Search results for: fractional–order proportional integral (FOPI) controller

Authors: Aliasghar Baziar, Hassan Masoumi, Alireza Ale Saadi

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The control of the response of electric motors plays a significant role in the damping of transient responses. In this regard, this paper presents a static VAR compensator (SVC) based on a fuzzy logic which is applied to an industrial power network consisting of three phase synchronous, asynchronous and DC motor loads. The speed and acceleration variations of a specific machine are the inputs of the proposed fuzzy logic controller (FLC). In order to verify the effectiveness and proficiency of the proposed Fuzzy Logic based SVC (FLSVC), several non-linear time-domain digital simulation tests are performed. The proposed fuzzy model can properly control the response of electric motors. The results show that the FLSVC is successful to improve the voltage profile significantly over a wide range of operating conditions and disturbances thus improving the overall dynamic performance of the network.

Keywords: fuzzy logic controller, VAR compensator, single cage asynchronous motor, DC motor

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Authors: Valeria Bondarenko

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In this paper, we propose two problems related to fractal Brownian motion. First problem is simultaneous estimation of two parameters, Hurst exponent and the volatility, that describe this random process. Numerical tests for the simulated fBm provided an efficient method. Second problem is approximation of the increments of the observed time series by a power function by increments from the fractional Brownian motion. Approximation and estimation are shown on the example of real data, daily deposit interest rates.

Keywords: fractional Brownian motion, Gausssian processes, approximation, time series, estimation of properties of the model

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Authors: Muhammad Azmain Abdullah, Ar Rashedul, Mohammad Ali

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This paper scrutinizes the influences of turbulence on heat transport rate, Nusselt number. The subject matter of this investigation also deals with the improvement of heat transfer efficiency of the swirl flow obtained by rotating a twisted tape in a circular pipe. The conditions to be fulfilled to observe the impact of Reynolds number and rotational speed of twisted tape are: a uniform temperature on the outer surface of the pipe, the magnitude of velocity of water varying from 0.1 m/s to 0.7 m/s in order to alter Reynolds number and a rotational speed of 200 rpm to 600 rpm. The gyration of twisted tape increase by 17%. It is also observed that heat transfer is exactly proportional to inlet gauge pressure and reciprocally proportional to increase of twist ratio.

Keywords: swirl flow, twisted tape, twist ratio, heat transfer

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Authors: Jafar Razmi

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Integral abutment bridges are bridges that do not have joints. If these bridges are subject to large seasonal and daily temperature variations, the expansion and contraction of the bridge slab is transferred to the piles. Since the piles are deep into the soil, displacement induced by slab can cause bending and stresses in piles. These stresses cause fatigue and failure of piles. A complex mechanical interaction exists between the slab, pile, soil and abutment. This complex interaction needs to be understood in order to calculate the stresses in piles. This paper uses a mechanical approach in developing analytical equations for the complex structure to determine the stresses in piles. The solution to these analytical solutions is developed and compared with finite element analysis results and experimental data. Our comparison shows that using analytical approach can accurately predict the displacement in piles. This approach offers a simplified technique that can be utilized without the need for computationally extensive finite element model.

Keywords: integral abutment bridges, piles, thermo-mechanical stress, stress and strains

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Authors: Abderrahmane El Kachani, El Mahjoub Chakir, Anass Ait Laachir, Abdelhamid Niaaniaa, Jamal Zerouaoui, Tarik Jarou

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This paper presents a wind turbine based on the doubly fed induction generator (DFIG) connected to the utility grid through a shunt active power filter (SAPF). The whole system is controlled by a double nonlinear predictive controller (DNPC). A Taylor series expansion is used to predict the outputs of the system. The control law is calculated by optimization of the cost function. The first nonlinear predictive controller (NPC) is designed to ensure the high performance tracking of the rotor speed and regulate the rotor current of the DFIG, while the second one is designed to control the SAPF in order to compensate the harmonic produces by the three-phase diode bridge supplied by a passive circuit (rd, Ld). As a result, we obtain sinusoidal waveforms of the stator voltage and stator current. The proposed nonlinear predictive controllers (NPCs) are validated via simulation on a 1.5 MW DFIG-based wind turbine connected to an SAPF. The results obtained appear to be satisfactory and promising.

