Search results for: Dual Proportional-Integral (DPI) controller.

Authors: Toshinori Nawata, Hitoshi Takata

Abstract:

In this paper we consider a nonlinear feedback control called augmented automatic choosing control (AACC) for nonlinear systems with constrained input. Constant terms which arise from section wise linearization of a given nonlinear system are treated as coefficients of a stable zero dynamics.Parameters included in the control are suboptimally selectedby extremizing a combination of Hamiltonian and Lyapunov functions with the aid of the genetic algorithm. This approach is applied to a field excitation control problem of power system to demonstrate the splendidness of the AACC. Simulation results show that the new controller can improve performance remarkably well.

Keywords: Augmented Automatic Choosing Control, NonlinearControl, Genetic Algorithm, Hamiltonian, Lyapunovfunction

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Authors: M. Tahmasebi, R.A. Rahman, M. Mailah, M. Gohari

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The control of sprayer boom undesired vibrations pose a great challenge to investigators due to various disturbances and conditions. Sprayer boom movements lead to reduce of spread efficiency and crop yield. This paper describes the design of a novel control method for an active suspension system applying proportional-integral-derivative (PID) controller with an active force control (AFC) scheme integration of an iterative learning algorithm employed to a sprayer boom. The iterative learning as an intelligent method is principally used as a method to calculate the best value of the estimated inertia of the sprayer boom needed for the AFC loop. Results show that the proposed AFC-based scheme performs much better than the standard PID control technique. Also, this shows that the system is more robust and accurate.

Keywords: Active force control, sprayer boom, active suspension, iterative learning.

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Authors: Kuen-Ming Shu, Cheng-Yu Chen

Abstract:

A vibrating-fork sensor can measure the level height of solids and liquids and operates according to the principle that vibrations created by piezoelectric ceramics are transmitted to the vibrating fork, which produces resonance. When the vibrating fork touches an object, its resonance frequency changes and produces a signal that returns to a controller for immediate adjustment, so as to effectively monitor raw material loading. The design of the vibrating fork in a vibrating-fork material sensor is crucial. In this paper, ANSYS finite element analysis software is used to perform modal analysis on the vibrations of the vibrating fork. In addition, to design and produce a superior vibrating fork, the dimensions and welding shape of the vibrating fork are compared in a simulation performed using the Taguchi method.

Keywords: Vibrating fork, piezoelectric ceramics, sound wave, ANSYS, Taguchi method, modal analysis.

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Authors: Sandra Baßler, Peter Dünow, Mathias Marquardt

Abstract:

A Fourier series based learning control (FSBLC) algorithm for tracking trajectories of mechanical systems with unknown nonlinearities is presented. Two processes are introduced to which the FSBLC with PD controller is applied. One is a simplified service robot capable of climbing stairs due to special wheels and the other is a propeller driven pendulum with nearly the same requirements on control. Additionally to the investigation of learning the feed forward for the desired trajectories some considerations on the implementation of such an algorithm on low cost microcontroller hardware are made. Simulations of the service robot as well as practical experiments on the pendulum show the capability of the used FSBLC algorithm to perform the task of improving control behavior for repetitive task of such mechanical systems.

Keywords: Climbing stairs, FSBLC, ILC, Service robot.

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Authors: Chih Chin Yang, Lan Hui Huang, Bo Shum Chen, Jia Liang Ke, Chung Lun Tsai

Abstract:

The control of oxygen flow rate during growth of titanium dioxide by mass flow controller in DC plasma sputtering growth system is studied. The impedance of TiO2 films for inductance effect is influenced by annealing time and oxygen flow rate. As annealing time is increased, the inductance of TiO2 film is the more. The growth condition of optimum and maximum inductance for TiO2 film to serve as sensing device are oxygen flow rate of 15 sccm and large annealing time. The large inductance of TiO2 film will be adopted to fabricate the biosensor to obtain the high sensitivity of sensing in biology.

