Search results for: control/driving technique

Authors: A. Sina, A. Aeenmehr, H. Mohamadian

Abstract:

Optimization and control of reactive power distribution in the power systems leads to the better operation of the reactive power resources. Reactive power control reduces considerably the power losses and effective loads and improves the power factor of the power systems. Another important reason of the reactive power control is improving the voltage profile of the power system. In this paper, voltage and reactive power control using Neural Network techniques have been applied to the 33 shines- Tehran Electric Company. In this suggested ANN, the voltages of PQ shines have been considered as the input of the ANN. Also, the generators voltages, tap transformers and shunt compensators have been considered as the output of ANN. Results of this techniques have been compared with the Linear Programming. Minimization of the transmission line power losses has been considered as the objective function of the linear programming technique. The comparison of the results of the ANN technique with the LP shows that the ANN technique improves the precision and reduces the computation time. ANN technique also has a simple structure and this causes to use the operator experience.

Keywords: voltage control, linear programming, artificial neural network, power systems

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Authors: Qing Dai, Zhengkui Lin, Jiajia Zhang, Yi Qu

Abstract:

Based on activity method, this paper focuses on morning commuting behavior when commuters travel with autonomous vehicles (AVs). Firstly, a net utility function of commuters is constructed by the activity utility of commuters at home, in car and at workplace, and the disutility of travel time cost and that of schedule delay cost. Then, this net utility function is applied to build an equilibrium model. Finally, under the assumption of constant marginal activity utility, the properties of equilibrium are analyzed. The results show that, in autonomous driving, the starting and ending time of morning peak and the number of commuters who arrive early and late at workplace are the same as those in manual driving. In automatic driving, however, the departure rate of arriving early at workplace is higher than that of manual driving, while the departure rate of arriving late is just the opposite. In addition, compared with manual driving, the departure time of arriving at workplace on time is earlier and the number of people queuing at the bottleneck is larger in automatic driving. However, the net utility of commuters and the total net utility of system in automatic driving are greater than those in manual driving.

Keywords: Autonomous cars, bottleneck model, activity utility, user equilibrium.

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Authors: M. Ouassaid, M. Cherkaoui, A. Nejmi, M. Maaroufi

Abstract:

This study presents a novel means of designing a simple and effective torque controller for Permanent Magnet Synchronous Motor (PMSM). The overall stability of the system is shown using Lyapunov technique. The Lyapunov functions used contain a term penalizing the integral of the tracking error, enhancing the stability. The tracking error is shown to be globally uniformly bounded. Simulation results are presented to show the effectiveness of the approach.

Keywords: Integral action, Lyapunov Technique, Non Linear Control, Permanent Magnet Synchronous Motors, Torque Control, Stability.

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Authors: Christian Rathgeber, Franz Winkler, Xiaoyu Kang, Steffen Müller

Abstract:

In this contribution two approaches for calculating optimal trajectories for highly automated vehicles are presented and compared. The first one is based on a non-linear vehicle model, used for evaluation. The second one is based on a simplified model and can be implemented on a current ECU. In usual driving situations both approaches show very similar results.

Keywords: Trajectory planning, direct method, indirect method, highly automated driving.

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Authors: Sun-Ki Hong, Yong-Ho Cho, Ki-Seok Kim, Tae-Sam Kang

Abstract:

Piezoelectric actuator is treated as RC load when it is modeled electrically. For some piezoelectric actuator applications, arbitrary voltage is required to actuate. Especially for unidirectional arbitrary voltage driving like as sine wave, some special inverter with circuit that can charge and discharge the capacitive energy can be used. In this case, the difference between power supply level and the object voltage level for RC load is varied. Because the control gain is constant, the controlled output is not uniform according to the voltage difference. In this paper, for charge and discharge circuit for unidirectional arbitrary voltage driving for piezoelectric actuator, the controller gain is controlled according to the voltage difference. With the proposed simple idea, the load voltage can have controlled smoothly although the voltage difference is varied. The appropriateness is proved from the simulation of the proposed circuit.

Keywords: Analog voltage inverter, Capacitive load, Gain control, DC-DC converter, Piezoelectric, Voltage waveform.