Keywords: wind power, doubly fed induction generator, shunt active power filter, double nonlinear predictive controller

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Authors: Babitha Elizabeth Philip

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This paper aims to study in general about bridges without expansion joints. Integral Abutment Bridges (IAB) fall into this category of bridges. They are having a continuous deck and also the girders are integrated into the abutments. They are most cost effective system in terms of construction, maintenance, and longevity. The main advantage of IAB is that it is corrosion resistant since water is not allowed to pass through the structure. The other attractions of integral bridges are its simple and rapid construction, smooth and uninterrupted deck which provides a safe ride. Also damages to the abutments can be avoided to a great extent due to better load distribution at the bridge ends. Damages due to improper drainage are not seen in IAB because of its properly drained approach slabs thus eliminating the possibility of erosion of the abutment backfill and freeze and thaw damage resulting from saturated backfill.

Keywords: continuous bridge, integral abutment bridge, joint bridge, life cycle cost, soil interaction

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Authors: Alexandros Lioulemes, Michail Theofanidis, Varun Kanal, Konstantinos Tsiakas, Maher Abujelala, Chris Collander, William B. Townsend, Angie Boisselle, Fillia Makedon

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This paper presents a home-based robot-rehabilitation instrument, called ”MAGNI Dynamics”, that utilized a vision-based kinematic/dynamic module and an adaptive haptic feedback controller. The system is expected to provide personalized rehabilitation by adjusting its resistive and supportive behavior according to a fuzzy intelligence controller that acts as an inference system, which correlates the user’s performance to different stiffness factors. The vision module uses the Kinect’s skeletal tracking to monitor the user’s effort in an unobtrusive and safe way, by estimating the torque that affects the user’s arm. The system’s torque estimations are justified by capturing electromyographic data from primitive hand motions (Shoulder Abduction and Shoulder Forward Flexion). Moreover, we present and analyze how the Barrett WAM generates a force-field with a haptic controller to support or challenge the users. Experiments show that by shifting the proportional value, that corresponds to different stiffness factors of the haptic path, can potentially help the user to improve his/her motor skills. Finally, potential areas for future research are discussed, that address how a rehabilitation robotic framework may include multisensing data, to improve the user’s recovery process.

Keywords: human-robot interaction, kinect, kinematics, dynamics, haptic control, rehabilitation robotics, artificial intelligence

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Authors: S. Gherbi, F. Bouchareb

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This paper deals with the novel intelligent bio-inspired control strategies, it presents a novel approach based on an optimal fuzzy immune PID parameters tuning, it is a combination of a PID controller, inspired by the human immune mechanism with fuzzy logic. Such controller offers more possibilities to deal with the delayed systems control difficulties due to the delay term. Indeed, we use an optimization approach to tune the four parameters of the controller in addition to the fuzzy function; the obtained controller is implemented in a modified Smith predictor structure, which is well known that it is the most efficient to the control of delayed systems. The application of the presented approach to control a three tank delay system shows good performances and proves the efficiency of the method.

Keywords: delayed systems, fuzzy immune PID, optimization, Smith predictor

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Authors: Meetty Tomy, Arxhana G Thosar

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This paper provides the implementation of optimal control for an armature-controlled DC motor. The selection of error weighted Matrix and control weighted matrix in order to implement optimal control theory for improving the dynamic behavior of DC motor is presented. The closed loop performance of Armature controlled DC motor with derived linear optimal controller is then evaluated for the transient operating condition (starting). The result obtained from MATLAB is compared with that of PID controller and simple closed loop response of the motor.

