Search results for: sliding mode control
3897 Predictive Functional Control with Disturbance Observer for Tendon-Driven Balloon Actuator
Authors: Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori
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In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.
Keywords: Disturbance observer, Pneumatic balloon, Predictive functional control, Rubber artificial muscle.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24113896 Discontinuous Feedback Linearization of an Electrically Driven Fast Robot Manipulator
Authors: A. Izadbakhsh, M. M. Fateh, M. A. Sadrnia
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A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.
Keywords: Fast robot, feedback linearization, multivariabledigital control, PUMA560.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19513895 PID Controller Design for Following Control of Hard Disk Drive by Characteristic Ratio Assignment Method
Authors: Chaoraingern J., Trisuwannawat T., Numsomran A.
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The author present PID controller design for following control of hard disk drive by characteristic ratio assignment method. The study in this paper concerns design of a PID controller which sufficiently robust to the disturbances and plant perturbations on following control of hard disk drive. Characteristic Ratio Assignment (CRA) is shown to be an efficient control technique to serve this requirement. The controller design by CRA is based on the choice of the coefficients of the characteristic polynomial of the closed loop system according to the convenient performance criteria such as equivalent time constant and ration of characteristic coefficient. Hence, in this study, CRA method is applied in PID controller design for following control of hard disk drive. Matlab simulation results shown that CRA design is fairly stable and robust whilst giving the convenience in controller-s parameters adjustment.Keywords: Following Control, Hard Disk Drive, PID, CRA
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19543894 PI Control for Positive Output Elementary Super Lift Luo Converter
Authors: K. Ramash Kumar, S. Jeevananthan
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The object of this paper is to design and analyze a proportional – integral (PI) control for positive output elementary super lift Luo converter (POESLLC), which is the start-of-the-art DC-DC converter. The positive output elementary super lift Luo converter performs the voltage conversion from positive source voltage to positive load voltage. This paper proposes a development of PI control capable of providing the good static and dynamic performance compared to proportional – integralderivative (PID) controller. Using state space average method derives the dynamic equations describing the positive output elementary super lift luo converter and PI control is designed. The simulation model of the positive output elementary super lift Luo converter with its control circuit is implemented in Matlab/Simulink. The PI control for positive output elementary super lift Luo converter is tested for transient region, line changes, load changes, steady state region and also for components variations.Keywords: DC-DC converter, Positive output elementarysuper lift Luo converter (POESLLC), Proportional – Integral (PI)control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 50063893 Symmetrical In-Plane Resonant Gyroscope with Decoupled Modes
Authors: Shady Sayed, Samer Wagdy, Ahmed Badawy, Moutaz M. Hegaze
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A symmetrical single mass resonant gyroscope is discussed in this paper. The symmetrical design allows matched resonant frequencies for driving and sensing vibration modes, which leads to amplifying the sensitivity of the gyroscope by the mechanical quality factor of the sense mode. It also achieves decoupled vibration modes for getting a low zero-rate output shift and more stable operation environment. A new suspension beams design is developed to get a symmetrical gyroscope with matched and decoupled modes at the same time. Finite element simulations are performed using ANSYS software package to verify the theoretical calculations. The gyroscope is fabricated from aluminum alloy 2024 substrate, the measured drive and sense resonant frequencies of the fabricated model are matched and equal 81.4 Hz with 5.7% error from the simulation results.Keywords: Decoupled mode shapes, resonant sensor, symmetrical gyroscope, finite element simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11223892 Comparison of Detrending Methods in Spectral Analysis of Heart Rate Variability
Authors: Liping Li, Changchun Liu, Ke Li, Chengyu Liu
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Non-stationary trend in R-R interval series is considered as a main factor that could highly influence the evaluation of spectral analysis. It is suggested to remove trends in order to obtain reliable results. In this study, three detrending methods, the smoothness prior approach, the wavelet and the empirical mode decomposition, were compared on artificial R-R interval series with four types of simulated trends. The Lomb-Scargle periodogram was used for spectral analysis of R-R interval series. Results indicated that the wavelet method showed a better overall performance than the other two methods, and more time-saving, too. Therefore it was selected for spectral analysis of real R-R interval series of thirty-seven healthy subjects. Significant decreases (19.94±5.87% in the low frequency band and 18.97±5.78% in the ratio (p<0.001)) were found. Thus the wavelet method is recommended as an optimal choice for use.Keywords: empirical mode decomposition, heart rate variability, signal detrending, smoothness priors, wavelet
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20583891 Analysis and Performance Evaluation of Noise-Reduction Transformer
Authors: Toshiaki Yanada, Kazumi Ishikawa
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The present paper deals with the analysis and development of noise-reduction transformer that has a filter function for conductive noise transmission. Two types of prototype noise-reduction transformers with two different output voltages are proposed. To determine an optimum design for the noise-reduction transformer, noise attenuation characteristics are discussed based on the experiments and the equivalent circuit analysis. The analysis gives a relation between the circuit parameters and the noise attenuation. High performance step-down noise-reduction transformer for direct power supply to electronics equipment is developed. The input voltage of the transformer is 100 V and the output voltage is 5 V. Frequency characteristics of noise attenuation are discussed, and prevention of pulse noise transmission is demonstrated. Normal mode noise attenuation of this transformer is –80 dB, and common mode exceeds –90 dB. The step-down noise-reduction transformer eliminates pulse noise efficiently.
