Search results for: Packed U-Cell inverter

Authors: Jung Hyun Kim, Gyo Woo Lee

Abstract:

In this study, the enhancement of the heat release performance of an extruded-type heat sink to prepare the large-capacity solar inverter thru the flow holes in the base plate near the heat sources was investigated. Optimal location and number of the holes in the baseplate were determined by using a commercial computation program. The heat release performance of the shape-modified heat sink was measured experimentally and compared with that of the simulation. The heat sink with 12 flow holes in the 18-mm-thick base plate has a 8.1% wider heat transfer area, a 2.5% more mass flow of air, and a 2.7% higher heat release rate than those of the original heat sink. Also, the surface temperature of the base plate was lowered 1.5^oC by the holes.

Keywords: Heat Sink, Forced Convection, Heat Transfer, Performance Evaluation, Flow Holes.

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Authors: Md. Noman Habib Khan, S. Khan, T. S. Gunawan, R. I. Boby

Abstract:

The photovoltaic (PV) panel with no galvanic isolation system is well known technique in the world which is effective and delivers power with enhanced efficiency. The PV generation presented here is for stand-alone system installed in remote areas when as the resulting power gets connected to electronic load installation instead of being tied to the grid. Though very small, even then transformer-less topology is shown to be with leakage in pico-ampere range. By using PWM technique PWM, leakage current in different situations is shown. The results shown in this paper show how the pico-ampere current is reduced to femto-ampere through use of inductors and capacitors of suitable values of inductor and capacitors with the load.

Keywords: Photovoltaic (PV) panel, Duty cycle, Pulse Duration Modulation (PDM), Leakage current.

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Authors: Sarah Abdourraziq, Rachid El Bachtiri

Abstract:

The solar power source for pumping water is one of the most promising areas in photovoltaic applications. The implementation of these systems allows to protect the environment and reduce the CO₂ gas emission compared to systems trained by diesel generators. This paper presents a comparative study between the photovoltaic pumping system driven by DC motor, and AC motor to define the optimum design of this application. The studied system consists of PV array, DC-DC Boost Converter, inverter, motor-pump set and storage tank. The comparison was carried out to define the characteristics and the performance of each system. Each subsystem is modeled in order to simulate the whole system in MATLAB/ Simulink. The results show the efficiency of the proposed technique.

Keywords: Photovoltaic water pumping system, DC motor-pump, AC motor-pump, DC-DC boost converter.

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Authors: S. Abouda, F. Nollet, A. Chaari, N. Essounbouli, Y. Koubaa

Abstract:

In this paper we propose the study of a centrifugal pump control system driven by a three-phase induction motor, which is supplied by a PhotoVoltaic PV generator. The system includes solar panel, a DC / DC converter equipped with its MPPT control, a voltage inverter to three-phase Pulse Width Modulation - PWM and a centrifugal pump driven by a three phase induction motor. In order to control the flow of the centrifugal pump, a Direct Torque Control - DTC of the induction machine is used. To illustrate the performances of the control, simulation results are carried out using Matlab/Simulink.

Keywords: Photovoltaic generators, Maximum power point tracking (MPPT), DC/DC converters, Induction motor, Direct torque control (DTC).

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Authors: Zhenguo Vincent Chia, Sheung Yan Simon Ng, Minkyu Je

Abstract:

This paper presents CMOS Current Mode Logic (CML) circuits for a high speed Digital to Analog Converter (DAC) using standard CMOS 65nm process. The CML circuits have the propagation delay advantage over its conventional CMOS counterparts due to smaller output voltage swing and tunable bias current. The CML circuits proposed in this paper can achieve a maximum propagation delay of only 9.3ps, which can satisfy the stringent requirement for the 5 GHz high speed DAC application. Another advantage for CML circuits is its dynamic symmetry characteristic resulting in a reduction of an additional inverter. Simulation results show that the proposed CML circuits can operate from 1.08V to 1.3V with temperature ranging from -40 to +120°C.

