Coordinated Admittance-Impedance Control with Force Excitation for Compliant, Underactuated Aerial Manipulation (Poster)
Powerpoint poster of conference paper content
McArthur, Daniel↗
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Coordinated Admittance-Impedance Control with Force Excitation for Compliant, Underactuated Aerial Manipulation (Presentation)
3-minute Powerpoint presentation of conference paper content
McArthur, Daniel↗
The MBARI-WEC: a power source for ocean sensing
Abstract Interest in wave energy converters to provide autonomous power to various ocean-bound systems, such as autonomous underwater vehicles, sensor systems, and even aquaculture farms, has grown in recent years. The Monterey Bay Aquarium Research Institute has developed and deployed a small two-body point absorber wave energy device suitable to such needs. This paper provides a description of the system to support future open-source access to the device and further the general development of similar wave energy systems. Additionally, to support future control design and system modification efforts, a set of hydrodynamic models are presented and cross-compared. To test the viability of using a linear frequency-domain admittance model for controller tuning, the linear model is compared against four WEC-Sim models of increasing complexity. The linear frequency-domain model is found to be generally adequate for capturing system dynamics, as the model agreement is good and the degree of nonlinearity introduced in the WEC-Sim models is generally less than 2.5%.
16 TIDAL AND WAVE POWER↗
Identifying DQ-Domain Admittance Models of a 2.3-MVA Commercial Grid-Following Inverter Via Frequency-Domain and Time-Domain Data
Here, we present two methods to identify the admittance of a 2.3-MVA commercial grid-following inverter through frequency-domain data and time-domain data. In addition to the well-known harmonic injection method to obtain the admittance at frequency points followed by vector fitting, we adopt a step response-based method where the step response data of the converter are collected and their s-domain expressions are obtained. In turn, the s-domain admittance model of the converter is found. The two methods can be used for cross validation. Step responses and frequency-domain responses obtained from the two methods are compared. Results show that the time- domain data-based method leads to an admittance comparable with that from the frequency-domain measurement in the range less than 60 Hz. In addition, two insights are obtained from the frequency-domain admittance measurements. First, when the dq- frame is aligned to the point of common coupling (PCC) voltage, the per unit DQ-domain admittance directly reflects operating conditions. Second, existence of negative-sequence control can be detected via sequence-domain admittances.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Quantum critical dynamics of a Josephson junction at the topological transition
We find the admittance Y(ω) of a Josephson junction at or near a topological transition. The dependence of the admittance on frequency and temperature at the critical point is universal and determined by the symmetries of the system. Despite the absence of a spectral gap at the transition, the dissipative response may remain weak at low energies: ReY(ω)∝max(ω,T) 2 . This behavior is strikingly different from the electromagnetic response of a normal metal. Away from the critical point, the scaling functions for the dependence of the admittance on frequency and temperature are controlled by at most two parameters.
36 MATERIALS SCIENCE↗
Excitation of Bloch Surface Waves in Zero-Admittance Multilayers for High-Sensitivity Sensor Applications
The growing need for classical as well as quantum optical sensing places increasingly stringent requirements upon the desired characteristics of the engendered fields. Specifically, achieving superior field enhancement plays a critical role in applications ranging from chem-bio sensing, Raman and infrared spectroscopies to ion trapping and qubit control in emerging quantum-information science. Due to their low optical losses and ability to exhibit resonant field enhancements, all dielectric multilayers are emerging as an optical material system not only useful to classical photonics and sensing but also of potential to be integrated with quantum materials and quantum sensing. The recently introduced concept of zero-admittance layers [1] within dielectric multilayer materials, enables the creation and control of resonant fields orders of magnitude larger than the exciting field. Here, invoking the zero-admittance concept, we design, fabricate, and characterize an all-dielectric nonabsorbing stack and demonstrate the engendered huge field enhancement. Describing the fields in terms of Bloch surface waves, we connect the surface field to the semiperiodicity in the dielectric domains of the stack. As a specific application of the resonant field, we propose and demonstrate refractive-index sensing for the detection of trace amounts of an analyte. The results include a quantification of the sensitivity of the device with respect to the profile of the exciting field. The experimental results are shown to be in good agreement with theoretical calculations.
