Search results for: mbed arm cortex M3 core controller

Authors: Jinsiang Shaw, Jeng-Jie Huang

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Active vibration control is good for low frequency excitation, with advantages of light weight and adaptability. This paper employs a macro-fiber composite (MFC) actuator for vibration suppression in a cantilevered beam due to its higher output force to reject the disturbance. A notch filter with an adaptive tuning algorithm, the leaky filtered-X least mean square algorithm (leaky FXLMS algorithm), is developed and applied to the system. Experimental results show that the controller and MFC actuator was very effective in attenuating the structural vibration. Furthermore, this notch filter controller was compared with the traditional skyhook controller. It was found that its performance was better, with over 88% vibration suppression near the first resonant frequency of the structure.

Keywords: macro-fiber composite, notch filter, skyhook controller, vibration suppression

Procedia PDF Downloads 417

Authors: H. M. Côrtes, J. I. Da Silva Filho, M. F. Blos, B. S. Zanon

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In a modern society the factor corresponding to the increase in the level of quality in industrial production demand new techniques of control and machinery automation. In this context, this work presents the implementation of a Paraconsistent-Fuzzy Digital PID controller. The controller is based on the treatment of inconsistencies both in the Paraconsistent Logic and in the Fuzzy Logic. Paraconsistent analysis is performed on the signals applied to the system inputs using concepts from the Paraconsistent Annotated Logic with annotation of two values (PAL2v). The signals resulting from the paraconsistent analysis are two values defined as Dc - Degree of Certainty and Dct - Degree of Contradiction, which receive a treatment according to the Fuzzy Logic theory, and the resulting output of the logic actions is a single value called the crisp value, which is used to control dynamic system. Through an example, it was demonstrated the application of the proposed model. Initially, the Paraconsistent-Fuzzy Digital PID controller was built and tested in an isolated MATLAB environment and then compared to the equivalent Digital PID function of this software for standard step excitation. After this step, a level control plant was modeled to execute the controller function on a physical model, making the tests closer to the actual. For this, the control parameters (proportional, integral and derivative) were determined for the configuration of the conventional Digital PID controller and of the Paraconsistent-Fuzzy Digital PID, and the control meshes in MATLAB were assembled with the respective transfer function of the plant. Finally, the results of the comparison of the level control process between the Paraconsistent-Fuzzy Digital PID controller and the conventional Digital PID controller were presented.

Keywords: fuzzy logic, paraconsistent annotated logic, level control, digital PID

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Authors: Manisha Dubey, Gaurav Gupta, Anoop Arya

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The demand for power supply increases day by day in developing countries like India henceforth demand of reactive power support in the form of ancillary services provider also has been increased. The multi-line and multi-type Flexible alternating current transmission system (FACTS) controllers are playing a vital role to regulate power flow through the transmission line. Unified power flow controller and interline power flow controller can be utilized to control reactive power flow through the transmission line. In a restructured power system, the demand of such controller is being popular due to their inherent capability. The transmission pricing by using reactive power cost allocation through modified matrix methodology has been proposed. The FACTS technologies have quite costly assembly, so it is very useful to apportion the expenses throughout the restructured electricity industry. Therefore, in this work, after embedding the FACTS devices into load flow, the impact on the costs allocated to users in fraction to the transmission framework utilization has been analyzed. From the obtained results, it is clear that the total cost recovery is enhanced towards the Reactive Power flow through the different transmission line for 5 bus test system. The fair pricing policy towards reactive power can be achieved by the proposed method incorporating FACTS controller towards cost recovery of the transmission network.

Keywords: interline power flow controller, transmission pricing, unified power flow controller, cost allocation

Procedia PDF Downloads 116

Authors: Eleni Peristeri, Georgia Fotiadou, Ianthi-Maria Tsimpli

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The local-global dimension has been studied extensively in healthy controls and preference for globally processed stimuli has been validated in both the visual and auditory modalities. Critically, the local-global dimension has an inherent interference resolution component, a type of cognitive control, and left-prefrontal-cortex-damaged (LPFC) individuals have exhibited inability to override habitual response behaviors in item recognition tasks that involve representational interference. Eight patients with damage in the left PFC (age range: 32;5 to 69;0. Mean age: 54;6 yrs) and twenty age- and education-matched language-unimpaired adults (mean age: 56;7yrs) have participated in the study. Distinct performance patterns were found between the language-unimpaired and the LPFC-damaged group which have mainly stemmed from the latter’s difficulty with inhibiting global stimuli in incongruent trials. Overall, the local-global attentional dimension affects LPFC-damaged individuals with non-fluent aphasia in non-language domains implicating distinct types of inhibitory processes depending on the level of processing.