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Authors: M-M. Mohamed Ahmed, Nacer K. M’Sirdi, Aziz Naamane

Abstract:

In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature for the control of multi vehicles. The modeling of the convoy of the vehicles is revisited using a robotic method for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles.

Keywords: Autonomous vehicles, convoy, nonlinear control, nonlinear observer, sliding mode.

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Authors: V. Chitra, R. S. Prabhakar

Abstract:

Because of the low maintenance and robustness induction motors have many applications in the industries. The speed control of induction motor is more important to achieve maximum torque and efficiency. Various speed control techniques like, Direct Torque Control, Sensorless Vector Control and Field Oriented Control are discussed in this paper. Soft computing technique – Fuzzy logic is applied in this paper for the speed control of induction motor to achieve maximum torque with minimum loss. The fuzzy logic controller is implemented using the Field Oriented Control technique as it provides better control of motor torque with high dynamic performance. The motor model is designed and membership functions are chosen according to the parameters of the motor model. The simulated design is tested using various tool boxes in MATLAB. The result concludes that the efficiency and reliability of the proposed speed controller is good.

Keywords: Induction motor, Field Oriented Control, Fuzzy logic controller, Maximum torque, Membership function.

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Authors: Yoon-Hyuk Choi

Abstract:

Studies on the distribution of traffic demands have been proceeding by providing traffic information for reducing greenhouse gases and reinforcing the road's competitiveness in the transport section, however, since it is preferentially required the extensive studies on the driver's behavior changing routes and its influence factors, this study has been developed a discriminant model for changing routes considering driving conditions including traffic conditions of roads and driver's preferences for information media. It is divided into three groups depending on driving conditions in group classification with the CART analysis, which is statistically meaningful. And the extent that driving conditions and preferred media affect a route change is examined through a discriminant analysis, and it is developed a discriminant model equation to predict a route change. As a result of building the discriminant model equation, it is shown that driving conditions affect a route change much more, the entire discriminant hit ratio is derived as 64.2%, and this discriminant equation shows high discriminant ability more than a certain degree.

Keywords: CART analysis, Diversion, Discriminant model, Driving conditions, and preferred media

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Authors: T. Shyam Ramanath, A. Sudharsan, A. Kavitha

Abstract:

As is needless to say; a majority of accidents, which occur, are due to drunk driving. As such, there is no effective mechanism to prevent this. Here we have designed an integrated system for the same purpose. Alcohol content in the driver-s body is detected by means of an infrared breath analyzer placed at the steering wheel. An infrared cell directs infrared energy through the sample and any unabsorbed energy at the other side is detected. The higher the concentration of ethanol, the more infrared absorption occurs (in much the same way that a sunglass lens absorbs visible light, alcohol absorbs infrared light). Thus the alcohol level of the driver is continuously monitored and calibrated on a scale. When it exceeds a particular limit the fuel supply is cutoff. If the device is removed also, the fuel supply will be automatically cut off or an alarm is sounded depending upon the requirement. This does not happen abruptly and special indicators are fixed at the back to avoid inconvenience to other drivers using the highway signals. Frame work for integration of sensors and control module in a scalable multi-agent system is provided .A SMS which contains the current GPS location of the vehicle is sent via a GSM module to the police control room to alert the police. The system is foolproof and the driver cannot tamper with it easily. Thus it provides an effective and cost effective solution for the problem of drunk driving in vehicles.

Keywords: Global system monitoring, global positioning system.

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Authors: A. Omran, G. El-Bayiumi, M. Bayoumi, A. Kassem

Abstract:

Applicability of tuning the controller gains for Stewart manipulator using genetic algorithm as an efficient search technique is investigated. Kinematics and dynamics models were introduced in detail for simulation purpose. A PD task space control scheme was used. For demonstrating technique feasibility, a Stewart manipulator numerical-model was built. A genetic algorithm was then employed to search for optimal controller gains. The controller was tested onsite a generic circular mission. The simulation results show that the technique is highly convergent with superior performance operating for different payloads.

Keywords: Stewart kinematics, Stewart dynamics, task space control, genetic algorithm.

