Abstract: In the real application of active control systems to
mitigate the response of structures subjected to sever external
excitations such as earthquake and wind induced vibrations, since the
capacity of actuators is limited then the actuators saturate. Hence, in
designing controllers for linear and nonlinear structures under sever
earthquakes, the actuator saturation should be considered as a
constraint. In this paper optimal design of active controllers for
nonlinear structures by considering the actuator saturation has been
studied. To this end a method has been proposed based on defining
an optimization problem which considers the minimizing of the
maximum displacement of the structure as objective when a limited
capacity for actuator has been used as a constraint in optimization
problem. To evaluate the effectiveness of the proposed method, a
single degree of freedom (SDF) structure with a bilinear hysteretic
behavior has been simulated under a white noise ground acceleration
of different amplitudes. Active tendon control mechanism, comprised
of pre-stressed tendons and an actuator, and extended nonlinear
Newmark method based instantaneous optimal control algorithm
have been used as active control mechanism and algorithm. To
enhance the efficiency of the controllers, the weights corresponding
to displacement, velocity, acceleration and control force in the
performance index have been found by using the Distributed Genetic
Algorithm (DGA). According to the results it has been concluded
that the proposed method has been effective in considering the
actuator saturation in designing optimal controllers for nonlinear
frames. Also it has been shown that the actuator capacity and the
average value of required control force are two important factors in
designing nonlinear controllers for considering the actuator
saturation.
Abstract: A control system design with Characteristic Ratio
Assignment (CRA) is proven that effective for SISO control design.
But the control system design for MIMO via CRA is not concrete
procedure. In this paper presents the control system design method
for quadruple-tank process via CRA. By using the decentralized
method for both minimum phase and non-minimum phase are made.
The results from PI and PID controller design via CRA can be
illustrated the validity of our approach by MATLAB.
Abstract: The control of sprayer boom undesired vibrations pose a great challenge to investigators due to various disturbances and conditions. Sprayer boom movements lead to reduce of spread efficiency and crop yield. This paper describes the design of a novel control method for an active suspension system applying proportional-integral-derivative (PID) controller with an active force control (AFC) scheme integration of an iterative learning algorithm employed to a sprayer boom. The iterative learning as an intelligent method is principally used as a method to calculate the best value of the estimated inertia of the sprayer boom needed for the AFC loop. Results show that the proposed AFC-based scheme performs much better than the standard PID control technique. Also, this shows that the system is more robust and accurate.
Abstract: In this paper, we consider a designed and
implemented phase-cutting dimmer. In fact, the dimmer is closed
loop and a microcontroller calculates and then regulates the firing
delay angles of each channel. Depending on the firing angle, the
harmonic distortion in the input current will not comply with
international standards, such as IEC 61000-3-2 (class C equipments).
For solving this problem, eight harmonic compensators have been
added to the dimmer. So, the proposed dimmer has a little harmonic
distortion in the input current whereas conventional phase-cutting
dimmers are not so. Sensitivity and removed THD of the proposed
dimmer will be presented.
Abstract: The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.
Abstract: This paper aims to give a full study of the dynamic
behavior of a mono-phase active power filter. First, the principle of
the parallel active power filter will be introduced. Then, a
dimensioning procedure for all its components will be explained in
detail, such as the input filter, the current and voltage controllers.
This active power filter is simulated using OrCAD program showing
the validity of the theoretical study.
Abstract: This paper introduces application of multi degree of freedom fuzzy(MDOFF) controller in permanent magnet (PM)drive system. The drive system model is developed for FO control. Simulation of the system is carried out to predict the performance at NL and under load,. The results indicate that application of MDOFF controller is effective for sensorless PM drive system.
Abstract: Fuzzy logic system (FLS) is used in this study to
predict the tractive performance in terms of traction force, and
motion resistance for an intelligent air cushion track vehicle while it
operates in the swamp peat. The system is effective to control the
intelligent air –cushion system with measuring the vehicle traction
force (TF), motion resistance (MR), cushion clearance height (CH)
and cushion pressure (CP). Ultrasonic displacement sensor, pull-in
solenoid electromagnetic switch, pressure control sensor, micro
controller, and battery pH sensor are incorporated with the Fuzzy
logic system to investigate experimentally the TF, MR, CH, and CP.