Keywords: left lateral prefrontal cortex damage (LPFC), local-global non-language attention, representational interference, non-fluent aphasia

Procedia PDF Downloads 443

Authors: Yusuf Emirov, Abdullatif Hakami, Prasanta K Biswas, Elias K Stefanakos, Sesha S Srinivasan

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This study is aimed to develop microencapsulated thermochromic materials and the analysis of core-shell formation using high resolution electron microscopy. The candidate metal oxides (e.g., titanium oxide and silicon oxide) used for the microencapsulation of thermochromic materials are based on the microemulsion route that involves the micelle formation using different surfactants. The effectiveness of the core-shell microstructure formationrevealed the influence of surfactants and the metal oxide precursor concentrations. Additionally, a detailed thermal and color chromic behavior of these core-shell microcapsules are evaluated with the pristine thermochromic dye particles.

Keywords: core-shell thermochromic materials, core-shell microstructure formation, thermal and color chromic behavior of core-shell microcapsules, development micro-capsulated thermochromic materials

Procedia PDF Downloads 127

Authors: Adel Salem Bahakeem, Ahmad Jamal, Mir Md. Maruf Morshed, Elwaleed Awad Khidir

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Direct Current (DC) servo motors, or simply DC motors, play an important role in many industrial applications such as manufacturing of plastics, precise positioning of the equipment, and operating computer-controlled systems where speed of feed control, maintaining the position, and ensuring to have a constantly desired output is very critical. These parameters can be controlled with the help of control systems such as the Proportional Integral Derivative (PID) controller. The aim of the current work is to investigate the effects of Proportional (P) and Integral (I) controllers on the steady state and transient response of the DC motor. The controller gains are varied to observe their effects on the error, damping, and stability of the steady and transient motor response. The current investigation is conducted experimentally on a servo trainer CE 110 using analog PI controller CE 120 and theoretically using Simulink in MATLAB. Both experimental and theoretical work involves varying integral controller gain to obtain the response to a steady-state input, varying, individually, the proportional and integral controller gains to obtain the response to a step input function at a certain frequency, and theoretically obtaining the proportional and integral controller gains for desired values of damping ratio and response frequency. Results reveal that a proportional controller helps reduce the steady-state and transient error between the input signal and output response and makes the system more stable. In addition, it also speeds up the response of the system. On the other hand, the integral controller eliminates the error but tends to make the system unstable with induced oscillations and slow response to eliminate the error. From the current work, it is desired to achieve a stable response of the servo motor in terms of its angular velocity subjected to steady-state and transient input signals by utilizing the strengths of both P and I controllers.

Keywords: DC servo motor, proportional controller, integral controller, controller gain optimization, Simulink

Procedia PDF Downloads 77

Authors: G. Obregon-Pulido , G. C. Solis-Perales, J. A. Meda-Campaña

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In this paper, we present a sliding mode controller in discrete time. The design of the controller is based on the theory of regulation for nonlinear systems. In the problem of disturbance rejection and/or output tracking, it is known that in discrete time, a controller that uses the zero-order holder only guarantees tracking at the sampling instances but not between instances. It is shown that using the so-called exponential holder, it is possible to guarantee asymptotic zero output tracking error, also between the sampling instant. For stabilizing the problem of close loop system we introduce the sliding mode approach relaxing the requirements of the existence of a linear stabilizing control law.

