Increasing demand for faster and more agile Unmanned Aerial Vehicles (UAVs, drones) is observed in many scenarios, including but not limited to medical supply or Search-and-Rescue (SAR) missions. Exceptional maneuverability is critical for robust obstacle avoidance during autonomous flights. A novel modification to the Model Predictive Controller (MPC) is proposed, which drastically improves the speed of the attitude controller of our quadcopter drone. The modified MPC is suitable for the onboard microcontroller and the 400 Hz main control loop. The peak and total energy consumption and the performance of the attitude controllers are assessed: the modified MPC and the default Proportional-Integral-Derivative (PID). The tests were conducted in a custom-implemented Flight Mode in the ArduCopter software stack, securing the drone in a test harness, which guarantees the experiments are repetitive. The ultimate MPC greatly increases maneuverability of the drone and may inspire more research... [more]

The Energy Management Strategy (EMS) in Fuel Cell Hybrid Electric Vehicles (FCHEVs) is the key part to enhance optimal power distribution. Indeed, the most recent works are focusing on optimizing hydrogen consumption, without taking into consideration the degradation of embedded energy sources. In order to overcome this lack of knowledge, this paper describes a new health-conscious EMS algorithm based on Model Predictive Control (MPC), which aims to minimize the battery degradation to extend its lifetime. In this proposed algorithm, the health-conscious EMS is normalized in order to address its multi-objective optimization. Then, weighting factors are assigned in the objective function to minimize the selected criteria. Compared to most EMSs based on optimization techniques, this proposed approach does not require any information about the speed profile, which allows it to be used for real-time control of FCHEV. The achieved simulation results show that the proposed approach reduces th... [more]

This article presents the results of the development of a hybrid research platform for fundamental and empirical modeling and analysis of energy management of shared electric vehicles. The article describes the hybrid model and its specific features in detail. Within the model architecture, a part of the fundamental model, empirical model and data collection tools were interconnected. The uniqueness lies in the models of electric cars created for a specific vehicle using cost-optimal parameterizations, as well as the implementation of a cloud solution, which is based on custom data communication, custom data logger and cost-optimized parameterization of machine learning algorithms. Experimental verification was performed on a real electric car in public traffic. The car is part of casharing platform.

This work aims to develop a novel system, including software and hardware, to perform independent control tasks in a genuine parallel manner. Currently, to control processes with various sampling periods, distributed control systems are most commonly utilized. The main goal of this system is to propose an alternative solution, which allows simultaneous control of both fast and slow processes. The presented approach utilizes FPGA (Field Programmable Gate Array) with Nios II processor (Intel Soft Processor Series) to implement and maintain instances of independent controllers. Instances can implement FDMC (Fast Dynamic Matrix Control) and PID (Proportional-Integral-Derivative) control algorithms with various sampling times. The FPGA-based design allows for true independence of controllers’ execution both from one another and the managing processor. Also, pure parallel execution allows for implementing slow and fast controllers in the same device. The complete flexible system with a matri... [more]

Heat pumps coupled with thermal energy storage (TES) systems are seen as a promising technology for load management that can be used to shift peak loads to off-peak hours. Most of the existing model predictive control (MPC) studies on tariff-based load shifting deploying hot water tanks use simplified tank models. In this study, an MPC framework that accounts for transient thermal behavior (i.e., mixing and stratification) by applying energy (EMPC) and exergy (XMPC) analysis is proposed. A case study for an office building equipped with an air handling unit (AHU) revealed that the MPC strategy had a high load-shifting capacity: over 80% of the energy consumption took place during off-peak hours when there was an electricity surplus in the grid. An analysis of a typical day showed that the XMPC method was able to provide more appropriate stratification within the TES for all load characteristics. An annual exergy analysis demonstrated that, during cold months, energy degradation in the... [more]

Recently, the integration of optimal battery dispatch and demand response has received much attention in improving DC microgrid operation under uncertainties in the grid-connect condition and distributed generations. However, the majority of prior studies on demand response considered the characteristics of global frequency variable instead of the local voltage for adjusting loads, which has led to obstacles in operating DC microgrids in the context of increasingly rising power electronic loads. Moreover, the consideration of voltage-dependent demand response and optimal battery dispatch has posed challenges for the traditional planning methods, such as stochastic programming, because of nonlinear constraints. Considering these facts, this paper proposes a model predictive control-based integrated voltage-based demand response and batteries’ optimal dispatch operation for minimizing the entire DC microgrid’s operating cost. In the proposed model predictive control approach, the binary... [more]

