Search results for: sliding door

Authors: Yu-Sheng Lu, Chung-Hsin Cheng, Shuen-Shing Jan

Abstract:

This paper presents the design and implementation of a sliding-mod controller for tracking servo of optical disk drives. The tracking servo is majorly subject to two disturbance sources: radial run-out and shock. The lateral run-out disturbance is mostly repeatable, and a model of such disturbance is incorporated into the controller design to effectively compensate for it. Meanwhile, as a shock disturbance is usually non-repeatable and unpredictable, the sliding-mode controller is employed for its robustness to abrupt perturbations. As a result, a sliding-mode controller design based on the internal model principle is tailored for tracking servo of optical disk drives in order to deal with these two major disturbances. Experimental comparative studies are conducted to investigate the effectiveness of the specially designed controller.

Keywords: mechatronics, optical disk drive, sliding-mode control, servo systems

Procedia PDF Downloads 337

Authors: John Chan, Jake Linnenbank, Gavin Caird

Abstract:

Automatic Selective Door Operation (ASDO) systems are increasingly used in railways to provide Correct Side Door Enable (CSDE) protection as well as to protect passenger doors opening off the platform where the train is longer than the platform, or in overshoot or undershoot scenarios. Such ASDO systems typically utilise trackside-installed RFID beacons, such as Eurobalises for odometry positioning purposes. Installing such trackside infrastructure may not be desirable or possible due to various factors such as conflict with existing infrastructure, potential damage from track tamping and jurisdiction constraints. Ultra-wideband (UWB) positioning technology could enable ASDO positioning requirements to be met without requiring installation of equipment directly on track since UWB technology can be installed on adjacent infrastructure such as on platforms. This paper will explore the feasibility of upgrading existing ASDO systems with UWB positioning technology, the feasibility of retrofitting UWB-enabled ASDO systems onto unfitted trains, and any other considerations relating to the use of UWB positioning for ASDO applications.

Keywords: UWB, ASDO, automatic selective door operations, CSDE, correct side door enable

Procedia PDF Downloads 47

Authors: Xuezhang Hou

Abstract:

In the present paper, a hybrid hyperbolic dynamic system formulated by partial differential equations with initial and boundary conditions is considered. First, the system is transformed to an abstract evolution system in an appropriate Hilbert space, and spectral analysis and semigroup generation of the system operator is discussed. Subsequently, a sliding model control problem is proposed and investigated, and an equivalent control method is introduced and applied to the system. Finally, a significant result that the state of the system can be approximated by an ideal sliding mode under control in any accuracy is derived and examined.

Keywords: hyperbolic dynamic system, sliding model control, semigroup of linear operators, partial differential equations

Procedia PDF Downloads 92

Authors: Hassan Mohammad Alkomy, Hesham Elkaranshawy, Ahmed Ibrahim Ashour, Khaled Tawfik Mohamed

Abstract:

For a rigid body sliding on a rough surface, a range of uncertainty or non-uniqueness of solution could be found, which is termed: Painlevé paradox. Painlevé paradox is the reason of a wide range of bouncing motion, observed during sliding of robotic manipulators on rough surfaces. In this research work, the existence of the paradox zone during the sliding motion of a two-link (P-R) robotic manipulator with a unilateral constraint is investigated. Parametric study is performed to investigate the effect of friction, link-length ratio, total height and link-mass ratio on the paradox zone.

Keywords: dynamical system, friction, multibody system, painlevé paradox, robotic systems, sliding robots, unilateral constraint

Procedia PDF Downloads 425

Authors: Wael M. Elawady, Mohamed F. Asar, Amany M. Sarhan

Abstract:

This paper adopts a continuous sliding mode control scheme for trajectory tracking control of robot manipulators with structured and unstructured uncertain dynamics and external disturbances. In this algorithm, the equivalent control in the conventional sliding mode control is replaced by a PID control action. Moreover, the discontinuous switching control signal is replaced by a continuous proportional-integral (PI) control term such that the implementation of the proposed control algorithm does not require the prior knowledge of the bounds of unknown uncertainties and external disturbances and completely eliminates the chattering phenomenon of the conventional sliding mode control approach. The closed-loop system with the adopted control algorithm has been proved to be globally stable by using Lyapunov stability theory. Numerical simulations using the dynamical model of robot manipulators with modeling uncertainties demonstrate the superiority and effectiveness of the proposed approach in high speed trajectory tracking problems.