Keywords: optimal control, DC motor, performance index, MATLAB

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Authors: Labane Chrif

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A nonlinear approach to the automatic pitch attitude control problem for aircraft transportation is presented. A nonlinear model describing the longitudinal equations of motion in strict feedback form is derived. Backstepping is utilized for the construction of a globally stabilizing controller with a number of free design parameters. The controller is evaluated using the aircraft transportation. The adaptation scheme proposed allowed us to design an explicit controller with a minimal knowledge of the aircraft aerodynamics. Finally, the simulation results will show that backstepping controller have better dynamic performance, simpler design, higher precision, easier implement, etc. At the same time, the control effect will be significantly improved. In addition, backstepping control is superior in short transition, good stability, anti-disturbance and good control.

Keywords: nonlinear control, backstepping, aircraft control, Lyapunov function, longitudinal model

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Authors: Toshifumi Hiramatsu, Satoshi Morita, Manuel Pencelli, Marta Niccolini, Matteo Ragaglia, Alfredo Argiolas

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Automation technologies for agriculture field are needed to promote labor-saving. One of the most relevant problems in automated agriculture is represented by controlling the robot along a predetermined path in presence of rough terrain or incline ground. Unfortunately, disturbances originating from interaction with the ground, such as slipping, make it quite difficult to achieve the required accuracy. In general, it is required to move within 5-10 cm accuracy with respect to the predetermined path. Moreover, lateral velocity caused by gravity on the incline field also affects slipping. In this paper, a path-tracking controller for tracked mobile robots moving on rough terrains of incline field such as vineyard is presented. The controller is composed of a disturbance observer and an adaptive controller based on the kinematic model of the robot. The disturbance observer measures the difference between the measured and the reference yaw rate and linear velocity in order to estimate slip. Then, the adaptive controller adapts “virtual” parameter of the kinematics model: Instantaneous Centers of Rotation (ICRs). Finally, target angular velocity reference is computed according to the adapted parameter. This solution allows estimating the effects of slip without making the model too complex. Finally, the effectiveness of the proposed solution is tested in a simulation environment.

Keywords: the agricultural robot, autonomous control, path-tracking control, tracked mobile robot

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Authors: Ridho Al-Hamdi, Sakir, Tanto Lailam

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During the democratic period of 1999-present, Indonesia has consistently applied a List Proportional Representation (List PR) system in the parliamentary election. Between 1999 and 2004, it adopted a closed-list proportional representation (CLPR) system. In the meantime, it employed open-list proportional representation (OLPR) system from 2009 to 2019. Recently, some parties intended to propose the application of CLPR while others are still consistent in adopting OLPR. An unfinished debate is taking place. Thus, this article aims to evaluate the application of CLPR in Indonesia and, in turn, analyze its compatibility in contemporary parliamentary election system. From a methodological standpoint, it is qualitative research by applying a case study approach. Data-gathering relies on field data, mainly focus group discussion (FGD) and in-depth interviews with political parties, electoral management bodies (EMBs), NGO activists, and scholars spread in six provinces and nine regencies/cities across the country. Using SWOT analysis and the compatibility of CLPR and embedded democracy framework, the finding demonstrates that CLPR is no longer relevant for contemporary Indonesian elections. This paper recommends OLPR by considering that CLPR has numerous weaknesses and threats that can jeopardize embedded democracy. More importantly, CLPR can remove inclusive suffrage significantly.

Keywords: closed-list proportional representation, embedded democracy, Indonesia, parliamentary election

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Authors: Doğan Yıldız, Aydan Müşerref Erkmen

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The controller of the octocopter is mostly based on the PID controller. For complex maneuvers, PID controllers have limited performance capability like in collision avoidance. When an octocopter needs avoidance from an obstacle, it must instantly show an agile maneuver. Also, this kind of maneuver is affected severely by the nonlinear characteristic of octocopter. When these kinds of limitations are considered, the situation is highly challenging for the PID controller. In the proposed study, these challenges are tried to minimize by using the model predictive controller (MPC) for collision avoidance with a nonlinear octocopter model. The aim is to show that MPC-based collision avoidance has the capability to deal with fast varying conditions in case of obstacle detection and diminish the nonlinear effects of octocopter with varying disturbances.

