Search results for: PID controller cascaded filter

Authors: Javier Fernandez, Mayte Medina, Rafael Fernandez de Canete, Nuria Alcain, Juan Carlos Ramos-Diaz

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At present, the experimentation of anesthetic drugs on patients requires a regulation protocol, and the response of each patient to several doses of entry drug must be well known. Therefore, the development of pharmacological dose control systems is a promising field of research in anesthesiology. In this paper, it has been developed a non-linear compartmental the pharmacokinetic-pharmacodynamical model which describes the anesthesia depth effect in a sufficiently reliable way over a set of patients with the depth effect quantified by the Bi-Spectral Index. Afterwards, an Artificial Neural Network (ANN) predictive controller has been designed based on the depth of anesthesia model so as to keep the patient in the optimum condition while he undergoes surgical treatment. For the purpose of quantifying the efficiency of the neural predictive controller, a classical proportional-integral-derivative controller has also been developed to compare both strategies. Results show the superior performance of predictive neural controller during BiSpectral Index reference tracking.

Keywords: anesthesia, bi-spectral index, neural network control, pharmacokinetic-pharmacodynamical model

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Authors: Ebrahim H. Kapeel, Ahmed M. Kamel, Hossam Hendy, Yehia Z. Elhalwagy

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Interest in autopilot design has been raised intensely as a result of recent advancements in Unmanned Aerial vehicles (UAVs). Due to the enormous number of applications that UAVs can achieve, the number of applied control theories used for them has increased in recent years. These small fixed-wing UAVs are suffering high non-linearity, sensitivity to disturbances, and coupling effects between their channels. In this work, the nonlinear dynamic inversion (NDI) control law is designed for a nonlinear small fixed-wing UAV model. The NDI is preferable for varied operating conditions, there is no need for a scheduling controller. Moreover, it’s applicable for high angles of attack. For the designed flight controller validation, a nonlinear Modified PI-D controller is performed with our model. A comparative study between both controllers is achieved to evaluate the NDI performance. Simulation results and analysis are proposed to illustrate the effectiveness of the designed controller based on NDI.

Keywords: attitude control, nonlinear PID, dynamic inversion

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Authors: Hanan Rizk

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A heat exchanger is a device used to mix liquids having different temperatures. In this case, the temperature control becomes a critical objective. This research work presents the temperature control of the double-pipe heat exchanger (multi-input multi-output (MIMO) system), which is modeled as first-order coupled hyperbolic partial differential equations (PDEs), using conventional and advanced control techniques and develops appropriate robust control strategy to meet stability requirements and performance objectives. We designed a PID controller and H-infinity controller for a heat exchanger (HE) system. Frequency characteristics of sensitivity functions and open-loop and closed-loop time responses are simulated using MATLAB software, and the stability of the system is analyzed using Kalman's test. The simulation results have demonstrated that the H-infinity controller is more efficient than PID in terms of robustness and performance.

Keywords: heat exchanger, multi-input multi-output system, MATLAB simulation, partial differential equations, PID controller, robust control

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Authors: Sorayya Kazemi, Hamed Kharrati, Mehdi Abedinpour Fallah

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This paper presents the design and implementation of a novel electric pressure-sensitive toothbrush, capable of measuring the forces applied to the head of the brush. The developed device is used for gum recession measurement. In particular, the percentage of gum recession is measured by a Programmable Automation controller (PAC). Moreover, the brushing forces are measured by a Force Sensing Resistor (FSR) sensor. These forces are analog inputs of PAC. According to the applied forces during patient’s brushing and the patient’s percentage of gum recession, dentist sets the standard force range. The instrument alarms when the patient applies a force over the set range.

Keywords: gum recession, force sensing resistor, controller, toothbrush

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Authors: Abdullah M. Almeshal, Mohammad R. Alenezi, Talal H. Alzanki

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This paper presents a hybrid fuzzy logic control strategy for a unicycle trajectory following robot on irregular terrains. In literature, researchers have presented the design of path tracking controllers of mobile robots on non-frictional surface. In this work, the robot is simulated to drive on irregular terrains with contrasting frictional profiles of peat and rough gravel. A hybrid fuzzy logic controller is utilised to stabilise and drive the robot precisely with the predefined trajectory and overcome the frictional impact. The controller gains and scaling factors were optimised using spiral dynamics optimisation algorithm to minimise the mean square error of the linear and angular velocities of the unicycle robot. The robot was simulated on various frictional surfaces and terrains and the controller was able to stabilise the robot with a superior performance that is shown via simulation results.