This paper presents a flux-weakening model predictive control (FW-MPC) for the interior permanent magnet synchronous motor (IPMSM) drive system. The FW control is a strategy to extend the IPMSM’s operating region. However, the primary FW needs to track the torque reference and maximize the electrical torque per current amplitude with the current and voltage limitations. The two objects make it impossible to solve the FW problem using the optimization method. We proposed an equivalent optimization problem to simplify the complex FW problem, including two objective functions. The MPC is selected as the controller due to its high robustness and transient performance. The constraints from the equivalent optimization problem are added in the MPC to control the IPMSM in the FW region. The simulation and experiment results indicate that the proposed FW-MPC is feasible and effective in driving the IPMSM in the FW region. The proposed FW-MPC can find the optimal point with the maximum electrica... [more]

In nonlinear Model Predictive Control (MPC) algorithms, the number of cost-function evaluations and the resulting calculation time depend on the initial solution to the nonlinear optimisation task. Since calculations must be performed fast on-line, the objective is to minimise these indicators. This work discusses twelve initialisation strategies for nonlinear MPC. In general, three categories of strategies are discussed: (a) five simple strategies, including constant and random guesses as well as the one based on the previous optimal solution, (b) three strategies that utilise a neural approximator and an inverse nonlinear static model of the process and (c) four hybrid original methods developed by the authors in which an auxiliary quadratic optimisation task is solved or an explicit MPC controller is used; in both approaches, linear or successively linearised on-line models can be used. Efficiency of all methods is thoroughly discussed for a neutralisation reactor benchmark process... [more]

This paper discusses the proper selection and interpretation of aggregated control performance indices values mirroring the quality of electrical energy generation by a turbine-generator set cooperating with a power system. Typically, a set of basic/classical and individual indices is used in energy engineering to ensure the mirroring feature and is related to voltage, frequency and active or reactive power deviations from their nominal values desired in the power system. In this paper, aggregated indices based on the sum of weighted integral indices are proposed, verified and built based on the well-known indices originating from control theory. These include an integral of the squared error (ISE) and an integral of the squared error multiplied by time (ITSE), applicable whenever an in-depth analysis and evaluation of various control strategies of the generation system is to be performed. In the reported research, the computer simulation tests verified their effectiveness in assessing... [more]

To save energy consumed by a building, utilizing optimal predictive control with model predictive control (MPC) makes the most of energy storage systems (ESSs) to reduce the electrical energy consumption of peak and heavy loads. This study evaluated MPC applicability in a multi-zone commercial building using the EnergyPlus model and conducted multi-objective optimization of thermal comfort and energy savings. As a result of the simulation, optimal ESS charging scenarios responded to the fluctuating electricity pricing system, and changing the peak load time reduced the electricity bill of the grid by 55% compared to the existing operating method. At the same time, room temperatures stayed within the thermal comfort range, and the Pareto curve showed a proper balance between energy saving and thermal comfort. Especially, the proposed method with a white model is applicable for MPC applications in commercial buildings, as it gave optimal solutions within the target time interval.

Power systems are going through a transition period. Consumers want more active participation in electric system management, namely assuming the role of producers−consumers, prosumers in short. The prosumers’ energy production is heavily based on renewable energy sources, which, besides recognized environmental benefits, entails energy management challenges. For instance, energy consumption of appliances in a home can lead to misleading patterns. Another challenge is related to energy costs since inefficient systems or unbalanced energy control may represent economic loss to the prosumer. The so-called home energy management systems (HEMS) emerge as a solution. When well-designed HEMS allow prosumers to reach higher levels of energy management, this ensures optimal management of assets and appliances. This paper aims to present a comprehensive systematic review of the literature on optimization techniques recently used in the development of HEMS, also taking into account the key factor... [more]

A study on the capacity increase of a power converter according to the increase in the single capacity of wave energy converters and four-leg topology that can supply stable power even under unbalanced load conditions during independent operation is required. Therefore, in this paper, the performances of various four-leg inverters, from two-level inverters to three-level inverters, which are used as power converters for wave energy converters, are compared respectively. Since the four-leg converter has an unusual structure, the performance of each four-leg inverter was analyzed by applying the model predictive control that can easily and simply configure the controller. To verify the performance of each four-leg inverter, a comparison was performed under balanced load and unbalanced load conditions. Based on this, a suitable four-leg topology of the power converter for wave energy converters was confirmed.

In this work, a predictive supervisory controller is presented that optimizes the interaction between a diesel engine and its aftertreatment system (ATS). The fuel consumption is minimized while respecting an upper bound on the emitted tailpipe NOx mass. This is achieved by optimally balancing the fuel consumption, the engine-out NOx emissions, and the ATS heating. The proposed predictive supervisory controller employs a two-layer model predictive control structure and solves the optimal control problem using a direct method. Through experimental validation, the resulting controller was shown to reduce the fuel consumption by 1.1% at equivalent tailpipe NOx emissions for the nonroad transient cycle when compared to the operation with a fixed engine calibration. Further, the controller’s robustness to different missions, initial ATS temperatures, NOx limits, and mispredictions was demonstrated.