Keywords: Conventional, Current Mode Logic, DAC, Decoder

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Authors: Zakir Husain

Abstract:

This paper presents modeling and analysis of 12-phase distribution static compensator (DSTATCOM), which is capable of balancing the source currents in spite of unbalanced loading and phase outages. In addition to balance the supply current, the power factor can be set to a desired value. The theory of instantaneous symmetrical components is used to generate the twelve-phase reference currents. These reference currents are then tracked using current controlled voltage source inverter, operated in a hysteresis band control scheme. An ideal compensator in place of physical realization of the compensator is used. The performance of the proposed DTATCOM is validated through MATLAB simulation and detailed simulation results are given.

Keywords: DSTATCOM, Modeling, Load balancing, Multiphase, Power factor correction.

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Authors: Soe Sandar Aung, Han Phyo Wai, Nyein Nyein Soe

Abstract:

The induction hardening machines are utilized in the industries which modify machine parts and tools needed to achieve high ware resistance. This paper describes the model of induction heating process design of inverter circuit and the results of induction surface hardening of heating coil. In the design of heating coil, the shape and the turn numbers of the coil are very important design factors because they decide the overall operating performance of induction heater including resonant frequency, Q factor, efficiency and power factor. The performance will be tested by experiments in some cases high frequency induction hardening machine.

Keywords: Induction Heating, Resonant Circuit, InverterCircuit, Coil Design, Induction Hardening Machine.

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Authors: A. Tashakori, M. Ektesabi

Abstract:

Electric vehicle (EV) is one of the effective solutions to control emission of greenhouses gases in the world. It is of interest for future transportation due to its sustainability and efficiency by automotive manufacturers. Various electrical motors have been used for propulsion system of electric vehicles in last decades. In this paper brushed DC motor, Induction motor (IM), switched reluctance motor (SRM) and brushless DC motor (BLDC) are simulated and compared. BLDC motor is recommended for high performance electric vehicles. PWM switching technique is implemented for speed control of BLDC motor. Behavior of different modes of PWM speed controller of BLDC motor are simulated in MATLAB/SIMULINK. BLDC motor characteristics are compared and discussed for various PWM switching modes under normal and inverter fault conditions. Comparisons and discussions are verified through simulation results.

Keywords: BLDC motor, PWM switching technique, in-wheel technology, electric vehicle.

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Authors: S. Krishnan, J. Dumbre, S. Bhatt, Esther T. Akinlabi, R. Ramalingam

Abstract:

The localized corrosion behavior of laser surface melted 304L austenitic stainless steel was studied by potentiodynamic polarization test. The extent of improvement in corrosion resistance was governed by the preferred orientation and the percentage of delta ferrite present on the surface of the laser melted sample. It was established by orientation imaging microscopy that the highest pitting potential value was obtained when grains were oriented in the most close- packed [101] direction compared to the random distribution of the base metal and other laser surface melted samples oriented in [001] direction. The sample with lower percentage of ferrite had good pitting resistance.

Keywords: Crystallographic orientation, Ferrite percentage, Laser melting, Pitting corrosion, 304L SS.

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Authors: Marius Gheju, Laura Cocheci

Abstract:

In this study, the reduction of Cr(VI) by use of scrap iron, a cheap and locally available industrial waste, was investigated in continuous system. The greater scrap iron efficiency observed for the first two sections of the column filling indicate that most of the reduction process was carried out in the bottom half of the column filling. This was ascribed to a constant decrease of Cr(VI) concentration inside the filling, as the water front passes from the bottom to the top end of the column. While the bottom section of the column filling was heavily passivated with secondary mineral phases, the top section was less affected by the passivation process; therefore the column filling would likely ensure the reduction of Cr(VI) for time periods longer than 216 hours. The experimental results indicate that fixed beds columns packed with scrap iron could be successfully used for the first step of Cr(VI) polluted wastewater treatment. However, the mass of scrap iron filling should be carefully estimated since it significantly affects the Cr(VI) reduction efficiency.