Keywords: model predictive control, nonlinear octocopter model, collision avoidance, obstacle detection

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Authors: Minas Balyan

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In the third-order nonlinear Takagi’s equations for monochromatic waves and in the third-order nonlinear time-dependent dynamical diffraction equations for X-ray pulses for forbidden reflections the Fourier-coefficients of the linear and the third order nonlinear susceptibilities are zero. The dynamical diffraction in the nonlinear case is related to the presence in the nonlinear equations the terms proportional to the zero order and the second order nonzero Fourier coefficients of the third order nonlinear susceptibility. Thus in the third order nonlinear Bragg diffraction case a nonlinear analogue of the well known Renninger effect takes place. In this work, the ‘third order nonlinear Renninger effect’ is considered theoretically and numerically. If the reflection exactly is forbidden the diffracted wave’s amplitude is zero both in Laue and Bragg cases since the boundary conditions and dynamical diffraction equations are compatible with zero solution. But in real crystals due to some percent of dislocations and other localized defects, the atoms are displaced with respect to their equilibrium positions. Thus in real crystals susceptibilities of forbidden reflection are by some order small than for usual not forbidden reflections but are not exactly equal to zero. The numerical calculations for susceptibilities two order less than for not forbidden reflection show that in Bragg geometry case the nonlinear reflection curve’s behavior is the same as for not forbidden reflection, but for forbidden reflection the rocking curves’ width, center and boundaries are two order sensitive on the input intensity value. This gives an opportunity to investigate third order nonlinear X-ray dynamical diffraction for not intense beams – 0.001 in the units of critical intensity.

Keywords: third order nonlinearity, Bragg diffraction, nonlinear Renninger effect, rocking curves

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Authors: Ahmad Forouzantabar, Mohammad Azadi, Alireza Alesaadi

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This paper describes a sliding mode controller for autonomous underwater vehicles (AUVs). The dynamic of AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of AUV and improve trajectory tracking. Moreover, the proposed controller can profoundly attenuate the effects of uncertainties and external disturbances in the closed-loop system. Using the Lyapunov theory the boundedness of AUV tracking errors and the stability of the proposed control system are also guaranteed. Numerical simulation studies of an AUV are included to illustrate the effectiveness of the presented approach.

Keywords: lyapunov stability, autonomous underwater vehicle, sliding mode controller, electronics engineering

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Authors: George Adomako Kumi

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The response of structural members, when subjected to various forms of non-proportional loading, plays a major role in the overall stability and integrity of a structure. This research seeks to present the outcome of a finite element investigation conducted by the use of finite element programming software ABAQUS to validate the experimental results of elastic and inelastic behavior and strength of beam-columns subjected to axial loading, biaxial bending, and torsion under ambient temperature conditions. The application of the rigorous and highly complicated ABAQUS finite element software will seek to account for material, non-linear geometry, deformations, and, more specifically, the contact behavior between the beam-columns and support surfaces. Comparisons of the three-dimensional model with the results of actual tests conducted and results from a solution algorithm developed through the use of the finite difference method will be established in order to authenticate the veracity of the developed model. The results of this research will seek to provide structural engineers with much-needed knowledge about the behavior of steel beam columns and their response to various non-proportional loading conditions under ambient temperature conditions.

Keywords: beam-columns, axial loading, biaxial bending, torsion, ABAQUS, finite difference method

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Authors: Muhammad M. A. S. Mahmoud

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Natural gas sweetening process is a controlled process that must be done at maximum efficiency and with the highest quality. In this work, due to complexity and non-linearity of the process, the H₂S gas separation and the intelligent fuzzy controller, which is used to enhance the process, are simulated in MATLAB – Simulink. The new design of fuzzy control for Gas Separator is discussed in this paper. The design is based on the utilization of linear state-estimation to generate the internal knowledge-base that stores input-output pairs. The obtained input/output pairs are then used to design a feedback fuzzy controller. The proposed closed-loop fuzzy control system maintains the system asymptotically-stability while it enhances the system time response to achieve better control of the concentration of the output gas from the tower. Simulation studies are carried out to illustrate the Gas Separator system performance.

