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Showing records 27334 to 27358 of 43292. [First] Page: 1 1091 1092 1093 1094 1095 1096 1097 1098 1099 Last
27334. LAPSE:2023.11800
Defining and Operationalizing Sustainability in the Context of Energy
February 28, 2023 (v1)
Subject: Process Operations
Keywords: definitions, goals, operationalizations, standards, Sustainability, sustainable.
The terms sustainable and sustainability are currently often used in scientific journals, including Energies. There are cases where these terms are defined or operationalized, but more often they are not. This is problematic, as there are reportedly hundreds of (different) definitions and operationalizations (in terms of standards or goals) of sustainability. This large number has its roots in history. Many current definitions and operationalizations of sustainability are social constructs. As these constructs vary, there can be variation in the characterization of specific ways to provide energy as sustainable or not sustainable. There are also definitions of sustainability that have emerged from the sciences. These definitions can also lead to differences in the characterization of specific ways to provide energy as sustainable or not sustainable. In view thereof, there is a case to define and/or operationalize sustainable and sustainability when these terms are used in the context o... [more]
27335. LAPSE:2023.11799
Nonlinear Technologies in Advanced Power Systems: Analysis and Control
February 28, 2023 (v1)
Subject: Process Control
This century has been considered the age of Complexity, and therefore that of nonlinear circuits and systems [...]
27336. LAPSE:2023.11798
Smart Hydropower Water Distribution Networks, Use of Artificial Intelligence Methods and Metaheuristic Algorithms to Generate Energy from Existing Water Supply Networks
February 28, 2023 (v1)
Subject: Energy Management
Keywords: graph theory, harmony search algorithm, Machine Learning, micro hydro generator, WDNs, wireless sensor network.
In this paper, the possibility of installing small hydraulic turbines in existing water-supply networks, which exploit the daily pressure fluctuations in order to produce energy, is examined. For this purpose, a network of five pressure sensors is developed, which is connected to an artificial intelligence system in order to predict the daily pressure values of all nodes of the network. The sensors are placed at the critical nodes of the network. The locations of the critical nodes are implemented by applying graph theory algorithms to the water distribution network. EPANET software is used to generate the artificial intelligence training data with an appropriate external call from a Python script. Then, an improvement model is implemented using the Harmony Search Algorithm in order to calculate the daily pressure program, which can be allocated to the turbines and, consequently, the maximum energy production. The proposed methodology is applied to a benchmark water supply network and... [more]
27337. LAPSE:2023.11797
Optimal Fuzzy-Based Energy Management Strategy to Maximize Self-Consumption of PV Systems in the Residential Sector in Ecuador
February 28, 2023 (v1)
Subject: Process Control
Keywords: Ecuadorian electricity market, energy management, fuzzy control, PV system, self-consumption.
This paper proposes a fuzzy-based energy management strategy (EMS) to maximize the self-consumption from a PV installation with an energy storage system (ESS) for the residential sector adapted to the Ecuadorian electricity market. The EMS includes two control levels: Energy management at the end-user level (Fuzzy-based EMS and optimized by genetic Algorithm) and Energy management at the distribution grid level (Fuzzy-based EMS). Both strategies aim to maximize the use of the energy generated at home (taking into account the local solar generation profile), fulfilling the loads’ demand and injecting the energy surplus into the main grid to be economically compensated. Additionally, this paper presents economical modeling according to the electricity market in Ecuador. The main results showed a cost reduction in the electricity bill up to 83.64% from the base case (residential consumption without a PV system). In the scenario of a community electricity market (still not contemplated und... [more]
27338. LAPSE:2023.11796
Performance Analysis Based on Thermal Aging Tests of Sol-Gel and Polymer Insulated Wires by Enameling and Extrusion Technology
February 28, 2023 (v1)
Subject: Materials
Keywords: dielectric parameters, enameled wire, extrusion, mineral fillers, sol-gel, thermal aging, thermoplastic polymer.
