RESUMEN

This study aimed to enhance the stability and response speed of a passive stabilized double-wing flapping micro air vehicle (FMAV) by implementing a feedback-controlled biomimetic tail. A model for flapping wings accurately calculated the lift force with only a 2.4% error compared to the experimental data. Experimental tests established the relationship between control torque and tail area, swing angle, and wing-tail spacing. A stability model for the double-wing FMAV was developed, incorporating stabilizing sails. Linearization of the hovering state facilitated the design of a simulation controller to improve response speed. By adjusting the feedback loops of velocity, angle, and angular velocity, the tail controller reduced the angle simulation response time from 4 s to 0.1 s and the velocity response time from 5.64 s to 0.1 s. In take-off experiments, a passive stabilized prototype with an adjustable tail angle exhibited enhanced flight stability compared to fixed tails, reducing standard deviation by 72.96% at a 0° take-off angle and 56.85% at a 5° take-off angle. The control axis standard deviation decreased by 38.06% compared to the passive stability axis, confirming the effectiveness of the designed tail angle controller in reducing angular deflection and improving flight stability.

RESUMEN

In contemporary scenario, electric power companies have observed upsurge in penetration level of tidal power plants (TPPs) in the traditional electric power system framework. However, the tidal turbines offer less frequency assistance due to their lesser rotor mass. Hence, TPPs may be collaborated with conventional units like diesel engine generator (DEG) to confirm system frequency stability in multi-area micro-grid system. The DEG comprises of primary and proportional integral derivative (PID) secondary frequency controls. However, in TPPs, to advance the system frequency regulation, deloading control approach is suggested and a cascade fuzzy fractional order PID-ID with derivative filter (CFFOPID-IDF) droop controller is suggested in place of the conventional non-cascade controller droop in the deloaded region. The suggested controller gains are fetched exploiting Salps swarm algorithm. For further enhancement of the dynamic responses, a precise high voltage direct current (AHVDC) link with the inertia emulation-based control (INEC) scheme is adopted, which allows the utilization of the gathered energy from the capacitance of the HVDC interface for frequency regulation. It provides better results compared to conventional AC tie line interface having less undershoot (34 %/20.63 %/43.75 %) and settling time (20.45 %/59.09 %/16.83 %) for variation in area-1 frequency/area-2 frequency/tie line power, respectively. The recommended control scheme is evidenced superior over numerous existing control techniques and provides least cost function in contrast to other control techniques. Additionally, it offers a highly stable performance under variable load conditions.

RESUMEN

Electricity generation in Islanded Urban Microgrids (IUMG) now relies heavily on a diverse range of Renewable Energy Sources (RES). However, the dependable utilization of these sources hinges upon efficient Electrical Energy Storage Systems (EESs). As the intermittent nature of RES output and the low inertia of IUMGs often lead to significant frequency fluctuations, the role of EESs becomes pivotal. While these storage systems effectively mitigate frequency deviations, their high costs and elevated power density requirements necessitate alternative strategies to balance power supply and demand. In recent years, substantial attention has turned towards harnessing Electric Vehicle (EV) batteries as Mobile EV Energy Storage (MEVES) units to counteract frequency variations in IUMGs. Integrating MEVES into the IUMG infrastructure introduces complexity and demands a robust control mechanism for optimal operation. Therefore, this paper introduces a robust, high-order degree of freedom cascade controller known as the 1PD-3DOF-PID (1 + Proportional + Derivative-Three Degrees Of Freedom Proportional-Integral-Derivative) controller for Load Frequency Control (LFC) in IUMGs integrated with MEVES. The controller's parameters are meticulously optimized using the Coati Optimization Algorithm (COA) which mimics coati behavior in nature, marking its debut in LFC of IUMG applications. Comparative evaluations against classical controllers and algorithms, such as 3DOF-PID, PID, Reptile Search Algorithm, and White Shark Optimizer, are conducted under diverse IUMG operating scenarios. The testbed comprises various renewable energy sources, including wind turbines, photovoltaics, Diesel Engine Generators (DEGs), Fuel Cells (FCs), and both Mobile and Fixed energy storage units. Managing power balance in this entirely renewable environment presents a formidable challenge, prompting an examination of the influence of MEVES, DEG, and FC as controllable units to mitigate active power imbalances. Metaheuristic algorithms in MATLAB-SIMULINK platforms are employed to identify the controller's gains across all case studies, ensuring the maintenance of IUMG system frequency within predefined limits. Simulation results convincingly establish the superiority of the proposed controller over other counterparts. Furthermore, the controller's robustness is rigorously tested under ± 25% variations in specific IUMG parameters, affirming its resilience. Statistical analyses reinforce the robust performance of the COA-based 1PD-3DOF-PID control method. This work highlights the potential of the COA Technique-optimized 1PD-3DOF-PID controller for IUMG control, marking its debut application in the LFC domain for IUMGs. This comprehensive study contributes valuable insights into enhancing the reliability and stability of Islanded Urban Microgrids while integrating Mobile EV Energy Storage, marking a significant advancement in the field of Load-Frequency Control.