Keywords: hexavalent chromium, heavy metals, scrap iron, reduction capacity, wastewater treatment

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Authors: S. Massoum, A. Bentaallah, A. Massoum, F. Benaimeche, P. Wira, A. Meroufel

Abstract:

This paper presents a speed fuzzy sliding mode controller for a vector controlled induction machine (IM) fed by a voltage source inverter (PWM). The sliding mode based fuzzy control method is developed to achieve fast response, a best disturbance rejection and to maintain a good decoupling. The problem with sliding mode control is that there is high frequency switching around the sliding mode surface. The FSMC is the combination of the robustness of Sliding Mode Control (SMC) and the smoothness of Fuzzy Logic (FL). To reduce the torque fluctuations (chattering), the sign function used in the conventional SMC is substituted with a fuzzy logic algorithm. The proposed algorithm was simulated by Matlab/Simulink software and simulation results show that the performance of the control scheme is robust and the chattering problem is solved.

Keywords: IM, FOC, FLC, SMC, and FSMC.

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

Abstract:

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: T. Kusuma, K. Ashwini

Abstract:

This paper presents a real time video surveillance system which is capable of tracking multiple real time objects using Polar Vector Median (PVM) and Block Coding Modes (BCM) with Global Motion Compensation (GMC). This strategy works in the packed area and furthermore utilizes the movement vectors and BCM from the compressed bit stream to perform real time object tracking. We propose to do this in view of the neighboring Motion Vectors (MVs) using a method called PVM. Since GM adds to the object’s native motion, for accurate tracking, it is important to remove GM from the MV field prior to further processing. The proposed method is tested on a number of standard sequences and the results show its advantages over some of the current modern methods.

Keywords: Block coding mode, global motion compensation, object tracking, polar vector median, video surveillance.

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Authors: Abdolamir Nekoubin

Abstract:

The objective of this paper is to analyze the performance of a double-sided axial flux permanent magnet brushless DC (AFPM BLDC) motor with two-phase winding. To study the motor operation, a mathematical dynamic model has been proposed for motor, which became the basis for simulations that were performed using MATLAB/SIMULINK software package. The results of simulations were presented in form of the waveforms of selected quantities and the electromechanical characteristics performed by the motor. The calculation results show that the two-phase motor version develops smooth torque and reaches high efficiency. The twophase motor can be applied where more smooth torque is required. Finally a study on the influence of switching angle on motor performance shows that when advance switching technique is used, the motor operates with the highest efficiency.

Keywords: brushless DC motor, inverter, switching angle.

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Authors: Manish K Rathod, Jyotirmay Banerjee

Abstract:

The storage of thermal energy as a latent heat of phase change material (PCM) has created considerable interest among researchers in recent times. Here, an attempt is made to carry out numerical investigations to analyze the performance of latent heat storage units (LHSU) employing phase change material. The mathematical model developed is based on an enthalpy formulation. Freezing time of PCM packed in three different shaped containers viz. rectangular, cylindrical and cylindrical shell is compared. The model is validated with the results available in the literature. Results show that for the same mass of PCM and surface area of heat transfer, cylindrical shell container takes the least time for freezing the PCM and this geometric effect is more pronounced with an increase in the thickness of the shell than that of length of the shell.

Keywords: Enthalpy Formulation, Latent heat storage unit(LHSU), Numerical Model, Phase change material (PCM)

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Authors: Dawit Burusie Abdi, Mamidala Jagadesh Kumar

Abstract:

In this paper, using 2D TCAD simulations, the application of a dual material gate (DMG) for suppressing ambipolar conduction in a tunnel field effect transistor (TFET) is demonstrated. Using the proposed DMG concept, the ambipolar conduction can be effectively suppressed even if the drain doping is as high as that of the source doping. Achieving this symmetrical doping, without the ambipolar conduction in TFETs, gives the advantage of realizing both n-type and p-type devices with the same doping sequences. Furthermore, the output characteristics of the DMG TFET exhibit a good saturation when compared to that of the gate-drain underlap approach. This improved behavior of the DMG TFET makes it a good candidate for inverter based logic circuits.

Keywords: Dual material gate, suppressing ambipolar current, symmetrically doped TFET, tunnel FETs, PNPN TFET.

