ACES  Control Avançat de Sistemes d'Energia
http://hdl.handle.net/2117/114
20161204T10:34:13Z

Influence of the controller design on the accuracy of a forward dynamic simulation of human gait
http://hdl.handle.net/2117/97085
Influence of the controller design on the accuracy of a forward dynamic simulation of human gait
Pàmies Vila, Rosa; Pätkau, Olga; Dòria Cerezo, Arnau; Font Llagunes, Josep Maria
The analysis of a captured motion can be addressed by means of forward or inverse dynamics approaches. For this purpose, a 12 segment 2D model with 14 degrees of freedom is developed and both methods are implemented using multibody dynamics techniques. The inverse dynamic analysis uses the experimentally captured motion to calculate the joint torques produced by the musculoskeletal system during the movement. This information is then used as input data for a forward dynamic analysis without any control design. This approach is able to reach the desired pattern within half cycle. In order to achieve the simulation of the complete gait cycle two different control strategies are implemented to stabilize all degrees of freedom: a proportional derivative (PD) control and a computed torque control (CTC). The selection of the control parameters is presented in this work: a kinematic perturbation is used for tuning PD gains, and pole placement techniques are used in order to determine the CTC parameters. A performance evaluation of the two controllers is done in order to quantify the accuracy of the simulated motion and the control torques needed when using one or the other control approach to track a known human walking pattern.
20161123T10:08:37Z
Pàmies Vila, Rosa
Pätkau, Olga
Dòria Cerezo, Arnau
Font Llagunes, Josep Maria
The analysis of a captured motion can be addressed by means of forward or inverse dynamics approaches. For this purpose, a 12 segment 2D model with 14 degrees of freedom is developed and both methods are implemented using multibody dynamics techniques. The inverse dynamic analysis uses the experimentally captured motion to calculate the joint torques produced by the musculoskeletal system during the movement. This information is then used as input data for a forward dynamic analysis without any control design. This approach is able to reach the desired pattern within half cycle. In order to achieve the simulation of the complete gait cycle two different control strategies are implemented to stabilize all degrees of freedom: a proportional derivative (PD) control and a computed torque control (CTC). The selection of the control parameters is presented in this work: a kinematic perturbation is used for tuning PD gains, and pole placement techniques are used in order to determine the CTC parameters. A performance evaluation of the two controllers is done in order to quantify the accuracy of the simulated motion and the control torques needed when using one or the other control approach to track a known human walking pattern.

Hands on laboratory for classical nonlinear control systems : the deadzone case.
http://hdl.handle.net/2117/91056
Hands on laboratory for classical nonlinear control systems : the deadzone case.
Lampon Diestre, Cristina; Costa Castelló, Ramon; Dormido Bencomo, Sebastián
Although many control systems are influenced by static nonlinearities, most current handson laboratories will not show this type of behavior. An analog board module, along with the classic setup plants, would provide a series of nonlinearities, whose effect could be studied and comprehended by students. This paper describes the mentioned analog board module, focusing on the deadzone nonlinearity.
20161025T10:20:13Z
Lampon Diestre, Cristina
Costa Castelló, Ramon
Dormido Bencomo, Sebastián
Although many control systems are influenced by static nonlinearities, most current handson laboratories will not show this type of behavior. An analog board module, along with the classic setup plants, would provide a series of nonlinearities, whose effect could be studied and comprehended by students. This paper describes the mentioned analog board module, focusing on the deadzone nonlinearity.

Models and procedures for electric energy distribution planning. A review
http://hdl.handle.net/2117/90846
Models and procedures for electric energy distribution planning. A review
Sempértegui, Rodrigo; Bautista Valhondo, Joaquín; Griñó Cubero, Robert; Pereira Gude, Jordi
Distribution system planning is a key component to accomplish the service in a fast growing demand market, both from a technical point of view and from the economic costs management. In the near future, electric companies will need faster and cheaper planning tools to evaluate different scenarios and their consequences for the rest of the system and provide their clients whit safe reliable and economic energy. The objective of this paper is to review different articles about this subject trying to continue the previous work from Gonen and RamírezRosado in 1986 (Gönen,1986).
20161018T11:40:24Z
Sempértegui, Rodrigo
Bautista Valhondo, Joaquín
Griñó Cubero, Robert
Pereira Gude, Jordi
Distribution system planning is a key component to accomplish the service in a fast growing demand market, both from a technical point of view and from the economic costs management. In the near future, electric companies will need faster and cheaper planning tools to evaluate different scenarios and their consequences for the rest of the system and provide their clients whit safe reliable and economic energy. The objective of this paper is to review different articles about this subject trying to continue the previous work from Gonen and RamírezRosado in 1986 (Gönen,1986).