Keywords: regulation theory, sliding modes, discrete controller, ripple-free tracking

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Authors: Musaab Mohammed Ahmed Ali, Vladimir Vodichev

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work deals with an universal control technique or single controller for linear and nonlinear stabilization and tracing control systems. These systems may be structured as SISO and MIMO. Parameters of controlled plants can vary over a wide range. Introduced a novel control systems design method, construction of stable platform orbits using derivative balance, solved transfer function stability preservation problem of linear system under partial substitution of a rational function. Universal controller is proposed as a polar system with the multiple orbits to simplify design procedure, where each orbit represent single order of controller transfer function. Designed controller consist of proportional, integral, derivative terms and multiple feedback and feedforward loops. The controller parameters synthesis method is presented. In generally, controller parameters depend on new polynomial equation where all parameters have a relationship with each other and have fixed values without requirements of retuning. The simulation results show that the proposed universal controller can stabilize infinity number of linear and nonlinear plants and shaping desired previously ordered performance. It has been proven that sensor errors and poor performance will be completely compensated and cannot affect system performance. Disturbances and noises effect on the controller loop will be fully rejected. Technical and economic effect of using proposed controller has been investigated and compared to adaptive, predictive, and robust controllers. The economic analysis shows the advantage of single controller with fixed parameters to drive infinity numbers of plants compared to above mentioned control techniques.

Keywords: derivative balance, fixed parameters, stable platform, universal control

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Authors: Sara Mensou, Ahmed Essadki, Issam Minka, Tamou Nasser, Badr Bououlid Idrissi

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In this paper we present a contribution for the modeling and control of wind energy conversion system based on a Doubly Fed Induction Generator (DFIG). Since the wind speed is random the system has to produce an optimal electrical power to the Network and ensures important strength and stability. In this work, the Backstepping controller is used to control the generator via two converter witch placed a DC bus capacitor and connected to the grid by a Filter R-L, in order to optimize capture wind energy. All is simulated and presented under MATLAB/Simulink Software to show performance and robustness of the proposed controller.

Keywords: wind turbine, doubly fed induction generator, MPPT control, backstepping controller, power converter

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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: Labane Chrif

Abstract:

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

Procedia PDF Downloads 555

Authors: In-Gun Kim, Hyun-Seok Hong, Dong-Woo Kang, Ju Lee

Abstract:

An Inverter type arc-welding machine is inclined to be designed for higher frequency in order to reduce the size and cost. The need of the core material reconsideration for high frequency pulse transformer is more important since core loss grows as the frequency rises. An arc welding machine’s pulse transformer is designed using an Area Product (Ap) method and is considered margin air gap core design in order to prevent the burning of the IGBT by the inrush current. Finally, the reduction of the core weight and the core size are compared according to different materials for 30kW inverter type arc welding machine.

Keywords: pulse transformers, welding, inrush current, air gaps

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Authors: S. H. Abo Sabah, A. B. H. Kueh, M. A. Megat Johari, T. A. Majid

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In a recent study, a new bio-inspired honeycomb sandwich beam (BHSB) mimicking the head configuration of the woodpecker was developed. The beam consists of two carbon/epoxy composite face sheets, aluminum honeycomb core, and rubber core to enhance the repeated low-velocity impact resistance of sandwich structures. This paper aims to numerically enhance the repeated low-velocity impact resistance of the BHSB via optimizing the aluminum honeycomb core thickness. The beam was investigated employing three core thicknesses: 20 mm, 25 mm, and 30 mm at three impact energy levels (13.5 J, 15.55 J, 21.43 J). The results revealed that increasing the thickness of the aluminum honeycomb core to a certain level enhances the sandwich beam stiffness. The beam with the 25 mm honeycomb core thickness was the only beam that can sustain five repeated impacts achieving the highest impact resistance efficiency index, especially at high energy levels. Furthermore, the bottom face sheet of this beam developed the lowest stresses indicating that this thickness has a relatively better performance during impact events since it allowed minimal stress to reach the bottom face sheet. Overall, increasing the aluminum core thickness will increase the height of its cells subjecting it to buckling phenomenon. Therefore, this study suggests that the optimal thickness of the aluminum honeycomb core should be 65 % of the overall thickness of the sandwich beam to have the best impact resistance.