Keywords: PID, robot, sliding mode control, uncertainties

Procedia PDF Downloads 471

Authors: Marshal D. Kafle, Jun H. Kim, Hyun W. Been, Kyoung M. Min

Abstract:

Fluid viscous damping systems are well suited for many air vehicles subjected to shock and vibration. These damping system work with the principle of viscous fluid throttling through the orifice to create huge pressure difference between compression and rebound chamber and obtain the required damping force. One application of such systems is its use in aircraft door system to counteract the door’s velocity and safely stop it. In exigency situations like crash or emergency landing where the door doesn’t open easily, possibly due to unusually tilting of fuselage or some obstacles or intrusion of debris obstruction to move the parts of the door, such system can be combined with other systems to provide needed force to forcefully open the door and also securely stop it simultaneously within the required time i.e.less than 8seconds. In the present study, a hydraulic system called snubber along with other systems like actuator, gas bottle assembly which together known as emergency power assist system (EPAS) is designed, built and experimentally studied to check the magnitude of angular velocity, damping force and time required to effectively open the door. Whenever needed, the gas pressure from the bottle is released to actuate the actuator and at the same time pull the snubber’s piston to operate the emergency opening of the door. Such EPAS installed in the suspension arm of the aircraft door is studied explicitly changing parameters like orifice size, oil level, oil viscosity and bypass valve gap and its spring of the snubber at varying temperature to generate the optimum design case. Comparative analysis of the EPAS at several cases is done and conclusions are made. It is found that during emergency condition, the systemopening time and angular velocity, when snubber with 0.3mm piston and shaft orifice and bypass valve gap of 0.5 mm with its original spring is used,shows significant improvement over the old ones.

Keywords: aircraft door damper, bypass valve, emergency power assist system, hydraulic damper, oil viscosity

Procedia PDF Downloads 398

Authors: F. Noto, M. Castro, R. Garraffo, An. Mirabella, A. Rizzo, G. Cuttone

Abstract:

The door fan test is a verification procedure on the tightness of a room, necessary following the installation of saturation extinguishing systems and made mandatory according to the UNI 15004-1: 2019 standard whenever a gas extinguishing system is designed and installed. The door fan test was carried out at the Portopalo di Capo Passero headquarters of the Southern National Laboratories and highlighted how the Data Processing Center is perfectly up to standard, passing the door fan test in an excellent way. The Southern National Laboratories constitute a solid research reality, well established in the international scientific panorama. The CED in the Portopalo site has been expanded, so the extinguishing system has been expanded according to a detailed design. After checking the correctness of the design to verify the absence of air leaks, we carried out the door fan test. The activities of the LNS are mainly aimed at basic research in the field of Nuclear Physics, Nuclear and Particle Astrophysics. The Portopalo site will host some of the largest submarine wired scientific research infrastructures built in Europe and in the world, such as KM3NeT and EMSO ERIC; in particular, the site research laboratory in Portopalo will host the power supply and data acquisition systems of the underwater infrastructures, and a technological backbone will be created, unique in the Mediterranean, capable of allowing the connection, at abyssal depths, of dozens of real-time surveying and research structures of the marine environment deep.

