Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas
Autor(a) principal: | |
---|---|
Data de Publicação: | 2020 |
Tipo de documento: | Dissertação |
Idioma: | por |
Título da fonte: | Manancial - Repositório Digital da UFSM |
Texto Completo: | http://repositorio.ufsm.br/handle/1/23040 |
Resumo: | This master thesis provides as contribution a design procedure, based on particle swarm optimization and Kharitonov’s Theorem, to obtain fixed gains for robust controllers for power converters with parametric uncertainties. Firstly, a transfer function model of the converter with uncertain parameters is used and included in a polytopic model. In the sequence, the transfer function of the controller is chosen, and its fixed coefficients are considered as the decision variables of an optimization problem. An objective function is then used to map each vector of controller coefficients to a real positive value, considering the criteria phase margin, crossover frequency, gain margin, overshoot, steady state error and amplitude of the control signal, for the vertices of the polytopic model. A penalty factor based on the Kharitonov’s Theorem is included in the objective function. A search space for the coefficients of the controller is systematically defined as a hyper-rectangle, based on the positivity of the coefficients of the characteristic polynomial, and the particle swarm optimization algorithm is then employed to search for the coefficient vector of the controller that minimizes the proposed objective function. To prove the ability to find robust controllers for applications in power electronics, the proposed procedure is used to obtain PID controllers for a Buck converter and PI controllers for a permanent magnet synchronous motor, ensuring good regulation of the output variables in both applications. Experimental results for the permanent magnet synchronous motor confirm the practical viability of the proposed procedure, with superior performance compared to gains obtained by a function specialized for PID design. The proposed procedure can be considered as an alternative to analytical methods and to trial and error designs, allowing to reduce the time demanded in human-machine interaction in order to design controllers that meet multiple objectives and constraints of interest in practice. |
id |
UFSM-20_a3fc8309b49de8f73df88b7a37d6f72f |
---|---|
oai_identifier_str |
oai:repositorio.ufsm.br:1/23040 |
network_acronym_str |
UFSM-20 |
network_name_str |
Manancial - Repositório Digital da UFSM |
repository_id_str |
3913 |
spelling |
2021-11-29T14:09:49Z2021-11-29T14:09:49Z2020-02-18http://repositorio.ufsm.br/handle/1/23040This master thesis provides as contribution a design procedure, based on particle swarm optimization and Kharitonov’s Theorem, to obtain fixed gains for robust controllers for power converters with parametric uncertainties. Firstly, a transfer function model of the converter with uncertain parameters is used and included in a polytopic model. In the sequence, the transfer function of the controller is chosen, and its fixed coefficients are considered as the decision variables of an optimization problem. An objective function is then used to map each vector of controller coefficients to a real positive value, considering the criteria phase margin, crossover frequency, gain margin, overshoot, steady state error and amplitude of the control signal, for the vertices of the polytopic model. A penalty factor based on the Kharitonov’s Theorem is included in the objective function. A search space for the coefficients of the controller is systematically defined as a hyper-rectangle, based on the positivity of the coefficients of the characteristic polynomial, and the particle swarm optimization algorithm is then employed to search for the coefficient vector of the controller that minimizes the proposed objective function. To prove the ability to find robust controllers for applications in power electronics, the proposed procedure is used to obtain PID controllers for a Buck converter and PI controllers for a permanent magnet synchronous motor, ensuring good regulation of the output variables in both applications. Experimental results for the permanent magnet synchronous motor confirm the practical viability of the proposed procedure, with superior performance compared to gains obtained by a function specialized for PID design. The proposed procedure can be considered as an alternative to analytical methods and to trial and error designs, allowing to reduce the time demanded in human-machine interaction in order to design controllers that meet multiple objectives and constraints of interest in practice.Esta dissertação fornece como contribuição um procedimento de projeto, baseado em otimização por enxame de partículas e no Teorema de Kharitonov, para obter ganhos fixos de controladores robustos para conversores de potência com incertezas paramétricas. Primeiramente, um modelo em função de transferência do conversor com incertezas paramétricas é utilizado