Abstract: This paper describes a two-stage methodology derived from IMC (Internal Model Control) for tuning a PID (Proportional-Integral-Derivative) controller for levels or other integrating processes in an industrial environment. Focus is ease of use and implementation speed which are critical for an industrial application. Tuning can be done with minimum effort and without the need of time-consuming open-loop step tests on the plant. The first stage of the method applies to levels only: the vessel residence time is calculated from equipment dimensions and used to derive a set of preliminary PI (Proportional-Integral) settings with IMC. The second stage, re-tuning in closed-loop, applies to levels as well as other integrating processes: a tuning correction mechanism has been developed based on a series of closed-loop simulations with model errors. The tuning correction is done from a simple closed-loop step test and application of a generic correlation between observed overshoot and integral time correction. A spin-off of the method is that an estimate of the vessel residence time (levels) or open-loop process gain (other integrating process) is obtained from the closed-loop data.
Abstract: Three structure-dependent integration methods have been developed for solving equations of motion, which are second-order ordinary differential equations, for structural dynamics and earthquake engineering applications. Although they generally have the same numerical properties, such as explicit formulation, unconditional stability and second-order accuracy, a different performance is found in solving the free vibration response to either linear elastic or nonlinear systems with high frequency modes. The root cause of this different performance in the free vibration responses is analytically explored herein. As a result, it is verified that a weak instability is responsible for the different performance of the integration methods. In general, a weak instability will result in an inaccurate solution or even numerical instability in the free vibration responses of high frequency modes. As a result, a weak instability must be prohibited for time integration methods.
Abstract: Environmental sustainability rather than a trans-disciplinary and a scientific issue, is the main problem that characterizes all modern cities nowadays. In developing countries, this concern is expressed in a plethora of critical urban ills: traffic congestion, air pollution, noise, urban decay, increase in energy consumption and CO2 emissions which blemish cities’ landscape and might threaten citizens’ health and welfare. As in the same manner as developing world cities, the rapid growth of Algiers’ human population and increasing in city scale phenomena lead eventually to increase in daily trips, energy consumption and CO2 emissions. In addition, the lack of proper and sustainable planning of the city’s infrastructure is one of the most relevant issues from which Algiers suffers. The aim of this contribution is to estimate the carbon deficit of the City of Algiers, Algeria, using the Ecological Footprint Model (carbon footprint). In order to achieve this goal, the amount of CO2 from fuel combustion has been calculated and aggregated into five sectors (agriculture, industry, residential, tertiary and transportation); as well, Algiers’ biocapacity (CO2 uptake land) has been calculated to determine the ecological overshoot. This study shows that Algiers’ transport system is not sustainable and is generating more than 50% of Algiers total carbon footprint which cannot be sequestered by the local forest land. The aim of this research is to show that the Carbon Footprint Assessment might be a relevant indicator to design sustainable strategies/policies striving to reduce CO2 by setting in motion the energy consumption in the transportation sector and reducing the use of fossil fuels as the main energy input.
Abstract: In this paper, the average input current mode control is proposed for two-phase interleaved boost converter with two separate input inductors operating in continuous conduction mode (CCM). The required mathematical model is obtained from the equivalent circuits of its different four modes of operation. The small ripple approximation is derived to find the transfer functions from dynamic model using switching function. In average input current mode control, the inner current loop and outer voltage loop are designed with PI controller using bode analysis. Anti-windup structure is applied for PI controllers in control system. Moreover, the simulation work is carried out by MATLAB/Simulink. And, the hardware prototype is implemented by using low-cost microcontroller Arduino Nano. Finally, the laboratory prototype, available from the local market, is constructed to validate the mathematical model. The results show that the output voltage response is the faster rise time and settling time with acceptable overshoot.
Abstract: This paper presents a comparative study of various
controllers for the speed control of DC motor. The most commonly
used controller for the speed control of dc motor is Proportional-
Integral (P-I) controller. However, the P-I controller has some
disadvantages such as: the high starting overshoot, sensitivity to
controller gains and sluggish response due to sudden disturbance. So,
the relatively new Integral-Proportional (I-P) controller is proposed to
overcome the disadvantages of the P-I controller. Further, two Fuzzy
logic based controllers namely; Fuzzy control and Neuro-fuzzy
control are proposed and the performance these controllers are
compared with both P-I and I-P controllers. Simulation results are
presented and analyzed for all the controllers. It is observed that
fuzzy logic based controllers give better responses than the traditional
P-I as well as I-P controller for the speed control of dc motor drives.