This paper uses a two-level model predictive control-based approach for the coordinated control and energy management of an integrated system that includes photovoltaic (PV) generation, energy storage, and building loads. Novel features of the proposed local controller include (1) the ability to simultaneously manage building loads and energy storage to achieve different operational objectives such as energy efficiency, economic cost efficiency, demand response and grid optimization through the design of specific power trajectory tracking performance functionals, (2) an energy trim function that minimizes the impact of solar forecasting errors on system performance, and (3) the design of a state of charge controller that uses day-ahead forecast of solar power and building loads to intialize energy storage at the start of each day. The local controller is tested in simulation using an exemplary system with PV generation, energy storage and dispatchable building loads. Two sample days wi... [more]

This paper proposes the implementation, analysis and comparison of the control techniques Proportional, Integral and Derivative, Nonlinear Predictive, Fuzzy control and Sliding Mode Control technique applied to the speed control of an independent excited DC motor driven by a three-phase fully controlled rectifier of six pulses. The methodology proposes the design of the bench, modeling of the real system by the system identification method and the adjustments of the parameters of the controllers using an optimization process. Comparisons are made between the techniques, highlighting their characteristics and performances when executed under similar conditions. The robustness of each control, when acting on a nonlinear system, is investigated. All control techniques are applied in three different tests: (i) reference signal of step type without load application, (ii) reference signal with amplitude variation without load application and (iii) reference signal of step type with load appl... [more]

The high-dynamic permanent magnet (PM) motor servo system with high-bandwidth is the core equipment for industrial production, and the control bandwidth is also an important indexes to evaluate the performance of the servo system. The non-cascaded direct predictive speed control is an appropriate scheme to optimize the dynamic performance of the PM motor servo system. However, the high bandwidth of the non-cascaded control structure results in poor anti-interference ability, and it cannot effectively deal with the coupling relationship between current and speed, leading to poor control performance in the current limit region. Regarding the above problems, a nonlinear predictive speed control strategy combined with harmonic disturbance observer is proposed. In the proposed strategy, the disturbances of the servo system are separated from the mathematical model according to the nonlinear modeling theory, and the traditional disturbance observer is modified to estimate the harmonics. A no... [more]

The standalone microgrids with renewable energy resources (RERs) such as a photovoltaic (PV) system and fast changing loads face major challenges in terms of reliability and power management due to a lack of inherent inertial support from RERs and their intermittent nature. Thus, energy storage technologies such as battery energy storage (BES) are typically used to mitigate the power fluctuations and maintain a power balance in the system. This paper presents a model predictive control (MPC) based power management strategy (PMS) for such standalone PV/battery systems. The proposed method is equipped with an autoregressive integrated moving average (ARIMA) prediction method to forecast the load and environmental parameters. The proposed controller has the capabilities of (1) effective power management, (2) minimization of transients during disturbances, and (3) automatic switching of the operation of the PV between the maximum power point tracking (MPPT) mode and power-curtailed mode th... [more]

Model Predictive Control (MPC) based on Discrete Space Vector Modulation (DSVM) has the advantages of simple mathematical model and fast dynamic response. It is widely used in permanent magnet synchronous motor (PMSM). Additionally, the control performance of DSVM-MPC is influenced by the accuracy of motor parameters and the select speed of optimal voltage vector. In order to identify motor parameters accurately, model predictive control for PMSM based on discrete space vector modulation with recursive least squares (RLS) parameter identification is proposed in this paper. Additionally, a method to preselect candidate voltage vectors is proposed to select the optimal voltage vector more quickly. The simulation model of RLS-DSVM-MPC is established to simulate the influence of different parameters on PMSM performance. The simulation results show that model predictive control for PMSM based on discrete space vector modulation with RLS parameter identification has a better control performa... [more]

The focus of this study is on the grid-forming operation of the Energy Router (ER) based on Model Predictive Control (MPC). ER is regarded as a key component of microgrids. It is a converter that interfaces the microgrid (s) with the utility grid. The ER has a multiport structure and bidirectional energy flow control. The ER concept can be implemented in Nearly Zero-Energy Buildings (NZEB) to provide flexible energy control. A concept is proposed where the ER works as a single grid-forming converter. The challenge is to keep the predefined reference voltage and frequency inside the NZEB in all possible modes, including the idle operation mode, current sources, and nonlinear load control. To gain stability and output voltage quality, the MPC is proposed. The design of the modified MPC algorithm with improved dynamics performance is explained. PLECS software is utilized to verify the proposed algorithm. The results demonstrate the suitable performance of the proposed control method in te... [more]

