Search results for: Sliding bubble.

Authors: Abdelaziz Sahbani, Kamel Ben Saad, Mohamed Benrejeb

Abstract:

This paper deals with the comparison between two proposed control strategies for a DC-DC boost converter. The first control is a classical Sliding Mode Control (SMC) and the second one is a distance based Fuzzy Sliding Mode Control (FSMC). The SMC is an analytical control approach based on the boost mathematical model. However, the FSMC is a non-conventional control approach which does not need the controlled system mathematical model. It needs only the measures of the output voltage to perform the control signal. The obtained simulation results show that the two proposed control methods are robust for the case of load resistance and the input voltage variations. However, the proposed FSMC gives a better step voltage response than the one obtained by the SMC.

Keywords: Boost DC-DC converter, Sliding Mode Control (SMC), Fuzzy Sliding Mode Control (FSMC), Robustness.

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Authors: Sana Bembli, Nahla Khraief Haddad, Safya Belghith

Abstract:

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

Keywords: Exoskeleton-upper limb system, gravity compensation, model free terminal sliding mode, robustness analysis, Monte Carlo, H∞ methods.

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Authors: V. Nikkhah Rashidabad, M. Manteghian, M. Masoumi, S. Mousavian

Abstract:

In this research, the changes in bubbles diameter and  number that may occur due to the change in heat flux of pure water  during pool boiling process. For this purpose, test equipment was  designed and developed to collect test data. The bubbles were graded  using Caliper Screen software. To calculate the growth and  nucleation rates of bubbles under different fluxes, population balance  model was employed. The results show that the increase in heat flux  from q=20 kw/m2 to q= 102 kw/m2 raised the growth and nucleation  rates of bubbles.

 

Keywords: Heat flux, bubble growth, bubble nucleation, population balance model.

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Authors: Vivekanandan C., Prabhakar .R., Prema D.

Abstract:

This paper presents the application of discrete-time variable structure control with sliding mode based on the 'reaching law' method for robust control of a 'simple inverted pendulum on moving cart' - a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is carried out using pole placement technique to find state feedback gain matrix , which decides the dynamic behavior of the system during sliding mode. This is followed by feedback gain realization using the control law which is synthesized from 'Gao-s reaching law'. The model of a single inverted pendulum and the discrete variable structure control controller are developed, simulated in MATLAB-SIMULINK and results are presented. The response of this simulation is compared with that of the discrete linear quadratic regulator (DLQR) and the advantages of sliding mode controller over DLQR are also presented

Keywords: Inverted pendulum, Variable Structure, Sliding mode control, Discrete-time systems, Nonlinear systems.

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Authors: L. Khoshnevisan, H. R. Momeni, A. Ashraf-Modarres

Abstract:

One of the robust fault detection filter (RFDF) designing method is based on sliding-mode theory. The main purpose of our study is to introduce an innovative simplified reference residual model generator to formulate the RFDF as a sliding-mode observer without any manipulation package or transformation matrix, through which the generated residual signals can be evaluated. So the proposed design is more explicit and requires less design parameters in comparison with approaches requiring changing coordinates. To the best author's knowledge, this is the first time that the sliding mode technique is applied to detect actuator and sensor faults in a real boiler. The designing procedure is proposed in a drum boiler in Synvendska Kraft AB Plant in Malmo, Sweden as a multivariable and strongly coupled system. It is demonstrated that both sensor and actuator faults can robustly be detected. Also sensor faults can be diagnosed and isolated through this method.

Keywords: Boiler, fault detection, robustness, simplified sliding-mode observer.

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Authors: Ahmad Forouzan Tabar, Mohammad Azadi, Alireza Alesaadi

Abstract:

This paper describes a sliding mode controller for autonomous underwater vehicles (AUVs). The dynamic of AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of AUV and improve trajectory tracking. Moreover, the proposed controller can profoundly attenuate the effects of uncertainties and external disturbances in the closed-loop system. Using the Lyapunov theory the boundedness of AUV tracking errors and the stability of the proposed control system are also guaranteed. Numerical simulation studies of an AUV are included to illustrate the effectiveness of the presented approach.

Keywords: Lyapunov stability, autonomous underwater vehicle (AUV), sliding mode controller, electronics engineering.

