This document presents a comparative study of the Extended Kalman Filter (EKF) for estimating the rotor speed and position of a permanent-magnet synchronous motor (PMSM) drive. It describes using an EKF to estimate motor states like speed, flux vector position, and currents from measurements of three-phase stator currents. The EKF is used because the PMSM system is nonlinear. Simulation results in MATLAB show the EKF can successfully estimate the motor states in real-time without position sensors.
Julio Bravo's Master Graduation ProjectJulio Bravo
The document describes applying an optimal control tracking problem to a wind power system to track desired trajectories of system states. It presents the nonlinear mathematical model of a wind power system and linearizes it around operating points. It then formulates the optimal control problem to minimize errors from desired trajectories, subject to system dynamics. The solution provides control inputs to drive the system states to follow the desired trajectories over time.
PID control dynamics of a robotic arm manipulator with two degrees of freedom.popochis
This summary provides the key details about the document in 3 sentences or less:
The document describes developing a dynamic model and PID controller for a robotic arm with two degrees of freedom. It outlines deriving the Lagrangian equation to model arm dynamics and introduces a PID controller to apply torque to joints based on position error. The goal is to use PID control to move the arm to a desired position by minimizing error between actual and desired joint angles.
Performance measurement and dynamic analysis of two dof robotic arm manipulatoreSAT Journals
Abstract Forward and inverse kinematic analysis of 2DOF robot is presented to predict singular configurations. Cosine function is used for servo motor simulation of kinematics and dynamics using Pro/Engineer. The significance of joint-2 for reducing internal singularities is highlighted. Performance analysis in terms of condition number, local conditioning index and mobility index is carried out for the manipulator. Dynamic analysis using Lagrangian’s and Newton’s Euler approach is worked out analytically using MATLAB and results are plotted for their comparison. Index Terms: Forward kinematics, Inverse Kinematics, Workspace boundary, Singularity, Dynamics
The document proposes a direct torque control (DTC) method for induction motors that combines space vector modulation (SVM) and an adaptive stator flux observer. It aims to preserve the fast dynamic response of DTC while improving steady-state performance and reducing torque ripple through SVM. An adaptive flux observer is designed using state feedback control theory to ensure stability and robustness. Simulation results validate the effectiveness of the proposed DTC-SVM approach with PI control and an adaptive flux observer in reducing torque ripple compared to conventional DTC.
4 matched filters and ambiguity functions for radar signals-2Solo Hermelin
Matched filters (Part 2of 2) maximizes the output signal-to-noise ratio for a known radar signal at a predefined time.
For comments please contact me at solo.hermelin@gmail.com.
For more presentations on different subjects visit my website at http://www.solohermelin.com.
Dynamics and control of a robotic arm having four linksAmin A. Mohammed
This document presents the dynamics modeling and control of a 4 degree-of-freedom robotic arm. It first derives the dynamic model of the robotic arm using the Euler-Lagrange approach. It then describes implementing two control approaches for position control of the arm joints: PID control and feedback linearization control. Simulation results show that PID control coupled with a differential evolution algorithm and feedback linearization control improve the robotic arm's performance. Increasing the arm link masses is found to not affect PID position control performance but require higher control torques.
Using real interpolation method for adaptive identification of nonlinear inve...IJECEIAES
This document describes a study that uses the real interpolation method (RIM) to identify a nonlinear inverted pendulum system. It first presents the mathematical model of the inverted pendulum and describes the RIM algorithm. The identification of the inverted pendulum system using RIM is then proposed. Results show that RIM provides simplicity, low computational requirements, and high accuracy for identifying the nonlinear inverted pendulum system.
Multi-Objective Optimization Algorithms for Finite Element Model Updating. Nt...Evangelos Ntotsios
The document discusses multi-objective optimization algorithms for finite element model updating using measured modal data. It presents different frameworks for structural identification, including weighted modal residuals and multi-objective formulations. Computational issues related to single-objective and multi-objective optimization are discussed. An example application to identify the parameters of a full-scale bridge model using ambient vibration data is also outlined.
Julio Bravo's Master Graduation ProjectJulio Bravo
The document describes applying an optimal control tracking problem to a wind power system to track desired trajectories of system states. It presents the nonlinear mathematical model of a wind power system and linearizes it around operating points. It then formulates the optimal control problem to minimize errors from desired trajectories, subject to system dynamics. The solution provides control inputs to drive the system states to follow the desired trajectories over time.
PID control dynamics of a robotic arm manipulator with two degrees of freedom.popochis
This summary provides the key details about the document in 3 sentences or less:
The document describes developing a dynamic model and PID controller for a robotic arm with two degrees of freedom. It outlines deriving the Lagrangian equation to model arm dynamics and introduces a PID controller to apply torque to joints based on position error. The goal is to use PID control to move the arm to a desired position by minimizing error between actual and desired joint angles.
Performance measurement and dynamic analysis of two dof robotic arm manipulatoreSAT Journals
Abstract Forward and inverse kinematic analysis of 2DOF robot is presented to predict singular configurations. Cosine function is used for servo motor simulation of kinematics and dynamics using Pro/Engineer. The significance of joint-2 for reducing internal singularities is highlighted. Performance analysis in terms of condition number, local conditioning index and mobility index is carried out for the manipulator. Dynamic analysis using Lagrangian’s and Newton’s Euler approach is worked out analytically using MATLAB and results are plotted for their comparison. Index Terms: Forward kinematics, Inverse Kinematics, Workspace boundary, Singularity, Dynamics
The document proposes a direct torque control (DTC) method for induction motors that combines space vector modulation (SVM) and an adaptive stator flux observer. It aims to preserve the fast dynamic response of DTC while improving steady-state performance and reducing torque ripple through SVM. An adaptive flux observer is designed using state feedback control theory to ensure stability and robustness. Simulation results validate the effectiveness of the proposed DTC-SVM approach with PI control and an adaptive flux observer in reducing torque ripple compared to conventional DTC.
4 matched filters and ambiguity functions for radar signals-2Solo Hermelin
Matched filters (Part 2of 2) maximizes the output signal-to-noise ratio for a known radar signal at a predefined time.