47 OTHER INSTRUMENTATION↗
Efficient Region of Attraction Characterization for Control and Stabilization of Load Tap Changer Dynamics
In this article, we study the monitoring and control of long-term voltage stability considering load tap changer (LTC) dynamics. We show that under generic conditions, the LTC dynamics admit a unique stable equilibrium. For the stable equilibrium, we characterize an explicit inner approximation of its largest region of attraction (ROA). Compared to existing results, the computational complexity of the ROA characterization is drastically reduced. We propose a quadratically constrained linear program formulation for the ROA characterization problem. In addition, we formulate a second-order cone program for online voltage stability monitoring and control exploiting the proposed ROA characterization. Finally, we demonstrate the efficacy of the proposed formulations on the ROA characterization and stability monitoring and control using a standard IEEE test system.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Computation-Efficient Algorithm for Distributed Feedback Optimization of Distribution Grids
Feedback-based optimization algorithms use real-time measurements to update the optimal control for the underlying system which may not be fully identified. Recently, we have developed a distributed feedback-based algorithm [1] that avoids the requirement of fast communication between central computing and local actuator/sensor agents. This paper extends the work by greatly reducing the number of copies of variables involved in the distributed feedback-based algorithm, which results in faster convergence and lower communication requirement. The main idea is to leverage the specific structural properties of the admittance matrix for distribution systems with tree network topology. We also show the effectiveness of the proposed algorithm in simulations.
70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
Impedance Analysis and PHIL Demonstration of Reactive Power Oscillations in a Wind Power Plant Using a 4-MW Wind Turbine
This paper presents impedance-based analysis, mitigation, and power-hardware-in-the-loop (PHIL) demonstration of reactive power oscillations in a wind power plant using a 4-MW Type III wind turbine drivetrain. Because such low-frequency oscillations result from interactions among slower control loops of wind turbines regulating phasor quantities—active and reactive power output of the wind turbine and the magnitude of voltages at the point of interconnection (POI)—a new type of admittance is defined in terms of phasor quantities for their analysis. The so-called power-domain admittance of a wind turbine is defined as the transfer function from the frequency and magnitude of voltages at the POI to the active and reactive power output of the turbine. The power-domain admittance responses of the 4-MW wind turbine are measured using a 7-MVA grid simulator to identify the source of the reactive power oscillations. Power-domain impedance analysis and PHIL experiments are performed to explain how a resonant mode manifests as turbine-to-turbine and plant-to-grid reactive power oscillations. It is discovered that weaker grids exhibiting high inductive impedance mitigate oscillations in the reactive power output of wind power plants; however, a higher grid impedance does not help in damping turbine-to-turbine reactive power oscillations. This paper presents a simple droop-based solution to eliminate both turbine-to-turbine and plant-to-grid reactive power oscillations.
17 WIND ENERGY↗
An Admittance-Based Protection Scheme for Microgrids
This paper presents a novel directional protection scheme to address the unique challenges associated with protection during unbalanced faults in a distribution system with high penetration of inverter-based resources. The scheme is based on a superimposed negative sequence admittance method. A coordination approach using a unique inverse-time undervoltage element is also presented. An analysis of the scheme, the detection criteria and the coordination method are performed. Also the impact of inverter-control on the scheme is discussed. Results from extensive simulation using MATLAB/Simulink are presented to show a selective and reliable response of the scheme to unbalanced faults
Opoku, Kwasi↗
A State-Space Model for Stability Boundary Analysis of Grid-Following Voltage Source Converters Considering Grid Conditions
With the growing significance of renewable energy resources and energy storage systems, the number of grid-connected inverters has been rising at an increasingly rapid pace. Generally, these inverters are directly integrated with the distribution network by synchronizing with the grid voltage at the point of common coupling. However, the low grid strength and varying R/X ratios, as the common characteristics of most distribution networks or weak grids, can lead to dynamic interactions that comprise stability and limit the power transfer capacity of grid-connected inverters. To ensure stable operation of the inverters, researchers must determine the stability boundary, described as the maximum power transfer capacity of grid-connected inverters under the premise of maintaining system small-signal stability. For this purpose, we propose to formulate a state-space model of the system in the synchronously rotating dq-frame of reference and perform eigenvalue analysis to determine the stability boundary. With a detailed model of the control structure and parameters of the grid-connected inverters, the stability boundary is identified as a surface with respect to different grid strengths and R/X ratios. Case study results of proposed eigenvalue analysis are compared with those of admittance model-based stability analysis as well as time-domain simulation using a switching model in Matlab/Simulink, validating the effectiveness and accuracy of the proposed eigenvalue analysis for stability boundary identification.
grid-connected inverters↗
Where Are White Roofs More Effective in Cooling the Surface?
Solar reflective roofs (also called white or cool roofs) are a common heat mitigation strategy. By reflecting more sunlight than regular roofs, cool roofs experience lower surface temperatures and produce less heating of the surrounding air. The effectiveness of cool roofs, quantified by the surface temperature difference between cool roofs and regular roofs ??????, is known to vary spatially. A common perception is that ?????? is controlled by solar radiation that reaches the roof surface. Here we use an Earth System Model and a surface energy balance model to show that the spatial variability of ??????, when normalized by the albedo difference between cool roofs and regular roofs (????), is in fact more controlled by an energy distribution factor that encodes the efficiencies of surface energy balance components in dissipating heat. Our results suggest that painting the roof white is more effective in reducing the roof surface temperature when the roof has less water holding capacity and smaller thermal admittance and is located in places with more solar radiation, less precipitation, and lower wind speed.
