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This report deals with the damping of sub-synchronous oscillations in power systems. The method is based on estimation of the generator rotor angle and shaft speed, by measuring the line current and the voltage across a phase-compensating series capacitor. These two signals are probably not sufficient, so a line-to-ground voltage measurement is added. However, this means increased costs. A thyrist
A library of Omola models for modeling and simulation of mechanical multibody systems in three dimensions has been developed. It contains common basic mechanical components such as springs and joints of different kinds. Omola is an object-oriented modeling language and supports flexability. The modularization and inheritance concepts supports easy modification of models. The library contains abstr
In this paper an adaptive system to control processes affected by dead-zone nonlinearities, based on a nonlinear compensation, has been studied. The adaptive control schemes ensure boundedness of the close-loop signals and reduce the tracking error. The main goal was to understand the problem in details, analyzing the different situations and difficulties that this nonlinear compensation might in
A voltage controlled galvanic simulator has been constructed for experiments on human balance. The aim is to gain knowledge about the human body's balancing behaviour and implementation for diagnostic purposes. The purpose is to stimulate the vestibular nerve in the inner ear, with a defined stimulus, measuring the resulting body sway, analysing the input and output signals with mathematical m
An experimental platform is used for research in robot programming and senor-based motion control. The platform is built around a commercially available robot with AC motors. The robot is controlled from a VME-based embedded control computer, which is also connected via Ethernet with workstations used as host computers. The VME system contains micro processors for general computing and control, bu