For comments please contact me at solo.hermelin@gmail.com.
For more presentations on different subjects visit my website at http://www.solohermelin.com.
Dynamics and control of a robotic arm having four linksAmin A. Mohammed
This document presents the dynamics modeling and control of a 4 degree-of-freedom robotic arm. It first derives the dynamic model of the robotic arm using the Euler-Lagrange approach. It then describes implementing two control approaches for position control of the arm joints: PID control and feedback linearization control. Simulation results show that PID control coupled with a differential evolution algorithm and feedback linearization control improve the robotic arm's performance. Increasing the arm link masses is found to not affect PID position control performance but require higher control torques.
Using real interpolation method for adaptive identification of nonlinear inve...IJECEIAES
This document describes a study that uses the real interpolation method (RIM) to identify a nonlinear inverted pendulum system. It first presents the mathematical model of the inverted pendulum and describes the RIM algorithm. The identification of the inverted pendulum system using RIM is then proposed. Results show that RIM provides simplicity, low computational requirements, and high accuracy for identifying the nonlinear inverted pendulum system.
Multi-Objective Optimization Algorithms for Finite Element Model Updating. Nt...Evangelos Ntotsios
The document discusses multi-objective optimization algorithms for finite element model updating using measured modal data. It presents different frameworks for structural identification, including weighted modal residuals and multi-objective formulations. Computational issues related to single-objective and multi-objective optimization are discussed. An example application to identify the parameters of a full-scale bridge model using ambient vibration data is also outlined.
The Laplace transform generalizes the Fourier transform by allowing the parameter s to be any complex number rather than purely imaginary. The Laplace transform of a signal x(t) is defined as the integral of x(t) multiplied by e^-st from negative infinity to positive infinity. The region of convergence specifies the values of s for which the Laplace transform converges. Within the region of convergence, the Laplace transform provides information about both the growth and frequency content of a signal, unlike the Fourier transform.
This document discusses using artificial neural networks to solve the harmonics elimination problem in three-phase voltage-controlled inverters. It presents a new training algorithm for an ANN that does not use pre-computed switching angles from classical harmonic elimination methods. Instead, it trains the ANN by using the desired solution of the harmonic elimination equations, with the first harmonic equal to the modulation index and higher harmonics equal to zero. Theoretical analysis and simulation results show the high performance of using this ANN approach for generating optimal switching functions to control harmonics in inverters.
The document discusses dynamic modeling of robot manipulators using the Euler-Lagrange approach. It introduces dynamic models and the direct and inverse problems. The Euler-Lagrange approach is then explained in detail. It involves computing the kinetic and potential energies of each link based on the link masses, centers of mass, moments of inertia, and joint velocities and positions. This allows deriving the dynamic equations of motion for the manipulator.
This document provides the mathematical modeling and transfer function of an overhead crane. It defines the variables used such as position, cable length, and angle. It derives the kinetic and potential energies of the crane platform and pendulum and determines the Lagrangian. From this, it obtains the equations of motion for the crane position and cable angle. Small angle approximations yield a transfer function that relates the crane position to the applied force as a function of system parameters like masses and cable length.
This chapter discusses molecular dynamics (MD) simulations, which allow modeling the behavior of atomic and molecular systems by numerically solving Newton's equations of motion. It describes the Verlet algorithm and its variants commonly used to integrate the equations of motion in MD simulations. Analysis of the trajectory data generated by MD simulations can provide information on system properties like pressure, diffusion, and the radial distribution function.
Java gas turbine simulator numerical solversr by john a. reedJulio Banks
This document describes the numerical algorithms used to simulate the operation of a gas turbine engine in the Java Gas Turbine Simulator. It discusses the Newton-Raphson method, fourth-order Runge-Kutta method, and improved Euler method used for steady-state and transient simulations. The Newton-Raphson method iteratively solves nonlinear equations using Jacobian matrices to find steady-state solutions. The fourth-order Runge-Kutta and improved Euler methods integrate differential equations describing the engine over small time steps to model transient behavior. User interfaces allow adjusting parameters that control the convergence and stability of the numerical solutions.
This document provides a summary of mathematical modeling of feedback control systems. It discusses modeling of mechanical systems like cruise control and electromechanical systems like motors. It provides examples of modeling armature controlled and field controlled DC motors. It derives transfer functions relating input voltage to output speed or position. It also discusses modeling a position control system using a DC motor and gear ratio to reduce speed. The document presents various system equations and parameters to model different real world control systems.
The document discusses modeling of electrical and mechanical systems. It provides examples of modeling an RLC network, DC motor, spring-mass-damper system, and closed-loop position control system using transfer functions derived from equations of motion. Transfer functions are obtained using Laplace transforms of differential equations describing the dynamics of the systems.
1) The document discusses quantizing the electromagnetic field by treating it as a collection of harmonic oscillators, one for each mode of the field (determined by the wave vector and polarization).
2) For each mode, the electric and magnetic fields are represented by creation and annihilation operators that satisfy the commutation relations of quantum harmonic oscillators.
3) The total quantum Hamiltonian for the electromagnetic field is the sum over all modes of the individual mode Hamiltonians, with each mode Hamiltonian resembling that of a quantum simple harmonic oscillator.
The document discusses multiple topics related to analog control systems, including:
1. Reducing multiple subsystems into a single block to simplify analysis.
2. Describing system response in terms of transient and steady state response.
3. Explaining poles, zeros and how they relate to system response.
4. Defining characteristics of second order systems and analyzing steady state error.
5. Discussing stability analysis in the complex s-plane and conditions for stable, unstable and marginally stable systems.
Vector Controlled Two Phase Induction Motor and To A Three Phase Induction MotorIJERA Editor
This paper presents vector controlled of single phase induction motor. some problems are with vector controlled SPIM.As SPIM’s are typically to maintain speed and also about the complex implementation of vector controlled SPIM.the implemantion of the proposed vector controlled TPIM compared to the vector controlled SPIM. The general modal sutable for vector control of the unsymmentrical two phase induction motor and also stator flux oriented controlled strategies are analized. the comparative performance of both has been presented in this work with help of a practical three phase motor.