Keywords: KM3Net, fire protection, door fan test, CED

Procedia PDF Downloads 71

Authors: Elizabeth B. Katana, Brenda N. Simbwa, Josephine Namayanja, Bob O. Amodan, Edirisa J. Nsubuga, Eva A. O. Laker

Abstract:

Background: Understanding stakeholders’ perceptions towards the implementation of a mass vaccination campaign is important to ensure the design of better strategies to address challenges. We explored stakeholders’ perceptions of the implementation of a nationwide door-to-door mass vaccination campaign for the oral polio vaccine (nOPV2) in Uganda for the two rounds that occurred in January and November 2022. Methods: A qualitative study was conducted among stakeholders who participated in the campaign implementation from 8 districts in Uganda using random sampling. We conducted 46 In-depth interviews lasting 30 – 40 minutes with 6 national/central supervisors, 12 district, 14 sub-county, and 14 parish-level supervisors. Stakeholders were asked about their experiences in the campaign implementation, including challenges faced and their opinions of the campaign impact and use of the door-to-door strategy. Data were analyzed thematically in line with the major campaign activities. Results: Most of the stakeholders were primarily concerned about poor planning, inadequate training of vaccination teams, community resistance including schools, challenges with recruitment and teaming of vaccinators, poor and delayed payments, lack of logistics and motivation for vaccination teams, the timing of the activities and implementing amidst COVID-19 and Ebola. The stakeholders believed that the first round was not well planned and implemented, while the second round was leveraged in their previous experiences. On the other hand, some positive experiences were noted with regard to communication, advocacy and mobilization, vaccine delivery and distribution, district readiness assessments, and cold chain management. Conclusion: This study identified many challenges that were faced in the implementation of the door-to-door mass campaign for nOPV2 in Uganda. This study identified that more needs to be done to improve door-to-door mass campaigns with a focus on motivating the implementers. These findings highlight the need for conducting performance reviews, improved planning, especially routine updates and verification of target populations and training in microplanning, and adequate mapping of community resistance to inform the implementation of future mass campaigns.

Keywords: mass polio vaccination campaigns, door-to-door strategy, stakeholders' perceptions, implementation challenges

Procedia PDF Downloads 42

Authors: Aziz Sezgin, Yuksel Hacioglu, Nurkan Yagiz

Abstract:

Sliding mode controller for a vehicle active suspension system is designed in this study. The widely used quarter car model is preferred and it is aimed to improve the ride comfort of the passengers. The effect of the actuator time delay, which may arise due to the information processing, sensors or actuator dynamics, is also taken into account during the design of the controller. A sliding mode controller was designed that has taken into account the actuator time delay by using Smith predictor. The successful performance of the designed controller is confirmed via numerical results.

Keywords: sliding mode control, active suspension system, actuator, time delay, vehicle

Procedia PDF Downloads 377

Authors: Viji Vijayakumar, R. Divya, A. Vivek

Abstract:

This paper deals with a quadratic boost converter which belongs to cascade boost family, controlled by sliding mode controller. In the cascade boost family, quadratic boost converter is the best trade-off when circuit complexity and modulator saturation is considered. Sliding mode control being a nonlinear control results in a robust and stable system when applied to switching converters which are inherently variable structured systems. The stability of this system is analyzed through Lyapunov’s approach. Analysis is done for load regulation, line regulation and step response of the system. Also these results are compared with that of PID controller based system.

Keywords: DC-DC converter, quadratic boost converter, sliding mode control, PID control

Procedia PDF Downloads 959

Authors: Pujan Sarkar

Abstract:

Frictional behavior of glass epoxy and Al particulate glass-epoxy composites sliding against mild steel are investigated experimentally at normal atmospheric condition. Glass epoxy (0 wt% Al) and 5, 10 and 15 wt% Al particulate filled glass-epoxy composites are fabricated in conventional hand lay-up technique followed by light compression moulding process. A pin on disc type friction apparatus is used under dry sliding conditions. Experiments are carried out at a normal load of 5-50 N, and sliding speeds of 0.5-5.0 m/s for a fixed duration. Variations of friction coefficient with sliding time at different loads and speeds for all the samples are considered. Results show that the friction coefficient is influenced by sliding time, normal loads, sliding speeds, and wt% of Al content. In general, with respect to time, friction coefficient increases initially with a lot of fluctuations for a certain duration. After that, it becomes stable for the rest of the experimental time. With the increase of normal load, friction coefficient decreases at all speed levels and for all the samples whereas, friction coefficient increases with the increase of sliding speed at all normal loads for glass epoxy and 5 wt% Al content glass-epoxy composites. But for 10 and 15 wt%, Al content composites at all loads, reverse trend of friction coefficient has been recorded. Under different tribological conditions, the suitability of composites in respect of wt% of Al content is noted, and 5 wt% Al content glass-epoxy composite reports as the lowest frictional material at all loads compared to other samples.