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Authors: Dangjun Zhao, Yongji Wang, Lei Liu

Abstract:

Based on general proportional integral (GPI) observers and sliding mode control technique, a robust control method is proposed for the master-slave synchronization of chaotic systems in the presence of parameter uncertainty and with partially measurable output signal. By using GPI observer, the master dynamics are reconstructed by the observations from a measurable output under the differential algebraic framework. Driven by the signals provided by GPI observer, a sliding mode control technique is used for the tracking control and synchronization of the master-slave dynamics. The convincing numerical results reveal the proposed method is effective, and successfully accommodate the system uncertainties, disturbances, and noisy corruptions.

Keywords: GPI observer, sliding mode control, master-slave synchronization, chaotic systems.

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Authors: Chia-Hau Liu, Tai-Yue Wang

Abstract:

Traditional multivariate control charts assume that measurement from manufacturing processes follows a multivariate normal distribution. However, this assumption may not hold or may be difficult to verify because not all the measurement from manufacturing processes are normal distributed in practice. This study develops a new multivariate control chart for monitoring the processes with non-normal data. We propose a mechanism based on integrating the one-class classification method and the adaptive technique. The adaptive technique is used to improve the sensitivity to small shift on one-class classification in statistical process control. In addition, this design provides an easy way to allocate the value of type I error so it is easier to be implemented. Finally, the simulation study and the real data from industry are used to demonstrate the effectiveness of the propose control charts.

Keywords: Multivariate control chart, statistical process control, one-class classification method.

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Authors: Tianchai Suksri, Satean Tunyasrirut

Abstract:

This paper presents design and implements the T-DOF PI controller design for a speed control of induction motor. The voltage source inverter type space vector pulse width modulation technique is used the drive system. This scheme leads to be able to adjust the speed of the motor by control the frequency and amplitude of the input voltage. The ratio of input stator voltage to frequency should be kept constant. The T-DOF PI controller design by root locus technique is also introduced to the system for regulates and tracking speed response. The experimental results in testing the 120 watt induction motor from no-load condition to rated condition show the effectiveness of the proposed control scheme.

Keywords: PI controller, root locus technique, space vector pulse width modulation, induction motor.

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Authors: Abdelsalam A. Ahmed

Abstract:

Fast speed drives for Permanent Magnet Synchronous Motor (PMSM) is a crucial performance for the electric traction systems. In this paper, PMSM is derived with a Model-based Predictive Control (MPC) technique. Fast speed tracking is achieved through optimization of the DC source utilization using MPC. The technique is based on predicting the optimum voltage vector applied to the driver. Control technique is investigated by comparing to the cascaded PI control based on Space Vector Pulse Width Modulation (SVPWM). MPC and SVPWM-based FOC are implemented with the TMS320F2812 DSP and its power driver circuits. The designed MPC for a PMSM drive is experimentally validated on a laboratory test bench. The performances are compared with those obtained by a conventional PI-based system in order to highlight the improvements, especially regarding speed tracking response.

Keywords: Permanent magnet synchronous motor, mode predictive control, optimization of DC source utilization, cascaded PI control, space vector pulse width modulation, TMS320F2812 DSP.

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Authors: S. Hajeb, M. Javadi, S. M. Hashemi, P. Parvizi

Abstract:

Road Traffic Accidents are a major cause of disability and death throughout the world. The control of intelligent vehicles in order to reduce human error and boost ease congestion is not accomplished solely by the aid of human resources. The present article is an attempt to introduce an intelligent control system based on RFID technology. By the help of RFID technology, vehicles are connected to computerized systems, intelligent light poles and other available hardware along the way. In this project, intelligent control system is capable of tracking all vehicles, crisis management and control, traffic guidance and recording Driving offences along the highway.

Keywords: RFID, Intelligent highway, Traffic violation

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Authors: Neha Khanduja

Abstract:

This paper presents a comparative analysis of continuously stirred tank reactor (CSTR) control based on adaptive control and optimal tuning of PID control based on particle swarm optimization. In the design of adaptive control, Model reference adaptive control (MRAC) scheme is used, in which the adaptation law have been developed by MIT rule & Lyapunov’s rule. In PSO control parameters of PID controller is tuned by using the concept of particle swarm optimization to get optimized operating point for minimum integral square error (ISE) condition. The results show the adjustment of PID parameters converting into the optimal operating point and the good control response can be obtained by the PSO technique.