RESUMEN

A 10 kV distribution network is a crucial piece of infrastructure to guarantee enterprises' and households' access to electricity. Stripping cables is one of many power grid maintenance procedures that are now quickly expanding. However, typical cable-stripping procedures are manual and harmful to workers. Although numerous automated solutions for grid maintenance have been created, none of them focus on cable stripping, and most of them have large dimensions to guarantee multi-functions. In this paper, a new cable-stripping robot for the 10 kV power system is introduced. The design of a live working cable-stripping robot that is appropriate for installing insulating rods is introduced, taking into account the working environment of 10 kV overhead lines and the structural characteristics of overhead cables. The robot is managed by an auxiliary remote control device. A cascade PID control technology based on the back propagation neural network (BPNN) method was developed, as the stripper robot's whole system is nonlinear and the traditional PID controller lacked robustness and adaptability in complex circumstances. To validate the structural feasibility of the cable-stripping robot, as well as the working stability and adaptability of the BPNN-PID controller, a 95 mm2 cable-stripping experiment are carried out. A comparison of the BPNN-PID controller with the traditional PID method revealed that the BPNN-PID controller has a greater capacity for speed tracking and system stability. This robot demonstrated its ability to replace manual stripping procedures and will be used for practical routine power maintenance.

RESUMEN

In the present era, due to increasing power demand and complex power system structures having various load disturbances, a load frequency management (LFM) scheme is indispensable to provide uninterrupted power to consumers. This research deals with a fractional-order proportional derivative - (one + fractional order integrator) (FOPD-(1+FOI)) cascade controller as a novel control structure to ameliorate the execution of automatic generation control (AGC) for the LFM of interconnected power system (PS). The implementation of this controller is uncomplicated, and it joins the output of the FOPD controller to (1+FOI) controller, where area control error and power error are considered in the outer and inner feedback control loops, respectively. A maiden attempt of a wild horse optimizer-assisted FOPD-(1+FOI) cascade controller for AGC of considered interconnected PS has been performed in this work. To benchmark the proposed control scheme, two areas reheat thermal PS with GDB and GRC nonlinearities is chosen as the test bench. A vivid comparative analysis of six state-of-the-art control techniques is performed, and the results reveal the potency of the presented control approach. Eigenvalues-based stability assessment of interconnected PS in conjunction with the proposed controller is also performed. Finally, for the real PS implementation of the presented control architecture a new england IEEE 39 test bus is considered and analyzed.

RESUMEN

The goal of this study is to introduce an effective load frequency control scheme with the integration of tidal turbines in a standalone microgrid (µG) system. As standalone µG experiences lower inertia and lacks primary frequency control, the use of variable tidal turbines in the de-loaded region may be accepted as one of the feasible solutions for managing frequency regulation issues. In this condition, the de-load region alludes to an area where tidal turbines liberate their accumulated kinetic energy in rotational parts pursuing frequency fluctuations. An effectual cascade fractional order fuzzy PID-integral double derivative (CFOFPID-IDD) controller suggested for efficient utilization of tidal turbines, whose design variables are tuned through a recently appeared Jaya algorithm. An investigation is made between the acquired outcomes of the studied CFOFPID-IDD droop controller with fractional order fuzzy PID droop control to analyze the proposed strategy performance in various load conditions, with different physical constraints like time delay, dead zone, and generation rate constraints. Moreover, the sensitivity test reveals that the Jaya-optimized CFOFPID-IDD controller can undergo ± (10-25) % variation in various coefficients without retuning the design variable values. The simulation outcomes validate the effectiveness and adequacy of the proposed regulator.

Asunto(s)

RESUMEN

The modern power system (PS) is an intricate manmade control system. Automatic generation control (AGC) executes an imperative contribution in PS operation to preserve its frequency and tieline power flow within a tolerable range following continuously varying load demands. Hence, a wholesome and expert controller for AGC is obligatory to deliver superior power to the end users. The objective of this article is to design a cascaded fuzzy fractional order (FO) PI-FOPID (CFFOPI-FOPID) controller as a novel control strategy for AGC problem solution in electric PS. The controller parameters are determined employing a recent stochastic imperialist competitive algorithm. The controller assures the convergence of deviation in area frequency and tieline power under load disturbances to zero in minimum definite time. Single and interconnected multi-area thermal PS models are utilized as test systems to authorize the efficacy of the method. Results analysis reveals the advantage of CFFOPI-FOPID​ controller over various prevalent controllers. The models are also explored with appropriate generation rate constraint. Robustness test validates controller's robustness at large changes in system parameters, random change in power demand and additional imperative nonlinearities.

RESUMEN

The disturbance suppression is one of the most common control problems in electro-hydraulic systems. especially largely an unknown disturbance often obviously degrades the dynamic performance by biasing the desired actuator outputs (e.g., load forces or torques). In order to reject the dynamic disturbances in some multi-degree-of-freedom manipulators driven by electro-hydraulic actuators, this paper proposes a state feedback control of the cascade electro-hydraulic system based on a coupled disturbance observer with backstepping. The coupled disturbance observer is designed to estimate both the independent element and the coupled element of the external loads on each electro-hydraulic actuator. The cascade controller has the ability to compensate for the disturbance estimating, as well as guarantees the system state error convergence to a prescribed steady state level. The effectiveness of the proposed controller for the suppression of largely unknown disturbances has been demonstrated by comparative study, which implies the proposed approach can achieve better dynamic performance on the motion control of Two-Degree-of-Freedom robotic arm.