In this study, a comparison for tractive performance of an intelligent
air cushion track vehicle has been performed with the results obtained
from the predicted values of FLS and experimental actual values. The
mean relative error of actual and predicted values from the FLS
model on traction force, and total motion resistance are found as 5.58
%, and 6.78 % respectively. For all parameters, the relative error of
predicted values are found to be less than the acceptable limits. The
goodness of fit of the prediction values from the FLS model on TF,
and MR are found as 0.90, and 0.98 respectively.
Abstract: In this paper, we first show a relationship between two
stabilizing controllers, which presents an extended feedback system
using two stabilizing controllers. Then, we apply this relationship to
the two-stage compensator design. In this paper, we consider singleinput
single-output plants. On the other hand, we do not assume the
coprime factorizability of the model. Thus, the results of this paper
are based on the factorization approach only, so that they can be
applied to numerous linear systems.
Abstract: In this paper a new maximum power point tracking
algorithm for photovoltaic arrays is proposed. The algorithm detects
the maximum power point of the PV. The computed maximum
power is used as a reference value (set point) of the control system.
ON/OFF power controller with hysteresis band is used to control the
operation of a Buck chopper such that the PV module always
operates at its maximum power computed from the MPPT algorithm.
The major difference between the proposed algorithm and other
techniques is that the proposed algorithm is used to control directly
the power drawn from the PV.
The proposed MPPT has several advantages: simplicity, high
convergence speed, and independent on PV array characteristics. The
algorithm is tested under various operating conditions. The obtained
results have proven that the MPP is tracked even under sudden
change of irradiation level.
Abstract: To deal with random delays in Networked Control System (NCS), Modified Fuzzy PID Controller is introduced in this paper to implement real-time control adaptively. Via adjusting the control signal dynamically, the system performance is improved. In this paper, the design process and the ultimate simulation results are represented. Finally, examples and corresponding comparisons prove the significance of this method.
Abstract: This paper presents the speed regulation scheme of a small brushless dc motor (BLDC motor) with trapezoidal back-emf consideration. The proposed control strategy uses the proportional controller in which the proportional gain, kp, is appropriately adjusted by using genetic algorithms. As a result, the proportional control can perform well in order to compensate the BLDC motor with load disturbance. This confirms that the proposed speed regulation scheme gives satisfactory results.
Abstract: Since the driving speed and control accuracy of
commercial optical disk are increasing significantly, it needs an
efficient controller to monitor the track seeking and following
operations of the servo system for achieving the desired data
extracting response. The nonlinear behaviors of the actuator and servo
system of the optical disk drive will influence the laser spot
positioning. Here, the model-free fuzzy control scheme is employed to
design the track seeking servo controller for a d.c. motor driving
optical disk drive system. In addition, the sliding model control
strategy is introduced into the fuzzy control structure to construct a
1-D adaptive fuzzy rule intelligent controller for simplifying the
implementation problem and improving the control performance. The
experimental results show that the steady state error of the track
seeking by using this fuzzy controller can maintain within the track
width (1.6 μm ). It can be used in the track seeking and track
following servo control operations.
Abstract: The load frequency control problem of power systems has attracted a lot of attention from engineers and researchers over the years. Increasing and quickly changing load demand, coupled with the inclusion of more generators with high variability (solar and wind power generators) on the network are making power systems more difficult to regulate. Frequency changes are unavoidable but regulatory authorities require that these changes remain within a certain bound. Engineers are required to perform the tricky task of adjusting the control system to maintain the frequency within tolerated bounds. It is well known that to minimize frequency variations, a large proportional feedback gain (speed regulation constant) is desirable. However, this improvement in performance using proportional feedback comes about at the expense of a reduced stability margin and also allows some steady-state error. A conventional PI controller is then included as a secondary control loop to drive the steadystate error to zero. In this paper, we propose a robust controller to replace the conventional PI controller which guarantees performance and stability of the power system over the range of variation of the speed regulation constant. Simulation results are shown to validate the superiority of the proposed approach on a simple single-area power system model.
Abstract: Using of natural lighting has come into prominence in
constructed buildings, especially in last ten years, under scope of
energy efficiency. Natural lighting methods are one of the methods
that aim to take advantage of day light in maximum level and
decrease using of artificial lighting. Increasing of day light amount in
buildings by using suitable methods will give optimum result in
terms of comfort and energy saving when the daylight-artificial light
integration is ensured with a suitable control system. Using of natural
light in places that require lighting will ensure energy saving in great
extent. With this study, it is aimed to save energy used for purpose of
lighting. Under this scope, lighting of a scanning laboratory of a
hospital was realized by using a lighting automation containing
natural and artificial lighting. In natural lighting, light pipes were
used and in artificial lighting, dimmable power LED modules were
used. Necessity of lighting was followed with motion sensors. The
lighting automation containing natural and artificial light was ensured
with fuzzy logic control. At the scanning laboratory where this
application was realized, energy saving in lighting was obtained.