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Authors: M. A. Sedghamiz, S. Raeissi

Abstract:

This study presents three different approaches to estimate bubble point pressures for the binary system of CO2 and ethyl palmitate fatty acid ethyl ester. The first method involves the Peng-Robinson (PR) Equation of State (EoS) with the conventional mixing rule of Van der Waals. The second approach involves the PR EOS together with the Wong Sandler (WS) mixing rule, coupled with the UNIQUAC GE model. In order to model the bubble point pressures with this approach, the volume and area parameter for ethyl palmitate were estimated by the Hansen group contribution method. The last method involved the Peng-Robinson, combined with the Wong-Sandler method, but using NRTL as the GE model. Results using the Van der Waals mixing rule clearly indicated that this method has the largest errors among all three methods, with errors in the range of 3.96-6.22%. The PR-WS-UNIQUAC method exhibited small errors, with average absolute deviations between 0.95 to 1.97 percent. The PR-WS-NRTL method led to the least errors, where average absolute deviations ranged between 0.65-1.7%.

Keywords: Bubble pressure, Gibbs excess energy model, mixing rule, CO2 solubility, ethyl palmitate.

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Authors: Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan

Abstract:

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.

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Authors: Afshin Ahmadi Nadooshan, Ebrahim Shirani

Abstract:

Different numerical methods are employed and developed for simulating interfacial flows. A large range of applications belong to this group, e.g. two-phase flows of air bubbles in water or water drops in air. In such problems surface tension effects often play a dominant role. In this paper, various models of surface tension force for interfacial flows, the CSF, CSS, PCIL and SGIP models have been applied to simulate the motion of small air bubbles in water and the results were compared and reviewed. It has been pointed out that by using SGIP or PCIL models, we are able to simulate bubble rise and obtain results in close agreement with the experimental data.

Keywords: Volume-of-Fluid, Bubble Rising, SGIP model, CSS model, CSF model, PCIL model, interface, surface tension force.

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Authors: Sreeyuth Lal, Yohei Sato, Bojan Niceno

Abstract:

With the long-term objective of Critical Heat Flux (CHF) prediction, a Direct Numerical Simulation (DNS) framework for simulation of subcooled and saturated nucleate pool boiling is developed. One case of saturated, and three cases of subcooled boiling at different subcooling levels are simulated. Grid refinement study is also reported. Both boiling and condensation phenomena can be computed simultaneously in the proposed numerical framework. Computed bubble detachment diameters of the saturated nucleate pool boiling cases agree well with the experiment. The flow structures around the growing bubble are presented and the accompanying physics is described. The relation between heat flux evolution from the heated wall and the bubble growth is studied, along with investigations of temperature distribution and flow field evolutions.

Keywords: CFD, interface tracking method, phase change model, subcooled nucleate pool boiling.

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Authors: R. N. Rao, S. L. Tulasi Devi

Abstract:

Tribological behavior and wear regimes of ascast and heattreted Al-Cu-Mg matrix composites containing SiC particles were studied using a pin-on-disc wear testing apparatus against an EN32 steel counterface giving emphasis on wear rate as a function of applied pressures (0.2, 0.6, 1.0 and 1.4 MPa) at different sliding distances (1000, 2000, 3000, 4000 and 5000 meters) and at a fixed sliding speed of 3.35m/s. The results showed that the composite exhibited lower wear rate than that of the matrix alloy and the wear rate of the composites is noted to be invariant to the sliding distance and is reducing by heat treatment. Wear regimes such as low, mild and severe wear were observed as per the Archard-s wear calculations. It is very interesting to note that the mild wear is almost constant in all the wear regimes.

Keywords: Aluminum, matrix, regimes, wear.

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

Abstract:

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

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

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Authors: Adrian T. Pleșca

Abstract:

In this paper a three dimensional thermal model of a sliding contact system is proposed for both steady-state or transient conditions. The influence of contact force, electric current and ambient temperature on the temperature distribution, has been investigated. A thermal analysis of the different type of the graphite material of fixed electric contact and its influence on contact system temperature rise, has been performed. To validate the three dimensional thermal model, some experimental tests have been done. There is a good correlation between experimental and simulation results.

Keywords: Sliding electric contact, temperature distribution, thermal analysis.