Abstract: In this paper, Integral Proportional (I-P) controller is employed for superheated steam temperature control system. The Ziegler-Nichols (Z-N) method is used for the tuning of I-P controller. The performance analysis of Z-N based I-P controller is assessed on superheated steam system of 500-MW boiler. The comparison of transient response parameters such as rise time, settling time, and overshoot is made with Z-N based Proportional Integral (PI) controller. It is observed from the results that Z-N based I-P controller completely eliminates the overshoot in the output response.
Abstract: A large-scale power system (LSPS) consists of two
or more sub-systems connected by inter-connecting transmission.
Loading pattern on an LSPS always changes from time to time and
varies depend on consumer need. The serious instability problem is
appeared in an LSPS due to load fluctuation in all of the bus. Adaptive
neuro-fuzzy inference system (ANFIS)-based power system stabilizer
(PSS) is presented to cover the stability problem and to enhance
the stability of an LSPS. The ANFIS control is presented because
the ANFIS control is more effective than Mamdani fuzzy control in
the computation aspect. Simulation results show that the presented
PSS is able to maintain the stability by decreasing peak overshoot
to the value of −2.56 × 10−5 pu for rotor speed deviation Δω2−3.
The presented PSS also makes the settling time to achieve at 3.78
s on local mode oscillation. Furthermore, the presented PSS is able
to improve the peak overshoot and settling time of Δω3−9 to the
value of −0.868 × 10−5 pu and at the time of 3.50 s for inter-area
oscillation.
Abstract: This paper demonstrates dynamic performance evaluation of load frequency control (LFC) with different intelligent techniques. All non-linearities and physical constraints have been considered in simulation studies such as governor dead band (GDB), generation rate constraint (GRC) and boiler dynamics. The conventional integral time absolute error has been considered as objective function. The design problem is formulated as an optimisation problem and particle swarm optimisation (PSO), bacterial foraging optimisation algorithm (BFOA) and differential evolution (DE) are employed to search optimal controller parameters. The superiority of the proposed approach has been shown by comparing the results with published fuzzy logic control (FLC) for the same interconnected power system. The comparison is done using various performance measures like overshoot, undershoot, settling time and standard error criteria of frequency and tie-line power deviation following a step load perturbation (SLP). It is noticed that, the dynamic performance of proposed controller is better than FLC. Further, robustness analysis is carried out by varying the time constants of speed governor, turbine, tie-line power in the range of +40% to -40% to demonstrate the robustness of the proposed DE optimized PID controller.
Abstract: This paper presents Differential Evolution Algorithm (DEA) based Variable Structure Position Control (VSPC) of Laboratory DC servomotor (LDCSM). DEA is employed for the optimal tuning of Variable Structure Control (VSC) parameters for position control of a DC servomotor. The VSC combines the techniques of Sliding Mode Control (SMC) that gives the advantages of small overshoot, improved step response characteristics, faster dynamic response and adaptability to plant parameter variations, suppressed influences of disturbances and uncertainties in system behavior. The results of the simulation responses of the VSC parameters adjustment by DEA were performed in Matlab Version 2010a platform and yield better dynamic performance compared with the untuned VSC designed.
Abstract: The exploitation of flow pulsation in micro- and
mini-channels is a potentially useful technique for enhancing cooling
of high-end photonics and electronics systems. It is thought that
pulsation alters the thickness of the hydrodynamic and thermal
boundary layers, and hence affects the overall thermal resistance
of the heat sink. Although the fluid mechanics and heat transfer
are inextricably linked, it can be useful to decouple the parameters
to better understand the mechanisms underlying any heat transfer
enhancement. Using two-dimensional, two-component particle image
velocimetry, the current work intends to characterize the heat transfer
mechanisms in pulsating flow with a mean Reynolds number of
48 by experimentally quantifying the hydrodynamics of a generic
liquid-cooled channel geometry. Flows circulated through the test
section by a gear pump are modulated using a controller to achieve
sinusoidal flow pulsations with Womersley numbers of 7.45 and
2.36 and an amplitude ratio of 0.75. It is found that the transient
characteristics of the measured velocity profiles are dependent on the
speed of oscillation, in accordance with the analytical solution for
flow in a rectangular channel. A large velocity overshoot is observed
close to the wall at high frequencies, resulting from the interaction
of near-wall viscous stresses and inertial effects of the main fluid
body. The steep velocity gradients at the wall are indicative of
augmented heat transfer, although the local flow reversal may reduce
the upstream temperature difference in heat transfer applications.
