Search results for: DC voltage control
3596 Design of Power System Stabilizer Based on Sliding Mode Control Theory for Multi- Machine Power System
Authors: Hossein Shahinzadeh, Ladan Darougaran, Ebrahim Jalili Sani, Hamed Yavari, Mahdi Mozaffari Legha
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This paper present a new method for design of power system stabilizer (PSS) based on sliding mode control (SMC) technique. The control objective is to enhance stability and improve the dynamic response of the multi-machine power system. In order to test effectiveness of the proposed scheme, simulation will be carried out to analyze the small signal stability characteristics of the system about the steady state operating condition following the change in reference mechanical torque and also parameters uncertainties. For comparison, simulation of a conventional control PSS (lead-lag compensation type) will be carried out. The main approach is focusing on the control performance which later proven to have the degree of shorter reaching time and lower spike.Keywords: Power system stabilizer (PSS), multi-machine power system, sliding mode control
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23573595 Lyapunov-Based Tracking Control for Nonholonomic Wheeled Mobile Robot
Authors: Raouf Fareh, Maarouf Saad, Sofiane Khadraoui, Tamer Rabie
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This paper presents a tracking control strategy based on Lyapunov approach for nonholonomic wheeled mobile robot. This control strategy consists of two levels. First, a kinematic controller is developed to adjust the right and left wheel velocities. Using this velocity control law, the stability of the tracking error is guaranteed using Lyapunov approach. This kinematic controller cannot be generated directly by the motors. To overcome this problem, the second level of the controllers, dynamic control, is designed. This dynamic control law is developed based on Lyapunov theory in order to track the desired trajectories of the mobile robot. The stability of the tracking error is proved using Lupunov and Barbalat approaches. Simulation results on a nonholonomic wheeled mobile robot are given to demonstrate the feasibility and effectiveness of the presented approach.Keywords: Mobile robot, trajectory tracking, Lyapunov, stability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23683594 Tracking Performance Evaluation of Robust Back-Stepping Control Design for a Nonlinear Electrohydraulic Servo System
Authors: M. Ahmadnezhad, M. Soltanpour
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Electrohydraulic servo system have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In this paper, a robust back-stepping control (RBSC) scheme is proposed to overcome the problem of disturbances and system uncertainties effectively and to improve the tracking performance of EHS systems. In order to implement the proposed control scheme, the system uncertainties in EHS systems are considered as total leakage coefficient and effective oil volume. In addition, in order to obtain the virtual controls for stabilizing system, the update rule for the system uncertainty term is induced by the Lyapunov control function (LCF). To verify the performance and robustness of the proposed control system, computer simulation of the proposed control system using Matlab/Simulink Software is executed. From the computer simulation, it was found that the RBSC system produces the desired tracking performance and has robustness to the disturbances and system uncertainties of EHS systems.