Keywords: Annealed, Inductance, Silicon substarte, Titanium dioxide

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Authors: Yun Jong Choi, Nam Woong, PooGyeon Park

Abstract:

Variable Structure Control (VSC) is one of the most useful tools handling the practical system with uncertainties and disturbances. Up to now, unfortunately, not enough studies on the input-saturated system with linear-growth-bound disturbances via VSC have been presented. Therefore, this paper proposes an asymp¬totic stability condition for the system via VSC. The designed VSC controller consists of two control parts. The linear control part plays a role in stabilizing the system, and simultaneously, the nonlinear control part in rejecting the linear-growth-bound disturbances perfectly. All conditions derived in this paper are expressed with Linear Matrices Inequalities (LMIs), which can be easily solved with an LMI toolbox in MATLAB.

Keywords: Input saturation, linear-growth bounded disturbances, linear matrix inequality (LMI), variable structure control

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Authors: Joabe Silva, Ginalber Serra

Abstract:

This paper proposes the analysis and design of robust fuzzy control to Stochastic Parametrics Uncertaint Linear systems. This system type to be controlled is partitioned into several linear sub-models, in terms of transfer function, forming a convex polytope, similar to LPV (Linear Parameters Varying) system. Once defined the linear sub-models of the plant, these are organized into fuzzy Takagi- Sugeno (TS) structure. From the Parallel Distributed Compensation (PDC) strategy, a mathematical formulation is defined in the frequency domain, based on the gain and phase margins specifications, to obtain robust PI sub-controllers in accordance to the Takagi- Sugeno fuzzy model of the plant. The main results of the paper are based on the robust stability conditions with the proposal of one Axiom and two Theorems.

Keywords: Fuzzy Systems; Robust Stability, Stochastic Control, Stochastic Process

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Authors: K. Prasertwong, N. Mithulananthan

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This paper investigates and compares performance of various conventional and fuzzy logic based controllers at generator locations for oscillation damping. Performance of combination of conventional and fuzzy logic based controllers also studied by comparing overshoot on the active power deviation response for a small disturbance and damping ratio of the critical mode. Fuzzy logic based controllers can not be modeled in the state space form to get the eigenvalues and corresponding damping ratios of various modes of generators and controllers. Hence, a new method based on tracing envelop of time domain waveform is also presented and used in the paper for comparing performance of controllers. The paper also shows that if the fuzzy based controllers designed separately combining them could not lead to a better performance.

Keywords: Automatic voltage regulator, damping ratio, fuzzylogic controller, power system stabilizer.

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Authors: Roshan Sharma, Bjørn Glemmestad

Abstract:

In gas lifted oil fields, the lift gas should be distributed optimally among the wells which share gas from a common source to maximize total oil production. One of the objectives of the paper is to show that a linear MPC consisting of a control objective and an economic objective can be used both as an optimizer and a controller for gas lifted systems. The MPC is based on linearized model of the oil field developed from first principles modeling. Simulation results show that the total oil production is increased by 3.4%. Difficulties in accurately measuring the bottom hole pressure using sensors in harsh operating conditions can be resolved by using an Unscented Kalman Filter (UKF) for estimation. In oil fields where input disturbance (total supply of gas) is not measured, UKF can also be used for disturbance estimation. Increased total oil production due to optimization leads to increased profit.

Keywords: gas lift, MPC, oil production, optimization, Unscented Kalman filter.

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Authors: John Florescu

Abstract:

A challenged control problem is when the performance is pushed to the limit. The state-derivative feedback control strategy directly uses acceleration information for feedback and state estimation. The derivative part is concerned with the rateof- change of the error with time. If the measured variable approaches the set point rapidly, then the actuator is backed off early to allow it to coast to the required level. Derivative action makes a control system behave much more intelligently. A sensor measures the variable to be controlled and the measured in formation is fed back to the controller to influence the controlled variable. A high gain problem can be also formulated for proportional plus derivative feedback transformation. Using MATLAB Simulink dynamic simulation tool this paper examines a system with a proportional plus derivative feedback and presents an automatic implementation of finding an acceptable controlled system. Using feedback transformations the system is transformed into another system.

Keywords: Feedback, PD, state-space, derivative.