Keywords: conductive noise, EMC, EMI, noise attenuation, transformer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19613890 Optimal Criteria for Non-Minimal Phase Plants
Authors: Z. Nemec, R. Matousek
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The paper describes the evaluation of quality of control for cases of controlled non-minimal phase plants. Control circuits containing non-minimal phase plants have different properties, they manifest reversed reaction at the beginning of unit step response. For these types of plants are developed special criterion of quality of control, which considers the difference and can be helpful for synthesis of optimal controller tuning. All results are clearly presented using Matlab/Simulink models.Keywords: control design, non-minimal phase system, optimalcriteria, power plant, heating plant, water turbine, Matlab, Simulink.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20553889 Solving the Set Covering Problem Using the Binary Cat Swarm Optimization Metaheuristic
Authors: Broderick Crawford, Ricardo Soto, Natalia Berrios, Eduardo Olguin
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In this paper, we present a binary cat swarm optimization for solving the Set covering problem. The set covering problem is a well-known NP-hard problem with many practical applications, including those involving scheduling, production planning and location problems. Binary cat swarm optimization is a recent swarm metaheuristic technique based on the behavior of discrete cats. Domestic cats show the ability to hunt and are curious about moving objects. The cats have two modes of behavior: seeking mode and tracing mode. We illustrate this approach with 65 instances of the problem from the OR-Library. Moreover, we solve this problem with 40 new binarization techniques and we select the technical with the best results obtained. Finally, we make a comparison between results obtained in previous studies and the new binarization technique, that is, with roulette wheel as transfer function and V3 as discretization technique.Keywords: Binary cat swarm optimization, set covering problem, metaheuristic, binarization methods.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23203888 Evaluation of Applicability of High Strength Stirrup for Prestressed Concrete Members
Authors: J.-Y. Lee, H.-S. Lim, S.-E. Kim
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Recently, the use of high-strength materials is increasing as the construction of large structures and high-rise structures increases. This paper presents an analysis of the shear behavior of prestressed concrete members with various types of materials by simulating a finite element (FE) analysis. The analytical results indicated that the shear strength and shear failure mode were strongly influenced by not only the shear reinforcement ratio but also the yield strength of shear reinforcement and the compressive strength of concrete. Though the yield strength of shear reinforcement increased the shear strength of prestressed concrete members, there was a limit to the increase in strength because of the change of shear failure modes. According to the results of FE analysis on various parameters, the maximum yield strength of the steel stirrup that can be applied to prestressed concrete members was about 860 MPa.