Keywords: Electro hydraulic servo system, back-stepping control, robust back-stepping control, Lyapunov redesign
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20143593 Tracking Performance Evaluation of Robust Back-Stepping Control Design for a Nonlinear Electrohydraulic Servo System
Authors: M. Ahmadnezhad, M. Soltanpour
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Electrohydraulic servo system have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In this paper, a robust back-stepping control (RBSC) scheme is proposed to overcome the problem of disturbances and system uncertainties effectively and to improve the tracking performance of EHS systems. In order to implement the proposed control scheme, the system uncertainties in EHS systems are considered as total leakage coefficient and effective oil volume. In addition, in order to obtain the virtual controls for stabilizing system, the update rule for the system uncertainty term is induced by the Lyapunov control function (LCF). To verify the performance and robustness of the proposed control system, computer simulation of the proposed control system using Matlab/Simulink Software is executed. From the computer simulation, it was found that the RBSC system produces the desired tracking performance and has robustness to the disturbances and system uncertainties of EHS systems.Keywords: Electro hydraulic servo system, back-stepping control, robust back-stepping control, Lyapunov redesign.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14753592 Optimal Bayesian Control of the Proportion of Defectives in a Manufacturing Process
Authors: Viliam Makis, Farnoosh Naderkhani, Leila Jafari
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In this paper, we present a model and an algorithm for the calculation of the optimal control limit, average cost, sample size, and the sampling interval for an optimal Bayesian chart to control the proportion of defective items produced using a semi-Markov decision process approach. Traditional p-chart has been widely used for controlling the proportion of defectives in various kinds of production processes for many years. It is well known that traditional non-Bayesian charts are not optimal, but very few optimal Bayesian control charts have been developed in the literature, mostly considering finite horizon. The objective of this paper is to develop a fast computational algorithm to obtain the optimal parameters of a Bayesian p-chart. The decision problem is formulated in the partially observable framework and the developed algorithm is illustrated by a numerical example.Keywords: Bayesian control chart, semi-Markov decision process, quality control, partially observable process.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11563591 Increasing Power Transfer Capacity of Distribution Networks Using Direct Current Feeders
Authors: Akim Borbuev, Francisco de León
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Economic and population growth in densely-populated urban areas introduce major challenges to distribution system operators, planers, and designers. To supply added loads, utilities are frequently forced to invest in new distribution feeders. However, this is becoming increasingly more challenging due to space limitations and rising installation costs in urban settings. This paper proposes the conversion of critical alternating current (ac) distribution feeders into direct current (dc) feeders to increase the power transfer capacity by a factor as high as four. Current trends suggest that the return of dc transmission, distribution, and utilization are inevitable. Since a total system-level transformation to dc operation is not possible in a short period of time due to the needed huge investments and utility unreadiness, this paper recommends that feeders that are expected to exceed their limits in near future are converted to dc. The increase in power transfer capacity is achieved through several key differences between ac and dc power transmission systems. First, it is shown that underground cables can be operated at higher dc voltage than the ac voltage for the same dielectric stress in the insulation. Second, cable sheath losses, due to induced voltages yielding circulation currents, that can be as high as phase conductor losses under ac operation, are not present under dc. Finally, skin and proximity effects in conductors and sheaths do not exist in dc cables. The paper demonstrates that in addition to the increased power transfer capacity utilities substituting ac feeders by dc feeders could benefit from significant lower costs and reduced losses. Installing dc feeders is less expensive than installing new ac feeders even when new trenches are not needed. Case studies using the IEEE 342-Node Low Voltage Networked Test System quantify the technical and economic benefits of dc feeders.Keywords: Dc power systems, distribution feeders, distribution networks, energy efficiency, power transfer capacity.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10563590 A Direct Probabilistic Optimization Method for Constrained Optimal Control Problem
Authors: Akbar Banitalebi, Mohd Ismail Abd Aziz, Rohanin Ahmad
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A new stochastic algorithm called Probabilistic Global Search Johor (PGSJ) has recently been established for global optimization of nonconvex real valued problems on finite dimensional Euclidean space. In this paper we present convergence guarantee for this algorithm in probabilistic sense without imposing any more condition. Then, we jointly utilize this algorithm along with control parameterization technique for the solution of constrained optimal control problem. The numerical simulations are also included to illustrate the efficiency and effectiveness of the PGSJ algorithm in the solution of control problems.