e incluído em um modelo politópico. Na sequência, a função de transferência do controlador é escolhida, e seus coeficientes fixos são considerados como as variáveis de decisão de um problema de otimização. Uma função objetivo é então utilizada para mapear cada vetor de coeficientes do controlador em um valor real positivo, considerando os critérios margem de fase, frequência de cruzamento, margem de ganho, máximo sobressinal, erro de regime permanente e amplitude do sinal de controle, para os vértices do modelo politópico. Um fator de penalização baseado no Teorema de Kharitonov é incluído na função objetivo. Um espaço de busca dos coeficientes do controlador é definido de forma sistemática como um hiper-retângulo, a partir da positividade dos coeficientes do polinômio característico, e o algoritmo de otimização por enxame de partículas é então empregado para buscar o vetor de coeficientes do controlador que minimiza a função objetivo. Para comprovar a capacidade de encontrar controladores robustos para aplicações em eletrônica de potência, o procedimento proposto é utilizado para obtenção de controladores PIDs para um conversor Buck e de controladores PIs para um motor síncrono de ímãs permanentes, garantindo boa regulação das variáveis de saída em ambas as aplicações. Resultados experimentais para o motor síncrono de ímãs permanentes confirmam a viabilidade prática do procedimento proposto, com desempenho superior em comparação com ganhos obtidos por uma função especializada em projeto de PIDs. O procedimento proposto pode ser considerado uma alternativa a métodos analíticos e a projetos por tentativa e erro, permitindo reduzir o tempo demandado em interação homem-máquina para projetar controladores que atendam a múltiplos objetivos e restrições de ordem prática.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/openAccessControle robustoConversores de potênciaIncertezas paramétricasInteligência artificialOtimização por enxame de partículasRobust controlPower convertersUncertain parametersArtificial intelligenceParticle swarm optimizationCNPQ::ENGENHARIAS::ENGENHARIA ELETRICAProcedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículasRobust controllers design procedure for power converters by means of particle swarm optimizationinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisMontagner, Vinícius Folettohttp://lattes.cnpq.br/1107194715234856Bisogno, Fabio EckeDupont, Fabricio Hoffhttp://lattes.cnpq.br/4452953533059816Borin, Lucas Cielo300400000007600600600732b6f5e-80e3-4fd3-89a2-5be33f825d34b19e5165-8612-4e97-b0d6-564f919d0da12a8f7d69-d52e-4aaa-bdca-c144ad62e727b6214152-13ff-4ce7-960f-669399917fc8reponame:Manancial - Repositório Digital da UFSMinstname:Universidade Federal de Santa Maria (UFSM)instacron:UFSMORIGINALDIS_PPGEE_2020_BORIN_LUCAS.pdfDIS_PPGEE_2020_BORIN_LUCAS.pdfDissertação de Mestradoapplication/pdf9292839http://repositorio.ufsm.br/bitstream/1/23040/1/DIS_PPGEE_2020_BORIN_LUCAS.pdf52a66eddbf3d74a1f4f9654868f42eefMD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8805http://repositorio.ufsm.br/bitstream/1/23040/2/license_rdf4460e5956bc1d1639be9ae6146a50347MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-81956http://repositorio.ufsm.br/bitstream/1/23040/3/license.txt2f0571ecee68693bd5cd3f17c1e075dfMD53TEXTDIS_PPGEE_2020_BORIN_LUCAS.pdf.txtDIS_PPGEE_2020_BORIN_LUCAS.pdf.txtExtracted texttext/plain156327http://repositorio.ufsm.br/bitstream/1/23040/4/DIS_PPGEE_2020_BORIN_LUCAS.pdf.txtc56f2305802a0d3aa214044a53cbc1c0MD54THUMBNAILDIS_PPGEE_2020_BORIN_LUCAS.pdf.jpgDIS_PPGEE_2020_BORIN_LUCAS.pdf.jpgIM Thumbnailimage/jpeg2532http://repositorio.ufsm.br/bitstream/1/23040/5/DIS_PPGEE_2020_BORIN_LUCAS.pdf.jpg3f37d8d130597c78b7714e0cc73e3585MD551/230402021-12-30 10:56:06.641oai:repositorio.ufsm.br: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ório Institucionalhttp://repositorio.ufsm.br/PUBhttp://repositorio.ufsm.br/oai/requestopendoar:39132021-12-30T13:56:06Manancial - Repositório Digital da UFSM - Universidade Federal de Santa Maria (UFSM)false |
dc.title.por.fl_str_mv |
Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas |
dc.title.alternative.eng.fl_str_mv |
Robust controllers design procedure for power converters by means of particle swarm optimization |
title |
Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas |
spellingShingle |
Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas Borin, Lucas Cielo Controle robusto Conversores de potência Incertezas paramétricas Inteligência artificial Otimização por enxame de partículas Robust control Power converters Uncertain parameters Artificial intelligence Particle swarm optimization CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
title_short |
Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas |
title_full |
Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas |
title_fullStr |
Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas |
title_full_unstemmed |
Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas |
title_sort |