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Authors: Tasnuva Tamanna, Sanjida Halim Topa

Abstract:

Sputum smear conversion after one month of antituberculosis therapy in new smear positive pulmonary tuberculosis patients (PTB+) is a vital indicator towards treatment success. The objective of this study is to determine the rate of sputum smear conversion in new PTB+ patients after one month under treatment of National Institute of Diseases of the Chest and Hospital (NIDCH). Analysis of sputum smear conversion was done by re-clinical examination with sputum smear microscopic test after one month. Socio-demographic and hematological parameters were evaluated to perceive the correlation with the disease status. Among all enrolled patients only 33.33% were available for follow up diagnosis and of them only 42.86% patients turned to smear negative. Probably this consequence is due to non-coherence to the proper disease management. 66.67% and 78.78% patients reported low haemoglobin and packed cell volume level respectively whereas 80% and 93.33% patients accounted accelerated platelet count and erythrocyte sedimentation rate correspondingly.

Keywords: Followed up patients, PTB+ patients, sputum smear conversion, and sputum smear microscopic test.

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Authors: Jamel Khedri, Mohamed Chaabane, Mansour Souissi, Driss Mehdi

Abstract:

This paper deals with the synthesis of fuzzy controller applied to a permanent magnet synchronous machine (PMSM) with a guaranteed H∞ performance. To design this fuzzy controller, nonlinear model of the PMSM is approximated by Takagi-Sugeno fuzzy model (T-S fuzzy model), then the so-called parallel distributed compensation (PDC) is employed. Next, we derive the property of the H∞ norm. The latter is cast in terms of linear matrix inequalities (LMI-s) while minimizing the H∞ norm of the transfer function between the disturbance and the error ( ) ev T . The experimental and simulations results were conducted on a permanent magnet synchronous machine to illustrate the effects of the fuzzy modelling and the controller design via the PDC.

Keywords: Feedback controller, Takagi-Sugeno fuzzy model, Linear Matrix Inequality (LMI), PMSM, H∞ performance.

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Authors: Lija Dukalska, Sandra Muizniece-Brasava, Irisa Murniece, Ilona Dabina-Bicka, Emils Kozlinskis, Svetlana Sarvi

Abstract:

Experiments were carried out at the Faculty of Food Technology of Latvia University of Agriculture (LLU). Soft cheese Kleo produced in Latvia was packed in a biodegradable PLA without barrierproperties and VC999 BioPack lidding film PLA, coated with a barrier of pure silicon oxide (SiOx) and in combination with modified atmosphere (MAP) the influence on the shelf life was investigated and compared with some conventional (OPP, PE/PA, PE/OPA and Multibarrier 60) polymer film impact. Modified atmosphere consisted of carbon dioxide CO2 (E 290) 30% and nitrogen N2 (E 941) 70%. The analyzable samples were stored at the temperature of +4.0±0.5 °C up to 32 days- and analyzed before packaging and in the 0, 5th, 11th, 15th, 18th, 22nd, 25th, 29th and 32nd day of storage. The shelf life was extended along to 32 days, good outside appearance and lactic acid aroma was observed.

Keywords: Soft cheese, modified atmosphere, conventional andbiodegradable PLA film, shelf life

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Authors: G. R. Arab Markadeh, J. Soltani, N. R. Abjadi, M. Hajian

Abstract:

In this paper, a direct torque control - space vector modulation (DTC-SVM) scheme is presented for a six-phase speed and voltage sensorless induction motor (IM) drive. The decoupled torque and stator flux control is achieved based on IM stator flux field orientation. The rotor speed is detected by on-line estimating of the rotor angular slip speed and stator vector flux speed. In addition, a simple method is introduced to estimate the stator resistance. Moreover in this control scheme the voltage sensors are eliminated and actual motor phase voltages are approximated by using PWM inverter switching times and the dc link voltage. Finally, some simulation and experimental results are presented to verify the effectiveness and capability of the proposed control scheme.

Keywords: Stator FOC, Multiphase motors, sensorless.