Keywords: PSC members, shear failure mode, high strength stirrups, high strength concrete, shear behavior.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13793887 Chua’s Circuit Regulation Using a Nonlinear Adaptive Feedback Technique
Authors: Abolhassan Razminia, Mohammad-Ali Sadrnia
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Chua’s circuit is one of the most important electronic devices that are used for Chaos and Bifurcation studies. A central role of secure communication is devoted to it. Since the adaptive control is used vastly in the linear systems control, here we introduce a new trend of application of adaptive method in the chaos controlling field. In this paper, we try to derive a new adaptive control scheme for Chua’s circuit controlling because control of chaos is often very important in practical operations. The novelty of this approach is for sake of its robustness against the external perturbations which is simulated as an additive noise in all measured states and can be generalized to other chaotic systems. Our approach is based on Lyapunov analysis and the adaptation law is considered for the feedback gain. Because of this, we have named it NAFT (Nonlinear Adaptive Feedback Technique). At last, simulations show the capability of the presented technique for Chua’s circuit.
Keywords: Chaos, adaptive control, nonlinear control, Chua's circuit.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20533886 Collaborative Tracking Control of UAV-UGV
Authors: Jae-Young Choi, Sung-Gaun Kim
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This paper suggests a fast and stable Target Tracking system in collaborative control of UAV and UGV. Wi-Fi communication range is limited in collaborative control of UAV and UGV. Thus, to secure a stable communications, UAV and UGV have to be kept within a certain distance from each other. But existing method which uses UAV Vertical Camera to follow the motion of UGV is likely to lose a target with a sudden movement change. Eventually, UGV has disadvantages that it could only move at a low speed and not make any sudden change of direction in order to keep track of the target. Therefore, we suggest utilizing AR Drone UAV front camera to track fast-moving and Omnidirectional Mecanum Wheel UGV.Keywords: Collaborative control, UAV, UGV, Target Tracking.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29213885 Robust Control of a High-Speed Manipulator in State Space
Authors: M. M. Fateh, A. Izadbakhsh
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A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed control approach can guarantee the stability and a satisfactory tracking performance. A two-link elbow manipulator driven by electrical actuators is simulated and results are shown to satisfy conditions under technical specifications.
Keywords: Computed torque, manipulator, robust control, state space.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23253884 Modelling for Temperature Non-Isothermal Continuous Stirred Tank Reactor Using Fuzzy Logic
Authors: Nasser Mohamed Ramli, Mohamad Syafiq Mohamad
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Many types of controllers were applied on the continuous stirred tank reactor (CSTR) unit to control the temperature. In this research paper, Proportional-Integral-Derivative (PID) controller are compared with Fuzzy Logic controller for temperature control of CSTR. The control system for temperature non-isothermal of a CSTR will produce a stable response curve to its set point temperature. A mathematical model of a CSTR using the most general operating condition was developed through a set of differential equations into S-function using MATLAB. The reactor model and S-function are developed using m.file. After developing the S-function of CSTR model, User-Defined functions are used to link to SIMULINK file. Results that are obtained from simulation and temperature control were better when using Fuzzy logic control compared to PID control.
Keywords: CSTR, temperature, PID, fuzzy logic.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24703883 A New Intelligent Strategy to Integrated Control of AFS/DYC Based on Fuzzy Logic
Authors: R. Karbalaei, A. Ghaffari, R. Kazemi, S. H. Tabatabaei
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An integrated vehicle dynamics control system is developed in this paper by a combination of active front steering (AFS) and direct yaw-moment control (DYC) based on fuzzy logic control. The control system has a hierarchical structure consisting of two layers. A fuzzy logic controller is used in the upper layer (yaw rate controller) to keep the yaw rate in its desired value. The yaw rate error and its rate of change are applied to the upper controlling layer as inputs, where the direct yaw moment control signal and the steering angle correction of the front wheels are the outputs. In the lower layer (fuzzy integrator), a fuzzy logic controller is designed based on the working region of the lateral tire forces. Depending on the directions of the lateral forces at the front wheels, a switching function is activated to adjust the scaling factor of the fuzzy logic controller. Using a nonlinear seven degrees of freedom vehicle model, the simulation results illustrate considerable improvements which are achieved in vehicle handling through the integrated AFS/DYC control system in comparison with the individual AFS or DYC controllers.