This document provides an overview of analog control systems and Laplace transforms. It introduces key concepts like Laplace transforms, common time domain inputs, transfer functions, and modeling electrical, mechanical and electromechanical systems using block diagrams and mathematical models. Examples are provided to illustrate Laplace transforms, transfer functions, and analyzing system response using poles, zeros and stability analysis.
Edhole School provides best Information about Schools in India, Delhi, Noida, Gurgaon. Here you will get about the school, contact, career, etc. Edhole Provides best study material for school students."
Suppression of correlated electron escape in double ionization in strong lase...Jakub Prauzner-Bechcicki
1) The document discusses selection rules in double ionization of atoms and the suppression of correlated electron escape in double ionization of metastable helium.
2) It examines using a symmetric subspace and quantum simulations to model double ionization, showing suppression for a 800nm single-cycle laser pulse.
3) Double ionization of molecules like N2 and O2 is also discussed, with the conclusion that similar suppression may occur for oriented O2.
This document summarizes key aspects of the discrete Fourier transform (DFT). It defines the DFT, provides the formula for calculating it, and explains that the DFT transforms a discrete-time signal from the time domain to the frequency domain. It also outlines several important properties of the DFT, including linearity, shift property, duality, symmetry, and circular convolution. Examples are provided to illustrate duality and symmetry. References for further information on the discrete Fourier transform are also included.
ABSTRACT : In this paper, the simulation of a double pendulum with numerical solutions are discussed. The double pendulums are arranged in such a way that in the static equilibrium, one of the pendulum takes the vertical position, while the second pendulum is in a horizontal position and rests on the pad. Characteristic positions and angular velocities of both pendulums, as well as their energies at each instant of time are presented. Obtained results proved to be in accordance with the motion of the real physical system. The differentiation of the double pendulum result in four first order equations mapping the movement of the system.
This document summarizes key concepts in digital and analog communications:
1) It defines source coding, channel encoding/decoding, digital modulation/demodulation, and how digital communication system performance is measured in terms of error probability.
2) Thermal noise in receivers is identified as the dominant source of noise limiting performance in VHF and UHF bands.
3) Storing data on magnetic/optical disks is analogous to transmitting a signal over a radio channel, with similar signal processing used for recovery.
4) Digital processing avoids signal degradation but requires more bandwidth, while analog processing is sensitive to variations but does not lose quality over time.
5) Fourier analysis is used to derive the
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
This document summarizes a technique for network threat detection and alarming using system statistics and support vector machines. It begins by introducing the importance of network security and common authentication and security mechanisms. It then provides an overview of threat detection systems and their purpose of identifying security incidents and producing reports. The rest of the document details various threat detection techniques, including expert systems, signature analysis, state-transition analysis, statistical analysis, user intention identification, machine learning, and data mining. It focuses on using statistical analysis of system variables like packet types, delay, drop rate, and buffer overflow to identify threat types like blackholes, wormholes, and flooding.
This document discusses Fresnel zones and transmission through dielectric mediums. It presents calculations of reflection and refraction coefficients for different indices of refraction. Charts show transmission power reducing to near zero as the receiving medium index n2 increases to 100,000 but then jumping to 4% for higher values before falling again. The conclusion is that this demonstrates unique behavior of signal transmission in Fresnel zones through dielectric mediums.
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
The Laplace transform generalizes the Fourier transform by allowing the parameter s to be any complex number rather than purely imaginary. The Laplace transform of a signal x(t) is defined as the integral of x(t) multiplied by e^-st from negative infinity to positive infinity. The region of convergence specifies the values of s for which the Laplace transform converges. Within the region of convergence, the Laplace transform provides information about both the growth and frequency content of a signal, unlike the Fourier transform.
This document discusses using artificial neural networks to solve the harmonics elimination problem in three-phase voltage-controlled inverters. It presents a new training algorithm for an ANN that does not use pre-computed switching angles from classical harmonic elimination methods. Instead, it trains the ANN by using the desired solution of the harmonic elimination equations, with the first harmonic equal to the modulation index and higher harmonics equal to zero. Theoretical analysis and simulation results show the high performance of using this ANN approach for generating optimal switching functions to control harmonics in inverters.
The document discusses dynamic modeling of robot manipulators using the Euler-Lagrange approach. It introduces dynamic models and the direct and inverse problems. The Euler-Lagrange approach is then explained in detail. It involves computing the kinetic and potential energies of each link based on the link masses, centers of mass, moments of inertia, and joint velocities and positions. This allows deriving the dynamic equations of motion for the manipulator.
This document provides the mathematical modeling and transfer function of an overhead crane. It defines the variables used such as position, cable length, and angle. It derives the kinetic and potential energies of the crane platform and pendulum and determines the Lagrangian. From this, it obtains the equations of motion for the crane position and cable angle. Small angle approximations yield a transfer function that relates the crane position to the applied force as a function of system parameters like masses and cable length.
This chapter discusses molecular dynamics (MD) simulations, which allow modeling the behavior of atomic and molecular systems by numerically solving Newton's equations of motion. It describes the Verlet algorithm and its variants commonly used to integrate the equations of motion in MD simulations. Analysis of the trajectory data generated by MD simulations can provide information on system properties like pressure, diffusion, and the radial distribution function.
Java gas turbine simulator numerical solversr by john a. reedJulio Banks
This document describes the numerical algorithms used to simulate the operation of a gas turbine engine in the Java Gas Turbine Simulator. It discusses the Newton-Raphson method, fourth-order Runge-Kutta method, and improved Euler method used for steady-state and transient simulations. The Newton-Raphson method iteratively solves nonlinear equations using Jacobian matrices to find steady-state solutions. The fourth-order Runge-Kutta and improved Euler methods integrate differential equations describing the engine over small time steps to model transient behavior. User interfaces allow adjusting parameters that control the convergence and stability of the numerical solutions.
This document provides a summary of mathematical modeling of feedback control systems. It discusses modeling of mechanical systems like cruise control and electromechanical systems like motors. It provides examples of modeling armature controlled and field controlled DC motors. It derives transfer functions relating input voltage to output speed or position. It also discusses modeling a position control system using a DC motor and gear ratio to reduce speed. The document presents various system equations and parameters to model different real world control systems.