Keywords: fuzzy logic control, mobile robot, trajectory tracking, spiral dynamic algorithm

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Authors: Amir Mukhtar, Dr. Likun Xia

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An improved, robust and efficient visual target tracking algorithm using particle filtering is proposed. Particle filtering has been proven very successful in estimating non-Gaussian and non-linear problems. In this paper, the particle filter is used with color feature to estimate the target state with time. Color distributions are applied as this feature is scale and rotational invariant, shows robustness to partial occlusion and computationally efficient. The performance is made more robust by choosing the different (YIQ) color scheme. Tracking is performed by comparison of chrominance histograms of target and candidate positions (particles). Color based particle filter tracking often leads to inaccurate results when light intensity changes during a video stream. Furthermore, background subtraction technique is used for size estimation of the target. The qualitative evaluation of proposed algorithm is performed on several real-world videos. The experimental results demonstrate that the improved algorithm can track the moving objects very well under illumination changes, occlusion and moving background.

Keywords: tracking, particle filter, histogram, corner points, occlusion, illumination

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Authors: M. Sundaram, H. R. Sanath Kumar, A. Ramprakash

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Energy saving is a key sustainability focus area for the Indian telecom industry today. This is especially true in rural India where energy consumption contributes to 70 % of the total network operating cost. In urban areas, the energy cost for network operation ranges between 15-30 %. This expenditure on energy as a result of the lack of grid power availability highlights a potential barrier to telecom industry growth. As a result of this, telecom tower companies switch to diesel generators, making them the second largest consumer of diesel in India, consuming over 2.5 billion litres per annum. The growing cost of energy due to increasing diesel prices and concerns over rising greenhouse emissions have caused these companies to look at other renewable energy options. Even the TRAI (Telecom Regulation Authority of India) has issued a number of guidelines to implement Renewable Energy Technologies (RETs) in the telecom towers as part of its ‘Implementation of Green Technologies in Telecom Sector’ initiative. Our proposal suggests the implementation of a Programmable Logic Controller (PLC) based ‘optimisation controller’ that can not only efficiently utilize the energy from RETs but also help to conserve the power used in the telecom towers. When there are multiple RETs available to supply energy, this controller will pick the optimum amount of energy from each RET based on the availability and feasibility at that point of time, reducing the dependence on diesel generators. For effective maintenance of the towers, we are planing to implement a SCADA based monitoring system along with the ‘optimization controller’.

Keywords: operation costs, consumption of fuel and carbon footprint, implementation of a programmable logic controller (PLC) based ‘optimisation controller’, efficient SCADA based monitoring system

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Authors: Rujia Chen, Ajit Narayanan

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Convolutional neural networks (CNN), as typically applied in deep learning, use layer-wise backpropagation (BP) to construct filters and kernels for feature extraction. Such filters are 2D or 3D groups of weights for constructing feature maps at subsequent layers of the CNN and are shared across the entire input. BP as a gradient descent algorithm has well-known problems of getting stuck at local optima. The use of genetic algorithms (GAs) for evolving weights between layers of standard artificial neural networks (ANNs) is a well-established area of neuroevolution. In particular, the use of crossover techniques when optimizing weights can help to overcome problems of local optima. However, the application of GAs for evolving the weights of filters and kernels in CNNs is not yet an established area of neuroevolution. In this paper, a GA-based filter development algorithm is proposed. The results of the proof-of-concept experiments described in this paper show the proposed GA algorithm can find filter weights through evolutionary techniques rather than BP learning. For some simple classification tasks like geometric shape recognition, the proposed algorithm can achieve 100% accuracy. The results for MNIST classification, while not as good as possible through standard filter learning through BP, show that filter and kernel evolution warrants further investigation as a new subarea of neuroevolution for deep architectures.