Keywords: gas separator, gas sweetening, intelligent controller, fuzzy control

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Authors: Samson Davoyan, Ashot Davoyan, Ani Khachatryan

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The indexes (Global Competitiveness Index, Economic Freedom Index, Human Development Index, etc.) developed by different international and non-government organizations in time and space express the quantitative and qualitative features of different fields of various reforms implemented in different countries. The main objective of our research is to develop new methodology that we will use to create integral index based on many indexes and that will include many areas of reforms. To achieve our aim we have used econometric methods (regression model for panel data method). The basis of our methodology is the development of the new integral index based on quantitative assessment of the change of two main parameters: the score of the countries by different indexes and the change of the ranks of countries for following two periods of time. As a result of the usage of methods for analyzes we have defined the indexes that are used to create the new integral index and the scales for each of them. Analyzing quantitatively and qualitatively analysis through the integral index for more than 100 countries for 2009-2014, we have defined comparative efficiency that helps to conclude in which directions countries have implemented reforms more effectively compared to others and in which direction reforms have implemented less efficiently.

Keywords: development, rank, reforms, comparative, index, economic, corruption, social, program

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Authors: Abasali Amini, Alireza Mirbagheri, Amir Homayoun Jafari

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In this paper, a new structure for teleoperation systems with time varying delay has been modeled and proposed. A random time varying the delay of up to 150 msec is simulated in teleoperation channel of both masters to slave and vice versa. The system stability and transparency have been investigated, comparing the result of a PID controller and an optimal controller on each master and slave sub-systems separately. The controllers have been designed in slave subsystem for reducing position errors between master and slave, and another controller has been designed in the master subsystem to establish stability, transparency and force tracking. Results have been compared together. The results showed PID controller is appropriate in position tracking, but force response oscillates in contact with the environment. We showed the optimal control established position tracking properly. Also, force tracking is achieved in this controller appropriately.

Keywords: optimal control, time varying delay, teleoperation systems, stability and transparency

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Authors: Vassilis C. Moulianitis, Evgenios Scourboutis, Ilias Katsanis, Paraskevas Papanikos, Nikolas Zacharopoulos

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This paper presents the conceptual design of an automated biomethane potential measurement system. First, the design specifications for the BMP system and the basic components of the system will be presented. Three concepts that meet the design specifications will be presented. The basic characteristics of each concept will be analyzed in detail. The concepts will be evaluated using a set of design criteria that includes flexibility, cost, size, complexity, aesthetics, and accessibility in order to determine the best solution. The evaluation will be based on the discrete Choquet integral.

Keywords: automated biomethane test, conceptual mechatronics design, concept evaluation, Choquet integral

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Authors: Alaa Allakany, Koji Okamura

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Multicast technology is an efficient and scalable technology for data distribution in order to optimize network resources. However, in the IP network, the responsibility for management of multicast groups is distributed among network routers, which causes some limitations such as delays in processing group events, high bandwidth consumption and redundant tree calculation. Software Defined Networking (SDN) represented by OpenFlow presented as a solution for many problems, in SDN the control plane and data plane are separated by shifting the control and management to a remote centralized controller, and the routers are used as a forwarder only. In this paper we will proposed fast switching mechanism for solving the problem of link failure in multicast tree based on Tabu Search heuristic algorithm and modifying the functions of OpenFlow switch to fasts switch to the pack up sub tree rather than sending to the controller. In this work we will implement multicasting OpenFlow controller, this centralized controller is a core part in our multicasting approach, which is responsible for 1- constructing the multicast tree, 2- handling the multicast group events and multicast state maintenance. And finally modifying OpenFlow switch functions for fasts switch to pack up paths. Forwarders, forward the multicast packet based on multicast routing entries which were generated by the centralized controller. Tabu search will be used as heuristic algorithm for construction near optimum multicast tree and maintain multicast tree to still near optimum in case of join or leave any members from multicast group (group events).

