Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo
Autor(a) principal: | |
---|---|
Data de Publicação: | 2003 |
Tipo de documento: | Tese |
Idioma: | por |
Título da fonte: | Manancial - Repositório Digital da UFSM |
Texto Completo: | http://repositorio.ufsm.br/handle/1/27003 |
Resumo: | This work is motivated by the recent advances in the electrical-electronics and in process control field, that extensively use microprocessing systems and require apropriated good performance control techniques with the ability of automatic tuning to deal with unmodeled dynamics and disturbances, using only input/ouput measurement information. Firstly, a literature review is presented concerning some control techniques and related with goal of this work. In the sequence, a robust model reference adaptive control (RMRAC) algorithm is presented and the stability analysis of two adaptation algorithms is carried out. To allow the RMRAC controller implementation in microprocessed based systems a discrete-time robust model reference adaptive controller (DRMRAC) and a discretized modified recursive least squares adaptation algorithm are proposed. Besides, to minimize steady state tracking errors due to periodic disturbances, a plug-in repetitive controller (RPC) is added to the DRMRAC controller. Moreover, an adaptation algorithm is proposed to tune automatically the repetitive controller gain, resulting in an adaptive repetitive control algorithm (ARPC). The stability analysis of proposed control algorithms is carried out. Results of their implementation to control the output voltage of an uninterruptible power supply (UPS) are presented to show the good performance ones. A descentralized approach to multivariable systems (MIMO) using the DRMRAC-RPC controller, a dq transformation and considering the subsystems interconections as unmodeled dynamics is presented. The performance verification of the descentralized MIMO controller is carried out througth the implementation of the same one to control the output voltages of a three-phase uninterruptible power supply. |
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2022-11-18T22:46:52Z2022-11-18T22:46:52Z2003-07-18http://repositorio.ufsm.br/handle/1/27003This work is motivated by the recent advances in the electrical-electronics and in process control field, that extensively use microprocessing systems and require apropriated good performance control techniques with the ability of automatic tuning to deal with unmodeled dynamics and disturbances, using only input/ouput measurement information. Firstly, a literature review is presented concerning some control techniques and related with goal of this work. In the sequence, a robust model reference adaptive control (RMRAC) algorithm is presented and the stability analysis of two adaptation algorithms is carried out. To allow the RMRAC controller implementation in microprocessed based systems a discrete-time robust model reference adaptive controller (DRMRAC) and a discretized modified recursive least squares adaptation algorithm are proposed. Besides, to minimize steady state tracking errors due to periodic disturbances, a plug-in repetitive controller (RPC) is added to the DRMRAC controller. Moreover, an adaptation algorithm is proposed to tune automatically the repetitive controller gain, resulting in an adaptive repetitive control algorithm (ARPC). The stability analysis of proposed control algorithms is carried out. Results of their implementation to control the output voltage of an uninterruptible power supply (UPS) are presented to show the good performance ones. A descentralized approach to multivariable systems (MIMO) using the DRMRAC-RPC controller, a dq transformation and considering the subsystems interconections as unmodeled dynamics is presented. The performance verification of the descentralized MIMO controller is carried out througth the implementation of the same one to control the output voltages of a three-phase uninterruptible power supply.Os grandes avanços na área de eletro-eletrônica e em controle de processos, utilizando sistemas microprocessados, aliados a necessidade de técnicas de controle apropriadas a estes sistemas, com capacidade de atuar na presença de dinâmicas não modeladas e distúrbios, utilizando apenas informação da entrada e saída da planta, e com bom desempenho, constituem a motivação deste trabalho. Inicialmente, é realizada uma revisão de algumas técnicas de controle existentes, relacionadas ao tema proposto e é analisado um algoritmo de controle adaptativo robusto por modelo de