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Authors: Igor Astrov, Mikhail Pikkov, Rein Paluoja

Abstract:

This paper focuses on the critical components of the situational awareness (SA), the controls of position and orientation of an autonomous surface vessel (ASV). Moving of vessel into desired area in particular sea is a challenging but important task for ASVs to achieve high level of autonomy under adverse conditions. With the SA strategy, the approach motion by neural control of an initial stage of an ASV trajectory using neural network predictive controller and the circular motion by control of yaw moment in the final stage of trajectory were proposed. This control system has been demonstrated and evaluated by simulation of maritime maneuvers using software package Simulink. From the simulation results it can be seen that the fast SA of similar ASVs with economy in energy can be asserted during the maritime missions in search-and-rescue operations.

Keywords: Autonomous surface vessels, neurocontrollers, situational awareness.

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Authors: Mohd. Khairil Sailan, Rosilah Hassan, Zuhaizal Zulkifli

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Internet Protocol version 4 (IPv4) address is decreasing and a rapid transition method to the next generation IP address (IPv6) should be established. This study aims to evaluate and select the best performance of the IPv6 address network transitionmechanisms, such as IPv4/IPv6 dual stack, transport Relay Translation (TRT) and Reverse Proxy with additional features. It is also aim to prove that faster access can be done while ensuring optimal usage of available resources used during the test and actual implementation. This study used two test methods such asInternet Control Message Protocol (ICMP)ping and ApacheBenchmark (AB) methodsto evaluate the performance.Performance metrics for this study include aspects ofaverageaccessin one second,time takenfor singleaccess,thedata transfer speed and the costof additional requirements.Reverse Proxy with Caching featureis the most efficientmechanism because of it simpler configurationandthe best performerfrom the test conducted.

Keywords: IPv4, IPv6, network transition, apache benchmark andreverse proxy

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Authors: A. M. El-Zonkoly

Abstract:

In this paper, based on steady-state models of Flexible AC Transmission System (FACTS) devices, the sizing of static synchronous series compensator (SSSC) controllers in transmission network is formed as an optimization problem. The objective of this problem is to reduce the transmission losses in the network. The optimization problem is solved using particle swarm optimization (PSO) technique. The Newton-Raphson load flow algorithm is modified to consider the insertion of the SSSC devices in the network. A numerical example, illustrating the effectiveness of the proposed algorithm, is introduced. In addition, a novel model of a 3- phase voltage source converter (VSC) that is suitable for series connected FACTS a controller is introduced. The model is verified by simulation using Power System Blockset (PSB) and Simulink software.

Keywords: FACTS, Modeling, PSO, SSSC, Transmission lossreduction.

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Authors: Arun Kumar Datta, Manisha Dubey, Shailendra Jain

Abstract:

Electric machines are driven nowadays by static system popularly known as soft starter. This paper describes a thyristor based static frequency converter (SFC) to run a large synchronous machine installed at a short circuit test laboratory. Normally a synchronous machine requires prime mover or some other driving mechanism to run. This machine doesn’t need a prime mover as it operates in dual mode. In the beginning SFC starts this machine as a motor to achieve the full speed. Thereafter whenever required it can be converted to generator mode. This paper begins with the various starting methodology of synchronous machine. Detailed of SFC with different operational modes have been analyzed. Shaft voltage is a very common phenomenon for the machines with static drives. Various causes of shaft voltages in perspective with this machine are the main attraction of this paper.

Keywords: Capacitive coupling, electric discharge machining, inductive coupling, Shaft voltage, static frequency converter.

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Authors: Sungkyung Kim, Jee-Hyeon Na, Dong-Seung Kwon

Abstract:

Future mobile networks following 5th generation will be characterized by one thousand times higher gains in capacity; connections for at least one hundred billion devices; user experience capable of extremely low latency and response times. To be close to the capacity requirements and higher reliability, advanced technologies have been studied, such as multiple connectivity, small cell enhancement, heterogeneous networking, and advanced interference and mobility management. This paper is focused on the multiple connectivity in heterogeneous cellular networks. We investigate the performance of coverage and user throughput in several deployment scenarios. Using the stochastic geometry approach, the SINR distributions and the coverage probabilities are derived in case of dual connection. Also, to compare the user throughput enhancement among the deployment scenarios, we calculate the spectral efficiency and discuss our results.