Keywords: Model reference adaptive control (MRAC), optimal control, particle swarm optimization (PSO).

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Authors: Amira M. Attia, Karim H. Youssef, Nabil H. Abbasy

Abstract:

Energy consumption schedule (ECS) technique shifts usage of loads from on peak hours and redistributes them throughout the day according to residents’ operating time preferences. This technique is used as form of indirect control from utility to improve the load curve and hence its load factor and reduce customer’s total electric bill as well. Similarly, load shifting technique achieves ECS purposes but as direct control form applied from utility. In this paper, ECS is simulated twice as optimal constrained mathematical formula, solved by using CVX program in MATLAB^® R2013b. First, it is utilized for single residential building with ten apartments to determine max allowable energy consumption per hour for each residential apartment. Then, it is used for single apartment with number of shiftable domestic devices, where operating schedule is deduced using previous simulation output results as constraints. The paper ends by giving differences between ECS technique and load shifting technique via literature and simulation. Based on results assessment, it will be shown whether using ECS or load shifting is more beneficial to both customer and utility.

Keywords: Energy consumption schedule, load shifting technique, comparison.

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Authors: S. Thongkeaw, M. Boonthienthong

Abstract:

This paper presents the techniques for voltage control in distribution system. It is integrated in the distribution management system. Voltage is an important parameter for the control of electrical power systems. The distribution network operators have the responsibility to regulate the voltage supplied to consumer within statutory limits. Traditionally, the On-Load Tap Changer (OLTC) transformer equipped with automatic voltage control (AVC) relays is the most popular and effective voltage control device. A static synchronous compensator (STATCOM) may be equipped with several controllers to perform multiple control functions. Static Var Compensation (SVC) is regulation slopes and available margins for var dispatch. The voltage control in distribution networks is established as a centralized analytical function in this paper. 

Keywords: Voltage Control, Reactive Power, Distribution System.

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Authors: S. Bangphan, P. Bangphan, T. Boonkang

Abstract:

Quality control helps industries in improvements of its product quality and productivity. Statistical Process Control (SPC) is one of the tools to control the quality of products that turning practice in bringing a department of industrial engineering process under control. In this research, the process control of a turning manufactured at workshops machines. The varying measurements have been recorded for a number of samples of a rice polished cylinder obtained from a number of trials with the turning practice. SPC technique has been adopted by the process is finally brought under control and process capability is improved.

Keywords: Rice polished cylinder, statistical process control, control charts, process capability.

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Authors: Karchung, S. Ruangsinchaiwanich

Abstract:

This paper presents open-loop vector control method of induction motor with space vector pulse width modulation (SVPWM) technique. Normally, the closed loop speed control is preferred and is believed to be more accurate. However, it requires a position sensor to track the rotor position which is not desirable to use it for certain workspace applications. This paper exhibits the performance of three-phase induction motor with the simplest control algorithm without the use of a position sensor nor an estimation block to estimate rotor position for sensorless control. The motor stator currents are measured and are transformed to synchronously rotating (d-q-axis) frame by use of Clarke and Park transformation. The actual control happens in this frame where the measured currents are compared with the reference currents. The error signal is fed to a conventional PI controller, and the corrected d-q voltage is generated. The controller outputs are transformed back to three phase voltages and are fed to SVPWM block which generates PWM signal for the voltage source inverter. The open loop vector control model along with SVPWM algorithm is modeled in MATLAB/Simulink software and is experimented and validated in TMS320F28335 DSP board.

Keywords: Electric drive, induction motor, open-loop vector control, space vector pulse width modulation technique.

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Authors: Norsinnira Zainul Azlan, Hiroshi Yamaura

Abstract:

This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived easily. The force error feedback is utilized in the estimation and the accurate knowledge of the environment parameters are not required by the algorithm. It is shown mathematically that the stability of the controller is guaranteed based on Lyapunov theory. Simulation results presented to demonstrate the validity of the proposed controller.