Keywords: Optimal Control Problem, Constraints, Direct Methods, Stochastic Algorithm
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16863589 Modeling and Control of Two Manipulators Handling a Flexible Beam
Authors: Amer S. Al-Yahmadi, T.C. Hsia
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This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and such capable of generating forces/moments in such away as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that provides robustness against model imperfection and uncertainty. It also provides an implicit stability proof. Simulation results for two three joint arms moving a flexible beam, are presented to validate the theoretical results.Keywords: Sliding mode control, cooperative manipulators.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16213588 Self-Organizing Control Systems for Unstable and Deterministic Chaotic Processes
Authors: M. A. Beisenbi, N. M. Kissikova, S. E. Beisembina, S. T. Suleimenova, S. A. Kaliyeva
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The paper proposes a method for constructing a self-organizing control system for unstable and deterministic chaotic processes in the class of catastrophe “hyperbolic umbilic” for objects with m-inputs and n-outputs. The self-organizing control system is investigated by the universal gradient-velocity method of Lyapunov vector-functions. The conditions for self-organization of the control system in the class of catastrophes “hyperbolic umbilic” are shown in the form of a system of algebraic inequalities that characterize the aperiodic robust stability in the stationary states of the system.
Keywords: Gradient-velocity method of Lyapunov vector-functions, hyperbolic umbilic, self-organizing control system, stability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4273587 A Genetic Algorithm for Optimum Design of PID Controller in Load Frequency Control
Authors: T. Hussein
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In this paper, determining the optimal proportionalintegral- derivative (PID) controller gains of an single-area load frequency control (LFC) system using genetic algorithm (GA) is presented. The LFC is notoriously difficult to control optimally using conventionally tuning a PID controller because the system parameters are constantly changing. It is for this reason the GA as tuning strategy was applied. The simulation has been conducted in MATLAB Simulink package for single area power system. the simulation results shows the effectiveness performance of under various disturbance.Keywords: Load Frequency Control (LFC), PID controller and Genetic Algorithm (GA).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 37303586 H∞ Fuzzy Integral Power Control for DFIG Wind Energy System
Authors: N. Chayaopas, W. Assawinchaichote
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In order to maximize energy capturing from wind energy, controlling the doubly fed induction generator to have optimal power from the wind, generator speed and output electrical power control in wind energy system have a great importance due to the nonlinear behavior of wind velocities. In this paper purposes the design of a control scheme is developed for power control of wind energy system via H∞ fuzzy integral controller. Firstly, the nonlinear system is represented in term of a TS fuzzy control design via linear matrix inequality approach to find the optimal controller to have an H∞ performance are derived. The proposed control method extract the maximum energy from the wind and overcome the nonlinearity and disturbances problems of wind energy system which give good tracking performance and high efficiency power output of the DFIG.Keywords: H∞ fuzzy integral control, linear matrix inequality, wind energy system, doubly fed induction generator (DFIG).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11403585 A Simplified Approach for Load Flow Analysis of Radial Distribution Network
Authors: K. Vinoth Kumar, M.P. Selvan
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This paper presents a simple approach for load flow analysis of a radial distribution network. The proposed approach utilizes forward and backward sweep algorithm based on Kirchoff-s current law (KCL) and Kirchoff-s voltage law (KVL) for evaluating the node voltages iteratively. In this approach, computation of branch current depends only on the current injected at the neighbouring node and the current in the adjacent branch. This approach starts from the end nodes of sub lateral line, lateral line and main line and moves towards the root node during branch current computation. The node voltage evaluation begins from the root node and moves towards the nodes located at the far end of the main, lateral and sub lateral lines. The proposed approach has been tested using four radial distribution systems of different size and configuration and found to be computationally efficient.Keywords: constant current load, constant impedance load, constant power load, forward–backward sweep, load flow analysis, radial distribution system.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 26593584 Design and Analysis of Low-Power, High Speed and Area Efficient 2-Bit Digital Magnitude Comparator in 90nm CMOS Technology Using Gate Diffusion Input
Authors: Fasil Endalamaw
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Digital magnitude comparators based on Gate Diffusion Input (GDI) implementation technique are high speed and area-efficient, and they consume less power as compared to other implementation techniques. However, they are less efficient for some logic gates and have no full voltage swing. In this paper, we made a performance comparison between the GDI implementation technique and other implementation methods, such as Static CMOS, Pass Transistor Logic (PTL), and Transmission Gate (TG) in 90 nm, 120 nm, and 180 nm CMOS technologies using BSIM4 MOS model. We proposed a methodology (hybrid implementation) of implementing digital magnitude comparators which significantly improved the power, speed, area, and voltage swing requirements. Simulation results revealed that the hybrid implementation of digital magnitude comparators show a 10.84% (power dissipation), 41.6% (propagation delay), 47.95% (power-delay product (PDP)) improvement compared to the usual GDI implementation method. We used Microwind & Dsch Version 3.5 as well as the Tanner EDA 16.0 tools for simulation purposes.