Keywords: sandwich beams, core thickness, impact behavior, finite element analysis, modeling

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Authors: Mohamed Ahmed AbdelKawy, A. H. El-Shazly

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In this study, Nano iron-copper core-shell was synthesized by using Kinetic energy micro reactor ( K-M reactor). The reaction between nano-pure iron with copper sulphate pentahydrate (CuSO4.5H2O) beside NaCMC as a stabilizer at K-M reactor gives many advantages in comparison with the traditional chemical method for production of nano iron-Copper core-shell in batch reactor. Many factors were investigated for its effect on the process performance such as initial concentrations of nano iron and copper sulphate pentahydrate solution. Different techniques were used for investigation and characterization of the produced nano iron particles such as SEM, XRD, UV-Vis, XPS, TEM and PSD. The produced Nano iron-copper core-shell particle using micro mixer showed better characteristics than those produced using batch reactor in different aspects such as homogeneity of the produced particles, particle size distribution and size, as core diameter 10nm particle size were obtained. The results showed that 10 nm core diameter were obtained using Micro mixer as compared to 80 nm core diameter in one-fourth the time required by using traditional batch reactor and high thickness of copper shell and good stability.

Keywords: nano iron, core-shell, reduction reaction, K-M reactor

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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: 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

Procedia PDF Downloads 581

Authors: M. Bouferhane, A. Boukhebza, L. Hatab

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In this paper, the position control of linear induction motor using fuzzy sliding mode controller design is proposed. First, the indirect field oriented control LIM is derived. Then, a designed sliding mode control system with an integral-operation switching surface is investigated, in which a simple adaptive algorithm is utilized for generalised soft-switching parameter. Finally, a fuzzy sliding mode controller is derived to compensate the uncertainties which occur in the control, in which the fuzzy logic system is used to dynamically control parameter settings of the SMC control law. The effectiveness of the proposed control scheme is verified by numerical simulation. The experimental results of the proposed scheme have presented good performances compared to the conventional sliding mode controller.

Keywords: linear induction motor, vector control, backstepping, fuzzy-sliding mode control

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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: 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: Yi Li, Yinan Zheng, Ya Ke, Yungwing Ho

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Motor learning is a process that frequently happens among humans and rodents, which is defined as the changes in the capability to perform a skill that is conformed to have a relatively permanent improvement through practice or experience. There are many ways to learn a behavior, among which is observational learning. Observational learning is the process of learning by watching the behaviors of others, for example, a child imitating parents, learning a new sport by watching the training videos or solving puzzles by watching the solutions. Many research explores observational learning in humans and primates. However, the neuronal mechanism of which, especially observational motor learning, was uncertain. It’s well accepted that mirror neurons are essential in the observational learning process. These neurons fire when the primate performs a goal-directed action and sees someone else demonstrating the same action, which suggests they have high firing activity both completing and watching the behavior. The mirror neurons are assumed to mediate imitation or play a critical and fundamental role in action understanding. They are distributed in many brain areas of primates, i.e., posterior parietal cortex (PPC), premotor cortex (M2), and primary motor cortex (M1) of the macaque brain. However, few researchers report the existence of mirror neurons in rodents. To verify the existence of mirror neurons and the possible role in motor learning in rodents, we performed customised string-pulling behavior combined with multiple behavior analysis methods, photometry, electrophysiology recording, c-fos staining and optogenetics in healthy mice. After five days of training, the demonstrator (demo) mice showed a significantly quicker response and shorter time to reach the string; fast, steady and accurate performance to pull down the string; and more precisely grasping the beads. During three days of observation, the mice showed more facial motions when the demo mice performed behaviors. On the first training day, the observer reduced the number of trials to find and pull the string. However, the time to find beads and pull down string were unchanged in the successful attempts on the first day and other training days, which indicated successful action understanding but failed motor learning through observation in mice. After observation, the post-hoc staining revealed that the c-fos expression was increased in the cognitive-related brain areas (medial prefrontal cortex) and motor cortices (M1, M2). In conclusion, this project indicated that the observation led to a better understanding of behaviors and activated the cognitive and motor-related brain areas, which suggested the possible existence of mirror neurons in these brain areas.