Keywords: neuroevolution, convolutional neural network, genetic algorithm, filters, kernels

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Authors: Nguyen Chan Hung, Mai Ngoc Anh, Nguyen Xuan Ha, Tran Xuan Duc, Dang Bao Lam, Nguyen Hoang Viet

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This paper presents a design and implementation of a navigation controller for a humanoid mobile robot platform to operate in indoor office environments. In order to fulfil the requirement of recognizing and approaching human to provide service while avoiding random obstacles, a behavior-based fuzzy logic controller was designed to simultaneously coordinate multiple behaviors. Experiments in real office environment showed that the fuzzy controller deals well with complex scenarios without colliding with random objects and human.

Keywords: behavior control, fuzzy logic, humanoid robot, mobile robot

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Authors: T. K. Chandrashekar, R. Harish Kumar, T. B. Prasad, C. R. Rajashekhar

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Cyclone separators are normally used for dust collection in rice mills for a long time. However, their dust collection efficiency is lower and is influenced by factors like geometry, exit pipe dimensions and length, humidity, and temperature at dust generation place. The design of cyclone has been slightly altered, and the new design has proven to be successful in collecting the dust particles of size up to 10 microns, the major modification was to change the height of exit pipe of the cyclone chamber to have optimum dust collection. The cyclone is coupled with a tri-chambered filter unit with three geo text materials filters of different mesh size to capture the dust less than 10 micron.

Keywords: cyclone-separator, rice mill, tri chambered filter, dust removal

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Authors: Bo-Wei Song, Yun-Jung Lee

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This paper presents an intention interface and controller for a wire-driven heavy object lifting system that assists the operator with moving a heavy object. The handler is designed to allow a comfortable working posture for the operator. Plus, as a human assistive system, the operator is involved in the control loop, where a fuzzy control system is used to consider the human control characteristics. The effectiveness and performance of the proposed system are proved by experiments.

Keywords: fuzzy controller, handler design, heavy object lifting system, human-assistive device, human-in-the-loop system

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Authors: Jose D. Herrera, Mario A. Rios

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This paper deals with the coordinated tuning of the Power System Stabilizer (PSS) controller and Power Oscillation Damping (POD) Controller of Flexible AC Transmission System (FACTS) in a multi-machine power systems. The coordinated tuning is based on the critical eigenvalues of the power system and a model reduction technique where the Hankel Singular Value method is applied. Through the linearized system model and the parameter-constrained nonlinear optimization algorithm, it can compute the parameters of both controllers. Moreover, the parameters are optimized simultaneously obtaining the gains of both controllers. Then, the nonlinear simulation to observe the time response of the controller is performed.

Keywords: electromechanical oscillations, power system stabilizers, power oscillation damping, hankel singular values

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Authors: Mohammad Arif Khan

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This paper analyzes and presents the development of Artificial Neural Network based controller of space vector modulation (ANN-SVPWM) for a seven-phase voltage source inverter. At first, the conventional method of producing sinusoidal output voltage by utilizing six active and one zero space vectors are used to synthesize the input reference, is elaborated and then new PWM scheme called Artificial Neural Network Based PWM is presented. The ANN based controller has the advantage of the very fast implementation and analyzing the algorithms and avoids the direct computation of trigonometric and non-linear functions. The ANN controller uses the individual training strategy with the fixed weight and supervised models. A computer simulation program has been developed using Matlab/Simulink together with the neural network toolbox for training the ANN-controller. A comparison of the proposed scheme with the conventional scheme is presented based on various performance indices. Extensive Simulation results are provided to validate the findings.

Keywords: space vector PWM, total harmonic distortion, seven-phase, voltage source inverter, multi-phase, artificial neural network

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Authors: Zahzouh Zoubir, Bouzaouit Azzeddine, Gahgah Mounir

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The use of more and more electronic power switches with a nonlinear behavior generates non-sinusoidal currents in distribution networks, which causes damage to domestic and industrial equipment. The multi-level shunt power active filter is subsequently shown to be an adequate solution to the problem raised. Nevertheless, the difficulty of adjusting the active filter DC supply voltage requires another technology to ensure it. In this article, a photovoltaic generator is associated with the DC bus power terminals of the active filter. The proposed system consists of a field of solar panels, three multi-level voltage inverters connected to the power grid and a non-linear load consisting of a six-diode rectifier bridge supplying a resistive-inductive load. Current control techniques of active and reactive power are used to compensate for both harmonic currents and reactive power as well as to inject active solar power into the distribution network. An algorithm of the search method of the maximum power point of type Perturb and observe is applied. Simulation results of the system proposed under the MATLAB/Simulink environment shows that the performance of control commands that reassure the solar power injection in the network, harmonic current compensation and power factor correction.