Keywords: Efficient, gate diffusion input, high speed, low power, CMOS.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4163583 Trajectory Tracking of a 2-Link Mobile Manipulator Using Sliding Mode Control Method
Authors: Abolfazl Mohammadijoo
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In this paper, we are investigating sliding mode control approach for trajectory tracking of a two-link-manipulator with wheeled mobile robot in its base. The main challenge of this work is dynamic interaction between mobile base and manipulator which makes trajectory tracking more difficult than n-link manipulators with fixed base. Another challenging part of this work is to avoid chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of sliding mode control approach for desired trajectory.
Keywords: Mobile manipulator, sliding mode control, dynamic interaction, mobile robotics.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4443582 Design of EDFA Gain Controller based on Disturbance Observer Technique
Authors: Seong-Ho Song, Ki-Seob Kim, Seon-Woo Lee, Seop-Hyeong Park
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Based on a theoretical erbium-doped fiber amplifier (EDFA) model, we have proposed an application of disturbance observer(DOB) with proportional/integral/differential(PID) controller to EDFA for minimizing gain-transient time of wavelength -division-multiplexing (WDM) multi channels in optical amplifier in channel add/drop networks. We have dramatically reduced the gain-transient time to less than 30μsec by applying DOB with PID controller to the control of amplifier gain. The proposed DOB-based gain control algorithm for EDFA was implemented as a digital control system using TI's DSP(TMS320C28346) chip and experimental results of the system verify the excellent performance of the proposed gain control methodology.Keywords: EDFA, Disturbance observer, gain control, WDM.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20173581 MIMCA: A Modelling and Simulation Approach in Support of the Design and Construction of Manufacturing Control Systems Using Modular Petri net
Authors: S. Ariffin, K. Hasnan, R.H. Weston
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A new generation of manufacturing machines so-called MIMCA (modular and integrated machine control architecture) capable of handling much increased complexity in manufacturing control-systems is presented. Requirement for more flexible and effective control systems for manufacturing machine systems is investigated and dimensioned-which highlights a need for improved means of coordinating and monitoring production machinery and equipment used to- transport material. The MIMCA supports simulation based on machine modeling, was conceived by the authors to address the issues. Essentially MIMCA comprises an organized unification of selected architectural frameworks and modeling methods, which include: NISTRCS, UMC and Colored Timed Petri nets (CTPN). The unification has been achieved; to support the design and construction of hierarchical and distributed machine control which realized the concurrent operation of reusable and distributed machine control components; ability to handle growing complexity; and support requirements for real- time control systems. Thus MIMCA enables mapping between 'what a machine should do' and 'how the machine does it' in a well-defined but flexible way designed to facilitate reconfiguration of machine systems.Keywords: Machine control, architectures, Petri nets, modularity, modeling, simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15783580 Modeling and Control Design of a Centralized Adaptive Cruise Control System
Authors: Markus Mazzola, Gunther Schaaf
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28223579 Intelligent Control of Robotized Workcell by Augmented Reality Application
Authors: L. Novakova-Marcincinova, J. Novak-Marcincin, M. Janak
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The computer aided for design, analysis, control, visualization and simulation of robotized workcells is very interesting in this time. Computer Aided Robot Control (CARC) is a subsystem of the system CIM including the computer aided systems of all activities connected with visualization and working of robotized workcells. There are three basic ideas: current CAD/CAM/CAE systems for design and 3D visualization, special PC based control and simulation systems and Augmented Reality Aided Manufacturing (ARAM) systems. This paper describes example of Open Source software application that can to be utilized at planning of the robotized workcells, visualization and off-line programming the automated processes realized by authors.
