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Application and Analysis of the Extended Lawrence Teleoperation Architecture to Power Hardware-in-the-Loop Simulation

Title: Application and Analysis of the Extended Lawrence Teleoperation Architecture to Power Hardware-in-the-Loop Simulation.
Name(s): Langston, James, author
Edrington, Christopher S., professor directing dissertation
Vanli, Omer Arda, university representative
Steurer, Michael, committee member
Roberts, Rodney G., committee member
Faruque, Md Omar, committee member
Florida State University, degree granting institution
College of Engineering, degree granting college
Department of Electrical and Computer Engineering, degree granting department
Type of Resource: text
Genre: Text
Doctoral Thesis
Issuance: monographic
Date Issued: 2018
Publisher: Florida State University
Place of Publication: Tallahassee, Florida
Physical Form: computer
online resource
Extent: 1 online resource (182 pages)
Language(s): English
Abstract/Description: Power hardware-in-the-loop (PHIL) simulation is a technique whereby actual power hardware is interfaced to a virtual surrounding system through PHIL interfaces making use of power amplifiers and/or actuators. PHIL simulation is often an attractive approach for early integration testing of devices, allowing testing with unrealized systems with substantial flexibility. However, while PHIL simulation offers a number of potential benefits, there are also a number of associated challenges and limitations stemming from the non-ideal aspects of the PHIL interface. These can affect the accuracy of the experiments and, in some cases, lead to instabilities. Consequently, accuracy, stability, and sensitivity to disturbances are some of the most important considerations in the analysis and design of PHIL simulation experiments, and the development of PHIL interface algorithms (IA) and augmentations for improvements in these areas is the subject of active research. Another area of research sharing some common attributes with PHIL simulation is the field of robotic bilateral teleoperation systems. While there are some distinctions and differences in characteristics between the two fields, much of the literature is also focused on the development of algorithms and techniques for coupling objects. A number of disparate algorithms and augmentations have also been proposed in the teleoperation literature, some of which are fundamentally very similar to those applied in PHIL simulation. While some of the teleoperation methods may have limited applicability in PHIL experiments, others have substantial relevance and may lend themselves to improvements in the PHIL application area. This work focuses on the application and analysis of a teleoperation framework in the context of PHIL simulation. The extended Lawrence Architecture (ELA) is a framework unifying and describing a large set of teleoperation interfacing algorithms. This work focuses on the application and analysis of the ELA to PHIL simulation. This includes the expression of existing PHIL IAs in the context of the ELA, derivation of relevant transfer functions and metrics for assessment of performance, the exploration of the implications of the transparency requirements, and the exploration of new IAs supported by the ELA which may be well suited to the particular characteristics of PHIL simulation.
Identifier: 2018_Sp_Langston_fsu_0071E_14321 (IID)
Submitted Note: A Dissertation submitted to the Department of Electrical and Computer Engineering in partial fulfillment of the requirements for the degree of Doctor of Philosophy.
Degree Awarded: Spring Semester 2018.
Date of Defense: March 9, 2018.
Keywords: Power Systems, Simulation
Bibliography Note: Includes bibliographical references.
Advisory Committee: Chris S. Edrington, Professor Directing Dissertation; Omer Arda Vanli, University Representative; Michael Steurer, Committee Member; Rodney G. Roberts, Committee Member; Md Omar Faruque, Committee Member.
Subject(s): Electrical engineering
Persistent Link to This Record:
Host Institution: FSU

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Langston, J. (2018). Application and Analysis of the Extended Lawrence Teleoperation Architecture to Power Hardware-in-the-Loop Simulation. Retrieved from