With the increasing severity of climate change, the power industry, as one of the main sources of carbon emissions, is playing an extremely important role in the process of low-carbon energy transformation. The purpose of this paper is to try to find a general method to solve the optimal path for the low-carbon evolution of the power supply structure so as to meet the challenges faced by the low-carbon transformation of the power industry in the future. This paper first uses the capacity coefficient index (CCI) to represent the power generation ability of different technologies and proposes a forecasting method for the CCI of renewable energy generation. In this paper, a two-layer optimization model considering multiple constraints is established and solved using the MPC method. The results show that China’s installed capacity of renewable power could account for more than 50% in 2030, while the carbon emissions will decrease after reaching a peak in 2023. On the premise of ensuring su... [more]

Electric vehicles are regarded as a significant way to mitigate the global energy crisis and the environmental pollution problem. Motor control is a very important part for electric vehicles. As for hardware, a motor controller usually has components such as a power module, microprocessor unit, IGBT driver, sensors, and resolver-to-digital convertor. As for software, a field-oriented control (FOC) with space vector pulse width modulation (SVPWM) is a popular method, while model predictive control (MPC) has recently shown great potential in motor drives. In this paper, both FOC and MPC are discussed and the performances are compared based on experiments. As the implementation is on a digital processor, the discretization and normalization are addressed, and the flux observer and speed estimation are discussed. Some practical issues for implementation are also talked about, such as field weakening control, overmodulation, etc. This paper focuses on how to implement the improved motor con... [more]

Different types of distributed generation (DG) units based on renewable and non-renewable energy sources can create a local energy system in microgrids. The widespread penetration of distributed energy resources (DERs) has affected many power system issues, such as the control and operation of these networks. For the optimal operation of microgrids, optimal energy planning and management in the new space governing the distribution system requires extensive research and analysis. Getting acquainted with the latest research about the evaluation of the problems and challenges in the design of control systems plays an important role in providing a guidance map for researchers to find the recent challenges and propose new solutions. This paper tried to list the challenges of distributed generation sources for MG applications, opportunities, and solutions. These challenges are reported in hierarchical control strategies and power-sharing categories. Therefore, Model Predictive Control (MPC)-... [more]

Power converter technology has expanded into a wide range of low, medium, and high power applications due to the ability to manage electrical energy efficiently. In this regard, the modular multilevel converter has become a viable alternative to ensure an optimal harmonic profile with a sinusoidal voltage at the load side. Model predictive control (MPC) is a state-of-the-art technique that has been successfully used to control power electronic converters due to its ability to handle multiple control objectives. Nevertheless, in the classical MPC approach, the optimal vector is applied during the whole sampling period producing an output voltage. This solution causes an unbalanced switching frequency of the power semiconductor, which then causes unbalanced stress on the power devices. Modulation strategies have been combined with MPC to overcome these shortcomings. This paper introduces the experimental assessment of a 7-level converter combining a simple phase shift multicarrier pulse-... [more]

This work describes the development of a fast Model Predictive Control (MPC) algorithm for a Proton Exchange Membrane (PEM) fuel cell. The MPC cost-function used considers the sum of absolute values of predicted control errors (the L1 norm). Unlike previous approaches to nonlinear MPC-L1, in which quite complicated neural approximators have been used, two analytical approximators of the absolute value function are utilised. An advanced trajectory linearisation is performed on-line. As a result, an easy-to-solve quadratic optimisation task is derived. All implementation details of the discussed algorithm are detailed for two considered approximators. Furthermore, the algorithm is thoroughly compared with the classical MPC-L2 method in which the sum of squared predicted control errors is minimised. A multi-criteria control quality assessment is performed as the MPC-L1 and MPC-L2 algorithms are compared using four control quality indicators. It is shown that the presented MPC-L1 scheme gi... [more]

Predictive control offers many advantages such as simple design and a systematic way to handle constraints. Model predictive control (MPC) belongs to predictive control, which uses a model of the system for predictions used in predictive control. A major drawback of MPC is the dependence of its performance on the model of the system. Any discrepancy between the system model and actual plant behavior will greatly affect the performance of the MPC. Recently, model-free approaches have been gaining attention because they are not dependent on the system model parameters. To obtain the advantages of both a model-free approach and predictive control, model-free predictive control (MFPC) is being explored and reported in the literature for different applications such as power electronics and electric drives. This paper presents an overview of model-free predictive control. A comprehensive review of the application of MFPC in power converters, electric drives, power systems, and microgrids is... [more]