Search results for: tap controller.
580 An Intelligent Controller Augmented with Variable Zero Lag Compensation for Antilock Braking System
Authors: Benjamin C. Agwah, Paulinus C. Eze
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Antilock braking system (ABS) is one of the important contributions by the automobile industry, designed to ensure road safety in such way that vehicles are kept steerable and stable when during emergency braking. This paper presents a wheel slip-based intelligent controller with variable zero lag compensation for ABS. It is required to achieve a very fast perfect wheel slip tracking during hard braking condition and eliminate chattering with improved transient and steady state performance, while shortening the stopping distance using effective braking torque less than maximum allowable torque to bring a braking vehicle to a stop. The dynamic of a vehicle braking with a braking velocity of 30 ms⁻¹ on a straight line was determined and modelled in MATLAB/Simulink environment to represent a conventional ABS system without a controller. Simulation results indicated that system without a controller was not able to track desired wheel slip and the stopping distance was 135.2 m. Hence, an intelligent control based on fuzzy logic controller (FLC) was designed with a variable zero lag compensator (VZLC) added to enhance the performance of FLC control variable by eliminating steady state error, provide improve bandwidth to eliminate the effect of high frequency noise such as chattering during braking. The simulation results showed that FLC-VZLC provided fast tracking of desired wheel slip, eliminated chattering, and reduced stopping distance by 70.5% (39.92 m), 63.3% (49.59 m), 57.6% (57.35 m) and 50% (69.13 m) on dry, wet, cobblestone and snow road surface conditions respectively. Generally, the proposed system used effective braking torque that is less than the maximum allowable braking torque to achieve efficient wheel slip tracking and overall robust control performance on different road surfaces.
Keywords: ABS, Fuzzy Logic Controller, Variable Zero Lag Compensator, Wheel Slip Tracking.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 326579 A POX Controller Module to Prepare a List of Flow Header Information Extracted from SDN Traffic
Authors: Wisam H. Muragaa, Kamaruzzaman Seman, Mohd Fadzli Marhusin
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Software Defined Networking (SDN) is a paradigm designed to facilitate the way of controlling the network dynamically and with more agility. Network traffic is a set of flows, each of which contains a set of packets. In SDN, a matching process is performed on every packet coming to the network in the SDN switch. Only the headers of the new packets will be forwarded to the SDN controller. In terminology, the flow header fields are called tuples. Basically, these tuples are 5-tuple: the source and destination IP addresses, source and destination ports, and protocol number. This flow information is used to provide an overview of the network traffic. Our module is meant to extract this 5-tuple with the packets and flows numbers and show them as a list. Therefore, this list can be used as a first step in the way of detecting the DDoS attack. Thus, this module can be considered as the beginning stage of any flow-based DDoS detection method.
Keywords: Matching, OpenFlow tables, POX controller, SDN, table-miss.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1211578 Stable Robust Adaptive Controller and Observer Design for a Class of SISO Nonlinear Systems with Unknown Dead Zone
Authors: Ibrahim F. Jasim
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This paper presents a new stable robust adaptive controller and observer design for a class of nonlinear systems that contain i. Coupling of unmeasured states and unknown parameters ii. Unknown dead zone at the system actuator. The system is firstly cast into a modified form in which the observer and parameter estimation become feasible. Then a stable robust adaptive controller, state observer, parameter update laws are derived that would provide global adaptive system stability and desirable performance. To validate the approach, simulation was performed to a single-link mechanical system with a dynamic friction model and unknown dead zone exists at the system actuation. Then a comparison is presented with the results when there is no dead zone at the system actuation.