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Authors: N. Sapari, S. Mustapha, H. Jusoh

Abstract:

Landfill gas, particularly methane is one of the greenhouse gases which contributes to global warming. This paper presents the findings of a study on methane gas production from simulated landfill reactor under saturated conditions. A reactor was constructed to represent a landfill cell of 2.5 m thickness on sandy soil. The reactor was 0.2 m in diameter and 4 m in height. One meter of sand and pebble layer was packed at the bottom of the reactor followed by 2.5 m of solid waste layer and 0.4 m of sand layer as the cover soil. Degradation of waste in the solid waste layer was at acidification stage as indicated by the leachate quality with COD as high as 55,511 mg/L and pH as low as 5.1. However, methanogenic environment was established at the bottom sand layer after one year of operation indicated by pH of 7.2 and methane gas generation. Leachate degradation took place as the leachate moved through the sand layer at an infiltration of rate 0.7 cm/day. This resulted in landfill gas production of 77 mL/day/kg containing 55 to 65% methane. The application of sand layer contributed to the gas production from landfill by an in-situ degradation of leachate in the sand at the bottom of the landfill.

Keywords: Gas production, methane, methanogenic sand layer, municipal solid waste, saturated landfill

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Authors: Tianchai Suksri, Satean Tunyasrirut

Abstract:

This paper presents design and implements the T-DOF PI controller design for a speed control of induction motor. The voltage source inverter type space vector pulse width modulation technique is used the drive system. This scheme leads to be able to adjust the speed of the motor by control the frequency and amplitude of the input voltage. The ratio of input stator voltage to frequency should be kept constant. The T-DOF PI controller design by root locus technique is also introduced to the system for regulates and tracking speed response. The experimental results in testing the 120 watt induction motor from no-load condition to rated condition show the effectiveness of the proposed control scheme.

Keywords: PI controller, root locus technique, space vector pulse width modulation, induction motor.

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Authors: Satean Tunyasrirut, Tianchai Suksri, Sompong Srilad

Abstract:

This paper presents design and implements a voltage source inverter type space vector pulse width modulation (SVPWM) for control a speed of induction motor. This scheme leads to be able to adjust the speed of the motor by control the frequency and amplitude of the stator voltage, the ratio of stator voltage to frequency should be kept constant. The fuzzy logic controller is also introduced to the system for keeping the motor speed to be constant when the load varies. The experimental results in testing the 0.22 kW induction motor from no-load condition to rated condition show the effectiveness of the proposed control scheme.

Keywords: Fuzzy logic control, space vector pulse width modulation, induction motor.

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Authors: Laima Silina, Ilze Gramatina, Lija Dukalska, Liga Skudra, Tatjana Rakcejeva, Dace Klava, Anita Blija

Abstract:

The objective of the present study was to determine quality parameters changes of red wine marinade marinated venison during storage. Beef as a control was analysed. Protein, fat, moisture and pH content dynamics as well microbiological quality was analyzed. The meat pieces were marinated in red wine marinade at 4±2ºC temperature for 48±1h. Marinated meat was placed in polypropylene trays, hermetically sealed with high barrier polymer film Multibarrier 60 under modified atmosphere (CO₂ 40%+N₂ 60%) without and with oxygen absorber sachets, as a control packaging in air ambiance packed marinated venison and beef was used. Meat samples were analyzed after 0, 4, 7, 11 and 14 days of storage. During the storage of meat, protein and moisture content significantly (p<0.05) decreased, pH and colony forming units significantly (p<0.05) increased, fat content does not change in all treatments irrespective of the packaging method.

Keywords: Marinating, modified atmosphere, quality, venison.

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Authors: Mehdi Nafar, Mohammad Reza Mansouri

Abstract:

The present research presents a direct active and reactive power control (DPC) of a wind energy conversion system (WECS) for the maximum power point tracking (MPPT) based on a doubly fed induction generator (DFIG) connected to electric power grid. The control strategy of the Rotor Side Converter (RSC) is targeted in extracting a maximum of power under fluctuating wind speed. A fuzzy logic speed controller (FLC) has been used to ensure the MPPT. The Grid Side Converter is directed in a way to ensure sinusoidal current in the grid side and a smooth DC voltage. To reduce fluctuations, rotor torque and voltage use of multilevel inverters is a good way to remove the rotor harmony.