Keywords: Heterogeneous networks, multiple connectivity, small cell enhancement, stochastic geometry.

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Authors: S.A. Alqallaf, S.A. Al-Mawsawi, A. Haider

Abstract:

In order to evaluate the performance of a unified power flow controller (UPFC), mathematical models for steady state and dynamic analysis are to be developed. The steady state model is mainly concerned with the incorporation of the UPFC in load flow studies. Several load flow models for UPFC have been introduced in literature, and one of the most reliable models is the decoupled UPFC model. In spite of UPFC decoupled load flow model simplicity, it is more robust compared to other UPFC load flow models and it contains unique capabilities. Some shortcoming such as additional set of nonlinear equations are to be solved separately after the load flow solution is obtained. The aim of this study is to investigate the different control strategies that can be realized in the decoupled load flow model (individual control and combined control), and the impact of the location of the UPFC in the network on its control parameters.

Keywords: UPFC, Decoupled model, Load flow.

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Authors: J. R. C. Kuntz, Katharina Näswall, Frances Walls

Abstract:

This study sought to uncover the complex role of stress in the workplace by investigating both positive (eustress) and negative (distress) stress responses. In particular, the study tested a mediation model in which organisational stressors (person-job fit and role overload) influence employee affective wellbeing, both directly and indirectly through stress responses. Participants were recruited from retail and finance organisations in Australia and New Zealand, and asked to complete an anonymous online questionnaire. A total of 140 individuals returned completed questionnaires. The results show that person-job fit influenced eustress, which in turn had a positive effect on employee affective wellbeing; and role overload impacted distress, which in turn held a negative influence on affective wellbeing. These findings indicate that different organisational stressors have unique relationships with eustress and distress responses. Limitations and implications of the study are discussed.

Keywords: Distress, Eustress, Role Overload, Wellbeing.

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Authors: Vasile Marinescu, Ionut Clementin Constantin, Alexandru Epureanu, Virgil Teodor

Abstract:

The Programmable Logic Controller (PLC) plays a vital role in automation and process control. Grafcet is used for representing the control logic, and traditional programming languages are used for describing the pure algorithms. Grafcet is used for dividing the process to be automated in elementary sequences that can be easily implemented. Each sequence represent a step that has associated actions programmed using textual or graphical languages after case. The programming task is simplified by using a set of subroutines that are used in several steps. The paper presents an example of implementation for a punching machine for sheets and plates. The use the graphical languages the programming of a complex sequential process is a necessary solution. The state of Grafcet can be used for debugging and malfunction determination. The use of the method combined with a set of knowledge acquisition for process application reduces the downtime of the machine and improve the productivity.

Keywords: Grafcet, Petrinet, PLC, punching.

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Authors: S. M. H. Karimian, F. S. Salehi, H. Alisadeghi

Abstract:

A two-dimensional moving mesh algorithm is developed to simulate the general motion of two rotating bodies with relative translational motion. The grid includes a background grid and two sets of grids around the moving bodies. With this grid arrangement rotational and translational motions of two bodies are handled separately, with no complications. Inter-grid boundaries are determined based on their distances from two bodies. In this method, the overset concept is applied to hybrid grid, and flow variables are interpolated using a simple stencil. To evaluate this moving mesh algorithm unsteady Euler flow is solved for different cases using dual-time method of Jameson. Numerical results show excellent agreement with experimental data and other numerical results. To demonstrate the capability of present algorithm for accurate solution of flow fields around moving bodies, some benchmark problems have been defined in this paper.

Keywords: Moving mesh, Overset grid, Unsteady Euler, Relative motion.

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Authors: Tomas Luneckas, Dainius Udris

Abstract:

In this paper a simple terrain evaluation method for hexapod robot is introduced. This method is based on feet coordinate evaluation when all are on the ground. Depending on the feet coordinate differences the local terrain evaluation is possible. Terrain evaluation is necessary for right gait selection and/or body position correction. For terrain roughness evaluation three planes are plotted: two of them as definition points use opposite feet coordinates, third coincides with the robot body plane. The leaning angle of body plane is evaluated measuring gravity force using three-axis accelerometer. Terrain roughness evaluation method is based on angle estimation between normal vectors of these planes. Aim of this work is to present a simple method for embedded robot controller, allowing to find the best further movement settings.