Keywords: Actif power filter, MPPT, pertub&observe algorithm, PV array, PWM-control

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Authors: Vanessa Matias Leite, Jandira Guenka Palma, Flávio Henrique de Oliveira

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This paper presents a model-oriented development approach to software development in the Model-View-Controller (MVC) architectural standard. This approach aims to expose a process of extractions of information from the models, in which through rules and syntax defined in this work, assists in the design of the initial model and its future conversions. The proposed paper presents a syntax based on the natural language, according to the rules agreed in the classic grammar of the Portuguese language, added to the rules of conversions generating models that follow the norms of the Object Management Group (OMG) and the Meta-Object Facility MOF.

Keywords: BNF Syntax, model driven architecture, model-view-controller, transformation, UML

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Authors: M. R. Bengourina, M. Rahli, L. Hassaine, S. Saadi

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In this study, we present a control method entitled virtual flux direct power control of a grid connected photovoltaic system associated with an active power filter. The virtual flux direct control of power (VF-DPC) is employed for the calculation of reference current generation. In this technique, the switches states of inverter are selected from a table of switching based on the immediate errors between the active and reactive powers and their reference values. The objectives of this paper are the reduction of Total Harmonic Distortion (THD) of source current, compensating reactive power and injecting the maximum active power available from the PV array into the load and/or grid. MATLAB/SIMULINK simulations are provided to demonstrate the performance of the proposed approach.

Keywords: shunt active power filter, VF-DPC, photovoltaic, MPPT

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Authors: Seyed Jamal Haddadi, M. Reza Mehranpour, Roya Sadat Mortazavi, Zahra Sadat Mortazavi

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Principal aim of this research is trajectory tracking, attitude and position control scheme in real flight mode by an Octorotor helicopter. For more stability, in this Unmanned Aerial Vehicle (UAV), number of motors is increased to eight motors which end of each arm installed two coaxial counter rotating motors. Dynamic model of this Octorotor includes of motion equation for translation and rotation. Utilized controller is proportional-integral-derivative (PID) control loop. The proposed controller is designed such that to be able to attenuate an effect of external wind disturbance and guarantee stability in this condition. The trajectory is determined by a Global Positioning System (GPS). Also an ARM CortexM4 is used as microprocessor. Electronic board of this UAV designed as able to records all of the sensors data, similar to an aircraft black box in external memory. Finally after auto landing of Octorotor, flight data is shown in MATLAB software and Experimental results of the proposed controller show the effectiveness of our approach on the Autonomous Quadrotor in real conditions.

Keywords: octorotor, design, PID controller, autonomous, trajectory tracking

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Authors: Mahmoud Samkan

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In this paper, the design and assessment of new coordination between Power System Stabilizers (PSSs) and Static Var Compensator (SVC) in a multimachine power system via statistical method are proposed. The coordinated design problem of PSSs and SVC over a wide range of loading conditions is handled as an optimization problem. The Bacterial Swarming Optimization (BSO), which synergistically couples the Bacterial Foraging (BF) with the Particle Swarm Optimization (PSO), is employed to seek for optimal controllers parameters. By minimizing the proposed objective function, in which the speed deviations between generators are involved; stability performance of the system is enhanced. To compare the capability of PSS and SVC, both are designed independently, and then in a coordinated manner. Simultaneous tuning of the BSO based coordinated controller gives robust damping performance over wide range of operating conditions and large disturbance in compare to optimized PSS controller based on BSO (BSOPSS) and optimized SVC controller based on BSO (BSOSVC). Moreover, a statistical T test is executed to validate the robustness of coordinated controller versus uncoordinated one.