Keywords: multicast tree, software define networks, tabu search, OpenFlow

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Authors: Zijian Zhang, Yangyang Dong

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Synchronization is of great importance to ensure the multi-arm robot to complete the task. Therefore, a synchronous controller is designed to coordinate task space motion of the multi-arm in the paper. The position error, the synchronous position error, and the coupling position error are all considered in the controller. Besides, an adaptive control method is used to adjust parameters of the controller to improve the effectiveness of coordinated control performance. Simulation in the Matlab shows the effectiveness of the method. At last, a robot experiment platform with two 7-DOF (Degree of Freedom) robot arms has been established and the synchronous controller simplified to control dual-arm robot has been validated on the experimental set-up. Experiment results show the position error decreased 10% and the corresponding frequency is also greatly improved.

Keywords: synchronous control, space robot, task space control, multi-arm robot

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Authors: Tesfaye Alamirew Dessie

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Our study focuses on developing a Model Predictive Controller (MPC) and evaluating it against a traditional PID for a pasteurization process. Utilizing system identification from the experimental data, the dynamics of the pasteurization process were calculated. Using best fit with data validation, residual, and stability analysis, the quality of several model architectures was evaluated. The validation data fit the auto-regressive with exogenous input (ARX322) model of the pasteurization process by roughly 80.37 percent. The ARX322 model structure was used to create MPC and PID control techniques. After comparing controller performance based on settling time, overshoot percentage, and stability analysis, it was found that MPC controllers outperform PID for those parameters.

Keywords: MPC, PID, ARX, pasteurization

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Authors: J. Alvarez, J. Pimienta, R. Sarmiento

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Diode lasers working in free mode present different shifting and broadening determined by external factors such as temperature, current or mechanical vibrations, and they are not more useful in applications such as spectroscopy, metrology, and cooling of atoms, among others. Different configurations can reduce the spectral width of a laser; one of the most effective is to extend the optical resonator of the laser diode and use optical feedback either with the help of a partially reflective mirror or with a diffraction grating; this latter configuration is not only allowed to reduce the spectral width of the laser line but also to coarsely adjust its working wavelength, within a wide range typically ~ 10nm by slightly varying the angle of the diffraction grating. Two settings are commonly used for this purpose, the Littrow configuration and the Littmann Metcalf. In this paper, we present the design, construction, and characterization of a compact extended laser cavity in Littrow configuration. The designed cavity is compact and was machined on an aluminum block using computer numerical control (CNC); it has a mass of only 380 g. The design was tested on laser diodes with different wavelengths, 650nm, 780nm, and 795 nm, but can be equally efficient at other wavelengths. This report details the results obtained from the extended cavity working at a wavelength of 780 nm, with an output power of around 35mW and a line width of less than 1Mhz. The cavity was used to observe the spectrum of the corresponding Rubidium D2 line. By modulating the current and with the help of phase detection techniques, a dispersion signal with an excellent signal-to-noise ratio was generated that allowed the stabilization of the laser to a transition of the hyperfine structure of Rubidium with an integral proportional controller (PI) circuit made with precision operational amplifiers.

Keywords: Littrow, Littman-Metcalf, line width, laser stabilization, hyperfine structure

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Authors: Salman Hameed

Abstract:

In this paper, a self-tuning fuzzy PI controller (STFPIC) is proposed for thyristor controlled series capacitor (TCSC) to improve power system dynamic performance. In a STFPIC controller, the output scaling factor is adjusted on-line by an updating factor (α). The value of α is determined from a fuzzy rule-base defined on error (e) and change of error (Δe) of the controlled variable. The proposed self-tuning controller is designed using a very simple control rule-base and the most natural and unbiased membership functions (MFs) (symmetric triangles with equal base and 50% overlap with neighboring MFs). The comparative performances of the proposed STFPIC and the standard fuzzy PI controller (FPIC) have been investigated on a multi-machine power system (namely, 4 machine two area system) through detailed non-linear simulation studies using MATLAB/SIMULINK. From the simulation studies it has been found out that for damping oscillations, the performance of the proposed STFPIC is better than that obtained by the standard FPIC. Moreover, the proposed STFPIC as well as the FPIC have been found to be quite effective in damping oscillations over a wide range of operating conditions and are quite effective in enhancing the power carrying capability of the power system significantly.