Keywords: Hexapod robot, pose estimation, terrain evaluation, terrain roughness.

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Authors: K. Diwakar, N. Vasudevan, C. Senthilpari

Abstract:

This paper presents MOSFET based analog to digital converter which is simple in design, has high resolution, and conversion rate better than dual slope ADC. It has no DAC which will limit the performance, no error in conversion, can operate for wide range of inputs and never become unstable. One of the industrial applications, where the proposed high resolution MOSFET ADC can be used is, for the positioning of control valves in a multi channel data acquisition and control system (DACS), using stepper motors as actuators of control valves. It is observed that in a DACS having ten control valves, 0.02% of positional accuracy of control valves can be achieved with the data update period of 250ms and with stepper motors of maximum pulse rate 20 Kpulses per sec. and minimum pulse width of 2.5 μsec. The reported accuracy so far by other authors is 0.2%, with update period of 255 ms and with 8 bit DAC. The accuracy in the proposed configuration is limited by the available precision stepper motor and not by the MOSFET based ADC.

Keywords: MOSFET based ADC, Actuators, Positional accuracy, Stepper Motors.

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Authors: Joon Sung Park, Jun-Hyuk Choi, Jin-Hong Kim, In-Soung Jung

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Due to environmental concerns, the recent regulation on automobile fuel economy has been strengthened. The market demand for efficient vehicles is growing and automakers to improve engine fuel efficiency in the industry have been paying a lot of effort. To improve the fuel efficiency, it is necessary to reduce losses or to improve combustion efficiency of the engine. VVA (Variable Valve Actuation) technology enhances the engine's intake air flow, reduce pumping losses and mechanical friction losses. And also, VVA technology is the engine's low speed and high speed operation to implement each of appropriate valve lift. It improves the performance of engine in the entire operating range. This paper presents a design procedure of DC motor and drive for VVA system and shows the validity of the design result by experimental result with prototype.

Keywords: DC motor, Inverter, VVA, Electric Drive.

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Authors: Jafreezal Jaafar, Eric McKenzie

Abstract:

This paper presents a solution for the behavioural animation of autonomous virtual agent navigation in virtual environments. We focus on using Dempster-Shafer-s Theory of Evidence in developing visual sensor for virtual agent. The role of the visual sensor is to capture the information about the virtual environment or identifie which part of an obstacle can be seen from the position of the virtual agent. This information is require for vitual agent to coordinate navigation in virtual environment. The virual agent uses fuzzy controller as a navigation system and Fuzzy α - level for the action selection method. The result clearly demonstrates the path produced is reasonably smooth even though there is some sharp turn and also still not diverted too far from the potential shortest path. This had indicated the benefit of our method, where more reliable and accurate paths produced during navigation task.

Keywords: Agent, navigation, Dempster Shafer, fuzzy logic.

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Authors: Amit Sachan

Abstract:

The network designing and data modeling developments which are the two significant research tasks in direction to tolerate power control of Microgrid concluded using IEC 61850 data models and facilities. The current casing areas of IEC 61580 include infrastructures in substation automation systems, among substations and to DERs. So, for LV microgrid power control, previously using the IEC 61850 amenities to control the smart electrical devices, we have to model those devices as IEC 61850 data models and design a network topology to maintenance all-in-one communiqué amid those devices. In adding, though IEC 61850 assists modeling a portion by open-handed several object models for common functions similar measurement, metering, monitoring…etc., there are motionless certain missing smithereens for building a multiplicity of functions for household appliances like tuning the temperature of an electric heater or refrigerator.

Keywords: IEC 61850, RCMC, HCMC, DER Unit Controller.