Keywords: Adaptive impedance control, Function Approximation Technique (FAT), impedance control, unknown environment position.

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Authors: F. Caliskan

Abstract:

This paper presents a Neural Network (NN) identification of icing parameters in an A340 aircraft and a reconfiguration technique to keep the A/C performance close to the performance prior to icing. Five aircraft parameters are assumed to be considerably affected by icing. The off-line training for identifying the clear and iced dynamics is based on the Levenberg-Marquard Backpropagation algorithm. The icing parameters are located in the system matrix. The physical locations of the icing are assumed at the right and left wings. The reconfiguration is based on the technique known as the control mixer approach or pseudo inverse technique. This technique generates the new control input vector such that the A/C dynamics is not much affected by icing. In the simulations, the longitudinal and lateral dynamics of an Airbus A340 aircraft model are considered, and the stability derivatives affected by icing are identified. The simulation results show the successful NN identification of the icing parameters and the reconfigured flight dynamics having the similar performance before the icing. In other words, the destabilizing icing affect is compensated.

Keywords: Aircraft Icing, Stability Derivatives, Neural NetworkIdentification, Reconfiguration.

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Authors: Chih-Hui Chiu, Chun-Hsien Lin

Abstract:

In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive output recurrent cerebellar model articulation control (AORCMAC) and H∞ control technique is proposed for wheeled inverted pendulums (WIPs) real-time control with exact system dynamics unknown. Moreover, a robust H∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. The experimental results indicate that the WIPs can stand upright stably when using the proposed RIBTC.

Keywords: Wheeled inverted pendulum, backsteppingtracking control, H∞ control, adaptive output recurrentcerebellar model articulation control.

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Authors: Markus Mazzola, Gunther Schaaf

Abstract:

A vehicle driving with an Adaptive Cruise Control System (ACC) is usually controlled decentrally, based on the information of radar systems and in some publications based on C2X-Communication (CACC) to guarantee stable platoons. In this paper we present a Model Predictive Control (MPC) design of a centralized, server-based ACC-System, whereby the vehicular platoon is modeled and controlled as a whole. It is then proven that the proposed MPC design guarantees asymptotic stability and hence string stability of the platoon. The Networked MPC design is chosen to be able to integrate system constraints optimally as well as to reduce the effects of communication delay and packet loss. The performance of the proposed controller is then simulated and analyzed in an LTE communication scenario using the LTE/EPC Network Simulator LENA, which is based on the ns-3 network simulator.

Keywords: Adaptive Cruise Control, Centralized Server, Networked Model Predictive Control, String Stability.

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Authors: Norsinnira Zainul Azlan, Hiroshi Yamaura

Abstract:

This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability theory. Computer simulation results are presented to validate the effectiveness of the proposed strategy.

Keywords: Adaptive Impedance Control, Function Approximation Technique (FAT), unknown time-varying environment position and stiffness.

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Authors: Khaled A. Madi

Abstract:

Induction motors are being used in greater numbers throughout a wide variety of industrial and commercial applications because it provides many benefits and reliable device to convert the electrical energy into mechanical motion. In some application it-s desired to control the speed of the induction motor. Because of the physics of the induction motor the preferred method of controlling its speed is to vary the frequency of the AC voltage driving the motor. In recent years, with the microcontroller incorporated into an appliance it becomes possible to use it to generate the variable frequency AC voltage to control the speed of the induction motor. This study investigates the microcontroller based variable frequency power inverter. the microcontroller is provide the variable frequency pulse width modulation (PWM) signal that control the applied voltage on the gate drive, which is provides the required PWM frequency with less harmonics at the output of the power inverter. The fully controlled bridge voltage source inverter has been implemented with semiconductors power devices isolated gate bipolar transistor (IGBT), and the PWM technique has been employed in this inverter to supply the motor with AC voltage. The proposed drive system for three & single phase power inverter is simulated using Matlab/Simulink. The Matlab Simulation Results for the proposed system were achieved with different SPWM. From the result a stable variable frequency inverter over wide range has been obtained and a good agreement has been found between the simulation and hardware of a microcontroller based single phase inverter.

Keywords: Power, inverter, PWM, microcontroller.