Averaged dynamics of a coupledinductor boost converter under sliding mode control using a piecewise linear complementarity model
http://hdl.handle.net/2117/90749
Averaged dynamics of a coupledinductor boost converter under sliding mode control using a piecewise linear complementarity model
Carrero Candelas, Niliana Andreina; Batlle Arnau, Carles; Fossas Colet, Enric
An averaged model of a coupledinductor boost converter using the piecewise complementarity model of the converter under sliding motions is obtained. The model takes into account the idealized voltage–current characteristic of passive switches (diodes) present in the converter. Because of its lower complexity, the averaged model is more suitable for control design purposes when compared with the linear complementarity systems (LCS) model of the converter. The dynamic performance of the LCS model and the averaged models of the converter are validated through computer simulations using Matlab.
20161013T13:52:49Z
Carrero Candelas, Niliana Andreina
Batlle Arnau, Carles
Fossas Colet, Enric
An averaged model of a coupledinductor boost converter using the piecewise complementarity model of the converter under sliding motions is obtained. The model takes into account the idealized voltage–current characteristic of passive switches (diodes) present in the converter. Because of its lower complexity, the averaged model is more suitable for control design purposes when compared with the linear complementarity systems (LCS) model of the converter. The dynamic performance of the LCS model and the averaged models of the converter are validated through computer simulations using Matlab.

Design of controllers for electrical power systems using a complex root locus method
http://hdl.handle.net/2117/90440
Design of controllers for electrical power systems using a complex root locus method
Dòria Cerezo, Arnau; Bodson, Marc
A large class of threephase electrical power systems possess symmetry conditions that make it possible to describe their behavior using singleinput singleoutput transfer functions with complex coefficients. In such cases, an extended root locus method can be used to design control laws, even though the actual systems are multiinput multioutput. In this paper, the symmetric conditions for a large class of power systems are analyzed. Then, the root locus method is revisited for systems with complex coeffcients and used for the analysis and control design of power systems. To demonstrate the benefits of the approach, this paper includes two examples: 1) a doubly fed induction machine and 2) a threephase LCL inverter.
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20161004T11:06:11Z
Dòria Cerezo, Arnau
Bodson, Marc
A large class of threephase electrical power systems possess symmetry conditions that make it possible to describe their behavior using singleinput singleoutput transfer functions with complex coefficients. In such cases, an extended root locus method can be used to design control laws, even though the actual systems are multiinput multioutput. In this paper, the symmetric conditions for a large class of power systems are analyzed. Then, the root locus method is revisited for systems with complex coeffcients and used for the analysis and control design of power systems. To demonstrate the benefits of the approach, this paper includes two examples: 1) a doubly fed induction machine and 2) a threephase LCL inverter.

Sliding mode control of LCL fullbridge rectifiers
http://hdl.handle.net/2117/90439
Sliding mode control of LCL fullbridge rectifiers
Dòria Cerezo, Arnau; Biel Solé, Domingo; Fossas Colet, Enric
In control theory, sliding mode control, or SMC, is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal that forces the system to "slide" along a crosssection of the system's normal behavior. This book describes recent advances in the theory, properties, methods and applications of SMC. The book is organised into four parts. The first part is devoted to the design of higherorder slidingmode controllers, with specific designs presented in the context of disturbance rejection by means of observation and identification. The second part offers a set of tools for establishing different dynamic properties of systems with discontinuous righthand sides. Time discretization is addressed in the third part. Firstorder sliding modes are discretized using an implicit scheme  higherorder slidingmode differentiators, typically used in outputfeedback schemes, are discretized in such a way that the optimal accuracy of their continuoustime counterparts is restored. The last part is dedicated to applications. In the context of energy conversion, slidingmode control is applied to variablespeed wind turbines, fuel cell coupled to a power converter, rugged DC series motors and rectifiers with unity power factor, and electropneumatic actuator. Finally, an eventtriggered slidingmode scheme is proposed for networked control systems subject to packet loss, jitter and delayed transmissions.
20161004T10:29:07Z
Dòria Cerezo, Arnau
Biel Solé, Domingo
Fossas Colet, Enric
In control theory, sliding mode control, or SMC, is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal that forces the system to "slide" along a crosssection of the system's normal behavior. This book describes recent advances in the theory, properties, methods and applications of SMC. The book is organised into four parts. The first part is devoted to the design of higherorder slidingmode controllers, with specific designs presented in the context of disturbance rejection by means of observation and identification. The second part offers a set of tools for establishing different dynamic properties of systems with discontinuous righthand sides. Time discretization is addressed in the third part. Firstorder sliding modes are discretized using an implicit scheme  higherorder slidingmode differentiators, typically used in outputfeedback schemes, are discretized in such a way that the optimal accuracy of their continuoustime counterparts is restored. The last part is dedicated to applications. In the context of energy conversion, slidingmode control is applied to variablespeed wind turbines, fuel cell coupled to a power converter, rugged DC series motors and rectifiers with unity power factor, and electropneumatic actuator. Finally, an eventtriggered slidingmode scheme is proposed for networked control systems subject to packet loss, jitter and delayed transmissions.