Keywords: DFIG, power quality improvement, wind energy conversion system, WECS, fuzzy logic, RSC, GSC, inverter.

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Authors: Venny, S. Gan, H. K. Ng

Abstract:

The performance of modified Fenton (MF) treatment to promote PAH oxidation in artificially contaminated soil was investigated in packed soil column with a hydrogen peroxide (H2O2) delivery system simulating in situ injection. Soil samples were spiked with phenanthrene (low molecular weight PAH) and fluoranthene (high molecular weight PAH) to an initial concentration of 500 mg/kg dried soil each. The effectiveness of process parameters H2O2/soil, iron/soil, chelating agent/soil weight ratios and reaction time were studied using a 24 three level factorial design experiments. Statistically significant quadratic models were developed using Response Surface Methodology (RSM) for degrading PAHs from the soil samples. Optimum operating condition was achieved at mild range of H2O2/soil, iron/soil and chelating agent/soil weight ratios, indicating cost efficient method for treating highly contaminated lands.

Keywords: Fenton, polycyclic aromatic hydrocarbon, chelate, response surface methodology

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Authors: Naima Ikken, Abdelhadi Bouknadel, Nour-eddine Tariba Ahmed Haddou, Hafsa El Omari

Abstract:

The operation of grid-connected inverters necessity a single-phase phase locked loop (PLL) is proposed in this article to accurately and quickly estimate and detect the grid phase angle. This article presents the improvement of a method of phase-locked loop. The novelty is to generate a method (PLL) of synchronizing the grid with a Notch filter based on adaptive fuzzy logic for inverter systems connected to the grid. The performance of the proposed method was tested under normal and abnormal operating conditions (amplitude, frequency and phase shift variations). In addition, simulation results with ISPM software are developed to verify the effectiveness of the proposed method strategy. Finally, the experimental test will be used to extract the result and discuss the validity of the proposed algorithm.

Keywords: Phase locked loop, PLL, notch filter, fuzzy logic control.

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Authors: Hidir S. Nogay

Abstract:

In this study, two systems were created to predict interior temperature in induction motor. One of them consisted of a simple ANN model which has two layers, ten input parameters and one output parameter. The other one consisted of eight ANN models connected each other as cascaded. Cascaded ANN system has 17 inputs. Main reason of cascaded system being used in this study is to accomplish more accurate estimation by increasing inputs in the ANN system. Cascaded ANN system is compared with simple conventional ANN model to prove mentioned advantages. Dataset was obtained from experimental applications. Small part of the dataset was used to obtain more understandable graphs. Number of data is 329. 30% of the data was used for testing and validation. Test data and validation data were determined for each ANN model separately and reliability of each model was tested. As a result of this study, it has been understood that the cascaded ANN system produced more accurate estimates than conventional ANN model.

Keywords: Cascaded neural network, internal temperature, three-phase induction motor, inverter.

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Authors: D. Shobha Rani, M. Muralidhar

Abstract:

Solar photovoltaic (SPV) power systems can be employed as electrical power sources to meet the daily residential energy needs of rural areas that have no access to grid systems. In view of this, a standalone SPV powered air cooling system is proposed in this paper, which constitutes a dc-dc boost converter, two voltage source inverters (VSI) connected to two brushless dc (BLDC) motors which are coupled to a centrifugal water pump and a fan blower. A simple and efficient Maximum Power Point Tracking (MPPT) technique based on Silver Mean Method (SMM) is utilized in this paper. The air cooling system is developed and simulated using the MATLAB / Simulink environment considering the dynamic and steady state variation in the solar irradiance.

Keywords: Boost converter, solar photovoltaic array, voltage source inverter, brushless DC motor, solar irradiance, Maximum Power Point Tracking, Silver Mean Method.

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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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