Keywords: Dead Zone, Nonlinear Systems, Observer, Robust Adaptive Control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1704577 A Novel Digital Implementation of AC Voltage Controller for Speed Control of Induction Motor
Authors: Ali M. Eltamaly, A. I. Alolah, R. Hamouda, M. Y. Abdulghany
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In this paper a novel, simple and reliable digital firing scheme has been implemented for speed control of three-phase induction motor using ac voltage controller. The system consists of three-phase supply connected to the three-phase induction motor via three triacs and its control circuit. The ac voltage controller has three modes of operation depending on the shape of supply current. The performance of the induction motor differs in each mode where the speed is directly proportional with firing angle in two modes and inversely in the third one. So, the control system has to detect the current mode of operation to choose the correct firing angle of triacs. Three sensors are used to feed the line currents to control system to detect the mode of operation. The control strategy is implemented using a low cost Xilinx Spartan-3E field programmable gate array (FPGA) device. Three PI-controllers are designed on FPGA to control the system in the three-modes. Simulation of the system is carried out using PSIM computer program. The simulation results show stable operation for different loading conditions especially in mode 2/3. The simulation results have been compared with the experimental results from laboratory prototype.Keywords: FPGA, Induction motor, PSIM, triac, Voltage controller.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2903576 Battery/Supercapacitor Emulator for Chargers Functionality Testing
Authors: S. Farag, A. Kupeman
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In this paper, design of solid-state battery/supercapacitor emulator based on dc-dc boost converter is described. The emulator mimics charging behavior of any storage device based on a predefined behavior set by the user. The device is operated by a two-level control structure: high-level emulating controller and low- level input voltage controller. Simulation and experimental results are shown to demonstrate the emulator operation.
Keywords: Battery, Charger, Energy, Storage, Supercapacitor.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2847575 Power System with PSS and FACTS Controller: Modelling, Simulation and Simultaneous Tuning Employing Genetic Algorithm
Authors: Sidhartha Panda, Narayana Prasad Padhy
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This paper presents a systematic procedure for modelling and simulation of a power system installed with a power system stabilizer (PSS) and a flexible ac transmission system (FACTS)-based controller. For the design purpose, the model of example power system which is a single-machine infinite-bus power system installed with the proposed controllers is developed in MATLAB/SIMULINK. In the developed model synchronous generator is represented by model 1.1. which includes both the generator main field winding and the damper winding in q-axis so as to evaluate the impact of PSS and FACTS-based controller on power system stability. The model can be can be used for teaching the power system stability phenomena, and also for research works especially to develop generator controllers using advanced technologies. Further, to avoid adverse interactions, PSS and FACTS-based controller are simultaneously designed employing genetic algorithm (GA). The non-linear simulation results are presented for the example power system under various disturbance conditions to validate the effectiveness of the proposed modelling and simultaneous design approach.
Keywords: Genetic algorithm, modelling and simulation, MATLAB/SIMULINK, power system stabilizer, thyristor controlledseries compensator, simultaneous design, power system stability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3145574 Fuzzy PID Controller with Coupled Rules for a Nonlinear Quarter Car Model
Authors: Şaban Çetin, Özgür Demir
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In this study, Fuzzy PID Control scheme is designed for an active suspension system. The main goal of an active suspension system for using in a vehicle model is reducing body deflections and handling high comfort for a passenger car. The present system was modelled as a two-degree-of-freedom (2-DOF) nonlinear vehicle model.Keywords: Active suspension system, Fuzzy PID controller, a nonlinear quarter car model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2385573 Path-Tracking Controller for Tracked Mobile Robot on Rough Terrain
Authors: Toshifumi Hiramatsu, Satoshi Morita, Manuel Pencelli, Marta Niccolini, Matteo Ragaglia, Alfredo Argiolas
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Automation technologies for agriculture field are needed to promote labor-saving. One of the most relevant problems in automated agriculture is represented by controlling the robot along a predetermined path in presence of rough terrain or incline ground. Unfortunately, disturbances originating from interaction with the ground, such as slipping, make it quite difficult to achieve the required accuracy. In general, it is required to move within 5-10 cm accuracy with respect to the predetermined path. Moreover, lateral velocity caused by gravity on the incline field also affects slipping. In this paper, a path-tracking controller for tracked mobile robots moving on rough terrains of incline field such as vineyard is presented. The controller is composed of a disturbance observer and an adaptive controller based on the kinematic model of the robot. The disturbance observer measures the difference between the measured and the reference yaw rate and linear velocity in order to estimate slip. Then, the adaptive controller adapts “virtual” parameter of the kinematics model: Instantaneous Centers of Rotation (ICRs). Finally, target angular velocity reference is computed according to the adapted parameter. This solution allows estimating the effects of slip without making the model too complex. Finally, the effectiveness of the proposed solution is tested in a simulation environment.