The document discusses modeling of electrical and mechanical systems. It provides examples of modeling an RLC network, DC motor, spring-mass-damper system, and closed-loop position control system using transfer functions derived from equations of motion. Transfer functions are obtained using Laplace transforms of differential equations describing the dynamics of the systems.
1) The document discusses quantizing the electromagnetic field by treating it as a collection of harmonic oscillators, one for each mode of the field (determined by the wave vector and polarization).
2) For each mode, the electric and magnetic fields are represented by creation and annihilation operators that satisfy the commutation relations of quantum harmonic oscillators.
3) The total quantum Hamiltonian for the electromagnetic field is the sum over all modes of the individual mode Hamiltonians, with each mode Hamiltonian resembling that of a quantum simple harmonic oscillator.
The document discusses multiple topics related to analog control systems, including:
1. Reducing multiple subsystems into a single block to simplify analysis.
2. Describing system response in terms of transient and steady state response.
3. Explaining poles, zeros and how they relate to system response.
4. Defining characteristics of second order systems and analyzing steady state error.
5. Discussing stability analysis in the complex s-plane and conditions for stable, unstable and marginally stable systems.
Vector Controlled Two Phase Induction Motor and To A Three Phase Induction MotorIJERA Editor
This paper presents vector controlled of single phase induction motor. some problems are with vector controlled SPIM.As SPIM’s are typically to maintain speed and also about the complex implementation of vector controlled SPIM.the implemantion of the proposed vector controlled TPIM compared to the vector controlled SPIM. The general modal sutable for vector control of the unsymmentrical two phase induction motor and also stator flux oriented controlled strategies are analized. the comparative performance of both has been presented in this work with help of a practical three phase motor.
This document provides an overview of analog control systems and Laplace transforms. It introduces key concepts like Laplace transforms, common time domain inputs, transfer functions, and modeling electrical, mechanical and electromechanical systems using block diagrams and mathematical models. Examples are provided to illustrate Laplace transforms, transfer functions, and analyzing system response using poles, zeros and stability analysis.
Edhole School provides best Information about Schools in India, Delhi, Noida, Gurgaon. Here you will get about the school, contact, career, etc. Edhole Provides best study material for school students."
Suppression of correlated electron escape in double ionization in strong lase...Jakub Prauzner-Bechcicki
1) The document discusses selection rules in double ionization of atoms and the suppression of correlated electron escape in double ionization of metastable helium.
2) It examines using a symmetric subspace and quantum simulations to model double ionization, showing suppression for a 800nm single-cycle laser pulse.
3) Double ionization of molecules like N2 and O2 is also discussed, with the conclusion that similar suppression may occur for oriented O2.
This document summarizes key aspects of the discrete Fourier transform (DFT). It defines the DFT, provides the formula for calculating it, and explains that the DFT transforms a discrete-time signal from the time domain to the frequency domain. It also outlines several important properties of the DFT, including linearity, shift property, duality, symmetry, and circular convolution. Examples are provided to illustrate duality and symmetry. References for further information on the discrete Fourier transform are also included.
ABSTRACT : In this paper, the simulation of a double pendulum with numerical solutions are discussed. The double pendulums are arranged in such a way that in the static equilibrium, one of the pendulum takes the vertical position, while the second pendulum is in a horizontal position and rests on the pad. Characteristic positions and angular velocities of both pendulums, as well as their energies at each instant of time are presented. Obtained results proved to be in accordance with the motion of the real physical system. The differentiation of the double pendulum result in four first order equations mapping the movement of the system.
This document summarizes key concepts in digital and analog communications:
1) It defines source coding, channel encoding/decoding, digital modulation/demodulation, and how digital communication system performance is measured in terms of error probability.
2) Thermal noise in receivers is identified as the dominant source of noise limiting performance in VHF and UHF bands.
3) Storing data on magnetic/optical disks is analogous to transmitting a signal over a radio channel, with similar signal processing used for recovery.
4) Digital processing avoids signal degradation but requires more bandwidth, while analog processing is sensitive to variations but does not lose quality over time.
5) Fourier analysis is used to derive the
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
This document summarizes a technique for network threat detection and alarming using system statistics and support vector machines. It begins by introducing the importance of network security and common authentication and security mechanisms. It then provides an overview of threat detection systems and their purpose of identifying security incidents and producing reports. The rest of the document details various threat detection techniques, including expert systems, signature analysis, state-transition analysis, statistical analysis, user intention identification, machine learning, and data mining. It focuses on using statistical analysis of system variables like packet types, delay, drop rate, and buffer overflow to identify threat types like blackholes, wormholes, and flooding.
This document discusses Fresnel zones and transmission through dielectric mediums. It presents calculations of reflection and refraction coefficients for different indices of refraction. Charts show transmission power reducing to near zero as the receiving medium index n2 increases to 100,000 but then jumping to 4% for higher values before falling again. The conclusion is that this demonstrates unique behavior of signal transmission in Fresnel zones through dielectric mediums.
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
Marco Jones is a service management professional with over 15 years of experience in automotive service management. He has held roles such as service advisor, director of parts and service, service manager, and automotive technician. He is skilled in customer service, operations management, team leadership, and continuous improvement. Currently he is a service advisor at Nalley BMW in Decatur, GA where he maintains the highest customer service ratings.
Alguns testemunhos dos meninos e meninas do 1º CEB sobre o que viram no dia aberto.
Esta atividade integrou-se na candidatura ao Projeto Ilídio Pinho "Ciência na escola".
Joaquín Archivaldo Guzmán Loera, también conocido como "El Chapo", es el líder del Cártel de Sinaloa y uno de los narcotraficantes más buscados del mundo. Fundó el Cártel de Sinaloa después de la división del Cártel de Guadalajara en 1989 y desde entonces ha dirigido una de las organizaciones de tráfico de drogas más grandes de México.