Keywords: Intelligent control, augmented reality, robot.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17433578 Speed Control of Permanent Magnet Synchronous Motor Using Evolutionary Fuzzy PID Controller
Authors: M. Umabharathi, S. Vijayabaskar
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Evolutionary Fuzzy PID Speed Controller for Permanent Magnet Synchronous Motor (PMSM) is developed to achieve the Speed control of PMSM in Closed Loop operation and to deal with the existence of transients. Consider a Fuzzy PID control design problem, based on common control Engineering Knowledge. If the transient error is big, that Good transient performance can be obtained by increasing the P and I gains and decreasing the D gains. To autotune the control parameters of the Fuzzy PID controller, the Evolutionary Algorithms (EA) are developed. EA based Fuzzy PID controller provides better speed control and guarantees the closed loop stability. The Evolutionary Fuzzy PID controller can be implemented in real time Applications without any concern about instabilities that leads to system failure or damage.
Keywords: Evolutionary Algorithm (EA), Fuzzy system, Genetic Algorithm (GA), Membership, Permanent Magnet Synchronous Motor (PMSM).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29403577 SOA-Based Mobile Application for Crime Control in Thailand
Authors: Jintana Khemprasit, Vatcharaporn Esichaikul
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Crime is a major societal problem for most of the world's nations. Consequently, the police need to develop new methods to improve their efficiency in dealing with these ever increasing crime rates. Two of the common difficulties that the police face in crime control are crime investigation and the provision of crime information to the general public to help them protect themselves. Crime control in police operations involves the use of spatial data, crime data and the related crime data from different organizations (depending on the nature of the analysis to be made). These types of data are collected from several heterogeneous sources in different formats and from different platforms, resulting in a lack of standardization. Moreover, there is no standard framework for crime data collection, integration and dissemination through mobile devices. An investigation into the current situation in crime control was carried out to identify the needs to resolve these issues. This paper proposes and investigates the use of service oriented architecture (SOA) and the mobile spatial information service in crime control. SOA plays an important role in crime control as an appropriate way to support data exchange and model sharing from heterogeneous sources. Crime control also needs to facilitate mobile spatial information services in order to exchange, receive, share and release information based on location to mobile users anytime and anywhere.Keywords: Crime Control, Geographic Information System (GIS), Mobile GIS, Service Oriented Architecture (SOA).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25143576 Nonlinear Model Predictive Control of Water Quality in Drinking Water Distribution Systems with DBPs Objectives
Authors: Mingyu Xie, Mietek Brdys
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The paper develops a Non-Linear Model Predictive Control (NMPC) of water quality in Drinking Water Distribution Systems (DWDS) based on the advanced non-linear quality dynamics model including disinfections by-products (DBPs). A special attention is paid to the analysis of an impact of the flow trajectories prescribed by an upper control level of the recently developed two-time scale architecture of an integrated quality and quantity control in DWDS. The new quality controller is to operate within this architecture in the fast time scale as the lower level quality controller. The controller performance is validated by a comprehensive simulation study based on an example case study DWDS.Keywords: Model predictive control, hierarchical control structure, genetic algorithm, water quality with DBPs objectives.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24673575 Battery Energy Storage System Economic Benefits Assessment on a Network Frequency Control
Authors: Kréhi Serge Agbli, Samuel Portebos, Michaël Salomon