Keywords: Agricultural robot, autonomous control, path-tracking control, tracked mobile robot.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1112572 Portfolio Management: A Fuzzy Set Based Approach to Monitoring Size to Maximize Return and Minimize Risk
Authors: Margaret F. Shipley
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Fuzzy logic can be used when knowledge is incomplete or when ambiguity of data exists. The purpose of this paper is to propose a proactive fuzzy set- based model for reacting to the risk inherent in investment activities relative to a complete view of portfolio management. Fuzzy rules are given where, depending on the antecedents, the portfolio size may be slightly or significantly decreased or increased. The decision maker considers acceptable bounds on the proportion of acceptable risk and return. The Fuzzy Controller model allows learning to be achieved as 1) the firing strength of each rule is measured, 2) fuzzy output allows rules to be updated, and 3) new actions are recommended as the system continues to loop. An extension is given to the fuzzy controller that evaluates potential financial loss before adjusting the portfolio. An application is presented that illustrates the algorithm and extension developed in the paper.Keywords: Portfolio Management, Financial Market Monitoring, Fuzzy Controller, Fuzzy Logic,
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1839571 The Decentralized Nonlinear Controller of Robot Manipulator with External Load Compensation
Authors: Sun Lim, Il-Kyun Jung
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This paper describes a newly designed decentralized nonlinear control strategy to control a robot manipulator. Based on the concept of the nonlinear state feedback theory and decentralized concept is developed to improve the drawbacks in previous works concerned with complicate intelligent control and low cost effective sensor. The control methodology is derived in the sense of Lyapunov theorem so that the stability of the control system is guaranteed. The decentralized algorithm does not require other joint angle and velocity information. Individual Joint controller is implemented using a digital processor with nearly actuator to make it possible to achieve good dynamics and modular. Computer simulation result has been conducted to validate the effectiveness of the proposed control scheme under the occurrence of possible uncertainties and different reference trajectories. The merit of the proposed control system is indicated in comparison with a classical control system.Keywords: Robot manipulator control, nonlinear controller, Lyapunov based stability, Interconnection compensation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1617570 Intelligent Temperature Controller for Water-Bath System
Authors: Om Prakash Verma, Rajesh Singla, Rajesh Kumar
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Conventional controller’s usually required a prior knowledge of mathematical modelling of the process. The inaccuracy of mathematical modelling degrades the performance of the process, especially for non-linear and complex control problem. The process used is Water-Bath system, which is most widely used and nonlinear to some extent. For Water-Bath system, it is necessary to attain desired temperature within a specified period of time to avoid the overshoot and absolute error, with better temperature tracking capability, else the process is disturbed.
To overcome above difficulties intelligent controllers, Fuzzy Logic (FL) and Adaptive Neuro-Fuzzy Inference System (ANFIS), are proposed in this paper. The Fuzzy controller is designed to work with knowledge in the form of linguistic control rules. But the translation of these linguistic rules into the framework of fuzzy set theory depends on the choice of certain parameters, for which no formal method is known. To design ANFIS, Fuzzy-Inference-System is combined with learning capability of Neural-Network.
It is analyzed that ANFIS is best suitable for adaptive temperature control of above system. As compared to PID and FLC, ANFIS produces a stable control signal. It has much better temperature tracking capability with almost zero overshoot and minimum absolute error.
Keywords: PID Controller, FLC, ANFIS, Non-Linear Control System, Water-Bath System, MATLAB-7.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5537569 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 2469568 Comparison between PI and PR Current Controllers in Grid Connected PV Inverters
Authors: D. Zammit, C. Spiteri Staines, M. Apap
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This paper presents a comparison between Proportional Integral (PI) and Proportional Resonant (PR) current controllers used in Grid Connected Photovoltaic (PV) Inverters. Both simulation and experimental results will be presented. A 3kW Grid-Connected PV Inverter was designed and constructed for this research.
