Introduction Energy Factor (EF) and Sub-Sequential Parameters Basic Mathematics of Digital Control Systems Mathematical Modeling of Digital Power Electronisc Digitally Controlled AC/DC Rectifiers Digitally Controlled DC/AC Inverters Digitally Controlled DC/DC Converters Digitally Controlled AC/AC Converters Open-Loop Control for Digital Power Electronics Closed-Loop Control for Digital Power Electronisc Energy Factor Application in AC and DC Motor Drives Applications in Other Branches of Power Electronics

Digital Power Electronics and Applications

40 years of sensor fusion for orientation tracking via magnetic and inertial measurement units: Methods, lessons learned, and future challenges

Attitude estimation is one of the core frame- works used for navigating an unmanned aerial vehicle from one place to the other. This paper presents an Euler-based non-linear complementary filter (CF) whose gain parameters are obtained using particle swarm optimization (PSO) technique. It relieves the user from feeding the KP and KI parameters manually and adjust these parameters automatically when the error between the attitude measured from accelerometer and the CF increases above a particular threshold. The measurement unit for this research consists of micro-electro-mechanical-systems (MEMS) based low cost tri-axial rate gyros, accelerometers and magnetometers, without resorting to global positioning system (GPS) data. The efficiency of the CF is experimentally investigated with the help of reference attitude and the raw sensor data obtained from commercial inertial measurement unit (IMU). Simulation results based on the test data show that the proposed PSO aided non-linear complementary filter (PNCF) can automatically obtain the required gain parameters and exhibits promising performance for attitude estimation.

PSO Aided Adaptive Complementary Filter for Attitude Estimation

In the paper the design of an aircraft motion controller based on the Dynamic Contraction Method is presented The control task is formulated as a tracking problem for Euler angles, where the desired decoupled output transients are accomplished under assumption of high-level, high-frequency sensor noise and incomplete information about varying parameters of the system and external disturbances The resulting controller has a simple form of a combination of a low-order linear dynamical system and a matrix whose entries depend nonlinearly on certain measurable flight variables

Robust Quasi NID Aircraft 3D Flight Control Under Sensor Noise

This paper presents a passivity-based control (PBC) design methodology for three-phase voltage source inverters (VSI) for uninterruptable power supply (UPS) systems where reduced harmonic distortions for the nonlinear load, reduced output voltage overshoot, and a restricted settling time are required. The output filter design and modification for efficient control and existing challenges with the assignment of scaling coefficients of the output voltage, load, and inductor currents are addressed and analyzed. Notably, special attention is given to the modulator saturation issue through implementing an accurate converter model. Applications of the two versions of PBC in three-phase voltage source inverters using stationary αβ and rotating dq frames for a constant frequency of the output voltage are presented. Furthermore, the influence of the PBC parameters on the power converter performance is investigated. A comparative simulation and the experimental results validate the effectiveness of the presented passivity-based control design methodology.

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Passivity-Based Control Design Methodology for UPS Systems

Wyznaczanie orientacji obiektu w przestrzeni z wykorzystaniem naiwnego filtru Kalmana

In the paper complementary filter is presented for estimating 3D orientation. The main aim of this paper is to analyze methods of determining the angles from gyroscopes. Angles from gyro are calculated by integration measurements directly in sensor frame, by integration angles velocity after transformation to navigation frame and by strapdown integration. Analysis of the complementary filter is presented for data from real IMU sensor and for data from IMU signal simulator. (Angles from gyroscope to complementary filter in IMU) Słowa kluczowe: orientacja 3D, IMU, filtr komplementarny, całkowanie żyroskopów, całkowanie bezkardanowe.

Metody wyznaczania kątów z żyroskopów dla filtru komplementarnego na potrzeby określania orientacji IMU

The paper presents the idea, design and performance evaluation of a low-cost Attitude and Heading Reference System (AHRS). It is based on an Inertial Measurement Unit (IMU), being a single sensor pack that provides all the raw data required to feed the designed filter. An extension of a complementary filter in form of feedback control system with PI controller, called 3D complementary filter provides attitude estimates in Euler angles representation. A developed algorithm of filtering and data fusion poses small computational requirements for the designed low-power embedded hardware. Test were performed based on the sensor model and next using a real IMU. Experimental results obtained by means of rapid prototyping of designed filtering algorithm in different operating states are presented and discussed.

Attitude and heading reference system based on 3D complementary filter

A New Look at Water Tanks Systems as Control Teaching Tools

In the paper the role of anti-aliasing filters is revised based on control quality assessment of various setups of analog filters used prior to sampling, or their lack. Numerical results show that contrary to common belief possible benefits gained from anti-aliasing filters are very restricted.

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Rafal Grygiel

Papers

Wyznaczanie orientacji obiektu w przestrzeni z wykorzystaniem naiwnego filtru Kalmana

Metody wyznaczania kątów z żyroskopów dla filtru komplementarnego na potrzeby określania orientacji IMU

Attitude and heading reference system based on 3D complementary filter

A New Look at Water Tanks Systems as Control Teaching Tools

Are anti-aliasing filters really necessary for sampled-data control?