This research activity aims to evaluate electrical insulation system (EIS) intended for electrical machine winding wires. The evaluation is based on mechanical, thermal, and electrical properties tests following international standards for enameled wires. Dielectric parameters such as dissipation factor, partial discharge inception voltage (PDIV), parallel capacitance, and parallel resistance behavior of different insulator configurations on twisted-pair samples are observed during thermal aging tests. Those configurations are formed of different combinations of dielectric layers based on conventional polymers (polyester-imide (PEI), polyamide-imide (PAI), polyimide (PI)) used as coating wires. A study using two mineral varnishes (silica-based) obtained by the sol-gel process integrated on these classical enamels an outer layer of extrusion of thermoplastic polymer with and without mineral fillers. Given the high consummation of energy and the use of unsustainable materials involving t... [more]
27339. LAPSE:2023.11795
Stochastic Distributed Control for Arbitrarily Connected Microgrid Clusters
February 28, 2023 (v1)
Subject: Process Control
Keywords: distributed control, energy management, jump linear theory, large-scale systems, microgrid clusters, stochastic control.
Due to the success of single microgrids, the coming years are likely to see a transformation of the current electric power system to a multiple microgrid network. Despite its obvious promise, however, this paradigm still faces many challenges, particularly when it comes to the control and coordination of energy exchanges between subsystems. In view of that, in this paper we propose an optimal stochastic control strategy in which microgrids are modeled as stochastic hybrid dynamic systems. The optimal control is based on the jump linear theory and is used as a means to maximize energy storage and the utilization of renewable energy sources in islanded microgrid clusters. Once the gain matrices are obtained, the concept of ε-suboptimality is applied to determine appropriate levels of power exchange between microgrids for any given interconnection pattern. It is shown that this approach can be efficiently applied to large-scale systems and guarantees their connective stability. Simulation... [more]
27340. LAPSE:2023.11794
Design and Analysis of Coreless Axial Flux Permanent Magnet Machine with Novel Composite Structure Coils
February 28, 2023 (v1)
Subject: Process Design
Keywords: air gap flux density, axial flux permanent magnet machine, composite structure, coreless stator, efficiency, filling factor, finite element analysis, winding loss.
In this paper, a type of novel composite structure coil applied in the coreless stator is proposed and studied to improve the output performance and efficiency of the axial flux permanent magnet (AFPM) machine. In which the effective conductor is changed to be wedge-shaped by the rolling technology so that the turns of coils and filling factor can be further increased, and the ends are kept in the cylinder with a larger diameter to reduce the DC copper loss. Meanwhile, the air region between the double rotors of the machine is also modified to be wedge-shaped, which fully matches the proposed coils and shortens the air gap length. The advantages of performance can be verified by the three-dimensional (3D) finite element analysis (FEA) and analytical method so that the output characteristics of no-load and load can be improved, and the DC copper loss and eddy current loss of coils can be reduced. The coreless AFPM machine finally performs a high efficiency of 95.34% according to these v... [more]
27341. LAPSE:2023.11793
Sizing Assessment of Islanded Microgrids Considering Total Investment Cost and Tax Benefits in Colombia
February 28, 2023 (v1)
Subject: Energy Management
Keywords: islanded microgrids, off-grid areas, Optimization, renewable energies, sizing.
This paper deals with the optimal sizing of islanded microgrids (MGs), which use diesel generators to supply energy in off-grid areas. The MG under study integrates photovoltaic (PV) and diesel generation, a battery energy storage System (BESS), and an inverter for the connection between AC and DC voltage buses. Levelised cost of energy (LCOE) and annual system cost (ASC) are considered economic indicators, while the loss of power supply probability (LPSP) is used as a reliability indicator. Fiscal incentives such as the tax benefits and accelerated depreciation applied in Colombia are considered for the optimally sizing of each MG element. Solar measurements were taken at a weather station located in the main campus of Universidad de Antioquia in Medellin, Colombia at a latitude of 6.10 and longitude of −75.38. The objective function is the minimization of the total energy delivered from the power sources that successfully meets the load. The model was implemented in Python programmin... [more]
27342. LAPSE:2023.11792
Unfolding FDI, Renewable Energy Consumption, and Income Inequality Nexus: Heterogeneous Panel Analysis
February 28, 2023 (v1)
Subject: Energy Systems
Keywords: CS-ARDL, foreign direct investment, income inequality, institutional efficiency, renewable energy consumption.