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Authors: M.Bensaada , A.Boudghene Stambouli , M.Bekhti, A. Bellar, L. Boukhris

Abstract:

This paper is a simple and systematic approaches to the design and analysis a pulse width modulation (PWM) based sliding mode controller for buck DC-DC Converters. Various aspects of the design, including the practical problems and the proposed solutions, are detailed. However, these control strategies can't compensate for large load current and input voltage variations. In this paper, a new control strategy by compromising both schemes advantages and avoiding their drawbacks is proposed, analyzed and simulated.

Keywords: Buck, DC/DC converters, sliding mode control, pulse width modulation.

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Authors: M. Sivaiah, R. Parmar, S. K. Majumder

Abstract:

This article reports on hydrodynamic, mass transfer performances of fine bubble in a modified reactor. The quality of mixing in the modified reactor is discussed in the paper. Mass transfer efficiency based on quality of mixing is enunciated. To interpret the gas phase volume fraction and the quality of mixing is the empirical models for the modified system are developed.

Keywords: Downflow, bubble, hydrodynamics, gas-liquid, mixing, mass transfer, gas holdup

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Authors: Mustafa Resa Becan

Abstract:

Sliding mode control with a fuzzy boundary layer is presented to hydraulic position control problem in this paper. A nonlinear hydraulic servomechanism which has an asymmetric cylinder is modeled and simulated first, then the proposed control scheme is applied to this model versus the conventional sliding mode control. Simulation results proved that the chattering free position control is achieved by tuning the fuzzy scaling factors properly.

Keywords: Hydraulic servomechanism, position control, sliding mode control, chattering, fuzzy boundary layer.

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Authors: Dhahri Maher, Aouinet Hana

Abstract:

The presence of bubbles in the boundary layer introduces corrections into the log law, which must be taken into account. In this work, a logarithmic wall law was presented for bubbly two phase flows. The wall law presented in this work was based on the postulation of additional turbulent viscosity associated with bubble wakes in the boundary layer. The presented wall law contained empirical constant accounting both for shear induced turbulence interaction and for non-linearity of bubble. This constant was deduced from experimental data. The wall friction prediction achieved with the wall law was compared to the experimental data, in the case of a turbulent boundary layer developing on a vertical flat plate in the presence of millimetric bubbles. A very good agreement between experimental and numerical wall friction prediction was verified. The agreement was especially noticeable for the low void fraction when bubble induced turbulence plays a significant role.

Keywords: Bubbly flows, log law, boundary layer.

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Authors: R. Loukil, M. Chtourou, T. Damak

Abstract:

In this work, we use the Fault detection and isolation and the Fault tolerant control based on sliding mode observer in order to introduce the well diagnosis of a nonlinear system. The robustness of the proposed observer for the two techniques is tested through a physical example. The results in this paper show the interaction between the Fault tolerant control and the Diagnosis procedure.

Keywords: Fault detection and isolation “FDI”, Fault tolerant control “FTC”, sliding mode observer, nonlinear system, robustness, stability.

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Authors: H. Ifassiouen, M. Guisser, H.Medromi

Abstract:

This paper presents an investigation into the design of a flight control system, using a robust sliding mode control structure, designed using the exact feedback linearization procedure of the dynamic of a small-size autonomous helicopter in hover. The robustness of the controller in the context of stabilization and trajectory tracking with respect to small body forces and air resistance on the main and tail rotor, is analytically proved using Lyapunov approach. Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.

Keywords: Robust control, sliding mode, stability, Lyapunovapproach.

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Authors: İres İskender, Ahmet Karaarslan

Abstract:

In this study, the performance of a high-frequency arc welding machine including a two-switch inverter is analyzed. The control of the system is achieved using two different control techniques i- fuzzy logic control (FLC) ii- state space averaging based sliding control. Fuzzy logic control does not need accurate mathematical model of a plant and can be used in nonlinear applications. The second method needs the mathematical model of the system. In this method the state space equations of the system are derived for two different “on" and “off" states of the switches. The derived state equations are combined with the sliding control rule considering the duty-cycle of the converter. The performance of the system is analyzed by simulating the system using SIMULINK tool box of MATLAB. The simulation results show that fuzzy logic controller is more robust and less sensitive to parameter variations.

Keywords: Fuzzy logic, arc welding, sliding state space control, PWM, current control.