Keywords: Intelligent strategy, integrated control, fuzzy logic, AFS/DYC.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23043882 Damping and Stability Evaluation for the Dynamical Hunting Motion of the Bullet Train Wheel Axle Equipped with Cylindrical Wheel Treads
Authors: Barenten Suciu
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Classical matrix calculus and Routh-Hurwitz stability conditions, applied to the snake-like motion of the conical wheel axle, lead to the conclusion that the hunting mode is inherently unstable, and its natural frequency is a complex number. In order to analytically solve such a complicated vibration model, either the inertia terms were neglected, in the model designated as geometrical, or restrictions on the creep coefficients and yawing diameter were imposed, in the so-called dynamical model. Here, an alternative solution is proposed to solve the hunting mode, based on the observation that the bullet train wheel axle is equipped with cylindrical wheels. One argues that for such wheel treads, the geometrical hunting is irrelevant, since its natural frequency becomes nil, but the dynamical hunting is significant since its natural frequency reduces to a real number. Moreover, one illustrates that the geometrical simplification of the wheel causes the stabilization of the hunting mode, since the characteristic quartic equation, derived for conical wheels, reduces to a quadratic equation of positive coefficients, for cylindrical wheels. Quite simple analytical expressions for the damping ratio and natural frequency are obtained, without applying restrictions into the model of contact. Graphs of the time-depending hunting lateral perturbation, including the maximal and inflexion points, are presented both for the critically-damped and the over-damped wheel axles.
Keywords: Bullet train, dynamical hunting, cylindrical wheels, damping, stability, creep, vibration analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7453881 Repetitive Control and Feedback Dithering Modulation of a DC/AC Converter
Authors: Sing-Han Wang, Shiang-Hwua Yu, Chih-Po Yang
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Repetitive control and feedback dithering modulation are applied to a single-phase voltage source inverter, with an aim to eliminate harmonics and stabilize the inverter under load variations. The proposed control and modulation scheme comprise multiple loops of feedback, which helps improve inverter performance and robustness. Experimental results show that the designed inverter exhibits very low distortion at its output with THD of about 0.3% under different load variations.
Keywords: Feedback dithering modulation, repetitive control, state feedback, inverter, harmonics elimination.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21293880 Metal-Based Anticancer Agents: In vitro DNA Binding, Cleavage and Cytotoxicity
Authors: Mala Nath, Nagamani Kompelli, Partha Roy, Snehasish Das
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Two new metal-based anticancer chemotherapeutic agents, [(Ph2Sn)2(HGuO)2(phen)Cl2] 1 and [(Ph3Sn)(HGuO)(phen)]- Cl.CH3OH.H2O 2, were designed, prepared and characterized by analytical and spectral (IR, ESI-Mass, 1H, 13C and 119Sn NMR) techniques. The proposed geometry of Sn(IV) in 1 and 2 is distorted octahedral and distorted trigonal-bipyramidal, respectively. Both 1 and 2 exhibit potential cytotoxicity in vitro against MCF-7, HepG-2 and DU-145 cell lines. The intrinsic binding constant (Kb) values of 1 (2.33 × 105 M-1) and 2 (2.46 × 105 M-1) evaluated from UV-Visible absorption studies suggest non-classical electrostatic mode of interaction via phosphate backbone of DNA double helix. The Stern- Volmer quenching constant (Ksv) of 1 (9.74 × 105 M-1) and 2 (2.9 × 106 M-1) determined by fluorescence studies suggests the groove binding and intercalation mode for 1 and 2, respectively. Effective cleavage of pBR322 DNA is induced by 1.Their interaction with DNA of cancer cells may account for potency.
Keywords: Anticancer agents, DNA binding studies, NMR spectroscopy, organotin.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27673879 Design of Nonlinear Robust Control in a Class of Structurally Stable Functions
Authors: V. Ten
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An approach of design of stable of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers. Theoretical part presents an analysis of designed nonlinear second-order control systems. As more important the integrators in series, canonical controllable form and Jordan forms are considered. The analysis resumes that due to added controllers systems become stable and insensitive to any disturbance of parameters. Experimental part presents MATLAB simulation of design of control systems of epidemic spread, aircrafts angular motion and submarine depth. The results of simulation confirm the efficiency of offered method of design. KeywordsCatastrophes, robust control, simulation, uncertain parameters.