referência (RMRAC), visando um controlador apropriado a plantas com dinâmicas não modeladas. Em seguida, é realizada a análise da estabilidade de dois algoritmos de adaptação para o controlador RMRAC. Para possibilitar a implementação do controlador RMRAC em sistemas microprocessados, um algoritmo de controle adaptativo robusto por modelo de referência em tempo discreto (DRMRAC) e um algoritmo adaptação de parâmetros do tipo mínimos quadrados recursivo modificado discretizado (MRLS) são propostos. Além disso, com o objetivo de minimizar os erros devidos a distúrbios periódicos em regime permanente, um controle repetitivo (RPC) é adicionado ao controlador DRMRAC. Para efetuar a sintonia automática do ganho do controlador repetitivo, é proposto um algoritmo de adaptação para este ganho, resultando em um controlador repetitivo adaptativo (ARPC). É realizada a análise da estabilidade dos controladores propostos e para comprovar o bom desempenho dos mesmos, são apresentados resultados de aplicação do mesmo para controle da tensão de saída de uma fonte ininterrupta de energia (UPS). Uma abordagem descentralizada para um sistema multivariável (MIMO) é proposta, utilizando o controlador DRMRAC-RPC, uma trasnformação dq e considerando as interconexões entre os subsistemas como dinâmicas não modeladas. A verificação de desempenho do controlador MIMO descentralizado é realizada utilizando o controlador desenvolvido para efetuar o controle das tensões de saída de uma fonte ininterrupta de energia trifásica.Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPESporUniversidade Federal de Santa MariaCentro de TecnologiaPrograma de Pós-Graduação em Engenharia ElétricaUFSMBrasilEngenharia ElétricaAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessEngenharia elétricaControle de processosControle adaptativoRobustezElectrical engineeringProcess controlAdaptive controlRobustnessCNPQ::ENGENHARIAS::ENGENHARIA ELETRICAControle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivoDiscrete-time robust model reference adaptive control with repetitive control: a input/output approachinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisGründling, Hilton Abíliohttp://lattes.cnpq.br/6128096609162437Lima, Antônio Marcus NogueiraPereira, Luis Fernando A.Pinheiro, José RenesPinheiro, Humbertohttp://lattes.cnpq.br/8681744957229767Carati, Emerson Giovani300400000007600600600600600600600d35eb922-37c6-47fb-afb6-6a40154fb7900969cc39-1f47-45ce-b834-9358c741fa3c66ea879a-3b24-4f5f-8e0c-caa8f435667c2d06d74e-b034-4a4a-a33a-7bee38e5784fdf8fdae2-36b4-458e-94a6-1caff86b76cb63beceef-f0d0-4034-81c5-8af24344c630reponame:Manancial - Repositório Digital da UFSMinstname:Universidade Federal de Santa Maria (UFSM)instacron:UFSMORIGINALTES_PPGEE_2003_CARATI_EMERSON.pdfTES_PPGEE_2003_CARATI_EMERSON.pdfTese de doutoradoapplication/pdf1658576http://repositorio.ufsm.br/bitstream/1/27003/1/TES_PPGEE_2003_CARATI_EMERSON.pdff13310d001a06feb579a2cee696adbbeMD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8805http://repositorio.ufsm.br/bitstream/1/27003/2/license_rdf4460e5956bc1d1639be9ae6146a50347MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-81956http://repositorio.ufsm.br/bitstream/1/27003/3/license.txt2f0571ecee68693bd5cd3f17c1e075dfMD531/270032022-11-18 19:46:53.11oai:repositorio.ufsm.br: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ório Institucionalhttp://repositorio.ufsm.br/PUBhttp://repositorio.ufsm.br/oai/requestopendoar:39132022-11-18T22:46:53Manancial - Repositório Digital da UFSM - Universidade Federal de Santa Maria (UFSM)false |
dc.title.por.fl_str_mv |
Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo |
dc.title.alternative.eng.fl_str_mv |
Discrete-time robust model reference adaptive control with repetitive control: a input/output approach |
title |
Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo |
spellingShingle |
Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo Carati, Emerson Giovani Engenharia elétrica Controle de processos Controle adaptativo Robustez Electrical engineering Process control Adaptive control Robustness CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
title_short |
Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo |
title_full |
Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo |
title_fullStr |
Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo |
title_full_unstemmed |
Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo |
title_sort |
Controle adaptativo robusto de tempo discreto por modelo de referência e controle repetitivo |
author |
Carati, Emerson Giovani |