While unsteady effects remain evident at the lower frequency, the
annular effect subsides and retreats from the wall. The shear rate at
the wall is increased during the accelerating half-cycle and decreased
during deceleration compared to steady flow, suggesting that the flow
may experience both enhanced and diminished heat transfer during
a single period. Hence, the thickness of the hydrodynamic boundary
layer is reduced for positively moving flow during one half of the
pulsation cycle at the investigated frequencies. It is expected that the
size of the thermal boundary layer is similarly reduced during the
cycle, leading to intervals of heat transfer enhancement.
Abstract: In this paper, autonomous performance of a small
manufactured unmanned helicopter is tried to be increased. For this
purpose, a small unmanned helicopter is manufactured in Erciyes
University, Faculty of Aeronautics and Astronautics. It is called as
ZANKA-Heli-I. For performance maximization, autopilot parameters
are determined via minimizing a cost function consisting of flight
performance parameters such as settling time, rise time, overshoot
during trajectory tracking. For this purpose, a stochastic optimization
method named as simultaneous perturbation stochastic approximation
is benefited. Using this approach, considerable autonomous
performance increase (around %23) is obtained.
Abstract: This paper provides a comparative study on the
performances of standard PID and adaptive PID controllers tested on
travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top
helicopter. Quanser, a well-known manufacturer of educational
bench-top helicopter has developed Proportional Integration
Derivative (PID) controller with Linear Quadratic Regulator (LQR)
for all travel, pitch and yaw angle of the bench-top helicopter. The
performance of the PID controller is relatively good; however, its
performance could also be improved if the controller is combined
with adaptive element. The objective of this research is to design
adaptive PID controller and then compare the performances of the
adaptive PID with the standard PID. The controller design and test is
focused on travel angle control only. Adaptive method used in this
project is self-tuning controller, which controller’s parameters are
updated online. Two adaptive algorithms those are pole-placement
and deadbeat have been chosen as the method to achieve optimal
controller’s parameters. Performance comparisons have shown that
the adaptive (deadbeat) PID controller has produced more desirable
performance compared to standard PID and adaptive (poleplacement).
The adaptive (deadbeat) PID controller attained very fast
settling time (5 seconds) and very small percentage of overshoot (5%
to 7.5%) for 10° to 30° step change of travel angle.
Abstract: Anultra-low power capacitor less low-dropout voltage
regulator with improved transient response using gain enhanced feed
forward path compensation is presented in this paper. It is based on a
cascade of a voltage amplifier and a transconductor stage in the feed
forward path with regular error amplifier to form a composite gainenhanced
feed forward stage. It broadens the gain bandwidth and thus
improves the transient response without substantial increase in power
consumption. The proposed LDO, designed for a maximum output
current of 100 mA in UMC 180 nm, requires a quiescent current of
69 )A. An undershot of 153.79mV for a load current changes from
0mA to 100mA and an overshoot of 196.24mV for current change of
100mA to 0mA. The settling time is approximately 1.1 )s for the
output voltage undershooting case. The load regulation is of 2.77
)V/mA at load current of 100mA. Reference voltage is generated by
using an accurate band gap reference circuit of 0.8V.The costly
features of SOC such as total chip area and power consumption is
drastically reduced by the use of only a total compensation
capacitance of 6pF while consuming power consumption of 0.096
mW.