Keywords: Inverters, Proportional-Integral Controller, Proportional-Resonant Controller, Photovoltaic.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15898567 DFIG-Based Wind Turbine with Shunt Active Power Filter Controlled by Double Nonlinear Predictive Controller
Authors: Abderrahmane El Kachani, El Mahjoub Chakir, Anass Ait Laachir, Abdelhamid Niaaniaa, Jamal Zerouaoui, Tarik Jarou
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This paper presents a wind turbine based on the doubly fed induction generator (DFIG) connected to the utility grid through a shunt active power filter (SAPF). The whole system is controlled by a double nonlinear predictive controller (DNPC). A Taylor series expansion is used to predict the outputs of the system. The control law is calculated by optimization of the cost function. The first nonlinear predictive controller (NPC) is designed to ensure the high performance tracking of the rotor speed and regulate the rotor current of the DFIG, while the second one is designed to control the SAPF in order to compensate the harmonic produces by the three-phase diode bridge supplied by a passive circuit (rd, Ld). As a result, we obtain sinusoidal waveforms of the stator voltage and stator current. The proposed nonlinear predictive controllers (NPCs) are validated via simulation on a 1.5 MW DFIG-based wind turbine connected to an SAPF. The results obtained appear to be satisfactory and promising.
Keywords: Wind power, doubly fed induction generator, shunt active power filter, double nonlinear predictive controller.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 905566 Coordinated Design of TCSC Controller and PSS Employing Particle Swarm Optimization Technique
Authors: Sidhartha Panda, N. P. Padhy
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This paper investigates the application of Particle Swarm Optimization (PSO) technique for coordinated design of a Power System Stabilizer (PSS) and a Thyristor Controlled Series Compensator (TCSC)-based controller to enhance the power system stability. The design problem of PSS and TCSC-based controllers is formulated as a time domain based optimization problem. PSO algorithm is employed to search for optimal controller parameters. By minimizing the time-domain based objective function, in which the deviation in the oscillatory rotor speed of the generator is involved; stability performance of the system is improved. To compare the capability of PSS and TCSC-based controller, both are designed independently first and then in a coordinated manner for individual and coordinated application. The proposed controllers are tested on a weakly connected power system. The eigenvalue analysis and non-linear simulation results are presented to show the effectiveness of the coordinated design approach over individual design. The simulation results show that the proposed controllers are effective in damping low frequency oscillations resulting from various small disturbances like change in mechanical power input and reference voltage setting.Keywords: Particle swarm optimization, Phillips-Heffron model, power system stability, PSS, TCSC.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2151565 Backstepping Sliding Mode Controller Coupled to Adaptive Sliding Mode Observer for Interconnected Fractional Nonlinear System
Authors: D. Elleuch, T. Damak
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Performance control law is studied for an interconnected fractional nonlinear system. Applying a backstepping algorithm, a backstepping sliding mode controller (BSMC) is developed for fractional nonlinear system. To improve control law performance, BSMC is coupled to an adaptive sliding mode observer have a filtered error as a sliding surface. The both architecture performance is studied throughout the inverted pendulum mounted on a cart. Simulation result show that the BSMC coupled to an adaptive sliding mode observer have stable control law and eligible control amplitude than the BSMC.Keywords: Backstepping sliding mode controller, interconnected fractional nonlinear system, adaptive sliding mode observer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2283564 Auto-Selective Three Term Control of Position and Compliance of a Pneumatic Actuator
Authors: M. G. Papoutsidakis, G. Chamilothoris, A Pipe
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Due to their high power-to-weight ratio and low cost, pneumatic actuators are attractive for robotics and automation applications; however, achieving fast and accurate control of their position have been known as a complex control problem. The paper presents a methodology for obtaining controllers that achieve high position accuracy and preserve the closed-loop characteristics over a broad operating range. Experimentation with a number of conventional (or "classical") three-term controllers shows that, as repeated operations accumulate, the characteristics of the pneumatic actuator change requiring frequent re-tuning of the controller parameters (PID gains). Furthermore, three-term controllers are found to perform poorly in recovering the closed-loop system after the application of load or other external disturbances. The key reason for these problems lies in the non-linear exchange of energy inside the cylinder relating, in particular, to the complex friction forces that develop on the piston-wall interface. In order to overcome this problem but still remain within the boundaries of classical control methods, we designed an auto selective classicaql controller so that the system performance would benefit from all three control gains (KP, Kd, Ki) according to system requirements and the characteristics of each type of controller. This challenging experimentation took place for consistent performance in the face of modelling imprecision and disturbances. In the work presented, a selective PID controller is presented for an experimental rig comprising an air cylinder driven by a variable-opening pneumatic valve and equipped with position and pressure sensors. The paper reports on tests carried out to investigate the capability of this specific controller to achieve consistent control performance under, repeated operations and other changes in operating conditions.
