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 All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Davor Vidic Technical Editor Teodora Smiljanic Cover Designer Jan Hyrat Image Copyright teacept, 2011. Used under license from Shutterstock.com 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)