Modelling and control for bounded synchronization in multiterminal VSCHVDC transmission networks
http://hdl.handle.net/2117/90361
Modelling and control for bounded synchronization in multiterminal VSCHVDC transmission networks
Dòria Cerezo, Arnau; Olm Miras, Josep Maria; di Bernardo, Mario; Nuño, Emmanuel
The extension and size of the power grid is expected to increase in the near future. Managing such a system presents challenging control problems that, so far, have been approached with classical control techniques. However, large scale systems of interconnected nodes fall within the framework of the emerging field of complex networks. This paper models multiterminal VSCHVDC systems as a complex dynamical network, and derives conditions ensuring bounded synchronization of its trajectories for a family of controllers. The obtained results are validated via numerical simulations.
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20161003T09:08:15Z
Dòria Cerezo, Arnau
Olm Miras, Josep Maria
di Bernardo, Mario
Nuño, Emmanuel
The extension and size of the power grid is expected to increase in the near future. Managing such a system presents challenging control problems that, so far, have been approached with classical control techniques. However, large scale systems of interconnected nodes fall within the framework of the emerging field of complex networks. This paper models multiterminal VSCHVDC systems as a complex dynamical network, and derives conditions ensuring bounded synchronization of its trajectories for a family of controllers. The obtained results are validated via numerical simulations.

Extended SMC for a standalone wound rotor synchronous generator
http://hdl.handle.net/2117/90326
Extended SMC for a standalone wound rotor synchronous generator
Muñoz Aguilar, Raúl Santiago; Dòria Cerezo, Arnau; Fossas Colet, Enric
20160929T11:44:59Z
Muñoz Aguilar, Raúl Santiago
Dòria Cerezo, Arnau
Fossas Colet, Enric

Decoupled DCLink capacitor voltage control of DCAC multilevel multileg converters
http://hdl.handle.net/2117/90151
Decoupled DCLink capacitor voltage control of DCAC multilevel multileg converters
Busquets Monge, Sergio; Griñó Cubero, Robert; Nicolás Apruzzese, Joan; Bordonau Farrerons, José
This paper studies the coupling between the capacitor voltage control loops of diodeclamped (or functionally equivalent) multilevel multileg (multiphase) dcac converters. From a complete model of the plant revealing the coupling, a simple approach consisting in multiplying the vector of control commands by a constant matrix is proposed to decouple the control problem and achieve a better controller performance. Simulation and experimental results are presented to prove the superior performance of the proposed decoupled control.
© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
20160922T16:42:18Z
Busquets Monge, Sergio
Griñó Cubero, Robert
Nicolás Apruzzese, Joan
Bordonau Farrerons, José
This paper studies the coupling between the capacitor voltage control loops of diodeclamped (or functionally equivalent) multilevel multileg (multiphase) dcac converters. From a complete model of the plant revealing the coupling, a simple approach consisting in multiplying the vector of control commands by a constant matrix is proposed to decouple the control problem and achieve a better controller performance. Simulation and experimental results are presented to prove the superior performance of the proposed decoupled control.

Topological analysis of powertrains for refusecollecting vehicles based on real routes – Part II: Hybrid electric powertrain
http://hdl.handle.net/2117/90082
Topological analysis of powertrains for refusecollecting vehicles based on real routes – Part II: Hybrid electric powertrain
Soriano Alfonso, Franciso; Moreno Eguilaz, Juan Manuel; Álvarez Flórez, Jesús Andrés; Riera Colomer, Jordi
In this twopart paper, a topological analysis of powertrains for refusecollecting vehicles (RCVs) based on simulation of different architectures (internal combustion engine, hybrid electric, and hybrid hydraulic) on real routes is proposed. In this second part, three different hybrid electric powertrain architectures are proposed and modeled. These architectures are based on the use of fuel cells, ultracapacitors, and batteries. A calculation engine, which is specifically designed to estimate energy consumption, respecting the original performance as the original internal combustion engine (ICE), is presented and used for simulations and component sizing. Finally, the overall performance of the different architectures (hybrid hydraulic, taken from the first paper part, and hybrid electric, estimated in this second part) and control strategies are summarized in a fuel and energy consumption table. Based on this table, an analysis of the different architecture performance results is carried out. From this analysis, a technological evolution of these vehicles in the medium and long terms is proposed.
20160920T16:08:06Z
Soriano Alfonso, Franciso
Moreno Eguilaz, Juan Manuel
Álvarez Flórez, Jesús Andrés
Riera Colomer, Jordi
In this twopart paper, a topological analysis of powertrains for refusecollecting vehicles (RCVs) based on simulation of different architectures (internal combustion engine, hybrid electric, and hybrid hydraulic) on real routes is proposed. In this second part, three different hybrid electric powertrain architectures are proposed and modeled. These architectures are based on the use of fuel cells, ultracapacitors, and batteries. A calculation engine, which is specifically designed to estimate energy consumption, respecting the original performance as the original internal combustion engine (ICE), is presented and used for simulations and component sizing. Finally, the overall performance of the different architectures (hybrid hydraulic, taken from the first paper part, and hybrid electric, estimated in this second part) and control strategies are summarized in a fuel and energy consumption table. Based on this table, an analysis of the different architecture performance results is carried out. From this analysis, a technological evolution of these vehicles in the medium and long terms is proposed.