Procedimento de projeto de controladores robustos para conversores de potência por meio de otimização por enxame de partículas |
author |
Borin, Lucas Cielo |
author_facet |
Borin, Lucas Cielo |
author_role |
author |
dc.contributor.advisor1.fl_str_mv |
Montagner, Vinícius Foletto |
dc.contributor.advisor1Lattes.fl_str_mv |
http://lattes.cnpq.br/1107194715234856 |
dc.contributor.referee1.fl_str_mv |
Bisogno, Fabio Ecke |
dc.contributor.referee2.fl_str_mv |
Dupont, Fabricio Hoff |
dc.contributor.authorLattes.fl_str_mv |
http://lattes.cnpq.br/4452953533059816 |
dc.contributor.author.fl_str_mv |
Borin, Lucas Cielo |
contributor_str_mv |
Montagner, Vinícius Foletto Bisogno, Fabio Ecke Dupont, Fabricio Hoff |
dc.subject.por.fl_str_mv |
Controle robusto Conversores de potência Incertezas paramétricas Inteligência artificial Otimização por enxame de partículas |
topic |
Controle robusto Conversores de potência Incertezas paramétricas Inteligência artificial Otimização por enxame de partículas Robust control Power converters Uncertain parameters Artificial intelligence Particle swarm optimization CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
dc.subject.eng.fl_str_mv |
Robust control Power converters Uncertain parameters Artificial intelligence Particle swarm optimization |
dc.subject.cnpq.fl_str_mv |
CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
description |
This master thesis provides as contribution a design procedure, based on particle swarm optimization and Kharitonov’s Theorem, to obtain fixed gains for robust controllers for power converters with parametric uncertainties. Firstly, a transfer function model of the converter with uncertain parameters is used and included in a polytopic model. In the sequence, the transfer function of the controller is chosen, and its fixed coefficients are considered as the decision variables of an optimization problem. An objective function is then used to map each vector of controller coefficients to a real positive value, considering the criteria phase margin, crossover frequency, gain margin, overshoot, steady state error and amplitude of the control signal, for the vertices of the polytopic model. A penalty factor based on the Kharitonov’s Theorem is included in the objective function. A search space for the coefficients of the controller is systematically defined as a hyper-rectangle, based on the positivity of the coefficients of the characteristic polynomial, and the particle swarm optimization algorithm is then employed to search for the coefficient vector of the controller that minimizes the proposed objective function. To prove the ability to find robust controllers for applications in power electronics, the proposed procedure is used to obtain PID controllers for a Buck converter and PI controllers for a permanent magnet synchronous motor, ensuring good regulation of the output variables in both applications. Experimental results for the permanent magnet synchronous motor confirm the practical viability of the proposed procedure, with superior performance compared to gains obtained by a function specialized for PID design. The proposed procedure can be considered as an alternative to analytical methods and to trial and error designs, allowing to reduce the time demanded in human-machine interaction in order to design controllers that meet multiple objectives and constraints of interest in practice. |
publishDate |
2020 |
dc.date.issued.fl_str_mv |
2020-02-18 |
dc.date.accessioned.fl_str_mv |
2021-11-29T14:09:49Z |
dc.date.available.fl_str_mv |
2021-11-29T14:09:49Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://repositorio.ufsm.br/handle/1/23040 |
url |
http://repositorio.ufsm.br/handle/1/23040 |
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 |
dc.relation.authority.fl_str_mv |
732b6f5e-80e3-4fd3-89a2-5be33f825d34 b19e5165-8612-4e97-b0d6-564f919d0da1 2a8f7d69-d52e-4aaa-bdca-c144ad62e727 b6214152-13ff-4ce7-960f-669399917fc8 |
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 |
instname_str |
Universidade Federal de Santa Maria (UFSM) |
instacron_str |
UFSM |
institution |
UFSM |
reponame_str |
Manancial - Repositório Digital da UFSM |
collection |
Manancial - Repositório Digital da UFSM |
bitstream.url.fl_str_mv |
http://repositorio.ufsm.br/bitstream/1/23040/1/DIS_PPGEE_2020_BORIN_LUCAS.pdf http://repositorio.ufsm.br/bitstream/1/23040/2/license_rdf http://repositorio.ufsm.br/bitstream/1/23040/3/license.txt http://repositorio.ufsm.br/bitstream/1/23040/4/DIS_PPGEE_2020_BORIN_LUCAS.pdf.txt http://repositorio.ufsm.br/bitstream/1/23040/5/DIS_PPGEE_2020_BORIN_LUCAS.pdf.jpg |
bitstream.checksum.fl_str_mv |
52a66eddbf3d74a1f4f9654868f42eef 4460e5956bc1d1639be9ae6146a50347 2f0571ecee68693bd5cd3f17c1e075df c56f2305802a0d3aa214044a53cbc1c0 3f37d8d130597c78b7714e0cc73e3585 |
bitstream.checksumAlgorithm.fl_str_mv |
MD5 MD5 MD5 MD5 MD5 |
repository.name.fl_str_mv |
Manancial - Repositório Digital da UFSM - Universidade Federal de Santa Maria (UFSM) |
repository.mail.fl_str_mv |
|
_version_ |
1801223685817761792 |