Keywords: observation, motor learning, string-pulling behavior, prefrontal cortex, motor cortex, cognitive

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Authors: Navneet Kaur, S. D. Tiwari

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Ferritin is a protein which present in the blood of mammals. It maintains the need of iron inside the body. It has an antiferromagnetic iron core, 7-8 nm in size, which is encapsulated inside a protein cage. The thickness of this protein shell is about 2-3 nm. This protein shell reduces the interaction among particles and make ferritin a model superparamagnet. The major composition of ferritin core is mineral ferrihydrite. The molecular formula of ferritin core is (FeOOH)8[FeOOPO3H2]. In this study, we discuss the phase transition of ferritin. We characterized ferritin using x-ray diffractometer, transmission electron micrograph, thermogravimetric analyzer and vibrating sample magnetometer. It is found that ferritin core is amorphous in nature with average particle size of 8 nm. The thermogravimetric and differential thermogravimetric analysis curves shows mass loss at different temperatures. We heated ferritin at these temperatures. It is found that ferritin core starts decomposing after 390^o C. At 1020^o C, the ferritin core is finally converted to alpha phase of iron oxide. Magnetization behavior of final sample clearly shows the iron oxyhydroxide core is completely converted to alpha iron oxide.

Keywords: Antiferromagnetic, Ferritin, Phase, Superparamagnetic

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Authors: Ali Motalebi Saraji, Reza Zarei Lamuki

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Speed control and behavior improvement of permanent magnet synchronous motors (PMSM) that have reliable performance, low loss, and high power density, especially in industrial drives, are of great importance for researchers. Because of its importance in this paper, coefficients optimization of proportional-integrator-derivative fractional order controller is presented using Particle Swarm Optimization (PSO) algorithm in order to improve the behavior of PMSM in its speed control loop. This improvement is simulated in MATLAB software for the proposed optimized proportional-integrator-derivative fractional order controller with a Genetic algorithm and compared with a full order controller with a classic optimization method. Simulation results show the performance improvement of the proposed controller with respect to two other controllers in terms of rising time, overshoot, and settling time.

Keywords: speed control loop of permanent magnet synchronous motor, fractional and full order proportional-integrator-derivative controller, coefficients optimization, particle swarm optimization, improvement of behavior

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Authors: Nasser Mohamed Ramli, Nurul Izzati Zulkifli

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Sump can be defined as a reservoir which contains slurry; a mixture of solid and liquid or water, in it. Sump system is an unsteady process owing to the level response. Sump level shall be monitored carefully by using a good controller to avoid overflow. The current conventional controllers would not be able to solve problems with large time delay and nonlinearities, Fuzzy Logic controller is tested to prove its ability in solving the listed problems of slurry sump. Therefore, in order to justify the effectiveness and reliability of these controllers, simulation of the sump system was created by using MATLAB and the results were compared. According to the result obtained, instead of Proportional-Integral (PI) and Proportional-Integral and Derivative (PID), Fuzzy Logic controller showed the best result by offering quick response of 0.32 s for step input and 5 s for pulse generator, by producing small Integral Absolute Error (IAE) values that are 0.66 and 0.36 respectively.

Keywords: fuzzy, sump, level, controller

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Authors: Zijian Zhang, Yangyang Dong

Abstract:

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: Alexandre Rabaseda, Emelie Seguin, Marc Doumit

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Human mobility exoskeletons have been in development for several years and are becoming increasingly efficient. Unfortunately, user comfort was not always a priority design criterion throughout their development. To further improve this technology, exoskeletons should operate and deliver assistance without causing discomfort to the user. For this, improvements are necessary from an ergonomic point of view. The device’s control method is important when endeavoring to enhance user comfort. Exoskeleton or rehabilitation device controllers use methods of control called interaction controls (admittance and impedance controls). This paper proposes an extended version of an admittance controller to enhance user comfort. The control method used consists of adding an inner loop that is controlled by a proportional-integral-derivative (PID) controller. This allows the interaction force to be kept as close as possible to the desired force trajectory. The force-tracking admittance controller modifies the actuation force of the system in order to follow both the desired motion trajectory and the desired relative force between the user and the exoskeleton.

Keywords: mobility assistive device, exoskeleton, force-tracking admittance controller, user comfort

Procedia PDF Downloads 117

Authors: Saeid Jalilzadeh

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Designing of PSS and SVC controller based on Bacterial Foraging Algorithm (BFA) to improve the stability of power system is proposed in this paper. Same controllers for PSS and SVC has been considered and Single machine infinite bus (SMIB) system with SVC located at the terminal of generator is used to evaluate the proposed controllers. BFA is used to optimize the coefficients of the controllers. Finally simulation for a special disturbance as an input power of generator with the proposed controllers in order to investigate the dynamic behavior of generator is done. The simulation results demonstrate that the system composed with optimized controllers has an outstanding operation in fast damping of oscillations of power system.