We aim to examine the nexus between Foreign Direct Investment (FDI), Renewable Energy Consumption (REC), and income inequality across selected High-Income Countries (HIC), Upper Middle-Income Countries (UMIC), Lower Middle-Income Countries (LMIC), and Low-Income Countries (LIC). Given the cross-sectional dependency, slope homogeneity, and stationarity properties, we find that the aforementioned variables across all the regions are cointegrated in the long run (LR). For LR estimation, we use the Cross-Sectional-Autoregressive Distributed Lag (CS-ARDL) approach. For the HIC and the UMIC, an increase in FDI increases REC, which in turn causes income inequality to decrease. In the case of LMIC, an increase in REC causes an increase in FDI and decreases income inequality. However, we could not establish a significant relationship with the LIC. We also provide some useful recommendations, such as increased institutional efficiency and promotion of renewable energy investments through higher... [more]
27343. LAPSE:2023.11791
Circuit-Based Rainflow Counting Algorithm in Application of Power Device Lifetime Estimation
February 28, 2023 (v1)
Subject: Modelling and Simulations
Keywords: circuit-based rainflow counting algorithm, lifetime estimation application, multi-domain simulation.
The software-assisted reliability assessment of power electronic converters is increasingly important due to its multi-domain nature and extensive parametric calculations. The rainflow counting algorithm is gaining popularity for its low relative error in device lifetime estimation. Nevertheless, the offline operation of the algorithm prevents most simulation software packages considering other parameters for the device under study, such as aging and the current state of health in the estimation, as it requires a complete loading profile to run recursive comparison. This also brings difficulties in realization in circuit simulators such as SPICE. To tackle the issue, an in-the-loop circuit-based rainflow counting algorithm is proposed in this paper, and applied to estimate the consumed lifetime of the MOSFET in a boost converter for illustration. Instantaneous electrical and thermal performances, and the accumulated stress of the device can be monitored. Not only does this assist in ev... [more]
27344. LAPSE:2023.11790
Fast Model Predictive Control of PEM Fuel Cell System Using the L1 Norm
February 28, 2023 (v1)
Subject: Process Control
Keywords: L1 cost function, Model Predictive Control, optimisation, proton exchange membrane fuel cell.
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]
27345. LAPSE:2023.11789
Characterization of the Lower Cretaceous Shale in Lishu Fault Depression, Southeastern Songliao Basin: Implications for Shale Gas Resources Potential
February 28, 2023 (v1)
Subject: Energy Systems
Keywords: GIP content, Lishu Fault Depression, low pressure gas adsorption, lower cretaceous, shale gas.
Large thickness of shales over 180.0 m was developed in the source rocks of the Shahezi and Yingcheng formations in the Lishu Fault Depression. Moreover, the high amount of gas content and the total hydrocarbon value of gas logging in several boreholes illustrate that there is a great potential of shale gas resources in this region. Therefore, an integrated characterization of shales from the lower Cretaceous Shahezi and Yingcheng formations was provided to evaluate shale gas resources potential. The measurement results illustrated that the organic-rich shale samples with kerogen type Ⅱ during high to over thermal maturity had a higher content of brittle minerals (>50%) and clay mineral dominated by illite. The shales had a total porosity of 3.11−4.70%, a permeability of 1.24 × 10−3−1.52 × 10−3 μm2, and possessed pore types including dissolution pores, inter-layer pores of clay minerals, micro-fractures, intra-granular pores, and organic pores, which were dominated by micropores and me... [more]
27346. LAPSE:2023.11788
Blockchain-Based Gas Auctioning Coupled with a Novel Economic Dispatch Formulation for Gas-Deficient Thermal Plants
February 28, 2023 (v1)
Subject: Information Management
Keywords: blockchain, economic dispatch, Ethereum, GAMS, smart contract.
Inadequate gas supply is partly responsible for the energy shortfall experienced in some energy-poor nations. Favorable market conditions would boost investment in the gas supply sector; hence, we propose a blockchain-based fair, transparent, and secure gas trading scheme that facilitates peer-to-peer trading of gas. The scheme is developed using an Ethereum-based smart contract that receives offers from gas suppliers and bid(s) from the thermal plant operator. Giving priority to the cheapest offers, the smart contract determines the winning suppliers. This paper also proposes an economic dispatch model for gas-deficient plants. Conventional economic dispatch seeks to satisfy electric load demand whilst minimizing the total gas cost of generating units. Implicit in its formulation is the assumption that gas supply to generating units is sufficient to satisfy available demand. In energy poor nations, this is hardly the case as there is often inadequate gas supply and conventional econom... [more]
27347. LAPSE:2023.11787
Relationships between Combustion Behavior in Air and the Chemical Structure of Bituminous Coal during Combustion Processes
February 28, 2023 (v1)
Subject: Energy Systems
Keywords: activation energy, bituminous coals, carbon structure, combustion behavior, functional groups.