Para trabajar con habilidad de interpretar experimentosRicardo Sánchez
Este documento proporciona información sobre diferentes tipos de hidratos de carbono como monosacáridos (glucosa, fructosa), disacáridos (sacarosa, lactosa, maltosa) y polisacáridos (almidón). También presenta los resultados de una prueba de Fehling que muestra la detección de glucosa en almidón, pulpa de manzana y pulpa de papa pero no en sacarosa. Además, detalla la composición de hidratos de carbono específicos en la manzana, que inclu
O documento discute estratégias para cuidar do meio ambiente e promover a cidadania através de um blog que aborda tópicos como água, resíduos, energia renovável, eletrodomésticos e iluminação eficiente.
La informática trata el procesamiento automático de información por medio de máquinas electrónicas. El hardware incluye los componentes físicos de una computadora, mientras que el software se compone de los programas que guían las tareas electrónicas.
Este documento proporciona instrucciones para compartir un documento de Google Docs mediante un enlace compartido, descargar el documento en formato Word, y publicar el documento en Scribd y en un sitio web mediante el código de incorporación.
El documento presenta las respuestas de 6 personas a preguntas sobre sus características, experiencias laborales, proyectos de vida, gustos y afiliaciones. Estefanía se identifica como alegre, social, líder y compañera. Ángela Daniela se identifica con una nota musical. Nicol trabajó como vendedora. Los proyectos de Andrea incluyen ser bachiller, terminar el SENA y viajar. A Maira le gusta tocar la guitarra. A Viviana le gusta la música, jugar Wii y reír.
El documento resume brevemente algunos hitos importantes en la historia de la Iglesia Católica, incluyendo la adopción de la misa diaria en el siglo IV, la aprobación del término "Madre de Dios" para María en el concilio de Éfeso en 431, y la definición de los siete sacramentos en el siglo XII.
Este instructivo proporciona pasos para registrarse en un correo electrónico de Hotmail. Indica abrir el navegador Internet Explorer, buscar Hotmail en Google, hacer clic en registrarse para completar un formulario y esperar un mensaje de bienvenida que confirme el registro.
1) The document discusses dynamics modeling for robotic manipulators using the Denavit-Hartenberg representation and Lagrangian mechanics. It describes using the Euler-Lagrange method to derive equations of motion for robotic links by computing kinetic and potential energy terms.
2) As an example, dynamics equations are derived for a simple 1 degree-of-freedom robotic arm. Kinetic and potential energy expressions are written and the Lagrangian is computed to obtain the equation of motion.
3) State-space modeling basics are reviewed using the example of a damped spring-mass system, showing how to write the system dynamics as state-space matrices to evaluate responses like step response.
Computation of electromagnetic_fields_scattered_from_dielectric_objects_of_un...Alexander Litvinenko
Tools for electromagnetic scattering from objects with uncertain shapes are needed in various applications.
We develop numerical methods for predicting radar and scattering cross sections (RCS and SCS) of complex targets.
To reduce cost of Monte Carlo (MC) we offer modified multilevel MC (CMLMC) method.
The document defines transfer function as the ratio of the Laplace transform of the output to the input of a system with zero initial conditions. It discusses poles and zeros, which are values of s that make the transfer function tend to infinity or zero. Strictly proper, proper, and improper transfer functions are classified based on the order of the numerator and denominator polynomials. The characteristic equation is obtained by equating the denominator of the transfer function to zero. Advantages of transfer functions include representing systems with algebraic equations and determining poles, zeros and differential equations. Translational and rotational mechanical systems are described along with their resisting forces, and D'Alembert's principle is explained.
This document discusses three-phase induction motors. It begins by listing advantages such as being widely used, cheap, easy to maintain, and having fewer mechanical parts than other machines. Problems discussed include grounding faults causing insulation breakdown, isolation failures between coils, and broken rotor bars affecting torque. Methods of motor maintenance like corrective, preventive, and predictive are introduced. Parameter estimation techniques involving time-domain, frequency-domain, using motor construction data, or based on steady-state models are summarized. Finally, recursive least squares estimation is described as a method to determine electrical and mechanical parameters in real-time using motor voltage, current and speed measurements.
Exp 2 (1)2. To plot Swing Curve for one Machine SystemShweta Yadav
This document describes simulating the swing curve of a synchronous generator system. It provides the theory behind modeling a synchronous generator and defines the swing equation. It then gives an example problem of plotting the swing curve for a generator connected to an infinite bus when a fault occurs on one of the transmission lines. The document outlines the solving process using numerical integration methods to solve the swing equation and plot the rotor angle over time.
This document describes the creation of a state space model of an electrical system in MATLAB/Simulink. It begins by outlining the state space representation method for modeling linear systems like RL and RLC circuits. It then shows how to derive the state space equations for a simple RL circuit based on its differential equations. Several techniques for solving the system are presented, including numerical integration using ode45, symbolic solution using dsolve, and Laplace transform methods. Finally, it demonstrates how to build a Simulink model from the differential equations and evaluate the system response. The document provides an example workflow for modeling an electrical circuit in state space and simulating it in MATLAB/Simulink.
This document summarizes a paper presented at the International Conference on Mechatronics in Kumamoto, Japan in May 2007. The paper presents analysis and implementation of exact model knowledge and direct adaptive control schemes for a 4th order ball and beam system. Two controllers are designed - one using the exact model and one using direct adaptive control. Experimental results show that both controllers can track constant and sinusoidal references for the ball position asymptotically on a physical ball and beam system.
The document presents the application of the reduced differential transform method (RDTM) to solve time-fractional order beam and beam-like equations. RDTM is used to obtain approximate analytical solutions to these equations in the form of a series with few computations. Three test problems are solved to validate the method. The solutions obtained by RDTM for the test problems agree well with the exact solutions.
This document discusses fractional order Sallen-Key and KHN filters. It presents an analysis of allocating system poles to control stability for these fractional order filters. The stability analysis considers two different fractional order transfer functions with two different fractional order elements. The number and locations of system poles depends on the fractional orders and transfer function parameters. Numerical, circuit simulation, and experimental results are used to test proposed stability contours.