Keywords: Al powder, composite, epoxy, friction, glass fiber

Procedia PDF Downloads 99

Authors: Dler Abdullah Ahmed, Zozan Ahmed Mohammed

Abstract:

This study looked into contact surface temperature during a pin-on-disk test. Friction and wear between sliding surfaces raised the temperature differential between the contact surface and ambient temperatures Tdiff. Tdiff was significantly influenced by wear test variables. Tdiff rose with the increase of sliding speed and applied load while dropped with the increase in ambient temperature. The highest Tdiff was 289°C during the tests at room temperature and 2.5 m/s sliding speed, while the minimum was only 24 °C during the tests at 400°C and 0.5 m/s. However, the maximum contact temperature Tmax was found during tests conducted at high ambient temperatures. The Tmax was estimated based on the theoretical equation. The comparison of experimental and theoretical Tmax data revealed good agreement.

Keywords: pin on disk test, contact temperature, wear, sliding surface, friction, ambient temperature

Procedia PDF Downloads 20

Authors: R. Narasimha Rao, Ch. Sri Chaitanya

Abstract:

Syntactic foams are closed-cell foams with high specific strength and high compression strength. At Low speeds, the wear rate is sensitive to the sliding speeds and other tribological parameters like applied load and the sliding distance. In the present study, the tribological performance of the polymer-based syntactic foams was reported based on the experiments conducted on a pin-on-disc tribometer. The syntactic foams were manufactured with epoxy as the matrix and the cenospheres obtained from the thermal powerplants as the reinforcement. The experiments were conducted at a sliding speed of the 1 m/s. The applied load was varied from 1 kg to 5 kg up to a sliding distance of 3000 m. The wear rate increased with the sliding distance at lower loads. The trend was reversed at higher loads of 5kg. This may be due to the high plastic deformation at the initial stages when higher loads were applied. This was evident with the higher friction constants for the higher loads. The adhesive wear was found to be predominant for lower loads, while the abrasive wear tracks can be seen in micrographs of samples tested under higher loads.

Keywords: sliding speed, syntactic foams, tribological performance, wear rate

Procedia PDF Downloads 50

Authors: Ahmed Abbou, Ali Mousmi, Rachid El Akhrif

Abstract:

This research paper aims to reduce the chattering phenomenon due to control by sliding mode control applied on a wind energy conversion system based on the doubly fed induction generator (DFIG). Our goal is to offset the effect of parametric uncertainties and come as close as possible to the dynamic response solicited by the control law in the ideal case and therefore force the active and reactive power generated by the DFIG to accurately follow the reference values which are provided to it. The simulation results using Matlab / Simulink demonstrate the efficiency and performance of the proposed technique while maintaining the simplicity of control by first order sliding mode.

Keywords: correction of the equivalent command, DFIG, induction machine, sliding mode controller

Procedia PDF Downloads 387

Authors: A. Oukaci, R. Toufouti, D. Dib, l. Atarsia

Abstract:

This article presents a multitude of alternative techniques to control the vector control, namely the nonlinear control and sliding mode control. Moreover, the implementation of their control law applied to the high-performance to the induction motor with the objective to improve the tracking control, ensure stability robustness to parameter variations and disturbance rejection. Tests are performed numerical simulations in the Matlab/Simulink interface, the results demonstrate the efficiency and dynamic performance of the proposed strategy.