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Here a methodology is considered aiming at evaluating the economic benefit of the provision of a primary frequency control unit using a Battery Energy Storage System (BESS). In this methodology, two control types (basic and hysteresis) are implemented and the corresponding minimum energy storage system power allowing to maintain the frequency drop inside a given threshold under a given contingency is identified and compared using DigSilent’s PowerFactory software. Following this step, the corresponding energy storage capacity (in MWh) is calculated. As PowerFactory is dedicated to dynamic simulation for transient analysis, a first order model related to the IEEE 9 bus grid used for the analysis under PowerFactory is characterized and implemented on MATLAB-Simulink. Primary frequency control is simulated using the two control types over one-month grid's frequency deviation data on this Simulink model. This simulation results in the energy throughput both basic and hysteresis BESSs. It emerges that the 15 minutes operation band of the battery capacity allocated to frequency control is sufficient under the considered disturbances. A sensitivity analysis on the width of the control deadband is then performed for the two control types. The deadband width variation leads to an identical sizing with the hysteresis control showing a better frequency control at the cost of a higher delivered throughput compared to the basic control. An economic analysis comparing the cost of the sized BESS to the potential revenues is then performed.Keywords: Battery Energy Storage System, electrical network frequency stability, frequency control unit, PowerFactory.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7643574 Feed-Forward Control in Half-Bridge Resonant DC Link Inverter
Authors: Apinan Aurasopon, Worawat Sa-ngiavibool
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This paper proposes a feed-forward control in a halfbridge resonant dc link inverter. The configuration of feed-forward control is based on synchronous sigma-delta modulation and the halfbridge resonant dc link inverter consists of two inductors, one capacitor and two power switches. The simulation results show the proposed technique can reject non-ideal dc bus improving the total harmonic distortion.Keywords: Feed-forward control, Resonant dc link inverter, Synchronous sigma-delta modulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24763573 Recovery of Copper and DCA from Simulated Micellar Enhanced Ultrafiltration (MEUF)Waste Stream
Authors: Chuan-Kun Liu, Chi-Wang Li
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Simultaneous recovery of copper and DCA from simulated MEUF concentrated stream was investigated. Effects of surfactant (DCA) and metal (copper) concentrations, surfactant to metal molar ratio (S/M ratio), electroplating voltage, EDTA concentration, solution pH, and salt concentration on metal recovery and current efficiency were studied. Electric voltage of -0.5 V was shown to be optimum operation condition in terms of Cu recovery, current efficiency, and surfactant recovery. Increasing Cu recovery and current efficiency were observed with increases of Cu concentration while keeping concentration of DCA constant. However, increasing both Cu and DCA concentration while keeping S/M ratio constant at 2.5 showed detrimental effect on Cu recovery at DCA concentration higher than 15 mM. Cu recovery decreases with increasing pH while current efficiency showed an opposite trend. It is believed that conductivity is the main cause for discrepancy of Cu recovery and current efficiency observed at different pH. Finally, it was shown that EDTA had adverse effect on both Cu recovery and current efficiency while addition of NaCl salt had negative impact on current efficiency at concentration higher than 8000 mg/L.Keywords: metal recovery, MEUF waste, surfactant, electroplating.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15703572 Novel SNC-NN-MRAS Based Speed Estimator for Sensor-Less Vector Controlled IM Drives
Authors: A.Venkadesan, S.Himavathi, A.Muthuramalingam
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Rotor Flux based Model Reference Adaptive System (RF-MRAS) is the most popularly used conventional speed estimation scheme for sensor-less IM drives. In this scheme, the voltage model equations are used for the reference model. This encounters major drawbacks at low frequencies/speed which leads to the poor performance of RF-MRAS. Replacing the reference model using Neural Network (NN) based flux estimator provides an alternate solution and addresses such drawbacks. This paper identifies an NN based flux estimator using Single Neuron Cascaded (SNC) Architecture. The proposed SNC-NN model replaces the conventional voltage model in RF-MRAS to form a novel MRAS scheme named as SNC-NN-MRAS. Through simulation the proposed SNC-NN-MRAS is shown to be promising in terms of all major issues and robustness to parameter variation. The suitability of the proposed SNC-NN-MRAS based speed estimator and its advantages over RF-MRAS for sensor-less induction motor drives is comprehensively presented through extensive simulations.Keywords: Sensor-less operation, vector-controlled IM drives, SNC-NN-MRAS, single neuron cascaded architecture, RF-MRAS, artificial neural network
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18593571 Optimal Control of a Linear Distributed Parameter System via Shifted Legendre Polynomials