MATLAB sessions: Laboratory 6
MAT 275 Laboratory 6
Forced Equations and Resonance
In this laboratory we take a deeper look at second-order nonhomogeneous equations. We will concentrate
on equations with a periodic harmonic forcing term. This will lead to a study of the phenomenon known
as resonance. The equation we consider has the form
d2y
dt2
+ c
dy
dt
+ ω20y = cosωt. (L6.1)
This equation models the movement of a mass-spring system similar to the one described in Laboratory
5. The forcing term on the right-hand side of (L6.1) models a vibration, with amplitude 1 and frequency
ω (in radians per second = 12π rotation per second =
60
2π rotations per minute, or RPM) of the plate
holding the mass-spring system. All physical constants are assumed to be positive.
Let ω1 =
√
ω20 − c2/4. When c < 2ω0 the general solution of (L6.1) is
y(t) = e−
1
2 ct(c1 cos(ω1t) + c2 sin(ω1t)) + C cos (ωt− α) (L6.2)
with
C =
1√
(ω20 − ω2)
2
+ c2ω2
, (L6.3)
α =
⎧
⎨
⎩
arctan
(
cω
ω20−ω2
)
if ω0 > ω
π + arctan
(
cω
ω20−ω2
)
if ω0 < ω
(L6.4)
and c1 and c2 determined by the initial conditions. The first term in (L6.2) represents the complementary
solution, that is, the general solution to the homogeneous equation (independent of ω), while the second
term represents a particular solution of the full ODE.
Note that when c > 0 the first term vanishes for large t due to the decreasing exponential factor.
The solution then settles into a (forced) oscillation with amplitude C given by (L6.3). The objectives of
this laboratory are then to understand
1. the effect of the forcing term on the behavior of the solution for different values of ω, in particular
on the amplitude of the solution.
2. the phenomena of resonance and beats in the absence of friction.
The Amplitude of Forced Oscillations
We assume here that ω0 = 2 and c = 1 are fixed. Initial conditions are set to 0. For each value of ω, the
amplitude C can be obtained numerically by taking half the difference between the highs and the lows
of the solution computed with a MATLAB ODE solver after a sufficiently large time, as follows: (note
that in the M-file below we set ω = 1.4).
1 function LAB06ex1
2 omega0 = 2; c = 1; omega = 1.4;
3 param = [omega0,c,omega];
4 t0 = 0; y0 = 0; v0 = 0; Y0 = [y0;v0]; tf = 50;
5 options = odeset(’AbsTol’,1e-10,’RelTol’,1e-10);
6 [t,Y] = ode45(@f,[t0,tf],Y0,options,param);
7 y = Y(:,1); v = Y(:,2);
8 figure(1)
9 plot(t,y,’b-’); ylabel(’y’); grid on;
c⃝2011 Stefania Tracogna, SoMSS, ASU 1
MATLAB sessions: Laboratory 6
10 t1 = 25; i = find(t>t1);
11 C = (max(Y(i,1))-min(Y(i,1)))/2;
12 disp([’computed amplitude of forced oscillation = ’ num2str(C)]);
13 Ctheory = 1/sqrt((omega0^2-omega^2)^2+(c*omega)^2);
14 disp([’theoretical amplitude = ’ num2str(Ctheory)]);
15 %----------------------------------------------------------------
16 function dYdt = f(t,Y,param)
17 y = Y(1); v = Y(2);
18 omega0 = param(1); c = param(2); omega = param(3);
19 dYdt = [ v ; cos(omega ...
Lagrangian formulation provides an alternative but equivalent way to derive equations of motion compared to Newtonian mechanics.
The document provides examples of deriving equations of motion for simple harmonic oscillators, Atwood's machine, and a spring pendulum using the Lagrangian formulation. It also shows the equivalence between Lagrange's equations and Newton's second law.
Specifically, it demonstrates that for a conservative system using generalized coordinates, Lagrange's equations reduce to F=ma, where the generalized forces are equal to the negative gradient of the potential energy.
On The Fundamental Aspects of DemodulationCSCJournals
When the instantaneous amplitude, phase and frequency of a carrier wave are modulated with the information signal for transmission, it is known that the receiver works on the basis of the received signal and a knowledge of the carrier frequency. The question is: If the receiver does not have the a priori information about the carrier frequency, is it possible to carry out the demodulation process? This tutorial lecture answers this question by looking into the very fundamental process by which the modulated wave is generated. It critically looks into the energy separation algorithm for signal analysis and suggests modification for distortionless demodulation of an FM signal, and recovery of sub-carrier signals
This document summarizes Nathan Wendt's final project for EE321, which involved designing third-order passive frequency-selective circuits. Section I derives the general transfer function and analyzes low-pass behavior. Section II examines the low-pass frequency response and Butterworth design. Section III designs a high-pass Butterworth filter. MATLAB is used throughout to simulate and analyze the circuit designs.
This document presents a dynamic model of a permanent magnet synchronous motor using a two-phase d-q model. It derives the two-phase model equations from the three-phase model equations. It discusses how the inductances and flux linkages vary with rotor position and defines the d-axis and q-axis components. It presents the two-phase equivalent circuit model and discusses how torque is produced from both the permanent magnet flux and reluctance torque. It also discusses how to obtain the two-phase model parameters from physical measurements of the motor.
This document presents a dynamic model of a permanent magnet synchronous motor. It derives a two-phase d-q model from the three-phase model by transforming the stator variables from the stationary a-b-c frame to the rotating d-q frame. It discusses obtaining the complete set of model parameters from simple laboratory tests, as some parameters are not directly measurable and vary with operating conditions. The model is primarily for interior permanent magnet synchronous motors but can also apply to surface permanent magnet motors.
Here are the steps to solve for the transfer function G(s) = X2(s)/F(s) for the given system:
1. Draw the free body diagrams for both masses M1 and M2 showing all the forces acting on each mass.
2. Write the Newton's second law equation for M1:
(M1s2 + f1vs + k1)X1(s) - k2(X1(s) - X2(s)) = 0
3. Write the Newton's second law equation for M2:
-k2(X1(s) - X2(s)) + (M2s2 + f2vs + k
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Graph theoretic approach to solve measurement placement problem for power systemIAEME Publication
This document summarizes a research paper that proposes a new graph theoretic approach to solve the measurement placement problem for power system state estimation. The proposed method allows measurement placement without iterative addition by ensuring each branch is incident to power injection measurements at either end or a flow measurement and injection at one end. It was tested on the IEEE 14 bus system and produced a measurement set that maintained observability even after removing a detected bad data point. State estimates using the proposed method were more accurate than two other measurement placement methods according to testing on voltage magnitude and angle errors. The developed method can help design measurement systems to meet state estimator requirements like observability and bad data processing.
