MATLAB for Engineers Applications in Control, Electrical Engineering, IT and Robotics

519 Pages·2011·23.59 MB·English

by  Karel Perutka

MATLAB
FOR ENGINEERS –
APPLICATIONS IN
CONTROL, ELECTRICAL
ENGINEERING,
IT AND ROBOTICS

Edited by Karel Perutka
MATLAB for Engineers –
Applications in Control, Electrical Engineering, IT and Robotics
Edited by Karel Perutka

Published by InTech
Janeza Trdine 9, 51000 Rijeka, Croatia

Copyright © 2011 InTech
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MATLAB® (Matlab logo and Simulink) is a registered trademark of The MathWorks, Inc.

First published September, 2011
Printed in Croatia

A free online edition of this book is available at www.intechopen.com
Additional hard copies can be obtained from [email protected]

MATLAB for Engineers – Applications in Control, Electrical Engineering, IT and Robotics,
Edited by Karel Perutka
p. cm.
ISBN 978-953-307-914-1
Contents

Preface IX
Part 1 Theory 1
Chapter 1 Implementation of a New Quasi-Optimal Controller
Tuning Algorithm for Time-Delay Systems 3
Libor Pekař and Roman Prokop
Chapter 2 Control of Distributed Parameter Systems - Engineering
Methods and Software Support in the MATLAB &
Simulink Programming Environment 27
Gabriel Hulkó, Cyril Belavý, Gergely Takács,
Pavol Buček and Peter Zajíček
Chapter 3 Numerical Inverse Laplace Transforms for
Electrical Engineering Simulation 51
Lubomír Brančík
Chapter 4 Linear Variable Differential Transformer
Design and Verification Using MATLAB
and Finite Element Analysis 75
Lutfi Al-Sharif, Mohammad Kilani, Sinan Taifour,
Abdullah Jamal Issa, Eyas Al-Qaisi, Fadi Awni Eleiwi
and Omar Nabil Kamal
Part 2 Hardware and Photonics Applications 95
Chapter 5 Computational Models Designed in MATLAB to
Improve Parameters and Cost of Modern Chips 97
Peter Malík
Chapter 6 Results Processing in MATLAB for
Photonics Applications 119
I.V. Guryev, I.A. Sukhoivanov, N.S. Gurieva,
J.A. Andrade Lucio and O. Ibarra-Manzano
VI Contents

Part 3 Power Systems Applications 153
Chapter 7 MATLAB Co-Simulation Tools for
Power Supply Systems Design 155
Valeria Boscaino and Giuseppe Capponi
Chapter 8 High Accuracy Modelling of Hybrid Power Supplies 189
Valeria Boscaino and Giuseppe Capponi
Chapter 9 Calculating Radiation from Power Lines for
Power Line Communications 223
Cornelis Jan Kikkert
Chapter 10 Automatic Modelling Approach for Power Electronics
Converters: Code Generation (C S Function, Modelica,
VHDL-AMS) and MATLAB/Simulink Simulation 247
Asma Merdassi, Laurent Gerbaud and Seddik Bacha
Chapter 11 PV Curves for Steady-State Security
Assessment with MATLAB 267
Ricardo Vargas, M.A Arjona and Manuel Carrillo
Chapter 12 Application of Modern Optimal Control in
Power System: Damping Detrimental
Sub-Synchronous Oscillations 301
Iman Mohammad Hoseiny Naveh and Javad Sadeh
Chapter 13 A New Approach of Control System
Design for LLC Resonant Converter 321
Peter Drgoňa, Michal Frivaldský and Anna Simonová
Part 4 Motor Applications 339
Chapter 14 Wavelet Fault Diagnosis of Induction Motor 341
Khalaf Salloum Gaeid and Hew Wooi Ping
Chapter 15 Implementation of Induction Motor Drive Control
Schemes in MATLAB/Simulink/dSPACE Environment
for Educational Purpose 365
Christophe Versèle, Olivier Deblecker and Jacques Lobry
Chapter 16 Linearization of Permanent Magnet Synchronous
Motor Using MATLAB and Simulink 387
A. K. Parvathy and R. Devanathan
Part 5 Vehicle Applications 407
Chapter 17 Automatic Guided Vehicle Simulation
in MATLAB by Using Genetic Algorithm 409
Anibal Azevedo
Contents VII

Chapter 18 Robust Control of Active Vehicle Suspension Systems Using
Sliding Modes and Differential Flatness with MATLAB 425
Esteban Chávez Conde, Francisco Beltrán Carbajal,
Antonio Valderrábano González and
Ramón Chávez Bracamontes
Chapter 19 Thermal Behavior of IGBT
Module for EV (Electric Vehicle) 443
Mohamed Amine Fakhfakh, Moez Ayadi,
Ibrahim Ben Salah and Rafik Neji
Part 6 Robot Applications 457
Chapter 20 Design and Simulation of Legged Walking
Robots in MATLAB® Environment 459
Conghui Liang, Marco Ceccarelli and Giuseppe Carbone
Chapter 21 Modeling, Simulation and Control of a Power
Assist Robot for Manipulating Objects Based
on Operator’s Weight Perception 493
S. M. Mizanoor Rahman, Ryojun Ikeura and Haoyong Yu
Preface