Keywords: Classical selective controller, long-termexperimentation, pneumatic actuator, position accuracy.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1924563 Model-Based Control for Piezoelectric-Actuated Systems Using Inverse Prandtl-Ishlinskii Model and Particle Swarm Optimization
Authors: Jin-Wei Liang, Hung-Yi Chen, Lung Lin
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In this paper feedforward controller is designed to eliminate nonlinear hysteresis behaviors of a piezoelectric stack actuator (PSA) driven system. The control design is based on inverse Prandtl-Ishlinskii (P-I) hysteresis model identified using particle swarm optimization (PSO) technique. Based on the identified P-I model, both the inverse P-I hysteresis model and feedforward controller can be determined. Experimental results obtained using the inverse P-I feedforward control are compared with their counterparts using hysteresis estimates obtained from the identified Bouc-Wen model. Effectiveness of the proposed feedforward control scheme is demonstrated. To improve control performance feedback compensation using traditional PID scheme is adopted to integrate with the feedforward controller.
Keywords: The Bouc-Wen hysteresis model, Particle swarm optimization, Prandtl-Ishlinskii model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2401562 Design and Implementation of a Hybrid Fuzzy Controller for a High-Performance Induction
Authors: M. Zerikat, S. Chekroun
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This paper proposes an effective algorithm approach to hybrid control systems combining fuzzy logic and conventional control techniques of controlling the speed of induction motor assumed to operate in high-performance drives environment. The introducing of fuzzy logic in the control systems helps to achieve good dynamical response, disturbance rejection and low sensibility to parameter variations and external influences. Some fundamentals of the fuzzy logic control are preliminary illustrated. The developed control algorithm is robust, efficient and simple. It also assures precise trajectory tracking with the prescribed dynamics. Experimental results have shown excellent tracking performance of the proposed control system, and have convincingly demonstrated the validity and the usefulness of the hybrid fuzzy controller in high-performance drives with parameter and load uncertainties. Satisfactory performance was observed for most reference tracks.
Keywords: Fuzzy controller, high-performance, inductionmotor, intelligent control, robustness.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2162561 Heuristic Search Algorithms for Tuning PUMA 560 Fuzzy PID Controller
Authors: Sufian Ashraf Mazhari, Surendra Kumar
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This paper compares the heuristic Global Search Techniques; Genetic Algorithm, Particle Swarm Optimization, Simulated Annealing, Generalized Pattern Search, genetic algorithm hybridized with Nelder–Mead and Generalized pattern search technique for tuning of fuzzy PID controller for Puma 560. Since the actual control is in joint space ,inverse kinematics is used to generate various joint angles correspoding to desired cartesian space trajectory. Efficient dynamics and kinematics are modeled on Matlab which takes very less simulation time. Performances of all the tuning methods with and without disturbance are compared in terms of ITSE in joint space and ISE in cartesian space for spiral trajectory tracking. Genetic Algorithm hybridized with Generalized Pattern Search is showing best performance.Keywords: Controller tuning, Fuzzy Control, Genetic Algorithm, Heuristic search, Robot control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2206560 Accurate Control of a Pneumatic System using an Innovative Fuzzy Gain-Scheduling Pattern
Authors: M. G. Papoutsidakis, G. Chamilothoris, F. Dailami, N. Larsen, A Pipe
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Due to their high power-to-weight ratio and low cost, pneumatic actuators are attractive for robotics and automation applications; however, achieving fast and accurate control of their position have been known as a complex control problem. A methodology for obtaining high position accuracy with a linear pneumatic actuator is presented. During experimentation with a number of PID classical control approaches over many operations of the pneumatic system, the need for frequent manual re-tuning of the controller could not be eliminated. The reason for this problem is thermal and energy losses inside the cylinder body due to the complex friction forces developed by the piston displacements. Although PD controllers performed very well over short periods, it was necessary in our research project to introduce some form of automatic gain-scheduling to achieve good long-term performance. We chose a fuzzy logic system to do this, which proved to be an easily designed and robust approach. Since the PD approach showed very good behaviour in terms of position accuracy and settling time, it was incorporated into a modified form of the 1st order Tagaki- Sugeno fuzzy method to build an overall controller. This fuzzy gainscheduler uses an input variable which automatically changes the PD gain values of the controller according to the frequency of repeated system operations. Performance of the new controller was significantly improved and the need for manual re-tuning was eliminated without a decrease in performance. The performance of the controller operating with the above method is going to be tested through a high-speed web network (GRID) for research purposes.Keywords: Fuzzy logic, gain scheduling, leaky integrator, pneumatic actuator.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1740559 Design of Power System Stabilizer with Neuro-Fuzzy UPFC Controller