1. Munmun Dutta, Balram Timande / International Journal of Engineering Research and
Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 2, Issue 5, September- October 2012, pp.1188-1192
A Relative Study Of Kalman Filtering For Control Of A
Permanent-Magnet Synchronous Motor Drive
Munmun Dutta*, Balram Timande**
*(Department of Electrical & Electronic Engineering, DIMAT, Raipur, India)
**(Department of Electronic & Telecommunication Engineering, DIMAT, Raipur, India)
ABSTRACT
There is increasing demand for derived from the Kalman filter based on the
dynamical systems to become more realizable successive linearization of the signal process and
and more cost-effective. These requirements observation map[3]. EKF is insensitive to parameter
extend new method of control and operation. changes and used for stochastic systems where
This paper presents a comparative study of the measurement and modeling noise is taken into
Extended Kalman Filter (EKF) for estimation of account.
the rotor speed and position of a permanent-
magnet synchronous motor (PMSM) drive[1]. 2. MATHEMATICAL MODEL OF
The system is highly nonlinear and one therefore PMSM
cannot directly use any linear system tools for The Permanent Magnet Synchronous Motor
estimation. However, if one can linearize the is rotating electric machine where the stator is a
system around a nominal (possibly time-varying) classic three phase coils like that of an induction
operating point then linear system tools could be motor and the permanent magnets are located on the
used for control and estimation. Extended rotor. A PMSM can be mathematically represented
Kalman Filter is generalized algorithm, which by the following equation in the d-q axis
can be used for non-linear systems such as synchronously rotating rotor reference frame for
PMSM. The estimation is done upon undisturbed assumed sinusoidal stator excitation [4].
input signals from overriding controller and 1
disturbed output signals of a real non-linear ia = −(R a L)ia + (λ L)ωr sinθr + ( )ua
L
plant, which are measured [2]. The entire state 1
estimated system has been modeled using ib = −(R a L)ib + (λ L)ωr cosθr + ( )ub
L
MATLAB. ωr = −(3λ 2J) ia sinθr + (3λ 2J) ib cosθr −
F J ωr − (1 J)TL
Keywords- Two-Phase Permanent Magnet
Synchronous Motor, Kalman Filter, Extended (2.1)
Kalman Filter, Matlab function. θr = ωr
where ia and ib are the currents through the
two windings, Ra and L are the resistance and
1. INTRODUCTION
High torque to inertia ratio, superior power inductance of the windings, θr and ωr are the angular
density, high efficiency and many other advantages position and velocity of the rotor, λ is the flux
made PMSM the most widely acceptable electrical constant of the motor, ua and ub are the voltages
motor in industrial applications. Compared with the applied across the two windings, J is the moment of
inverter-fed induction motor drive, the PMSM has inertia of the rotor and its load, F is the viscous
no rotor loss and hence it is more efficient and a friction of the rotor, and TL is the load torque [4, 5].
larger torque-to-weight ratio is achievable. To To avoid convergence problems at startup
reduce the cost and to improve the reliability, sensor and to simplify the motor equations, the rotor
less PMSM control strategies have been developed reference frame is chosen for evaluation of the
[2]. In these strategies, the motor position and speed Kalman filters [6]. The motor nonlinear state
is estimated and used as a feedback signal for equations can be expressed in the form:
closed-loop speed control. x = Ax + Bu + MTL
In this paper, we propose to estimate the (2.2)
motor quantities like speed, flux vector position, y = Cx
currents in direct and quadrature axes, from the (2.3)
measurements of three phase stator currents using an
Extended Kalman filter (EKF)[3]. The Kalman filter Where
is a special kind of observer which provides optimal x = ia ib ωr θr T is a state vector.
estimation of the system states based on least-square 𝑦 = 𝑖𝑎 𝑖𝑏 𝑇 is a output vector.
techniques. The extended Kalman filter (EKF) is With this definition, “equation (2.1)” can be written
widely used for nonlinear filter problems. It is compactly[7]
1188 | P a g e
2. Munmun Dutta, Balram Timande / International Journal of Engineering Research and
Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 2, Issue 5, September- October 2012, pp.1188-1192
as x = x1 x2 x3 x4 T OR
−R a λ xk+1 = Ak xk + Bk uk + Mk TL + wk
L
0 − L sinx4 0
−R a λ
(3.7)
0 cosx4 0 where,
A= L L
−3λ 3λ −F T L ∆ua
sinx4 cosx4 0
2J 2J j T L ∆ub
wk =
0 0 1 0 −T J ∆TL
1
() 0 0 1 0
T
0
L
1 0 0 1 (3.8)
B= 0 ( ) ,M= −1 andC= Similarly, if the measurements ia and ib are
L 0 0
0 0 J
0 0 distorted by noises ∆ia and ∆ib respectively, then
0 0 0 “equation (3.2)” becomes
ia + ∆ia
3. ESTIMATION OF SPEED AND ib + ∆ib ∆ia
yk = Ck =Ck xk+ = Ck xk + vk
ROTOR POSITION USING ROBUST ωr ∆ib
EXTENDED KALMANFILTER θr
The Kalman filter is often applied during (3.9)
dissolving state estimation of dynamical system, where,
disturbed by the known signals. Kalman filter ∆ia
vk =
algorithm is used for estimating the parameters of ∆ib
linear system, but the PMSM model is non-linear, so (3.10)
we cannot use that filter in this case. Extended where the vectors wk and vk are called the
Kalman Filter is generalized algorithm, which can be process and measurement noises respectively[12].
used for non-linear systems The Kalman filter solution does not apply unless
The EKF is an optimal estimator in the least certain assumptions about the noise that affects the
square sense for the estimation of nonlinear dynamic system under study must be satisfied[13]:
systems. It is derived from the Kalman filter based It is firstly to assume that the average
on successive linearization of the signal process and 1. It is firstly to assume that the average value of
observation map [8]. both wk and vk are zero.