Keywords: Induction Motor (IM), Non-linear Control (NLC), Sliding Mode Control (SMC), nonlinear sliding surface

Procedia PDF Downloads 541

Authors: Zainab Fadil, Mouath Alawadhi, Abdullah Alhusainan, Fahad Alqadiri, Abdulaziz Alqadiri

Abstract:

This study investigates how lightweight a fire resistance door will perform with under types of insulation materials. Data is initially collected from various websites, scientific books and research papers. Results show that different layers of insulation in a single door can perform better than one insulator. Furthermore, insulation materials that are lightweight, high strength and low thermal conductivity are the most preferred for fire-rated doors. Whereas heavy weight, low strength, and high thermal conductivity are least preferred for fire-resistance doors. Fire-rated doors specifications, theoretical test methodology, structural analysis, and comparison between five different models with diverse layers insulations are presented. Five different door models are being investigated with different insulation materials and arrangements. Model 1 contains an air gap between door layers. Model 2 includes phenolic foam, mild steel and polyurethane. Model 3 includes phenolic foam and glass wool. Model 4 includes polyurethane and glass wool. Model 5 includes only rock wool between the door layers. It is noticed that model 5 is the most efficient model and its design is simple compared to other models. For this model, numerical calculations are performed to check its efficiency and the results are compared to data from experiments for validation. Good agreement was noticed.

Keywords: fire resistance, insulation, strength, thermal conductivity, lightweight, layers

Procedia PDF Downloads 54

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

Abstract:

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

Procedia PDF Downloads 27

Authors: I. Khabbazi, R. Ghasemi

Abstract:

This paper presents a combination of both robust nonlinear controller and nonlinear controller for a class of nonlinear 4Y Octorotor UAV using Back-stepping and sliding mode controller. The robustness against internal and external disturbance and decoupling control are the merits of the proposed paper. The proposed controller decouples the Octorotor dynamical system. The controller is then applied to a 4Y Octorotor UAV and its feature will be shown.

Keywords: sliding mode, backstepping, decoupling, octorotor UAV

Procedia PDF Downloads 414

Authors: Agata Tomaszewska, Timothy Kamps, Stephan R. Turnock, Nicola Symonds

Abstract:

Bob skeleton is a highly competitive sport in which an athlete reaches speeds up to 40 m/s sliding, head first, down an ice track. It is believed that the friction between the runners and ice significantly contributes to the amount of the total energy loss during a bob skeleton descent. There is only limited available experimental data regarding the friction of bob skeleton runners or indeed steel on the ice at high sliding speeds ( > 20 m/s). Testing methods used to investigate the friction of steel on ice in winter sports have been outlined, and their accuracy and repeatability discussed. A system thinking approach was used to investigate the runner-ice interaction during sliding and create concept designs of three ice tribometers. The operational envelope of the bob skeleton system has been defined through mathematical modelling. Designs of a drum, linear and inertia pin-on-disk tribometers were developed specifically for bob skeleton runner testing with the requirement of reaching up to 40 m/s speed and facilitate fresh ice sliding. The design constraints have been outline and the proposed solutions compared based on the ease of operation, accuracy and the development cost.

Keywords: bob skeleton, ice friction, high-speed tribometers, sliding friction

Procedia PDF Downloads 232

Authors: Sana Bembli, Nahla Khraief Haddad, Safya Belghith

Abstract:

This paper deals with a robust model free terminal sliding mode with gravity compensation approach used to control an exoskeleton-upper limb system. The considered system is a 2-DoF robot in interaction with an upper limb used for rehabilitation. The aim of this paper is to control the flexion/extension movement of the shoulder and the elbow joints in presence of matched disturbances. In the first part, we present the exoskeleton-upper limb system modeling. Then, we controlled the considered system by the model free terminal sliding mode with gravity compensation. A stability study is realized. To prove the controller performance, a robustness analysis was needed. Simulation results are provided to confirm the robustness of the gravity compensation combined with to the Model free terminal sliding mode in presence of uncertainties.