Abstract: This paper presents a portable robot that is to use for
welding process in shipbuilding yard. It has six degree of freedom and
3kg payload capability. Its weight is 21.5kg so that human workers can
carry it to the work place. Its body mainly made of magnesium alloy
and aluminum alloy for few parts that require high strength. Since the
distance between robot and controller should be 50m at most, the robot
controller controls the robot through EtherCAT. RTX and KPA are
used for real time EtherCAT control on Windows XP. The
performance of the developed robot was satisfactory, in welding of U
type cell in shipbuilding yard.
Abstract: This paper proposes a scheduling scheme using feedback
control to reduce the response time of aperiodic tasks with soft
real-time constraints. We design an algorithm based on the proposed
scheduling scheme and Total Bandwidth Server (TBS) that is a
conventional server technique for scheduling aperiodic tasks. We then
describe the feedback controller of the algorithm and give the control
parameter tuning methods. The simulation study demonstrates that the
algorithm can reduce the mean response time up to 26% compared
to TBS in exchange for slight deadline misses.
Abstract: Wind turbine should be controlled to capture maximum
wind energy and to prevent the turbine from being stalled. To achieve
those two goals, wind turbine controller controls torque on generator
and limits input torque from wind by pitching blade. Usually, torque
on generator is controlled using inverter torque set point. However,
verifying a control algorithm in actual wind turbine needs a lot of
efforts to test and the actual wind turbine could be broken while testing
a control algorithm. So, several software have developed and
commercialized by Garrad Hassan, GH Bladed, and NREL, FAST.
Even though, those programs can simulate control system modeling
with subroutines or DLLs. However, those simulation programs are
not able to emulate detailed generator or PMSG. In this paper, a small
size wind turbine simulator is developed with induction motor and
small size drive train. The developed system can simulate wind turbine
control algorithm in the region before rated power.
Abstract: Model Predictive Control (MPC) is an established control
technique in a wide range of process industries. The reason for
this success is its ability to handle multivariable systems and systems
having input, output or state constraints. Neverthless comparing to
PID controller, the implementation of the MPC in miniaturized
devices like Field Programmable Gate Arrays (FPGA) and microcontrollers
has historically been very small scale due to its complexity in
implementation and its computation time requirement. At the same
time, such embedded technologies have become an enabler for future
manufacturing enterprisers as well as a transformer of organizations
and markets. In this work, we take advantage of these recent advances
in this area in the deployment of one of the most studied and applied
control technique in the industrial engineering. In this paper, we
propose an efficient firmware for the implementation of constrained
MPC in the performed STM32 microcontroller using interior point
method. Indeed, performances study shows good execution speed
and low computational burden. These results encourage to develop
predictive control algorithms to be programmed in industrial standard
processes. The PID anti windup controller was also implemented in
the STM32 in order to make a performance comparison with the
MPC. The main features of the proposed constrained MPC framework
are illustrated through two examples.
Abstract: In the present era of aviation technology, autonomous navigation and control have emerged as a prime area of active research. Owing to the tremendous developments in the field, autonomous controls have led today’s engineers to claim that future of aerospace vehicle is unmanned. Development of guidance and navigation algorithms for an unmanned aerial vehicle (UAV) is an extremely challenging task, which requires efforts to meet strict, and at times, conflicting goals of guidance and control. In this paper, aircraft altitude and heading controllers and an efficient algorithm for self-governing navigation using MATLAB® mapping toolbox is presented which also enables loitering of a fixed wing UAV over a specified area. For this purpose, a nonlinear mathematical model of a UAV is used. The nonlinear model is linearized around a stable trim point and decoupled for controller design. The linear controllers are tested on the nonlinear aircraft model and navigation algorithm is subsequently developed for for autonomous flight of the UAV. The results are presented for trajectory controllers and waypoint based navigation. Our investigation reveals that MATLAB® mapping toolbox can be exploited to successfully deliver an efficient algorithm for autonomous aerial navigation for a UAV.