Keywords: genetic algorithm, power system stability, self-tuning fuzzy controller, thyristor controlled series capacitor

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Authors: Zaouche Mohammed, Amini Mohammed, Foughali Khaled, Hamissi Aicha, Aktouf Mohand Arezki, Boureghda Ilyes

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In this paper, we present a piloting law based on the adaptive differentiators via high order sliding mode controller, by using an aircraft in virtual simulated environment. To deal with the design of an autopilot controller, we propose a framework based on Software in the Loop (SIL) methodology and we use Microsoft^TM Flight Simulator (FS-2004) as the environment for plane simulation. The aircraft dynamic model is nonlinear, Multi-Input Multi-Output (MIMO) and tightly coupled. The nonlinearity resides in the dynamic equations and also in the aerodynamic coefficients' variability. In our case, two (02) aircrafts are used in the flight tests, the Zlin-142 and MQ-1 Predator. For both aircrafts and in a very low altitude flight, we send the piloting control inputs to the aircraft which has stalled due to a command disconnection. Then, we present the aircraft’s dynamic behavior analysis while reestablishing the command transmission. Finally, a comparative study between the two aircraft’s dynamic behaviors is presented.

Keywords: adaptive differentiators, second order sliding modes, dynamic adaptation of the gains, microsoft flight simulator, Zlin-142, MQ-1 predator

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Authors: P. Sawatnatee, S. Udomsuk, K-N. Areerak, K-L. Areerak, A. Srikaew

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The paper presents how to design the indirect vector control of three-phase induction motor drive systems using the artificial intelligence technique called the adaptive tabu search. The results from the simulation and the experiment show that the drive system with the controller designed from the proposed method can provide the best output speed response compared with those of the conventional method. The controller design using the proposed technique can be used to create the software package for engineers to achieve the optimal controller design of the induction motor speed control based on the indirect vector concept.

Keywords: indirect vector control, induction motor, adaptive tabu search, control design, artificial intelligence

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Authors: Jingjing Lan, Jun Yu, Muthukumaraswamy Annamalai Arasu

Abstract:

This paper presents a digital non-linear pulse-width modulation (PWM) controller in a high-voltage (HV) buck-boost DC-DC converter for the piezoelectric transducer of the down-hole acoustic telemetry system. The proposed design controls the generation of output signal with voltage higher than the supply voltage and is targeted to work under high temperature. To minimize the power consumption and silicon area, a simple and efficient design scheme is employed to develop the PWM controller. The proposed PWM controller consists of serial to parallel (S2P) converter, data assign block, a mode and duty cycle controller (MDC), linearly PWM (LPWM) and noise shaper, pulse generator and clock generator. To improve the reliability of circuit operation at higher temperature, this design is fabricated with the 1.0-μm silicon-on-insulator (SOI) CMOS process. The implementation results validated that the proposed design has the advantages of smaller size, lower power consumption and robust thermal stability.

Keywords: DC-DC power conversion, digital control, high temperatures, pulse-width modulation

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Authors: Seong Woo Kwak, Jung-Min Yang

Abstract:

A strategy of fault diagnosis and tolerance for asynchronous sequential machines is discussed in this paper. With no synchronizing clock, it is difficult to diagnose an occurrence of permanent or stuck-in faults in the operation of asynchronous machines. In this paper, we present a fault detector comprised of a timer and a set of static functions to determine the occurrence of faults. In order to realize immediate fault tolerance, corrective control theory is applied to designing a dynamic feedback controller. Existence conditions for an appropriate controller and its construction algorithm are presented in terms of reachability of the machine and the feature of fault occurrences.

Keywords: asynchronous sequential machines, corrective control, fault diagnosis and tolerance, fault detector

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: preview control, Nao robot, model predictive control

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