For this application the motor nonlinear state 2. One has to further assume that no correlation
“equations (2.1)” are expressed in the discretized exists between wk and vk . That is, at any time k,
form wk and vk are independent random variables.
xk+1 = Ak xk + Bk uk + Mk TL Then the noise covariance matrices Sw and Sv
(3.1) are defined as:
yk = Ck xk Process noise covarianc[6]:
T
(3.2) Sw = E wk wk
Ak and Bk are the discretized system and (3.11)
input matrices, respectively. They are [9,2,10] Measurement noise covariance:
AT 2 Sv = E vk vk T
Ak = eAT = I + AT + +⋯
2! (3.12)
≅ I+AT where wT and vT indicate the transpose of w
(3.3) and v random noise vectors, and E(.) means the
T
expected value.
Bk = eAζ Bdζ = [eAT − I]A−1 B Substituting “equation (3.8) ”into“ equation
0
ABT 2 (3.11)” and “equation (3.10)” into “equation
= BT + 2!
+ ⋯ ≅ BT (3.12)”,[14] one can get the following process and
(3.4) measurement noise covariance matrices:
Mk ≅ MT
(3.5) Sw
Ck = C T 2 T 2 T 2
(3.6) ∆ua 2 ∆ua ∆ub − ∆ua ∆TL 0
where T is the sampling time and I is an L L JL
identity (4X4) matrix. T 2 T 2 T 2
= ∆ua ∆ub ∆ub 2 − ∆ub ∆TL 0
If the noises ∆ua , ∆ub have corrupted the L L JL
inputs ua and ub respectively, and the noise ∆α has T 2 T 2 T 2
been admitted to account for uncertainties in the load − ∆ua ∆TL − ∆ub ∆TL ∆TL 2 0
JL JL J
torque[11], then a noise vector will arise in
0 0 0 0
“equation.(3.1)”. (3.13)
u + ∆ua
xk+1 = Ak xk + Bk a + Mk TL + ∆TL
ub + ∆ub k
1189 | P a g e
3. Munmun Dutta, Balram Timande / International Journal of Engineering Research and
Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 2, Issue 5, September- October 2012, pp.1188-1192
∆ia 2 ∆ia ∆ib Robust EKF estimates the instantaneous motor
Sv = E speed, rotor position, quadrature and direct axis
∆ia ∆ib ∆ib 2
(3.14) currents and voltages.
If the noises ∆ua ( ∆ub ), ∆TL , ∆ia ( ∆ib ) are The parameters of the motor are listed in “Table -
white, zero mean, uncorrelated, and have known 4.1”,[16]
variances σ2 , σ2 and σ2 , 2Ts and 2Ms , respectively,
i T M
then the covariance matrices Sw and Sv will become TABLE-4.1: PARAMETERS OF TWO-PHASE
MOTOR
T 2
σ2 0 0 0
L i Winding Resistance Ra 2Ω
T 2
Sw = 0 σ2
i 0 0
L
T 2
0 0 J
σ2
T 0 Winding Inductance L 3mH
0 0 0 0
(3.15)
Motor flux constant λ 0.1
σ2
M 0 Standard deviation of
Sv = (3.16) control input noises
0 σ2M
The timing diagram of the various σi 0.001A
quantities involved in the discrete optimal filter Standard deviation of σT 0.05 rad/ sec2
equations is shown in “Fig.(3.1)”. load torque noise
Standard deviation of σM 0.1A
measurement noise
Moment of Inertia J 0.002
Frequency f 1Hz
Coefficient of viscous B 0.001
friction
Figure 3.1 timeline showing a priori and a posteriori state
estimates and estimation- error covariance.
The “Fig (3.1)” shows that after we process
the measurement at time (k-1), we have an estimate
+
of xk+1 (denoted xk−1 ) and the covariance of that
+
estimate (denoted Pk−1 )[15]. When time k arrives,
before we process the measurement at time k we
compute an
estimate of xk (denoted 𝐱 − ) and the covariance of
𝐤
that estimate (denoted 𝐏 − ).Then the measurement
𝐤
is processed at time k to refine our estimate of x .
k
The resulting estimate of xk is denoted 𝐱 + and its
𝐤
covariance is denoted 𝐏 +.
𝐤 Figure-4.2 extended Kalman filter simulation results
for a two-phase permanent magnet synchronous
4. EXPERIMENTAL RESULTS & motor
SIMULATIONS
Simulation of the given PMSM has been “Figure 4.2” show, respectively, the
carried out using MATLAB[12]. The three phase simulation results of EKF state estimation
stator currents are taken from the motor model, and performance for the sensor less PMSM drive. The
given to the robust extended Kalman filter. The system was simulated at sampling time (T=1 ms).
1190 | P a g e
5. Munmun Dutta, Balram Timande / International Journal of Engineering Research and
Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 2, Issue 5, September- October 2012, pp.1188-1192
Munmun Dutta, born in Rajasthan, Prof. Balram Timande, Born in
India, in 1985. He received the 1970, currently working as Reader in
Bachelor degree in Electrical department of E&TC at DIMAT
Engineering from the NIT Raipur, Raipur. He is having 9.5 years
India, in 2007 and pursuing Master Industrial experience and 7.5 years
degree in Power System Engineering teaching experience. He obtained B.E.
with the Department of Electrical & Electronic (Electronics) from Nagpur University (INDIA) in
Engineering from the DIMAT,Raipur, India. Her 1993 and M. Tech. form B.I.T. Durg (affiliated to
main area of interest are Control system C.S.V.T.U. Bhilai) in 2007. He published 02 papers
engineering, Power system engineering , Testing in National Journal LAB EXPERIMENTS, (LE)
& commissioning of electrical installations. ISSN no. 09726055KARENG/2001/8386 and 02
Papers in International Journal IJECSE – ISSN-
2277-1956. His area of research/interest is
Embedded system design and Digital Image
Processing.
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