Keywords: SVC, PSSs, multimachine power system, coordinated design, bacteria swarm optimization, statistical assessment

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Authors: Alessio Mastrorillo, Giuseppe Silvi, Francesco Scagliola

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In this work, we introduce an Ambisonics decoder with an implementation of the C-format, also called Super Stereo. This format is an alternative to conventional stereo and binaural decoding. Unlike those, this format conveys audio information from the horizontal plane and works with stereo speakers and headphones. The two C-format channels can also return a reconstructed planar B-format. This work provides an open-source implementation for this format. We implement an all-pass filter for signal quadrature, as required by the decoding equations. This filter works with six Biquads in a cascade configuration, with values for control frequency and quality factor discovered experimentally. The phase response of the filter delivers a small error in the 20-14.000Hz range. The decoder has been tested with audio sources up to 192kHz sample rate, returning pristine sound quality and detailed stereo image. It has been included in the Envelop for Live suite and is available as an open-source repository. This decoder has applications in Virtual Reality and 360° audio productions, music composition, and online streaming.

Keywords: ambisonics, UHJ, quadrature filter, virtual reality, Gerzon, decoder, stereo, binaural, biquad

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Authors: Ju-Hong Lee, Chong-Jia Ciou

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This paper deals with the problem of two-dimensional (2-D) recursive two-channel quincunx quadrature mirror filter (QQMF) banks design. The analysis and synthesis filters of the 2-D recursive QQMF bank are composed of 2-D recursive digital allpass lattice filters (DALFs) with symmetric half-plane (SHP) support regions. Using the 2-D doubly complementary half-band (DC-HB) property possessed by the analysis and synthesis filters, we facilitate the design of the proposed QQMF bank. For finding the coefficients of the 2-D recursive SHP DALFs, we present a structure of 2-D recursive digital allpass filters by using 2-D SHP recursive digital all-pass lattice filters (DALFs). The novelty of using 2-D SHP recursive DALFs to construct a 2-D recursive QQMF bank is that the resulting 2-D recursive QQMF bank provides better performance than the existing 2-D recursive QQMF banks. Simulation results are also presented for illustration and comparison.

Keywords: all-pass digital filter, lattice structure, quincunx QMF bank, symmetric half-plane digital filter

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Authors: D. Maneetham

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The developed exoskeleton device has to control joints between shoulder and arm. Exoskeleton device can help patients with hemiplegia upper so that the patient can help themselves in their daily life. Exoskeleton device includes a robot arm wear that looks like the movement is similar to the normal arm. Exoskeleton arm is powered by the motor through the cable with a control system that developed to control the movement of the joint of a robot arm. The arm will include the shoulder, the elbow, and the wrist. The control system is used Arduino Mega 2560 controller and the operation of the DC motor through the relay module. The control system can be divided into two modes such as the manual control with the joystick mode and automatically control with the movement of the head by Gyro sensor. The controller is also designed to move between the shoulder and the arm movement from their original location. Results have shown that the controller gave the best performance and all movements can be controlled.

Keywords: exoskeleton arm, hemiplegia upper, shoulder and arm, stroke

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Authors: A. Chinig, J. Zbitou, A. Errkik, L. Elabdellaoui, A. Tajmouati, A. Tribak, M. Latrach

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This paper presents a new structure of microstrip band pass filter (BPF) based on coupled stepped impedance resonators. Each filter consists of two coupled stepped impedance resonators connected to microstrip feed lines. The coupled junction is utilized to connect the two BPFs to the antenna. This two band pass filters are designed and simulated to operate for the digital communication system (DCS) and Industrial Scientific and Medical (ISM) bands at 1.8 GHz and 2.45 GHz respectively. The proposed circuit presents good performances with an insertion loss lower than 2.3 dB and isolation between the two channels greater than 21 dB. The prototype of the optimized diplexer have been investigated numerically by using ADS Agilent and verified with CST microwave software.

