This paper describes a quaternion implementation of an Unscented Kalman Filter for attitude estimation on CubeSats using measurements of a sun vector, a magnetic field vector and angular velocity. Using unit quaternions provides a singularity free attitude parameterization. However, the unity constraint requires a redesign of the Unscented Kalman Filter. Therefore, a quaternion error state is introduced. Emphasis has been put in making the implementation accessible to other CubeSat by using realistic models of COTS components used for attitude sensing and simulations have shown that the extra computational cost of estimating bias in measurements is worthwhile. The simulations where performed in a simulation environment for the CubeSat AAUSAT3, where robustness has been an important factor during tuning of the attitude estimators. The results indicate that it is possible to achieve acceptable CubeSat attitude estimation, even during eclipse, on a limited budget and using COTS components, without the need of expensive high precision sensor setups.
Abstract-The thermal capacity of the content in a cold storage room renders it possible to shift the governing refrigeration system's power consumption in time, without compromising temperature constraints. In this paper we introduce a method of implementing such a cold storage room into a directly controlled smart grid, by use of a predictive control strategy. In this application the shift in consumption is used to stabilize a small grid by utilizing excess renewable energy to minimize the need for fossil fueled production sources. In order for the centralized grid controller to handle such a node, its flexibility is communicated in form of a simple generic bucket model. Finally, the provided experiments verify the effectiveness of the proposed method.
Abstract-Many model based control methods exist in the literature. Producing a sufficient system model can be cumbersome and a new non-model based method for control of nonlinear systems with input/output maps exhibiting sigmoid function properties is therefore proposed. The method utilizes an excitation signal together with Fourier analysis to generate a feedback signal and simulations have shown that different system gains and time constants does not change the global equilibrium/operating point. An evaporator in a refrigeration system was used as example in the simulations, however, it is anticipated that the method is applicable in a wide variety of systems satisfying the sigmoid function properties.
Abstract-Heat pumps have recently received increasing interest due to green energy initiatives and increasing energy prices. In this paper, a nonlinear dynamic model of a singleeffect LiBr-water absorption cycle heat pump is derived for simulation and control design purposes. The model is based on an actual heat pump located at a larger district heating plant. The model is implemented in Modelica and is based on energy and mass balances, together with thermodynamic property functions for LiBr and water and staggered grid representations for heat exchangers. Model parameters have been fitted to operational data and different scenarios are simulated to investigate the operational stability of the heat pump. Finally, this paper provides suggestions and examples of derivation of lower order linear models for control design.
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