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Authors: N. Tadrisi Parsa, A. R. Vali, R. Ghasemi

Abstract:

Diabetes is a growing health problem in worldwide. Especially, the patients with Type 1 diabetes need strict glycemic control because they have deficiency of insulin production. This paper attempts to control blood glucose based on body mathematical body model. The Bergman minimal mathematical model is used to develop the nonlinear controller. A novel back-stepping based sliding mode control (B-SMC) strategy is proposed as a solution that guarantees practical tracking of a desired glucose concentration. In order to show the performance of the proposed design, it is compared with conventional linear and fuzzy controllers which have been done in previous researches. The numerical simulation result shows the advantages of sliding mode back stepping controller design to linear and fuzzy controllers.

Keywords: Back stepping, Bergman Model, Nonlinear control, Sliding mode control.

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Authors: Sheren H. Salah, Ahmed Y. Ben Sasi

Abstract:

The inverted pendulum system is a classic control problem that is used in universities around the world. It is a suitable process to test prototype controllers due to its high non-linearities and lack of stability. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. This paper presents the possibility of balancing an inverted pendulum system using sliding mode control (SMC). The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart's position. Therefore, proportional-integral-derivative (PID) is used for comparison. Results have proven SMC control produced better response compared to PID control in both normal and noisy systems.

Keywords: Inverted pendulum (IP) proportional-integralderivative (PID), sliding mode control (SMC).

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Authors: H. Bouadi, M. Bouchoucha, M. Tadjine

Abstract:

In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.

Keywords: Dynamic modeling, nonholonomic constraints, Backstepping, sliding mode.

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Authors: J. Y. Heo, H. G. Sung

Abstract:

Numerical simulations have been performed for assessment of compressibility correction of two-equation turbulence models suitable for large scale separation flows perturbed by pintle strokes. In order to take into account pintle movement, a sliding mesh method was applied. The chamber pressure, mass flow rate, and thrust have been analyzed, and the response lag and sensitivity at the chamber and nozzle were estimated for a movable pintle. The nozzle performance for pintle reciprocating as its insertion and extraction processes, were analyzed to better understand the dynamic performance of the pintle nozzle.

Keywords: Pintle, sliding mesh, turbulent model, compressibility correction.

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Authors: M. B. Kime

Abstract:

Mass flow measurement is the basis of most technoeconomic formulations in the chemical industry. This calls for reliable and accurate detection of mass flow. Flow measurement laboratory experiments were conducted using various instruments. These consisted of orifice plates, various sized rotameters, wet gas meter and soap bubble meter. This work was aimed at evaluating appropriate operating conditions and accuracy of the aforementioned devices. The experimental data collected were compared to theoretical predictions from Bernoulli’s equation and calibration curves supplied by the instrument’s manufacturers. The results obtained showed that rotameters were more reliable for measuring high and low flow rates; while soap-bubble meters and wet-gas meters were found to be suitable for measuring low flow rates. The laboratory procedures and findings of the actual work can assist engineering students and professionals in conducting their flow measurement laboratory test work.

Keywords: Flow measurement, orifice plates, rotameters, wet gas meter, soap bubble meter.

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Authors: C. S. Tsai, Yung-Chang Lin

Abstract:

In order to upgrade the seismic resistibility of structures and enhance the functionality of an isolator, a new base isolator called the multiple trench friction pendulum system (MTFPS) is proposed in this study. The proposed MTFPS isolator is composed of a trench concave surface and several intermediate sliding plates in two orthogonal directions. Mathematical formulations have been derived to examine the characteristics of the proposed MTFPS isolator possessing multiple intermediate sliding plates. By means of mathematical formulations, it can be inferred that the natural period and damping effect of the MTFPS isolator with several intermediate sliding plates can be altered continually and controllably during earthquakes. Furthermore, results obtained from shaking table tests demonstrate that the proposed isolator provides good protection to structures for prevention of damage from strong earthquakes.