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Authors: Ting-Chao Chen, Yean-Ren Hwang, Jing-Chie Lin

Abstract:

A real time image-guided electroplating system is proposed in this paper. Unlike previous electroplating systems, instead of using the intermittent mode to electroplate 500um long copper specimen, a CCD camera and a motion controller are used to adjust anode-cathode distance to obtain better results. Since the image of the gap distance is highly deteriorated due to complex chemical-electrical operation inside the electrolyte, to determine the gap distance, an image processing algorithm is developed and mainly based on the entropy and energy values. In addition, the color and incidence direction of light source are also discussed to help the image process in this paper. From the experiment results, the specimens created by the proposed system show better structure, better uniformity and better finishing surface compared to those by previous intermittent electroplating setup.

Keywords: Electroplating, image guided, image process, light source.

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Authors: M. Daskolia, C. Kynigos, N. Yiannoutsou

Abstract:

Teaching and learning about sustainability is a pedagogical endeavour with various innate difficulties and increased demands. Higher education has a dual role to play in addressing this challenge: to identify and explore innovative approaches and tools for addressing the complex and value-laden nature of sustainability in more meaningful ways, and to help teachers to integrate these approaches into their practice through appropriate professional development programs. The study reported here was designed and carried out within the context of a Masters course in Environmental Education. Eight teachers were collaboratively engaged in reconstructing a digital game microworld which was deliberately designed by the researchers to be questioned and evoke critical discussion on the idea of ‘sustainable city’. The study was based on the design-based research method. The findings indicate that the teachers’ involvement in processes of co-constructing the microworld initiated discussion and reflection upon the concepts of sustainability and sustainable lifestyles.

Keywords: sustainability, sustainable lifestyles, constructionism, environmental education, digital games, teacher training

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Authors: Hidehiko Okada, Jumpei Tokida

Abstract:

Researchers have been applying tional intelligence (AI/CI) methods to computer games. In this research field, further researchesare required to compare AI/CI methods with respect to each game application. In th our experimental result on the comparison of three evolutionary algorithms – evolution strategy, genetic algorithm, and their hybrid applied to evolving controller agents for the CIG 2007 Simulated Car Racing competition. Our experimental result shows that, premature convergence of solutions was observed in the case of ES, and GA outperformed ES in the last half of generations. Besides, a hybrid which uses GA first and ES next evolved the best solution among the whole solutions being generated. This result shows the ability of GA in globally searching promising areas in the early stage and the ability of ES in locally searching the focused area (fine-tuning solutions).

Keywords: Evolutionary algorithm, autonomous agent, neuroevolutions, simulated car racing.

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Authors: K. Saravanan, R. Anita

Abstract:

Flexible AC Transmission Systems (FACTS) is granting a new group of advanced power electronic devices emerging for enhancement of the power system performance. Unified Power Flow Controller (UPFC) is a recent version of FACTS devices for power system applications. The back-up energy supply system incorporated with UPFC is providing a complete control of real and reactive power at the same time and hence is competent to improve the performance of an electrical power system. In this article, backup energy supply unit such as superconducting magnetic energy storage (SMES) is integrated with UPFC. In addition, comparative exploration of UPFC–battery, UPFC–UC and UPFC–SMES performance is evaluated through the vibrant simulation by using MATLAB/Simulink software.

Keywords: Power system, FACTS, UPFC, DC-DC chopper, battery, UC, SMES.

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Authors: Ming Cong, Yinghua Wu, Dong Liu, Haiying Wen, Junfa Yu

Abstract:

In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.

Keywords: coupling compensation, screw theory, parallel robot, mechanism-model combined motion

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Authors: Hicham Serhoud, Djilani Benattous

Abstract:

In this paper present a sensorless maximum wind power extraction for variable speed constant frequency (VSCF) wind power generation systems with a doubly-fed induction generators (DFIG), to ensure stability and to impose the ideal feedback control solution despite of model uncertainties , using the principles of an active and reactive power controller (DPC) a robust sliding mode power control has been proposed to guarantees fast response times and precise control actions for control the active and reactive power independently. The simulation results in MATLAB/Simulink platform confirmed the good dynamic performance of power control approach for DFIGbased variable speed wind turbines.

Keywords: Doubly fed induction generator , sliding modecontrol, maximal wind energy capture, MRAS estimator

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