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Results for “coordinated control”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Telerobotic control of a mobile coordinated robotic server

The annual report on telerobotic control of a mobile coordinated robotic server is presented. The goal of this effort is to develop advanced control methods for flexible space manipulator systems. As such, an adaptive fuzzy logic controller was developed in which model structure as well as parameter constraints are not required for compensation. The work builds upon previous work on fuzzy logic controllers. Fuzzy logic controllers have been growing in importance in the field of automatic feedback control. Hardware controllers using fuzzy logic have become available as an alternative to the traditional PID controllers. Software has also been introduced to aid in the development of fuzzy logic rule-bases. The advantages of using fuzzy logic controllers include the ability to merge the experience and intuition of expert operators into the rule-base and that a model of the system is not required to construct the controller. A drawback of the classical fuzzy logic controller, however, is the many parameters needed to be turned off-line prior to application in the closed-loop. In this report, an adaptive fuzzy logic controller is developed requiring no system model or model structure. The rule-base is defined to approximate a state-feedback controller while a second fuzzy logic algorithm varies, on-line, parameters of the defining controller. Results indicate the approach is viable for on-line adaptive control of systems when the model is too complex or uncertain for application of other more classical control techniques.

Lee, Gordon↗
DOE OSTI2023

Faster-than-real-time Simulation with Demonstration for Resilient DER Integration

The US electric grid is facing operational, stability, and security challenges. Transmission system operators need some measure of visibility into distribution system renewable generation. Distribution system generation needs to support transmission system voltage. The grid is experiencing an expansion in measurement systems. How to take full advantage of this expansion and defend against attacks, both cyber and physical, poses additional challenges. The Faster-than-real-time Simulation with demonstration for Resilient DER Integration project set out to do the following: a. Flatten the voltage profile through the feeders and system for cost saving and voltage stabilization needs. b. Increase the amount of intermittent distributed energy resources (IDERs) that could be deployed on a utility feeder and provide 100% or more energy needed for the demands on that feeder, and c. based on an accurate model (Digital Twin) of the utilities system, be able to detect any abnormalities on the utilities distribution system. To manage the voltage and increase IDER penetration (a,b), Graph Trace Analysis is employed in a time-series, optimal power flow to coordinate the time-varying feedback control setpoints of a distribution feeder’s utility control devices. Under the coordinated control are a Load Tap Changing Transformer, a voltage regulator, and five switched capacitor banks. The feeder serves over 2000 customers, the feeder secondaries are modeled, and the feeder has 2.3 MW of PV generation, corresponding to a 17.4% penetration of PV generation. The feeder model has over 12,000 components, where every customer load bus and PV generator are modeled. The accuracy of the power flow solution is compared against historical meter voltage measurements, the improvement in conservation voltage reduction energy savings as a function of the coordinated control desired voltage profile is investigated, and the increase in PV penetration of the coordinated control over the existing control is presented. To achieve improved control performance while observing system operation constraints, bellwether Advanced Metering Infrastructure (AMI) voltage measurements are used to adjust the desired voltage profile used by the optimal power flow analysis. To detect and alleviate or negate attacks or failures on the distribution and transmission utility grids (c) the grid needs to be resilient and self-healing. In this project software was designed to do just that. At the center of the software is an Integrated System Model (ISM) that spans from transmission to secondary distribution. The ISM is employed in real-time abnormality detection, voltage stability forecasting, and multi-mode control. Testing results are presented for: 1—attacks on utility infrastructure; 2—energy savings from optimal control; 3—distribution system control response during a low voltage transmission system event; 4—cyber-attacks on PV inverters, where physical inverters are used in hard-ware-in-the-simulation-loop studies. Contributions of this work include real-time analysis that spans from three-phase transmission through secondary distribution; an approach for detecting abnormalities that employs measurements from three independent measurement systems; and a multi-mode distribution system control that responds to cyber-attacks, physical attacks, equipment failures, and transmission system needs.