Keywords: band pass filter, coupled junction, coupled stepped impedance resonators, diplexer, insertion loss, isolation

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Authors: Priyanka Chaudhary, M. Rizwan

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This paper presents a grid synchronization technique based on adaptive notch filter for SPV (Solar Photovoltaic) system along with MPPT (Maximum Power Point Tracking) techniques. An efficient grid synchronization technique offers proficient detection of various components of grid signal like phase and frequency. It also acts as a barrier for harmonics and other disturbances in grid signal. A reference phase signal synchronized with the grid voltage is provided by the grid synchronization technique to standardize the system with grid codes and power quality standards. Hence, grid synchronization unit plays important role for grid connected SPV systems. As the output of the PV array is fluctuating in nature with the meteorological parameters like irradiance, temperature, wind etc. In order to maintain a constant DC voltage at VSC (Voltage Source Converter) input, MPPT control is required to track the maximum power point from PV array. In this work, a variable step size P & O (Perturb and Observe) MPPT technique with DC/DC boost converter has been used at first stage of the system. This algorithm divides the dPpv/dVpv curve of PV panel into three separate zones i.e. zone 0, zone 1 and zone 2. A fine value of tracking step size is used in zone 0 while zone 1 and zone 2 requires a large value of step size in order to obtain a high tracking speed. Further, adaptive notch filter based control technique is proposed for VSC in PV generation system. Adaptive notch filter (ANF) approach is used to synchronize the interfaced PV system with grid to maintain the amplitude, phase and frequency parameters as well as power quality improvement. This technique offers the compensation of harmonics current and reactive power with both linear and nonlinear loads. To maintain constant DC link voltage a PI controller is also implemented and presented in this paper. The complete system has been designed, developed and simulated using SimPower System and Simulink toolbox of MATLAB. The performance analysis of three phase grid connected solar photovoltaic system has been carried out on the basis of various parameters like PV output power, PV voltage, PV current, DC link voltage, PCC (Point of Common Coupling) voltage, grid voltage, grid current, voltage source converter current, power supplied by the voltage source converter etc. The results obtained from the proposed system are found satisfactory.

Keywords: solar photovoltaic systems, MPPT, voltage source converter, grid synchronization technique

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Authors: Aleksei Samarin, Artyom Nazarenko, Valentin Malykh

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Image enhancement is becoming more and more popular, especially on mobile devices. Nowadays, it is a common approach to enhance an image using a convolutional neural network (CNN). Such a network should be of significant size; otherwise, a possibility for the artifacts to occur is overgrowing. The existing large CNNs are computationally expensive, which could be crucial for mobile devices. Another important flaw of such models is they are poorly interpretable. There is another approach to image enhancement, namely, the usage of predefined filters in combination with the prediction of their applicability. We present an approach following this paradigm, which outperforms both existing CNN-based and filter-based approaches in the image enhancement task. It is easily adaptable for mobile devices since it has only 47 thousand parameters. It shows the best SSIM 0.919 on RANDOM250 (MIT Adobe FiveK) among small models and is thrice faster than previous models.

Keywords: universal filter, image enhancement, neural networks, computer vision

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Authors: F. Stake

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This work is a parametric study combining simple and well known optical theories. These simple theories are arranged to form part of one answer to the question: “Can a semi-transparent Thermo-Photo-Voltaic (TPV) emitter have an optical extinction spectrum so much greater than its optical absorption spectrum that it becomes its own band-pass pre-filter, and if so, how well might it be expected to suppress light of undesired wavelengths?” In the report, hypothetical materials and operating temperatures will be used for comparative analyses only. Thermal emission properties of these hypothetical materials were created using two openly available FORTRAN programs. Results indicate that if using highly transparent materials it may be possible to create a thermal emitter that is its own band-pass pre-filter.

Keywords: Christensen effect, DISORT, index of refraction, scattering

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Authors: Mohamed Barbary, Mohamed H. Abd El-Azeem

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Maneuvering extended object tracking (M-EOT) using high-resolution inverse synthetic aperture radar (ISAR) observations has been gaining momentum recently. This work presents a new robust implementation of the multiple models (MM) multi-Bernoulli (MB) filter for M-EOT, where the M-EOT’s ISAR observations are characterized using a skewed (SK) non-symmetrically normal distribution. To cope with the possible abrupt change of kinematic state, extension, and observation distribution over an extended object when a target maneuvers, a multiple model technique is represented based on MB-track-before-detect (TBD) filter supported by SK-sub-random matrix model (RMM) or sub-ellipses framework. Simulation results demonstrate this remarkable impact.