The structural parameters of five bituminous coals were analyzed by using X-ray diffraction and attenuated total reflection−Fourier transform infrared spectroscopy. The combustion behavior of coal was investigated by using a thermogravimetric analyzer under air conditions. Furthermore, the relationships between combustion parameters and the coal structure were established. The results show that bituminous coals contain crystalline and amorphous carbon. The aromaticity, interlayer spacing, average stacking height, aliphatic chain length, and the hydrocarbon-generating potential varied with the different bituminous coals. The coal samples exhibited similar weight changes during the combustion process, and the combustion parameters increased with increments in heating rate. The maximum combustion rate and activation energy increased with declining interlayer spacing and hydrocarbon-generating potential and increasing aromaticity, average stacking height, and aliphatic chain length. The bi... [more]
27348. LAPSE:2023.11786
Towards Optimized ARMGs’ Low-Carbon Transition Investment Decision Based on Real Options
February 28, 2023 (v1)
Subject: Modelling and Simulations
Keywords: ARMGs, investment decision, low-carbon transition, real options.
As a critical node of the global transportation network, ports have great potential in promoting transportation emission reduction. Promoting the low-carbon transition of ports by using clean energy is effective. Using hydrogen energy in automated container terminals (ACTs) has become popular in port emission-reduction research. The research object is the main port equipment—the automated rail-mounted container gantry crane (ARMG). This research designs a staged investment decision-making scheme for ARMGs’ hydrogen energy transition. The Internet of Things (IoT) architecture in ACTs collects ARMG equipment operation and carbon emission data. It provides a basis for data acquisition in ARMGs’ hydrogen energy transition. Furthermore, ports can adopt big data technology to analyze the correlation between equipment operation and carbon emissions. Finally, the digital twin platform will visualize the ARMG equipment operation and carbon emission behavior to remote operators. These advanced t... [more]
27349. LAPSE:2023.11785
Clay Mineral Type and Content Control Properties of Fine-Grained CO2 Caprocks—Laboratory Insights from Strongly Swelling and Non-Swelling Clay−Quartz Mixtures
February 28, 2023 (v1)
Subject: Food & Agricultural Processes
Keywords: caprock, effective stress, elastic moduli, mechanical compaction, mudstone, permeability, petrophysics, porosity, rock physics, seismic properties.
Understanding and predicting sealing characteristics and containment efficiency as a function of burial depth across sedimentary basins is a prerequisite for safe and secure subsurface storage. Instead of estimators and empirical relationships, this study aimed to delineate data-driven variability domains for non-cemented fine-grained clastic caprocks. Constant rate-of-strain uniaxial compression experiments were performed to measure changes in properties of brine-saturated quartz−clay mixtures. The binary mixtures were prepared by mixing quartz with strongly swelling (smectite) and non-swelling (kaolinite) clays representing end-member clay mineral characteristics. The primary objective was to evaluate the evolution of mudstone properties in the first 2.5 km of burial depth before chemical compaction and cementation. By conducting systematic laboratory tests, variability domains, normal compaction trends, and the boundaries in which characteristics of fine-grained argillaceous caprock... [more]
27350. LAPSE:2023.11784
A Review on Industrial Perspectives and Challenges on Material, Manufacturing, Design and Development of Compressed Hydrogen Storage Tanks for the Transportation Sector
February 28, 2023 (v1)
Subject: Materials
Keywords: filament winding, Hydrogen, storage, transportation.
Hydrogen fuel cell technology is securing a place in the future of advanced mobility and the energy revolution, as engineers explore multiple paths in the quest for decarbonization. The feasibility of hydrogen-based fuel cell vehicles particularly relies on the development of safe, lightweight and cost-competitive solutions for hydrogen storage. After the demonstration of hundreds of prototype vehicles, today, commercial hydrogen tanks are in the first stages of market introduction, adopting configurations that use composite materials. However, production rates remain low and costs high. This paper intends to provide an insight into the evolving scenario of solutions for hydrogen storage in the transportation sector. Current applications in different sectors of transport are covered, focusing on their individual requirements. Furthermore, this work addresses the efforts to produce economically attractive composite tanks, discussing the challenges surrounding material choices and manufa... [more]
27351. LAPSE:2023.11783
Research on Wave and Energy Reduction Performance of Floating Breakwater Based on S-Shaped Runner
February 28, 2023 (v1)
Subject: Environment
Keywords: energy reduction, floating breakwater, S-type runner, wave elimination.
