In this paper, we proposed an algorithm that can move robot manipulator with constant velocity in robust stability. The moving velocity of arm is controlled by an algorithm of the adaptive impedance control, which increases operation efficiency and keeps the advantages of the impedance control. This control algorithm will satisfy practical and efficient applications, such as manipulator control that assist safely in feeding impaired patients. The manipulator is firstly based on 1 DOF robot arm which rotates in the vertical plane. The effect of gravity was eliminated by robust control. The algorithm of robust adaptive impedance control increases operation efficiency and operation stability. Furthermore, the impedance with the robust control design eliminates the steady state error which is caused by the static friction, and the reaction torque observer reduces the ripple of torque and smoothes the output of velocity.
Auxiliary power of Three-phase photovoltaic inverter is supplied by solar cells with wide input ranging from 140V to 1000V.The conventional single-switch flyback converter exists too high voltage stress in power switch to be applied in this inverter. This paper presents a dual-switch flyback converter in which the voltage stress of each switch is slightly higher than the input voltage when switches turn off, at the same time , the leakage inductance energy is recycled back into the inputside; otherwise, this topology needs no snubber circuit, so it is much more efficient than single switch flyback. The dual switch flyback converter with seven outputs is successfully applied in 10KW three phase PV inverter.
Under three-phase grid asymmetric fault conditions, use traditional PI controller of PV inverters to inject symmetric current positive sequence into the grid, ignoring the impact of the negative sequence current on LVRT, thus traditional PI controller does not apply to three-phase grid asymmetric faults. The paper proposes the decoupling dual synchronous current controller to reject positive, negative sequence current into the grid simultaneously and adopt positive and negative sequence flexible control to determine the active current reference and reactive current reference, avoiding the various drawbacks such as power control, totally positive sequence control bringing. Experiment verify the science and feasibility that decoupling dual synchronous current controller applies to asymmetric faults riding-through.
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