Keywords: exoskeleton- upper limb system, model free terminal sliding mode, gravity compensation, robustness analysis

Procedia PDF Downloads 112

Authors: Pankaj Negi

Abstract:

Nowadays the demand for receiving the high quality electrical energy is being increasing as consumer wants not only reliable but also quality power. Custom power instruments are of the most well-known compensators of power quality in distributed network. This paper present a comprehensive review of compensating custom power devices mainly DSTATCOM (distribution static compensator),DVR (dynamic voltage restorer), and UPQC (unified power quality compensator) and also deals with sliding mode control and its applications to custom power devices. The sliding mode control strategy provides robustness to custom power device and enhances the dynamic response for compensating voltage sag, swell, voltage flicker, and voltage harmonics. The aim of this paper is to provide a broad perspective on the status of compensating devices in electric power distribution system and sliding mode control strategies to researchers and application engineers who are dealing with power quality and stability issues.

Keywords: active power filters(APF), custom power device(CPD), DSTATCOM, DVR, UPQC, sliding mode control (SMC), power quality

Procedia PDF Downloads 405

Authors: Mahmoudi Noureddine

Abstract:

The glass fiber (GF) reinforced polyimide (PL) composites filled with graphite powders were fabricated by means of hot press molding technique. The friction and wear properties of the resulting composites sliding against GCr15 steel were investigated on a model ring-on-block test rig at dry sliding condition. The wear mechanisms were also discussed, based on scanning electron microscopic examination of the worn surface of the PL composites and the transfer film formed on the counterpart. With the increasing normal loads, the friction coefficient of the composites increased under the dry sliding, owing to inconsistent influences of shear strength and real contact areas. Experimental results revealed that the incorporation of graphite significantly improve the wear resistance of the glass fibers reinforced polyimide composites. For best combination of friction coefficient and wear rate, the optimal volume content of graphite in the composites appears to be 45 %. It was also found that the tribological properties of the glass fiber reinforced PL composites filled with graphite powders were closely related with the sliding condition such as sliding rate and applied load.

Keywords: composites, fiber, friction, wear

Procedia PDF Downloads 325

Authors: Ahmad Forouzantabar, Mohammad Azadi, Alireza Alesaadi

Abstract:

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: Samir Zeghlache, Abderrahmen Bouguerra, Kamel Kara, Djamel Saigaa

Abstract:

The control of the trirotor helicopter includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. This paper presents a control strategy for an underactuated six degrees of freedom (6 DOF) trirotor helicopter, based on the coupling of the fuzzy logic control and sliding mode control (SMC). The main purpose of this work is to eliminate the chattering phenomenon. To achieve our purpose we have used a fuzzy logic control to generate the hitting control signal, also the non linear observer is then synthesized in order to estimate the unmeasured states. Finally simulation results are included to indicate the trirotor UAV with the proposed controller can greatly alleviate the chattering effect and remain robust to the external disturbances.

Keywords: fuzzy sliding mode control, trirotor helicopter, dynamic modelling, underactuated systems

Procedia PDF Downloads 493

Authors: Fouad Berrabah, Saad Salah, Zaamouche Fares

Abstract:

In this paper, the Direct Torque Control (DTC) Control and the Sliding Mode Control for induction motor are presented and compared. The performance of the two control schemes is evaluated in terms of torque and current ripple, and transient response to variations of the torque , speed and robustness, trajectory tracking. In order to identify the more suitable solution for any application, both techniques are analyzed mathematically and simulation results are compared which advantages and drawbacks are discussed.