Keywords: Catastrophes, robust control, simulation, uncertain parameters.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12843878 Learning the Dynamics of Articulated Tracked Vehicles
Authors: Mario Gianni, Manuel A. Ruiz Garcia, Fiora Pirri
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In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV.Keywords: Dirichlet processes, Gaussian processes, robot control learning, tracked vehicles.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17643877 Integral Tracking Control for a Piezoelectric Actuator System
Authors: J. H. Park, S. C. Jeong, J. H. Koo, H. Y. Jung, S. M. Lee
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We propose an integral tracking control method for a piezoelectric actuator system. The proposed method achieves the output tracking without requiring any hysteresis observer or schemes to compensate the hysteresis effect. With the proposed control law, the system is converted into the standard singularly perturbed model. Using Tikhonov-s theorem, we guarantee that the tracking error can be reduced to arbitrarily small bound. A numerical example is given to illustrate the effectiveness of our proposed method.
Keywords: Piezoelectric actuator, tracking control, hysteresis effect.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17613876 The Autoregresive Analysis for Wind Turbine Signal Postprocessing
Authors: Daniel Pereiro, Felix Martinez, Iker Urresti, Ana Gomez Gonzalez
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Today modern simulations solutions in the wind turbine industry have achieved a high degree of complexity and detail in result. Limitations exist when it is time to validate model results against measurements. Regarding Model validation it is of special interest to identify mode frequencies and to differentiate them from the different excitations. A wind turbine is a complex device and measurements regarding any part of the assembly show a lot of noise. Input excitations are difficult or even impossible to measure due to the stochastic nature of the environment. Traditional techniques for frequency analysis or features extraction are widely used to analyze wind turbine sensor signals, but have several limitations specially attending to non stationary signals (Events). A new technique based on autoregresive analysis techniques is introduced here for a specific application, a comparison and examples related to different events in the wind turbine operations are presented.
Keywords: Wind turbine, signal processing, mode extraction.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15533875 Assembly Process Algorithms of Flexible Cell
Authors: M. Kusá, M. Matúšová, A. Javorová, K. Velí
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This paper deals about four items assembly process of linear drive. This assembly will be realized in flexible assembly cell on Institute of Manufacturing Systems and Applied Mechanics. There is defined manufacturing cell, individual actuators created our flexible cell. Next chapter is about control type, detailed describe a sequence control type, which will be used in mentioned flexible assembly cell. All cell control is divided in individual steps instructions. There instructions illustrate table number III.Keywords: assembly, flexible cell, sequence control
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13003874 An Empirical Mode Decomposition Based Method for Action Potential Detection in Neural Raw Data
Authors: Sajjad Farashi, Mohammadjavad Abolhassani, Mostafa Taghavi Kani
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Information in the nervous system is coded as firing patterns of electrical signals called action potential or spike so an essential step in analysis of neural mechanism is detection of action potentials embedded in the neural data. There are several methods proposed in the literature for such a purpose. In this paper a novel method based on empirical mode decomposition (EMD) has been developed. EMD is a decomposition method that extracts oscillations with different frequency range in a waveform. The method is adaptive and no a-priori knowledge about data or parameter adjusting is needed in it. The results for simulated data indicate that proposed method is comparable with wavelet based methods for spike detection. For neural signals with signal-to-noise ratio near 3 proposed methods is capable to detect more than 95% of action potentials accurately.
Keywords: EMD, neural data processing, spike detection, wavelet decomposition.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23653873 Optimal Control for Coordinated Control of SVeC and PSS Damping Controllers
Authors: K. Himaja, T. S. Surendra, S. Tara Kalyani
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In this article, Optimal Control for Coordinated Control (COC) of Series Vectorial Compensator (SVeC) and Power System Stabilizer (PSS) in order to damp Low Frequency Oscillations (LFO) is proposed. SVeC is a series Flexible Alternating Current Transmission System (FACTS) device. The Optimal Control strategy based on state feedback control for coordination of PSS and SVeC controllers under different loading conditions has not been developed. So, the Optimal State Feedback Controller (OSFC) for incorporating of PSS and SVeC controllers in COC manner has been developed in this paper. The performance of the proposed controller is checked through eigenvalue analysis and nonlinear time domain simulation results. The proposed Optimal Controller design for the COC of SVeC and PSS results will be analyzed without controller. The comparative results show that Optimal Controller for COC of SVeC and PSSs improve greatly the system damping LFO than without controller.Keywords: Coordinated control, damping controller, optimal state feedback controller, power system stabilizer, series vectorial compensator.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7583872 Designing a Robust Controller for a 6 Linkage Robot
Authors: G. Khamooshian
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One of the main points of application of the mechanisms of the series and parallel is the subject of managing them. The control of this mechanism and similar mechanisms is one that has always been the intention of the scholars. On the other hand, modeling the behavior of the system is difficult due to the large number of its parameters, and it leads to complex equations that are difficult to solve and eventually difficult to control. In this paper, a six-linkage robot has been presented that could be used in different areas such as medical robots. Using these robots needs a robust control. In this paper, the system equations are first found, and then the system conversion function is written. A new controller has been designed for this robot which could be used in other parallel robots and could be very useful. Parallel robots are so important in robotics because of their stability, so methods for control of them are important and the robust controller, especially in parallel robots, makes a sense.