Authors: Sanjeeb Kumar Kar
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The optimal control problem of a linear distributed parameter system is studied via shifted Legendre polynomials (SLPs) in this paper. The partial differential equation, representing the linear distributed parameter system, is decomposed into an n - set of ordinary differential equations, the optimal control problem is transformed into a two-point boundary value problem, and the twopoint boundary value problem is reduced to an initial value problem by using SLPs. A recursive algorithm for evaluating optimal control input and output trajectory is developed. The proposed algorithm is computationally simple. An illustrative example is given to show the simplicity of the proposed approach.Keywords: Optimal control, linear systems, distributed parametersystems, Legendre polynomials.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13003570 Sliding Mode Based Behavior Control
Authors: Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan
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In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.Keywords: Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17453569 Autonomous Control of a Mobile Manipulator
Authors: Shonal Singh, Bibhya Sharma, Jito Vanualailai
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This paper considers the design of a motion planner that will simultaneously accomplish control and motion planning of a n-link nonholonomic mobile manipulator, wherein, a n-link holonomic manipulator is coupled with a nonholonomic mobile platform, within an obstacle-ridden environment. This planner, derived from the Lyapunov-based control scheme, generates collision-free trajectories from an initial configuration to a final configuration in a constrained environment cluttered with stationary solid objects of different shapes and sizes. We demonstrate the efficiency of the control scheme and the resulting acceleration controllers of the mobile manipulator with results through computer simulations of an interesting scenario.Keywords: Artificial potential fields, Lyapunov-based control scheme, Lyapunov stability, nonholonomic manipulator, minimum distance technique, kinodynamic constraints.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14053568 Posture Stabilization of Kinematic Model of Differential Drive Robots via Lyapunov-Based Control Design
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In this paper, the problem of posture stabilization for a kinematic model of differential drive robots is studied. A more complex model of the kinematics of differential drive robots is used for the design of stabilizing control. This model is formulated in terms of the physical parameters of the system such as the radius of the wheels, and velocity of the wheels are the control inputs of it. In this paper, the framework of Lyapunov-based control design has been used to solve posture stabilization problem for the comprehensive model of differential drive robots. The results of the simulations show that the devised controller successfully solves the posture regulation problem. Finally, robustness and performance of the controller have been studied under system parameter uncertainty.Keywords: Differential drive robots, nonlinear control, Lyapunov-based control design, posture regulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17813567 Software Tools for System Identification and Control using Neural Networks in Process Engineering
Authors: J. Fernandez de Canete, S. Gonzalez-Perez, P. del Saz-Orozco
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Neural networks offer an alternative approach both for identification and control of nonlinear processes in process engineering. The lack of software tools for the design of controllers based on neural network models is particularly pronounced in this field. SIMULINK is properly a widely used graphical code development environment which allows system-level developers to perform rapid prototyping and testing. Such graphical based programming environment involves block-based code development and offers a more intuitive approach to modeling and control task in a great variety of engineering disciplines. In this paper a SIMULINK based Neural Tool has been developed for analysis and design of multivariable neural based control systems. This tool has been applied to the control of a high purity distillation column including non linear hydrodynamic effects. The proposed control scheme offers an optimal response for both theoretical and practical challenges posed in process control task, in particular when both, the quality improvement of distillation products and the operation efficiency in economical terms are considered.Keywords: Distillation, neural networks, software tools, identification, control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2699