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Authors: Wen-Jye Shyr, Chia-Ming Lin, Hung-Yun Feng

Abstract:

The purpose of this study was to develop an energy management system for university campuses based on the Internet of Things (IoT) technique. The proposed IoT technique based on WebAccess is used via network browser Internet Explore and applies TCP/IP protocol. The case study of IoT for lighting energy usage management system was proposed. Structure of proposed IoT technique included perception layer, equipment layer, control layer, application layer and network layer.

Keywords: Energy management, IoT technique, Sensor, WebAccess

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Authors: J. Liu, Z. P. Yu, L. Xiong, Y. Feng, J. He

Abstract:

According to the independence, accuracy and controllability of the driving/braking torque of the distributed drive electric vehicle, a control strategy of differential drive assisted steering was designed. Firstly, the assisted curve under different speed and steering wheel torque was developed and the differential torques were distributed to the right and left front wheels. Then the steering return ability assisted control algorithm was designed. At last, the joint simulation was conducted by CarSim/Simulink. The result indicated: the differential drive assisted steering algorithm could provide enough steering drive-assisted under low speed and improve the steering portability. Along with the increase of the speed, the provided steering drive-assisted decreased. With the control algorithm, the steering stiffness of the steering system increased along with the increase of the speed, which ensures the driver’s road feeling. The control algorithm of differential drive assisted steering could avoid the understeer under low speed effectively.

Keywords: Differential assisted steering, control strategy, distributed drive electric vehicle.

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Authors: N. Ouldcherchali, M. S. Boucherit, L. Barazane, A. Morsli

Abstract:

In this study, we proposed two techniques to track the maximum power point (MPPT) of a photovoltaic system. The first is an intelligent control technique, and the second is robust used for variable structure system. In fact the characteristics I-V and P–V of the photovoltaic generator depends on the solar irradiance and temperature. These climate changes cause the fluctuation of maximum power point; a maximum power point tracking technique (MPPT) is required to maximize the output power. For this we have adopted a control by fuzzy logic (FLC) famous for its stability and robustness. And a Siding Mode Control (SMC) widely used for variable structure system. The system comprises a photovoltaic panel (PV), a DC-DC converter, which is considered as an adaptation stage between the PV and the load. The modelling and simulation of the system is developed using MATLAB/Simulink. SMC technique provides a good tracking speed in fast changing irradiation and when the irradiation changes slowly or it is constant the panel power of FLC technique presents a much smoother signal with less fluctuations.

Keywords: Fuzzy logic controller, maximum power point, photovoltaic system, tracker, sliding mode controller.

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Authors: Chao Yi, Cunyue Lu, Lingwei Quan

Abstract:

Piezoelectric linear motors have the characteristics of great electromagnetic compatibility, high positioning accuracy, compact structure and no deceleration mechanism, which make it promising to applicate in micro-miniature precision drive systems. However, most piezoelectric motors are employed by flexible clamping, which has insufficient rigidity and is difficult to use in rapid positioning. Another problem is that this clamping method seriously affects the vibration efficiency of the vibrating unit. In order to solve these problems, this paper proposes a piezoelectric stack linear motor based on double-end rigid clamping. First, a piezoelectric linear motor with a length of only 35.5 mm is designed. This motor is mainly composed of a motor stator, a driving foot, a ceramic friction strip, a linear guide, a pre-tightening mechanism and a base. This structure is much simpler and smaller than most similar motors, and it is easy to assemble as well as to realize precise control. In addition, the properties of piezoelectric stack are reviewed and in order to obtain the elliptic motion trajectory of the driving head, a driving scheme of the longitudinal-shear composite stack is innovatively proposed. Finally, impedance analysis and speed performance testing were performed on the piezoelectric linear motor prototype. The motor can measure speed up to 25.5 mm/s under the excitation of signal voltage of 120 V and frequency of 390 Hz. The result shows that the proposed piezoelectric stacked linear motor obtains great performance. It can run smoothly in a large speed range, which is suitable for various precision control in medical images, aerospace, precision machinery and many other fields.

Keywords: Elliptical trajectory, linear motor, piezoelectric stack, rigid clamping.

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