Aiming at the breeding environment where the construction of marine pastures requires low wind and waves, a floating breakwater (FB) with a Savonius type (referred to as S type) runner with wave absorption and energy reduction function is studied for wave absorption and energy reduction in aquaculture sea areas. The wave-absorbing and energy-reducing performance of the floating breakwater is studied by the method of combining numerical simulation and experiment. Using Star-CCM+ numerical simulation software, based on linear wave theory and energy conservation law, using overlapping grid technology, calling DFBI model, second-order time discretization, a three-dimensional flow field model of the floating breakwater was established and numerically simulated. At the same time, a floating breakwater physical test system was developed for experimental verification, the transmission wave and the conversion power consumption of the S-shaped runner under different wave heights and different pe... [more]
27352. LAPSE:2023.11782
Proposal on New Tariffs with a Price Option per Use Time: Application to the Cooperativa Eléctrica San Pedro de Atacama (CESPA) Microgrid in Chile
February 28, 2023 (v1)
Subject: Process Operations
Keywords: CESPA, DSM, PV, smart meters, TOUP.
In this paper, a pricing alternative based on the scheme of Time of Use Pricing (TOUP) is proposed for customers connected to the Cooperativa Eléctrica San Pedro de Atacama (CESPA) microgrid, located in the far north of Chile. With this proposal, the promotion of Demand-Side Management, DSM, aims at optimizing both the use of electric energy and the available infrastructure. The pricing proposal replaces the current tariff scheme based on sections of energy consumption and does not give an incentive for customers to efficiently manage their energy consumption. The proposal considers the creation of time bands and their corresponding tariff formulas, to obtain economic benefits both for customers and the electric company. Study cases consider the operation of a photovoltaic plant of 2 MWp in the electric system of CESPA, which is currently underway. The obtained results report benefits for all parts of the electric market. For customers, favorable pricing up to a 19.1% monthly reduction... [more]
27353. LAPSE:2023.11781
Experimental Study on the Performance of a Novel Unidirectional Explosive Element and an Explosive Logic Network
February 28, 2023 (v1)
Subject: Energy Systems
Keywords: blasting mining of coalfield fires, detonation propagation, safety of blasting network, unidirectional explosive element.
Considering the unsafety of the present blasting network used in the blasting mining of coalfield fires, a unidirectional explosive element (named explosive diode) is proposed according to explosive logic element principles. Through theoretical and experimental analysis, the internal structure and mechanism of the unidirectional transmission of the detonation signal were studied. For an explosive diode, the length of the quenching channel was defined to be the key parameter. The explosive diode was implemented in the traditional blasting network, obtaining an explosive logic network. To evaluate the safety and reliability of the explosive diode and explosive logic network, detonation propagation and explosion-proof experiments were conducted in the lab. The optimum length of the quenching channel to obtain unidirectional detonation transmission was established. The results showed that the explosive diode could reliably control the propagation direction of the detonation signal when the... [more]
27354. LAPSE:2023.11780
Review of Methodologies for the Assessment of Feasible Operating Regions at the TSO−DSO Interface
February 28, 2023 (v1)
Subject: Energy Management
Keywords: active distribution networks, feasible operating region, flexibility aggregation, flexibility cost maps, interconnection power flow, network capability charts, TSO–DSO coordination.
The Feasible Operating Region (FOR) is defined as a set of points in the PQ plane that includes all the feasible active and reactive power flows at the Transmission System Operator (TSO)−Distribution System Operator (DSO) interconnection. Recent trends in power systems worldwide increase the need of cooperation between the TSO and the DSO for flexibility provision. In the current landscape, the efficient and accurate estimation of the FOR could unlock the potential of the DSO to provide flexibility to the TSO. To that end, much existing research has tackled the problem of FOR estimation, which is a challenging problem. However, no research that adequately organizes the literature exists. This work aims to fill this gap. Three categories of FOR estimation methods were identified: Geometric, Random Sampling, and Optimization-Based methods. The basic principles behind each method are analyzed and the most significant works involving each method are presented. For the reviewed works, we fo... [more]
27355. LAPSE:2023.11779
Synoptic Risk Assessment of Groundwater Contamination from Landfills
February 28, 2023 (v1)
Subject: Numerical Methods and Statistics
Keywords: chemical analysis, conceptual model, groundwater, landfill, synoptic risk assessment.