Keywords: maneuvering extended objects, ISAR, skewed normal distribution, sub-RMM, MM-MB-TBD filter

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Authors: Mohammed Berka, Khaled Merit

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Recent works on microwave filters show that the constituent materials such filters are very important in the design and realization. Several solutions have been proposed to improve the qualities of filtering. In this paper, we propose a new dual band-pass filter based on the coupling of a composite (CRLH) coplanar waveguide with complementary split ring resonators (CSRRs). The (CRLH) CPW is composed of two resonators, each one has an interdigital capacitor (CID) and two short-circuited stubs parallel to top ground plane. On the lower ground plane, we use defected ground structure technology (DGS) to engrave two (CSRRs) offered with different shapes and dimensions. Between the top ground plane and the substrate, we place a ferrite layer to control the electromagnetic coupling between (CRLH) CPW and (CSRRs). The global filter that has coplanar access will have a dual band-pass behavior around the magnetic resonances of (CSRRs). Since there’s no scientific or experimental result in the literature for this kind of complicated structure, it was necessary to perform simulation using HFSS Ansoft designer.

Keywords: complementary split ring resonators, coplanar waveguide, ferrite, filter, stub.

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Authors: Safiullah Abdullahi

Abstract:

This paper describes the design of a digital control system which controls the speed and direction of a robot. The robot is expected to follow a black thick line with the highest possible speed and lowest error around the line. The control system of the robot will correct for the angle error that is made between the frame axis of the robot and the line. The cause for error is the difference in speed of the two driving wheels of the robot which are driven by two separate DC motors, whereas the speed difference in wheels is due to the un-modeled fraction that is available in the wheels with different magnitudes in each. The control scheme is that a number of photo sensors are mounted in the front of the robot and report their position in reference to the black line to the digital controller. The controller then, evaluates the position error and generates the needed duty cycle for the related wheel motor to drive it faster or slower.

Keywords: digital control, robot, controller, control system

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Authors: Truong Nguyen Luan Vu, Le Hieu Giang, Le Linh

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The FOPI controller is proposed based on the main properties of the decoupling control scheme, as well as the fractional calculus. By using the simplified decoupling technique, the transfer function of decoupled apparent process is firstly separated into a set of n equivalent independent processes in terms of a ratio of the diagonal elements of original open-loop transfer function to those of dynamic relative gain array and the fraction – order PI controller is then developed for each control loops due to the Bode’s ideal transfer function that gives the desired fractional closed-loop response in the frequency domain. The simulation studies were carried out to evaluate the proposed design approach in a fair compared with the other existing methods in accordance with the structured singular value (SSV) theory that used to measure the robust stability of control systems under multiplicative output uncertainty. The simulation results indicate that the proposed method consistently performs well with fast and well-balanced closed-loop time responses.

Keywords: ideal transfer function of bode, fractional calculus, fractional order proportional integral (FOPI) controller, decoupling control system

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Authors: Yuri Boiko, Ci Lin, Iluju Kiringa, Tet Yeap

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The performance of a BLDC motor controlled by the Kalman filter-based position-sensorless drive is studied in terms of its dependence on the system’s parameters' variations. The effects of system’s parameters changes on the dynamic behavior of state variables are verified. Simulated is a closed-loop control scheme with a Kalman filter in the feedback line. Distinguished are two separate data sampling modes in analyzing feedback output from the BLDC motor: (1) equal angular separation and (2) equal time intervals. In case (1), the data are collected via equal intervals Δθ of rotor’s angular position θᵢ, i.e., keeping Δθ=const. In case (2), the data collection time points tᵢ are separated by equal sampling time intervals Δt=const. Demonstrated are the effects of the parameters changes on the sensorless control flow, in particular, reduction of the torque ripples, switching spikes, torque load balancing. It is specifically shown that an efficient suppression of commutation induced torque ripples is achievable selection of the sampling rate in the Kalman filter settings above certain critical value. The computational cost of such suppression is shown to be higher for the motors with lower induction values of the windings.

Keywords: BLDC motor, Kalman filter, sensorless drive, state variables, torque ripples reduction, sampling rate

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