Integrated System Model, Graph Trace Analysis, Adv↗
DOE OSTI2025

Stable, Efficient Iron Electrodeposition via Anion-Directed Control of Fe(II) Coordination

Traditional steelmaking processes consume about 7% of the world’s energy supply, with reduction of iron oxides into iron via blast furnaces representing the most energy-demanding and capital-intensive step. To economize and modularize iron reduction processes, we aim to develop an electrodeposition technique to reduce aqueous iron ions to metallic iron. However, the hydrogen reduction reaction (HER) occurs at a more positive standard reduction potential than the iron reduction reaction. In addition, aqueous Fe(II) cations easily precipitate at mildly acidic conditions (pH ≥ 3), which limits the deposition efficiency and degrades deposit quality. To address these challenges, we first search for anions that have intermediate coordination strength with Fe(II) based on the hard-soft acid-base theory, trading a slightly more negative Fe(II) reduction potential for a considerably broader pH stability range. We select citrate with predicted intermediate coordination strength, in combination with more weakly coordinating anions (e.g., SO 4 2- , Cl - ) to control the coordination structure of Fe 2+ for improved electrolyte stability and electrodeposition behavior. We find that citrate coordination stabilizes Fe 2+ -based electrolytes at higher pH conditions (4.8–5.5), significantly extending their shelf life while also suppressing HER during Fe electrodeposition by orders of magnitude. To measure Faradaic efficiencies (FE), we developed a straightforward, titration-based methodology to quantify the amount of deposited iron regardless of the rate of concurrent HER. Although coordination between citrate and Fe 2+ decreases the reduction potential of Fe(II), high FE (≥98%) was achieved at 10 mA cm -2 . FE and achievable deposition rates are tunable by both concentration and the ratio of Fe 2+ to citrate. In all cases, Raman spectroscopy and X-ray diffraction (XRD) reveal that iron deposition in citrate-containing electrolytes suppresses iron oxide/hydroxide precipitation, in contrast to deposits generated in citrate-free electrolytes. Altogether, this work demonstrates that citrate-mediated anion coordination enables high-purity iron electrodeposition with increased FE, high current density, and improved electrolyte stability. This multi-anion coordination strategy provides a versatile framework for designing stable electrolyte and efficient metal electrodeposition.

coordination↗
NASA NTRS1988

Modelling and control of two coordinated robot arms

Two coordinated robot arms are modeled by considering the two arms as working on the same object simultaneously and as a closed kinematic chain. In both formulations, a novel dynamic control method is used which is based on feedback linearization and simultaneous output decoupling.

Tarn, T. J.↗
NASA NTRS1997

Formation Flying Control of Multiple Spacecraft

The problem of coordination and control of multiple spacecraft (MS) moving in formation is considered. Here, each MS is modeled by a rigid body with fixed center of mass. First, various schemes for generating the desired formation patterns are discussed, Then, explicit control laws for formation-keeping and relative attitude alignment based on nearest neighbor-tracking are derived. The necessary data which must be communicated between the MS to achieve effective control are examined. The time-domain behavior of the feedback-controlled MS formation for typical low-Earth orbits is studied both analytically and via computer simulation. The paper concludes with a discussion of the implementation of the derived control laws, and the integration of the MS formation coordination and control system with a proposed inter-spacecraft communication/computing network.

Hadaegh, F. Y.↗
DOE OSTI2021

Predictive Coordinated and Cooperative Voltage Control for Systems With High Penetration of PV

In this paper, we propose a predictive coordinated and cooperative voltage control method in a power distribution system with high penetration of photovoltaic (PV) units. First, an integrated coordinated voltage control of voltage regulators (VRs) tap positions and cooperative distributed control of the reactive power output from PV inverters are used to maintain system voltages within an appropriate bandwidth. Next, solar power forecasting is applied to predict voltage changes, which are used to set the VR tap positions and capacitor switch status to prevent large voltage fluctuations. The fine tuning of voltage adjustment is then achieved by cooperative control of PV inverters to maintain a uniform voltage profile across the system. The proposed method is tested on a modified IEEE 123-node test feeder with high penetration of PVs using real measurement data and compared with the base case. Simulation results demonstrate the effectiveness of the integrated voltage control, as well as the enhancement from the predictive control through solar power forecasting-enabled voltage change estimates. Comparison to previous work in the literature shows significant improvement in terms of voltage deviation and reduction in excessive tap changes.

14 SOLAR ENERGY↗
NASA NTRS1982

Coordinate generation with precise controls over mesh properties

Powerful local controls have been developed for mesh generation with the class of multisurface coordinate transformations. The controls come from local piecewise linear interpolants, and the resulting coordinates have continuous first derivatives. At the boundaries, the mesh controls provide the capability of joining distinct coordinate systems together with continuous derivatives. Away from boundaries, a local region can be given a particular mesh form to model internal objects or to simplify a problem. Applications of the controls are illustrated with a sequence of two-dimensional examples. For simplicity, each is generated about a NACA0012 airfoil which is of unit length and with leading edge pointed in a negative x-direction.