Abstract: This paper presents a differential evolution algorithm to design a robust PI and PID controllers for Load Frequency Control (LFC) of nonlinear interconnected power systems considering the boiler dynamics, Governor Dead Band (GDB), Generation Rate Constraint (GRC). Differential evolution algorithm is employed to search for the optimal controller parameters. The proposed method easily copes of with nonlinear constraints. Further the proposed controller is simple, effective and can ensure the desirable overall system performance. The superiority of the proposed approach has been shown by comparing the results with published fuzzy logic controller for the same power systems. The comparison is done using various performance measures like overshoot, settling time and standard error criteria of frequency and tie-line power deviation following a 1% step load perturbation in hydro area. It is noticed that, the dynamic performance of proposed controller is better than fuzzy logic controller. Furthermore, it is also seen that the proposed system is robust and is not affected by change in the system parameters.
Abstract: The unsteady flow field around oscillating OA-209 airfoil at a Reynolds number of 3.5×105 were investigated. Three different reduced frequencies were tested in order to see how it affects the hysteresis loop of an airfoil. At a reduced frequency of 0.05 the deep dynamic stall phenomenon was observed. Lift overshooting was observed as a result of dynamic stall vortex (DSV) shedding. Further investigation was carried out to find out the cause of DSV formation and shedding over airfoil. Particle image velocimetry (PIV) and CFD tools were used and it was found out that dynamic stall separation (DSS), which is separated from leading edge separation (LES) and trailing edge separation (TES), triggered the dynamic stall vortex (DSV).
Abstract: The controller is used to improve the dynamic performance of DC-DC converter by achieving a robust output voltage against load disturbances. This paper presents the performance of PI and Fuzzy controller for a phase- shifted zero-voltage switched full-bridge PWM (ZVS FB- PWM) converters with a closed loop control. The proposed converter is regulated with minimum overshoot and good stability. In this paper phase-shift control method is used as an effective tool to reduce switching losses and duty cycle losses. A 1kW/100KHz dc/dc converter is simulated and analyzed using MATLAB. The circuit is simulated for static and dynamic load (DC motor). It has been observed that performance of converter with fuzzy controller is better than that of PI controller. An efficiency comparison of the converter with a reported topology has also been carried out.
Abstract: 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.
Abstract: The industrial automation is dependent upon pneumatic control systems. The industrial units are now controlled with digital control systems to tackle the process variables like Temperature, Pressure, Flow rates and Composition.
This research work produces an evaluation of the response time fluctuations for proportional mode, proportional integral and proportional integral derivative modes of automated chemical process control. The controller output is measured for different values of gain with respect to time in three modes (P, PI and PID). In case of P-mode for different values of gain the controller output has negligible change. When the controller output of PI-mode is checked for constant gain, it can be seen that by decreasing the integral time the controller output has showed more fluctuations. The PID mode results have found to be more interesting in a way that when rate minute has changed, the controller output has also showed fluctuations with respect to time. The controller output for integral mode and derivative mode are observed with lesser steady state error, minimum offset and larger response time to control the process variable. The tuning parameters in case of P-mode are only steady state gain with greater errors with respect to controller output. The integral mode showed controller outputs with intermediate responses during integral gain (ki). By increasing the rate minute the derivative gain (kd) also increased which showed the controlled oscillations in case of PID mode and lesser overshoot.
Abstract: In this paper, backstepping method (BM) is proposed for a single-link flexible mechanical manipulator. In each step of this method a positive value is obtained. Selections of the gain factor values are very important because controller will have different behavior for each different set of values. Improper selection of these gains can lead to instability of the system. In order to choose proper values for gains BELBIC method has been used in this work. Finally, to prove the efficiency of this method, the obtained results of proposed model are compared with robust controller one. Results show that the combination of backstepping and BELBIC that is presented here, can stabilized the system with higher speed, shorter settling time and lower overshoot in than robust controller.
Abstract: This paper presents comparison among methods of
determination of the characteristic polynomial coefficients. First, the
resultant systems from the methods are compared based on frequency
criteria such as the closed loop bandwidth, gain and phase margins.
Then the step responses of the resultant systems are compared on the
basis of the transient behavior criteria including overshoot, rise time,
settling time and error (via IAE, ITAE, ISE and ITSE integral
indices). Also relative stability of the systems is compared together.
Finally the best choices in regards to the above diverse criteria are
presented.