MATLAB is a powerful software package developed by the MathWorks, Inc., the
multi-national corporation with the company’s headquarters in Natick, Massachusetts,
United States of America. The software is a member of the family of the mathematical
computing software together with Maple, Mathematica, Mathcad etc. and it became
the standard for simulations in academia and practice. It offers easy-to-understand
programming language, sharing source code and toolboxes which solve the selected
area from practice. The software is ideal for light scientific computing, data processing
and math work. Its strength lies in toolboxes for Control and Electrical Engineering.
This book presents interesting topics from the area of control theory, robotics, power
systems, motors and vehicles, for which the MATLAB software was used. The book
consists of six parts.
First part of the book deals with control theory. It provides information about
numerical inverse Laplace transform, control of time-delay systems and distributed
parameters systems.
There are two chapters only in the second part of the book. One is about the
application of MATLAB for modern chips improvement, and the other one describes
results of MATLAB usage for photonics applications.
Next part of the book consists of chapters which have something in common with the
power systems applications, for example two chapters are about power supply
systems and one is about application of optimal control in power systems.
This part is followed by the part about MATLAB applications used in fault diagnosis
of induction motor, implementation of induction motor drive control and linearization
of permanent magnet synchronous motors.
The last but one part of the book provides the application for vehicles, namely the
guided vehicle simulation, new configuration of machine, behavior of module for
electric vehicle and control of vehicle suspension system.
The last part deals with MATLAB usage in robotics, with the modeling, simulation
and control of power assist robot and legged walking robot.
X Preface

This book provides practical examples of MATLAB usage from different areas of
engineering and will be useful for students of Control Engineering or Electrical
Engineering to find the necessary enlargement of their theoretical knowledge and
several models on which theory can be verified. It helps with the future orientation to
solve the practical problems.
Finally, I would like to thank everybody who has contributed to this book. The results
of your work are very interesting and inspiring, I am sure the book will find a lot of
readers who will find the results very useful.

Karel Perutka
Tomas Bata University in Zlín
Czech Republic
Part 1
Theory
1
Implementation of a New Quasi-Optimal
Controller Tuning Algorithm for
Time-Delay Systems
Libor Pekař and Roman Prokop
Tomas Bata University in Zlín
Czech Republic
1. Introduction
Systems and models with dead time or aftereffect, also called hereditary, anisochronic or
time-delay systems (TDS), belonging to the class of infinite dimensional systems have been
largely studied during last decades due to their interesting and important theoretical and
practical features. A wide spectrum of systems in natural sciences, economics, pure
informatics etc., both real-life and theoretical, is affected by delays which can have various
forms; to name just a few the reader is referred e.g. to (Górecki et al., 1989; Marshall et al.,
1992; Kolmanovskii & Myshkis, 1999; Richard, 2003; Michiels & Niculescu, 2008; Pekař et al.,
2009) and references herein. Linear time-invariant dynamic systems with distributed or
lumped delays (LTI-TDS) in a single-input single-output (SISO) case can be represented by a
set of functional differential equations (Hale & Verduyn Lunel, 1993) or by the Laplace
transfer function as a ratio of so-called quasipolynomials (El’sgol’ts & Norkin, 1973) in one
complex variable s, rather than polynomials which are usual in system and control theory.
Quasipolynomials are formed as linear combinations of products of s-powers and
exponential terms. Hence, the Laplace transform of LTI-TDS is no longer rational and so-
called meromorphic functions have to be introduced. A significant feature of LTI-TDS is (in
contrast to undelayed systems ) its infinite spectrum and transfer function poles decide -
except some cases of distributed delays, see e.g. (Loiseau, 2000) - about the asymptotic
stability as in the case of polynomials.
It is a well-known fact that delay can significantly deteriorate the quality of feedback control
performance, namely stability and periodicity. Therefore, design a suitable control law for
such systems is a challenging task solved by various techniques and approaches; a plentiful
enumeration of them can be found e.g. in (Richard, 2003). Every controller design naturally
requires and presumes a controlled plant model in an appropriate form. A huge set of
approaches uses the Laplace transfer function; however, it is inconvenient to utilize a ratio
of quasipolynomials especially while natural requirements of internal (impulse-free modes)
and asymptotic stability of the feedback loop and the feasibility and causality of the
controller are to be fulfilled.
The meromorphic description can be extended to the fractional description, to satisfy
requirements above, so that quasipolynomials are factorized into proper and stable
meromorphic functions. The ring of stable and proper quasipolynomial (RQ)