Wang, Linying↗
Decentralized Low-Rank State Estimation for Power Distribution Systems
This article considers the low-observability state estimation problem in power distribution networks and develops a decentralized state estimation algorithm leveraging the matrix completion methodology. Matrix completion has been shown to be an effective technique in state estimation that exploits the low dimensionality of the power system measurements to recover missing information. This technique can utilize an approximate (linear) load flow model, or it can be used with no physical models in a network where no information about the topology or line admittance is available. The direct application of matrix completion algorithms requires solving a semi-definite programming (SDP) problem, which becomes computationally challenging for large networks. We therefore develop a decentralized algorithm that capitalizes on the popular proximal alternating direction method of multipliers (proximal ADMM). The method allows us to distribute the computation among different areas of the network, leading to a scalable algorithm. By doing all computations at individual control areas and only communicating with neighboring areas, the algorithm eliminates the need for data to be sent to a central processing unit and thus increases efficiency and contributes to the goal of autonomous control of distribution networks. We illustrate the advantages of the proposed algorithm numerically using standard IEEE test cases.
41 EE - Solar Energy Technologies Office (EE-4S)↗
Validation of Power Distribution Models using Load Flow Analysis in an ADMS Environment
Electric utilities are facing the need for better monitoring, analysis, and control of their distribution systems. An accurate mathematical model is a key to both the development of cutting-edge, scalable model-based algorithms and the assessment of emerging technologies such as distributed energy resources (DER) for grid planning and operation. However, the constantly evolving nature of power distribution systems poses challenges to maintaining accurate models. In this paper, we propose a novel load flow based approach to validate power distribution models. Networked equipment models described according to the Common Information Model (CIM) standard and a measurement model are used to formulate the distribution load flow problem. First, a system admittance matrix (Ybus) is derived from device-level CIM parameters. Next, the operational parameters (dynamic Ybus and nodal injections) are extracted from the measurement model using sensor configuration and equipment state. An iterative power flow method is then used to compute nodal voltages and branch flows that are compared against the measurement data to find any inconsistencies in the networked equipment model. This approach is implemented within GridAPPS-D, an open-source standards-based platform for advanced distribution management system (ADMS) application development, and demonstrated on the IEEE 13-bus, 123-bus, and 8500-node test feeders.
Common information model, model validation, power ↗
Effect of net direct current on the properties of radio frequency sheaths: simulation and cross-code comparison
In order to understand, predict and control ion cyclotron range of frequency (ICRF) interactions with tokamak scrape-off layer plasmas, computational tools which can model radio frequency (RF) sheaths are needed. In particular, models for the effective surface impedance and DC rectified sheath potentials may be coupled with full wave RF simulation codes to predict self-consistent wave fields near surfaces and the resulting power dissipation and plasma-material interactions from ion sputtering. In this study, previous work assuming zero net DC current flow through the sheath is generalized to allow the surface to collect net positive or negative current, as is often observed in experiments. The waveforms, DC potential and RF admittance are investigated by means of analytical theory, nonlinear fluid and particle-in-cell (PIC) codes. Cross-code comparisons provide detailed model verification and elucidate the roles of ion and electron kinetics. When the sheath draws negative (positive) DC current, the voltage rectification is reduced (increased) compared with the zero-current case, and the magnitude of both the real and imaginary parts of the admittance are increased (reduced). In conclusion, a previous four-input parametrization of the sheath rectification and admittance properties is generalized to include a fifth parameter describing the DC sheath current.
70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
Extended Frequency Divider for Bus Frequency Estimation Considering Virtual Inertia from DFIGs
Accurate estimation of local bus frequency is important for effectively controlling both synchronous and nonsynchronous generators. As the power grid evolves to accommodate essential reliability services such as virtual inertia from nonsynchronous generators, conventional techniques to estimate frequency face challenges. This paper proposes a new frequency estimation method that can effectively include the inertia contributions from double-fed wind generators (DFIGs). This is achieved through the proposed extended frequency divider formula (FDF) to include the contributions of DFIGs via Thevenin equivalents. The proposed extended FDF does not suffer from numerical issues as compared to existing phasor angle derivative-based approaches. Moreover, the knowledge of the rotor speeds of the synchronous machine and DFIGs as well as of the network admittance matrix allows estimating the frequencies of all buses in the grid, thereby significantly improving system situational awareness with a limited number of measurements. Numerical results on the IEEE 39-bus power system with DFIGs show that the proposed method achieves more accurate bus frequency estimations than the original FDF formula and other approaches based on the numerical derivation of the bus voltage phase angles.
double-fed induction generator↗