Keywords: PSS, SVC, SMIB, optimize controller

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Authors: G. Kim, R. Sterkenburg

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One of the disadvantages of honeycomb sandwich structure is that they are prone to fluid intrusion. The purpose of this study is to determine if the structural properties of honeycomb core are affected by contact with a fluid. The test specimens were manufactured of fiberglass prepreg for the facesheets and Nomex^® honeycomb core for the core material in accordance with ASTM C-365/365M. Test specimens were soaked in several different kinds of fluids, such as aircraft fuel, turbine engine oil, hydraulic fluid, and water for a period of 60 days. A flatwise compressive test was performed, and the test results were analyzed to determine how the contact with aircraft fluids affected the compressive strength of the Nomex^® honeycomb core and how the strength was recovered when the specimens were dry. In addition, the investigation of de-bonding between facesheet and core material after soaking were performed to support the study.

Keywords: sandwich structure, honeycomb, environmental degradation, debonding

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Authors: Amin Zabihinejad, Philippe Viarouge

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In this paper, a direct power control (DPC) strategies have been investigated in order to control a high power AC/DC converter with time variable load. This converter is composed of a three level three phase neutral point clamped (NPC) converter as rectifier and an H-bridge four quadrant current control converter. In the high power application, controller not only must adjust the desired outputs but also decrease the level of distortions which are injected to the network from the converter. Regarding this reason and nonlinearity of the power electronic converter, the conventional controllers cannot achieve appropriate responses. In this research, the precise mathematical analysis has been employed to design the appropriate controller in order to control the time variable load. A DPC controller has been proposed and simulated using Matlab/Simulink. In order to verify the simulation result, a real-time simulator- OPAL-RT- has been employed. In this paper, the dynamic response and stability of the high power NPC with variable load has been investigated and compared with conventional types using a real-time simulator. The results proved that the DPC controller is more stable and has more precise outputs in comparison with the conventional controller.

Keywords: direct power control, three level rectifier, real time simulator, high power application

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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

Procedia PDF Downloads 124

Authors: U. Pruthviraj, Praveen Kumar R. A. K. Athul, K. V. Gangadharan, S. Rao Shrikantha

Abstract:

An open source based autonomous unmanned marine surface vehicle (UMSV) is developed for some of the marine applications such as pollution control, environmental monitoring and thermal imaging. A double rotomoulded hull boat is deployed which is rugged, tough, quick to deploy and moves faster. It is suitable for environmental monitoring, and it is designed for easy maintenance. A 2HP electric outboard marine motor is used which is powered by a lithium-ion battery and can also be charged from a solar charger. All connections are completely waterproof to IP67 ratings. In full throttle speed, the marine motor is capable of up to 7 kmph. The motor is integrated with an open source based controller using cortex M4F for adjusting the direction of the motor. This UMSV can be operated by three modes: semi-autonomous, manual and fully automated. One of the channels of a 2.4GHz radio link 8 channel transmitter is used for toggling between different modes of the USMV. In this electric outboard marine motor an on board GPS system has been fitted to find the range and GPS positioning. The entire system can be assembled in the field in less than 10 minutes. A Flir Lepton thermal camera core, is integrated with a 64-bit quad-core Linux based open source processor, facilitating real-time capturing of thermal images and the results are stored in a micro SD card which is a data storage device for the system. The thermal camera is interfaced to an open source processor through SPI protocol. These thermal images are used for finding oil spills and to look for people who are drowning at low visibility during the night time. A Real Time clock (RTC) module is attached with the battery to provide the date and time of thermal images captured. For the live video feed, a 900MHz long range video transmitter and receiver is setup by which from a higher power output a longer range of 40miles has been achieved. A Multi-parameter probe is used to measure the following parameters: conductivity, salinity, resistivity, density, dissolved oxygen content, ORP (Oxidation-Reduction Potential), pH level, temperature, water level and pressure (absolute).The maximum pressure it can withstand 160 psi, up to 100m. This work represents a field demonstration of an open source based autonomous navigation system for a marine surface vehicle.

Keywords: open source, autonomous navigation, environmental monitoring, UMSV, outboard motor, multi-parameter probe

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