author_facet |
Carati, Emerson Giovani |
author_role |
author |
dc.contributor.advisor1.fl_str_mv |
Gründling, Hilton Abílio |
dc.contributor.advisor1Lattes.fl_str_mv |
http://lattes.cnpq.br/6128096609162437 |
dc.contributor.referee1.fl_str_mv |
Lima, Antônio Marcus Nogueira |
dc.contributor.referee2.fl_str_mv |
Pereira, Luis Fernando A. |
dc.contributor.referee3.fl_str_mv |
Pinheiro, José Renes |
dc.contributor.referee4.fl_str_mv |
Pinheiro, Humberto |
dc.contributor.authorLattes.fl_str_mv |
http://lattes.cnpq.br/8681744957229767 |
dc.contributor.author.fl_str_mv |
Carati, Emerson Giovani |
contributor_str_mv |
Gründling, Hilton Abílio Lima, Antônio Marcus Nogueira Pereira, Luis Fernando A. Pinheiro, José Renes Pinheiro, Humberto |
dc.subject.por.fl_str_mv |
Engenharia elétrica Controle de processos Controle adaptativo Robustez |
topic |
Engenharia elétrica Controle de processos Controle adaptativo Robustez Electrical engineering Process control Adaptive control Robustness CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
dc.subject.eng.fl_str_mv |
Electrical engineering Process control Adaptive control Robustness |
dc.subject.cnpq.fl_str_mv |
CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
description |
This work is motivated by the recent advances in the electrical-electronics and in process control field, that extensively use microprocessing systems and require apropriated good performance control techniques with the ability of automatic tuning to deal with unmodeled dynamics and disturbances, using only input/ouput measurement information. Firstly, a literature review is presented concerning some control techniques and related with goal of this work. In the sequence, a robust model reference adaptive control (RMRAC) algorithm is presented and the stability analysis of two adaptation algorithms is carried out. To allow the RMRAC controller implementation in microprocessed based systems a discrete-time robust model reference adaptive controller (DRMRAC) and a discretized modified recursive least squares adaptation algorithm are proposed. Besides, to minimize steady state tracking errors due to periodic disturbances, a plug-in repetitive controller (RPC) is added to the DRMRAC controller. Moreover, an adaptation algorithm is proposed to tune automatically the repetitive controller gain, resulting in an adaptive repetitive control algorithm (ARPC). The stability analysis of proposed control algorithms is carried out. Results of their implementation to control the output voltage of an uninterruptible power supply (UPS) are presented to show the good performance ones. A descentralized approach to multivariable systems (MIMO) using the DRMRAC-RPC controller, a dq transformation and considering the subsystems interconections as unmodeled dynamics is presented. The performance verification of the descentralized MIMO controller is carried out througth the implementation of the same one to control the output voltages of a three-phase uninterruptible power supply. |
publishDate |
2003 |
dc.date.issued.fl_str_mv |
2003-07-18 |
dc.date.accessioned.fl_str_mv |
2022-11-18T22:46:52Z |
dc.date.available.fl_str_mv |
2022-11-18T22:46:52Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/doctoralThesis |
format |
doctoralThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://repositorio.ufsm.br/handle/1/27003 |
url |
http://repositorio.ufsm.br/handle/1/27003 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.relation.cnpq.fl_str_mv |
300400000007 |
dc.relation.confidence.fl_str_mv |
600 600 600 600 600 600 600 |
dc.relation.authority.fl_str_mv |
d35eb922-37c6-47fb-afb6-6a40154fb790 0969cc39-1f47-45ce-b834-9358c741fa3c 66ea879a-3b24-4f5f-8e0c-caa8f435667c 2d06d74e-b034-4a4a-a33a-7bee38e5784f df8fdae2-36b4-458e-94a6-1caff86b76cb 63beceef-f0d0-4034-81c5-8af24344c630 |
dc.rights.driver.fl_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Universidade Federal de Santa Maria Centro de Tecnologia |
dc.publisher.program.fl_str_mv |
Programa de Pós-Graduação em Engenharia Elétrica |
dc.publisher.initials.fl_str_mv |
UFSM |
dc.publisher.country.fl_str_mv |
Brasil |
dc.publisher.department.fl_str_mv |
Engenharia Elétrica |
publisher.none.fl_str_mv |
Universidade Federal de Santa Maria Centro de Tecnologia |
dc.source.none.fl_str_mv |
reponame:Manancial - Repositório Digital da UFSM instname:Universidade Federal de Santa Maria (UFSM) instacron:UFSM |
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Universidade Federal de Santa Maria (UFSM) |
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