Waste management in Europe has improved in recent years, reducing the amount of waste disposed at landfills. However, there are still many landfills in the countries. It is well known that landfills that do not have measures in place to control leachate entering groundwater can contaminate groundwater long after the landfill is closed. Collecting monitoring results from all landfills allows permitting and management agencies to improve action plans. This relies on a synoptic risk assessment that allows prioritization and milestones to be set for required actions. The developed method of synoptic risk assessment is based on a conceptual model of the landfill and the results of chemical groundwater monitoring tested at 69 landfills in Slovenia. The study confirms that most landfills have a direct or indirect impact on groundwater quality. All landfills were classified into three priority classes on the basis of the synoptic risk assessment. The results show that a total of 24 landfills h... [more]
27356. LAPSE:2023.11778
Determination of the Optimum Blend Ratio of Diesel, Waste Oil Derived Biodiesel and 1-Pentanol Using the Response Surface Method
February 28, 2023 (v1)
Subject: Energy Systems
Keywords: 1-pentanol, confirmation, diesel engine, Optimization, response surface methodology, waste oil biodiesel.
Higher alcohols can be included as a third component in biodiesel-diesel mixtures to improve fuel properties and reduce emissions. Determining the optimum concentrations of these fuels according to the purpose of engine use is important both environmentally and economically. In this study, eight different concentrations of diesel (D), waste oil derived biodiesel (WOB), and 1-pentanol (P) ternary mixtures were determined by the design of experimental method (DOE). In order to determine the engine performance and exhaust emission parameters of these fuels, they were tested on a diesel engine with a constant load of 6 kW and a constant engine speed of 1800 rpm. Using the test results obtained, a full quadratic mathematical model with a 95% confidence level was created using the Response Surface Method (RSM) to predict five different output parameters (BSFC, BTE, CO, HC, and NOx) according to the fuel mixture ratios. The R2 accuracy values of the outputs were found at the reliability level... [more]
27357. LAPSE:2023.11777
A New Explicit Numerical Schemes for Time-Dependent PDEs with Application to Pressure Driven Fluid Flow in a Rectangular Duct
February 28, 2023 (v1)
Subject: Numerical Methods and Statistics
Keywords: an explicit scheme, convergence, fully developed fluid flow, heat and mass transfer, stability.
A modified class of temporal discretization schemes for partial differential equations (PDEs) is proposed, explicit and second to fifth-order accurate in time. In time, the stability region of the proposed modified second-order scheme is larger than the standard second-order Adams−Bashforth method constructed on two time levels. A modification made for the Du Fort−Frankel method was also implemented in the proposed second-order scheme, which permits the little larger stability region, but the scheme becomes first-order accurate. Since the Du Fort−Frankel method cannot be employed without a modification of averaging in time levels, the proposed second-order scheme can be used without any modification. The proposed modified scheme with different orders in space and second orders in time was implemented for heat and mass transfer of chemically reactive fluid flow in a rectangular duct. The flow is generated due to applying different pressure gradients. The contour plots of velocity, tempe... [more]
27358. LAPSE:2023.11776
Sub-Optimal Stabilizers of the Pendubot Using Various State Space Representations
February 28, 2023 (v1)
Subject: Environment
Keywords: experiment, linear quadratic regulator (LQR), model transformation, nonlinear systems, Pendubot, quasi-velocities, stabilization methods, underactuated systems.
This paper considers the issue of linear-quadratic regulator (LQR) design for nonlinear systems with the use of smooth state and input transformations. The proposed design methodology is considered in the stabilisation task of the Pendubot, which is based on the concept of feedback equivalent control systems. It turns out that it is possible to find a controller that ensures comparable dynamics of the closed-loop system in the vicinity of the set point regardless of the state-space representation adopted. In addition, the synthesis of suboptimal controllers according to the LQR strategy ensuring equal dynamics at the equilibrium point is presented. The properties of the studied controllers were investigated in a simulation environment and using experimental tests. The detailed forms of transformations and linear approximations given can be regarded as ready-made procedures that can be applied to stabilise similar mechanical systems in robotics.
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