Authors: U. Ramesh Babu, V. Vijay Kumar Reddy, S. Tara Kalyani
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The growth in the demand of electrical energy is leading to load on the Power system which increases the occurrence of frequent oscillations in the system. The reason for the oscillations is due to the lack of damping torque which is required to dominate the disturbances of Power system. By using FACT devices, such as Unified Power Flow Controller (UPFC) can control power flow, reduce sub-synchronous resonances and increase transient stability. Hence, UPFC is used to damp the oscillations occurred in Power system. This research focuses on adapting the neuro fuzzy controller for the UPFC design by connecting the infinite bus (SMIB - Single machine Infinite Bus) to a linearized model of synchronous machine (Heffron-Phillips) in the power system. This model gains the capability to improve the transient stability and to damp the oscillations of the system.Keywords: Power System, UPFC, (ANFIS) Adaptive Neuro Fuzzy Inference System, transient, Low frequency oscillations.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1979558 One-DOF Precision Position Control using the Combined Piezo-VCM Actuator
Authors: Yung-Tien Liu, Chun-Chao Wang
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This paper presents the control performance of a high-precision positioning device using the hybrid actuator composed of a piezoelectric (PZT) actuator and a voice-coil motor (VCM). The combined piezo-VCM actuator features two main characteristics: a large operation range due to long stroke of the VCM, and high precision and heavy load positioning ability due to PZT impact force. A one-degree-of-freedom (DOF) experimental setup was configured to examine the fundamental characteristics, and the control performance was effectively demonstrated by using a switching controller. In rough positioning state, an integral variable structure controller (IVSC) was used for the VCM to conduct long range of operation; in precision positioning state, an impact force controller (IFC) for the PZT actuator coupled with presliding states of the sliding table was used to obtain high-precision position control and achieve both forward and backward actuations. The experimental results showed that the sliding table having a mass of 881g and with a preload of 10 N was successfully positioned within the positioning accuracy of 10 nm in both forward and backward position controls.
Keywords: Integral variable structure controller (IVSC), impact force, precision positioning, presliding, PZT actuator, voice-coil motor (VCM).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1928557 Neural Adaptive Switching Control of Robotic Systems
Authors: A. Denker, U. Akıncıoğlu
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In this paper a neural adaptive control method has been developed and applied to robot control. Simulation results are presented to verify the effectiveness of the controller. These results show that the performance by using this controller is better than those which just use either direct inverse control or predictive control. In addition, they show that the resulting is a useful method which combines the advantages of both direct inverse control and predictive control.Keywords: Neural networks, robotics, direct inverse control, predictive control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2170556 Active Suspension - Case Study on Robust Control
Authors: Kruczek A., Stříbrský A., Honců J., Hlinovský M.
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Automotive suspension system is important part of car comfort and safety. In this article automotive active suspension with linear motor as actuator is designed using H-infinity control. This paper is focused on comparison of different controller designed for quart, half or full-car model (and always used for “full" car). Special attention is placed on energy demand of the whole system. Each controller configuration is simulated and then verified on the hydraulic quarter car test bed.Keywords: active suspension, linear motor, robust control
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2104555 Output Regulation of Perturbed Nonlinear Systems by Nested Sliding Mode Control
Authors: Aras Adhami Mirhoseini, Mohammad J. Yazdanpanah
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In this paper, we consider nested sliding mode control of SISO nonlinear systems, perturbed by bounded matched and unmatched uncertainties. The systems are assumed to be in strict-feedback form. A step wise procedure is introduced to obtain the controller. In each step, a continuous sliding mode controller is designed as virtual control law. Then the next step sliding surface is defined by using this virtual controller. These sliding surfaces are selected as nonlinear static functions of the system states. Finally in the last step, smooth static state feedback control law is determined such that the output reaches the desired set-point while the system is forced arbitrary close to the intersection of sliding surfaces and the states remain bounded.