Keywords: 3-RRS, 6 linkage, parallel robot, control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 6593871 A FE-Based Scheme for Computing Wave Interaction with Nonlinear Damage and Generation of Harmonics in Layered Composite Structures
Authors: R. K. Apalowo, D. Chronopoulos
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A Finite Element (FE) based scheme is presented for quantifying guided wave interaction with Localised Nonlinear Structural Damage (LNSD) within structures of arbitrary layering and geometric complexity. The through-thickness mode-shape of the structure is obtained through a wave and finite element method. This is applied in a time domain FE simulation in order to generate time harmonic excitation for a specific wave mode. Interaction of the wave with LNSD within the system is computed through an element activation and deactivation iteration. The scheme is validated against experimental measurements and a WFE-FE methodology for calculating wave interaction with damage. Case studies for guided wave interaction with crack and delamination are presented to verify the robustness of the proposed method in classifying and identifying damage.Keywords: Layered Structures, nonlinear ultrasound, wave interaction with nonlinear damage, wave finite element, finite element.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5283870 Slip Suppression of Electric Vehicles using Model Predictive PID Controller
Authors: Tohru Kawabe
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In this paper, a new model predictive PID controller design method for the slip suppression control of EVs (electric vehicles) is proposed. The proposed method aims to improve the maneuverability and the stability of EVs by controlling the wheel slip ratio. The optimal control gains of PID framework are derived by the model predictive control (MPC) algorithm. There also include numerical simulation results to demonstrate the effectiveness of the method.Keywords: Model Predictive Control, PID controller, Electric Vehicle, Slip suppression
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25653869 Design of Speed and Power Control System for Wind Turbine with Reference Tracking Method
Authors: H. Ghanbari, H. Nikbakht, A. Zahedi, M. Ghanbari
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This paper is focusing on designing a control system for wind turbine which can control the speed and output power according to arbitrary algorithm. Reference Tracking Method is used to control the turbine spinning speed in order to increase its output energy.Keywords: Wind Turbine, Simulink, Reference Tracking Method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10533868 Mobile Robot Control by Von Neumann Computer
Authors: E. V. Larkin, T. A. Akimenko, A. V. Bogomolov, A. N. Privalov
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The digital control system of mobile robots (MR) control is considered. It is shown that sequential interpretation of control algorithm operators, unfolding in physical time, suggests the occurrence of time delays between inputting data from sensors and outputting data to actuators. Another destabilizing control factor is presence of backlash in the joints of an actuator with an executive unit. Complex model of control system, which takes into account the dynamics of the MR, the dynamics of the digital controller and backlash in actuators, is worked out. The digital controller model is divided into two parts: the first part describes the control law embedded in the controller in the form of a control program that realizes a polling procedure when organizing transactions to sensors and actuators. The second part of the model describes the time delays that occur in the Von Neumann-type controller when processing data. To estimate time intervals, the algorithm is represented in the form of an ergodic semi-Markov process. For an ergodic semi-Markov process of common form, a method is proposed for estimation a wandering time from one arbitrary state to another arbitrary state. Example shows how the backlash and time delays affect the quality characteristics of the MR control system functioning.
Keywords: Mobile robot, backlash, control algorithm, Von Neumann controller, semi-Markov process, time delay.
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