Eiseman, P. R.↗
DOE OSTI2022

Data-Driven Distribution System Coordinated PV Inverter Control Using Deep Reinforcement Learning

The deployment of distributed solar photovoltaic (PV) systems has increased consistently over the past decades. High penetrations of PVs could cause a series of adverse grid impacts, such as voltage violations. The recent development of smart inverter technologies rises the incentives of developing PV control solutions that regulate the inverter output power and seeking the optimization on system operational objectives. This paper proposes a data-driven control solution based on deep reinforcement learning (DRL) to optimize PV inverters for voltage regulation. The proposed solution can minimize PV real power curtailment while maintaining network voltage at an acceptable range. Comparison results between the proposed DRL control algorithms with deep deterministic policy gradient (DDPG) and volt-var control on a real feeder in west Colorado highlight the advantage of the proposed framework in controlling the system voltage while minimizing the PV real power curtailment.

deep reinforcement learning↗
NASA NTRS1998

Verbal and Non-Verbal Communication and Coordination in Mission Control

In this talk I will present some video-materials gathered in Mission Control during simulations. The focus of the presentation will be on verbal and non-verbal communication between the officers in the front and backroom, especially the practices that have evolved around a peculiar communications technology called voice loops.

Vinkhuyzen, Erik↗
DOE OSTI2023

Methods and systems for coordinating predictive cruise control, engine-off coasting, and hybrid power split

The enclosed disclosure relates to hybrid vehicles and systems with an engine, a drivetrain with a clutch and a transmission, an electric machine, and a controller. The controller receives lookahead information within a lookahead window and present state information of the hybrid vehicle. The controller determines a predicted coasting opportunity exceeding a predetermined threshold within the lookahead window and determines a cruise control reference speed, a power split between the engine and the electric machine, and a timing of enabling engine-off coasting during the coasting opportunity. The controller deactivates the engine and disengages the clutch at a start of the coasting opportunity when the engine-off coasting is enabled.

Gupta, Rohinish↗
NASA NTRS1989

Telerobotic research for in-space structural assembly and servicing

The paper reviews Langley's Telerobotic Technology Program and the recent and planned research in automated space assembly. Research areas include multiple manipulator coordination and control, automatic modes, evaluation of control modalities for teleoperated tasks, active sensing for world modeling and control, and architectures for distributed telerobotic systems. Studies of master/slave teleoperators performing representative space tasks showed that current teleoperator systems can be used to accomplish remote space operations. These studies also identified that research is required to improve the systems to reduce operator workload and task completion time. Closed-loop noncontact and contact sensor based control for automatic acquisition, positioning, and active compliance have been developed. A control structure for multiple manipulator coordination and control with manual, shared, and automatic modes performing space type tasks is being evaluated.

Meintel, Alfred J., Jr.↗
NASA NTRS1989

Adaptive Force And Position Control For Robots

Control system causes end effector of robot manipulator to follow prescribed trajectory and applies desired force or torque to object manipulating or in contact. Characterized by hybrid control architecture, where positions and orientations along unconstrained coordinate axes controlled by position-control subsystem, while forces and torques along constrained coordinate axes controlled by force-control subsystem. Compensates for dynamic cross-coupling between force-and position-control loops and does not require knowledge of complicated model of dynamics of manipulator and environment.

Seraji, Homayoun↗
DOE OSTI2020

Conservation Voltage Reduction (CVR) via Two-Timescale Control in Unbalanced Power Distribution Systems

Voltage control devices are employed in power distribution systems to reduce the power consumption by operating the system closer to the lower acceptable voltage limits; this technique is called conservation voltage reduction (CVR). The different modes of operation for system’s legacy devices (with binary control) and new devices (e.g. smart inverters with continuous control) coupled with variable photovoltaic (PV) generation results in voltage fluctuations which makes it challenging to achieve CVR objective. This paper presents a two-timescale control of feeder’s voltage control devices to achieve CVR that includes (1)a centralized controller operating in a slower time-scale to coordinate voltage control devices across the feeder and (2) local controllers operating in a faster timescale to mitigate voltage fluctuations due to PV variability. The centralized controller utilizes a three-phase optimal power flow model to obtain the decision variables for both legacy devices and smart inverters. The local controllers operate smart inverters to minimize voltage fluctuations and restore nodal voltages to their reference values by adjusting the reactive power support. The proposed approach is validated using the IEEE-123 bus (medium-size) and R3-12.47-2 (large-size) feeders. It is demonstrated that the proposed approach is effective in achieving the CVR objective for unbalanced distribution systems.

optimal control, distributed generation, fluctuati↗