Keywords: Sliding mode control, Strict-feedback form, Unmatched uncertainty, output regulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2142554 Synchronization of a Perturbed Satellite Attitude Motion
Authors: Sadaoui Djaouida
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In the paper, the predictive control method is proposed to control the synchronization of two perturbed satellites attitude motion. Based on delayed feedback control of continuous-time systems combines with the prediction-based method of discrete-time systems, this approach only needs a single controller to realize synchronization, which has considerable significance in reducing the cost and complexity for controller implementation.
Keywords: Predictive control, Synchronization, Satellite attitude.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1934553 An Inverse Optimal Control Approach for the Nonlinear System Design Using ANN
Authors: M. P. Nanda Kumar, K. Dheeraj
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The design of a feedback controller, so as to minimize a given performance criterion, for a general non-linear dynamical system is difficult; if not impossible. But for a large class of non-linear dynamical systems, the open loop control that minimizes a performance criterion can be obtained using calculus of variations and Pontryagin’s minimum principle. In this paper, the open loop optimal trajectories, that minimizes a given performance measure, is used to train the neural network whose inputs are state variables of non-linear dynamical systems and the open loop optimal control as the desired output. This trained neural network is used as the feedback controller. In other words, attempts are made here to solve the “inverse optimal control problem” by using the state and control trajectories that are optimal in an open loop sense.
Keywords: Inverse Optimal Control, Radial basis function neural network, Controller Design.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2278552 An Intelligent Cascaded Fuzzy Logic Based Controller for Controlling the Room Temperature in Hydronic Heating System
Authors: Vikram Jeganathan, A. V. Sai Balasubramanian, N. Ravi Shankar, S. Subbaraman, R. Rengaraj
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Heating systems are a necessity for regions which brace extreme cold weather throughout the year. To maintain a comfortable temperature inside a given place, heating systems making use of- Hydronic boilers- are used. The principle of a single pipe system serves as a base for their working. It is mandatory for these heating systems to control the room temperature, thus maintaining a warm environment. In this paper, the concept of regulation of the room temperature over a wide range is established by using an Adaptive Fuzzy Controller (AFC). This fuzzy controller automatically detects the changes in the outside temperatures and correspondingly maintains the inside temperature to a palatial value. Two separate AFC's are put to use to carry out this function: one to determine the quantity of heat needed to reach the prospective temperature required and to set the desired temperature; the other to control the position of the valve, which is directly proportional to the error between the present room temperature and the user desired temperature. The fuzzy logic controls the position of the valve as per the requirement of the heat. The amount by which the valve opens or closes is controlled by 5 knob positions, which vary from minimum to maximum, thereby regulating the amount of heat flowing through the valve. For the given test system data, different de-fuzzifier methods have been implemented and the results are compared. In order to validate the effectiveness of the proposed approach, a fuzzy controller has been designed by obtaining a test data from a real time system. The simulations are performed in MATLAB and are verified with standard system data. The proposed approach can be implemented for real time applications.Keywords: Adaptive fuzzy controller, Hydronic heating system
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1965551 Fuzzy Logic Based Active Vibration Control of Piezoelectric Stewart Platform
Authors: Arian Bahrami, Mojtaba Tafaoli-Masoule, Mansour Nikkhah Bahrami
Abstract:
This paper demonstrates the potential of applying PD-like fuzzy logic controller for active vibration control of piezoelectric Stewart platforms. Through simulation, the control authority of the piezo stack actuators for effectively damping the Stewart platform vibration can be evaluated for further implementation of the system. Each leg of the piezoelectric Stewart platform consists of a linear piezo stack actuator, a collocated velocity sensor, a collocated displacement sensor and flexible tips for the connections with the two end plates. The piezoelectric stack is modeled as a bar element and the electro-mechanical coupling property is simulated using Matlab/Simulink software. Then, the open loop and closed loop dynamic responses are performed for the system to characterize the effect of the control on the vibration of the piezoelectric Stewart platform. A significant improvement in the damping of the structure can be observed by using the PD-like fuzzy controller.
Keywords: Active vibration control, Fuzzy controller, Piezoelectric stewart platform.
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