be used. Based on the characteristics of multilevel converters, and their potential applicability in distributed generation systems, this study aims to build a multilevel system that could be powered by renewable energy sources as primary sources and then connect them to a distribution grid. However, considering the energy produced by alternative sources can vary, it is analyzed the integration of a storage energy system in this multilevel topology. Taking into account this ends, the main concern of this study is related to the development of a control strategy to maximize the active power transferred to the grid. The multilevel topology employed in this study has two H-bridge inverter modules connected in series forming a cascaded configuration. Therefore, it is possible that at least one of these inverters, operating with a low frequency of modulation, process the majority of power with lower amount of losses. On this way, two control strategies for power transfer are analyzed. The advantages and disadvantages of each method are presented, and the most appropriated strategy is used in the operation of the multilevel converter system. In addition, it has been presented the design criteria for each controller and finally the validation of the proposed approach is done by mains of simulations and experimental results which show the ability of the converter to transfer constant active power to the grid and keep the grid current in phase with the grid voltage.

Sistemas de levitação magnética são inerentemente não-lineares e, quando con- trolados digitalmente, normalmente, esbarram em limitações do hardware empregado. O objetivo desta tese é apresentar aspectos teóricos e práticos durante a aplicação da teoria de controle H1 não-linear em sistemas de levitação magnética. A primeira con- tribuição desta tese é apresentar um procedimento de projeto de um controlador H1 não-linear que utiliza funções de ponderação com dinâmica, obtidas a partir do projeto de um controlador H1 linear. Assim como no caso linear, essas funções de ponderação possibilitam a rejeição de perturbações, ruídos de sensor, aumento da robustez, den- tre outras especificações. A segunda contribuição é apresentar um procedimento de conversão de uma rotina implementada em ponto-flutuante para ponto-fixo, utilizando minimização de norma l1, que foi implementada em um DSP de 32 bits em ponto- fixo. Resultados experimentais também são apresentados, nos quais a performance do controlador não-linear é especificamente avaliada na fase inicial de levitação. / Electromagnetic suspension systems are inherently nonlinear and often face hard- ware limitation when digitally controlled. The goal of this thesis is to present theoretical and practical aspects during the nonlinear H1 control applied on an electromagnetic suspension system. The first contribution is the design of a nonlinear H1 controller, including dynamic weighting functions, obtained from a linear H1 controller. Just as in the linear case, this dynamic weighting functions provide the disturbance and noise sensor rejection, robustness improvement, among other specifications. The second con- tribution is to present a procedure able to translate a floating-point algorithm into a fixed-point algorithm by using l1 norm minimization due to conversion error, which was then implemented into a 32-bit fixed-point DSP. Experimental results are also pre-sented, in which the performance of the nonlinear controller is evaluated specifically in the initial suspension phase.

<p>A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Today’s electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. The force sensors in the pushrims are rather expensive and this approach also makes the wheels a little bit clumsy. The objective with this project is to find a new, better and cheaper solution that does not use expensive force sensors in the pushrims. The new power assisted wheelchair will instead only rely on its velocity, which is measured with rotational encoders, as feedback signal and thereby the project name “Torque Sensor Free Power Assisted Wheelchair”. </p><p> </p><p>The project consisted of two main parts; an extensive construction part, where an ordinary joystick controlled motorized wheelchair has been rebuild to the new power assisted wheelchair without torque sensors and a development part, where different torque sensor free controllers has been designed, simulated, programmed and tested.</p><p>The project resulted in a torque sensor free power assisted wheelchair, where the final implemented design is a proportional derivative controller, which gives a very good assisting system that is robust and insensitive to measurement noise. The proportional derivative control design gives two adjustable parameters, which can be tuned to fit a certain user; one parameter is used to adjust the amplification of the user’s force and the other one is used to change the lasting time of the propulsion influence.</p><p>Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.</p>