Keywords: induction motor, DTC- MRAS control, sliding mode control, robustness, trajectory tracking

Procedia PDF Downloads 562

Authors: Zine Souhila Rached, Mazari Benyounes Bouzid, Mohamed Amine, Allaoui Tayeb

Abstract:

Wind energy has many advantages, it does not pollute and it is an inexhaustible source. However, its high cost is a major constraint, especially on the less windy sites. The purpose of wind energy systems is to maximize energy efficiency, and extract maximum power from the wind speed. In other words, having a power coefficient is maximum and therefore the maximum power point tracking. In this case, the MPPT control becomes important.To realize this control, strategy conventional proportional and integral (PI) controller is usually used. However, this strategy cannot achieve better performance. This paper proposes a robust control of a turbine which optimizes its production, that is improve the quality and energy efficiency, namely, a strategy of sliding mode control. The proposed sliding mode control strategy presents attractive features such as robustness to parametric uncertainties of the turbine; the proposed sliding mode control approach has been simulated on three-blade wind turbine. The simulation result under Matlab\Simulink has validated the performance of the proposed MPPT strategy.

Keywords: wind turbine, maximum power point tracking, sliding mode, energy conversion systems

Procedia PDF Downloads 580

Authors: Samah Riache, Madjid Kidouche

Abstract:

In this paper, we propose a nonlinear controller for Aerial Manipulator (AM) consists of a Quadrotor equipped with two degrees of freedom robotic arm. The kinematic and dynamic models were developed by considering the aerial manipulator as a coupled system. The proposed controller was designed using Nonsingular Terminal Sliding Mode Control. The objective of our approach is to improve performances and attenuate the chattering drawback using an adaptive algorithm in the discontinuous control part. Simulation results prove the effectiveness of the proposed control strategy compared with Sliding Mode Controller.

Keywords: adaptive algorithm, quadrotor, robotic arm, sliding mode control

Procedia PDF Downloads 149

Authors: Shabnam Pashaei, Mohammadali Badamchizadeh

Abstract:

This paper presents a new fractional-order terminal sliding mode control for synchronization of two different fractional-order chaotic systems with uncertainty and external disturbances. A fractional-order integral type nonlinear switching surface is presented. Then, using the Lyapunov stability theory and sliding mode theory, a fractional-order control law is designed to synchronize two different fractional-order chaotic systems. Finally, a simulation example is presented to illustrate the performance and applicability of the proposed method. Based on numerical results, the proposed controller ensures that the states of the controlled fractional-order chaotic response system are asymptotically synchronized with the states of the drive system.

Keywords: terminal sliding mode control, fractional-order calculus, chaotic systems, synchronization

Procedia PDF Downloads 382

Authors: Jenn-Yih Chen, Bean-Yin Lee, Yuan-Chuan Hsu, Jui-Cheng Lin, Kuang-Chyi Lee

Abstract:

In this paper, a sliding mode control method based on the passivity approach is proposed to control the position of surface-mounted permanent magnet synchronous motors (PMSMs). Firstly, the dynamics of a PMSM was proved to be strictly passive. The position controller with an adaptive law was used to estimate the load torque to eliminate the chattering effects associated with the conventional sliding mode controller. The stability analysis of the overall position control system was carried out by adopting the passivity theorem instead of Lyapunov-type arguments. Finally, experimental results were provided to show that the good position tracking can be obtained, and exhibit robustness in the variations of the motor parameters and load torque disturbances.

Keywords: adaptive law, passivity theorem, permanent magnet synchronous motor, sliding mode control

Procedia PDF Downloads 434

Authors: James Moran, Anusarn Permsuwan

Abstract:

This paper compares oscillations in the dry friction coefficient in different journal bearings. Measurements are made of the average and standard deviation in the coefficient of friction as a function of sliding velocity. The standard deviation of the friction coefficient changed dramatically with sliding velocity. The magnitude and frequency of the oscillations were a function of the velocity. A numerical model was developed for the frictional oscillations. There was good agreement between the model and results. Five different materials were used as the sliding surfaces in the experiments, Aluminum, Bronze, Mild Steel, Stainless Steel, and Nylon.

Keywords: Coulomb friction, dynamic friction, non-lubricated bearings, frictional oscillations

Procedia PDF Downloads 331