Keywords: Friction Pendulum System, Multiple Friction Pendulum System, Base Isolation, Earthquake Engineering

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Authors: Abdul Rashid Husain, Mohamad Noh Ahmad, Abdul Halim Mohd. Yatim

Abstract:

In this paper, application of Sliding Mode Control (SMC) technique for an Active Magnetic Bearing (AMB) system with varying rotor speed is considered. The gyroscopic effect and mass imbalance inherited in the system is proportional to rotor speed in which this nonlinearity effect causes high system instability as the rotor speed increases. Transformation of the AMB dynamic model into regular system shows that these gyroscopic effect and imbalance lie in the mismatched part of the system. A H2-based sliding surface is designed which bound the mismatched parts. The solution of the surface parameter is obtained using Linear Matrix Inequality (LMI). The performance of the controller applied to the AMB model is demonstrated through simulation works under various system conditions.

Keywords: Active magnetic bearing, sliding mode control, linear matrix inequality, mismatched uncertainty and imbalance.

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Authors: Radim Cajka, Pavlina Mateckova, Martina Janulikova, Marie Stara

Abstract:

Use of a sliding joint is an effective method to decrease the stress in foundation structure where there is a horizontal deformation of subsoil (areas afflicted with underground mining) or horizontal deformation of a foundation structure (pre-stressed foundations, creep, shrinkage, temperature deformation). A convenient material for a sliding joint is a bitumen asphalt belt. Experiments for different types of bitumen belts were undertaken at the Faculty of Civil Engineering - VSB Technical University of Ostrava in 2008. This year an extension of the 2008 experiments is in progress and the shear resistance of a slide joint is being tested as a function of temperature in a temperature controlled room. In this paper experimental results of temperature dependant shear resistance are presented. The result of the experiments should be the sliding joint shear resistance as a function of deformation velocity and temperature. This relationship is used for numerical analysis of stress/strain relation between foundation structure and subsoil. Using a rheological slide joint could lead to a decrease of the reinforcement amount, and contribute to higher reliability of foundation structure and thus enable design of more durable and sustainable building structures.

Keywords: Pre-stressed foundations, sliding joint, soil-structure interaction, subsoil horizontal deformation.

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Authors: Mawahib Gafare Abdalrahman Ahmed, Abdallah Belal Adam, John Ojur Dennis

Abstract:

Air bubbles have been detected in human circulation of end-stage renal disease patients who are treated by hemodialysis. The consequence of air embolism, air bubbles, is under recognized and usually overlooked in daily practice. This paper shows results of a capacitor based detection method that capable of detecting the presence of air bubbles in the blood stream in different frequencies. The method is based on a parallel plates capacitor made of platinum with an area of 1.5 cm2 and a distance between the two plates is 1cm. The dielectric material used in this capacitor is Dextran70 solution which mimics blood rheology. Simulations were carried out using RC circuit at two frequencies 30Hz and 3 kHz and results compared with experiments and theory. It is observed that by injecting air bubbles of different diameters into the device, there were significant changes in the capacitance of the capacitor. Furthermore, it is observed that the output voltage from the circuit increased with increasing air bubble diameter. These results demonstrate the feasibility of this approach in improving air bubble detection in Hemodialysis.

Keywords: Air bubbles, Hemodialysis, Capacitor, Dextran70, Air bubbles diameters.

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Authors: Yashvir Singh

Abstract:

Around the globe, there is demand for the development of bio-based lubricant which will be biodegradable, non -toxic and environmental friendly. This paper outlines the friction and wear characteristics of Pongamia oil (PO) contaminated bio-lubricant by using pin-on-disc tribometer. To formulate the bio-lubricants, PO was blended in the ratios 15, 30 and 50% by volume with the base lubricant SAE 20 W 40. Tribological characteristics of these blends were carried out at 3.8 m/s sliding velocity and loads applied were 50, 100, 150 N. Experimental results showed that the lubrication regime that occurred during the test was boundary lubrication while the main wear mechanisms were abrasive and the adhesive wear. During testing, the lowest wear was found with the addition of 15% PO, and above this contamination, the wear rate was increased considerably. With increase in load, viscosity of all the bio-lubricants increases and meets the ISO VG 100 requirement at 40 ^oC except PB 50. The addition of PO in the base lubricant acted as a very good lubricant additive which reduced the friction and wear scar diameter during the test. It has been concluded that the PB 15 can act as an alternative lubricant to increase the mechanical efficiency at 3.8 m/s sliding velocity and contribute in reduction of dependence on the petroleum based products.

Keywords: Pongamia oil, sliding velocity, load, friction, wear.

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