The usage of tower cranes, one type of rotary cranes, is common in many industrial structures, e.g., shipyards, factories, etc. With the size of these cranes becoming larger and the motion expected to be faster and has no prescribed path, their manual operation becomes difficult and hence, automatic closed-loop control schemes are very important in the operation of rotary crane. In this paper, the plant of concern is a tower crane consists of a rotatable jib that carries a trolley which is capable of traveling over the length of the jib. There is a pendulum-like end line attached to the trolley through a cable of variable length. A fuzzy logic controller with various types of membership functions is implemented for controlling the position of the trolley and damping the load oscillations. It consists of two main types of controllers radial and rotational each of two fuzzy inference engines (FIEs). The radial controller is used to control the trolley position and the rotational is used for damping the load oscillations. Computer simulations are used to verify the performance of the controller. The results from the simulations show the effectiveness of the method in the control of tower crane keeping load swings small at the end of motion.
Robust second order sliding mode control for a quadrotor considering motor dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain
parameters presented based on high order sliding mode control (HOSMC). A controller based on the
HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor
dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method.
The performance and effectiveness of the proposed controller are tested in a simulation study taking into
account external disturbances with consider to motor dynamics. Simulation results show that the proposed
controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be
used in real time applications.
PID vs LQR controller for tilt rotor airplane IJECEIAES
The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.
In this paper, the design of a speed control scheme based on a total sliding mode control for Indirect Field Oriented of a three phase induction motor (IM) is proposed. Firstly, the indirect field oriented control is derived. Then, sliding mode control design is investigated to achieve a speed tracking objective under different load torque disturbance. Finally a dSPACE DS1104 R&D board is used to implement the proposed scheme. The experimental results released on 0.25 kW slip-ring IM show a high dynamic performance, fast transient response without overshot as well as a good load disturbances rejection response.
This work treats the modeling and simulation of non-linear system behavior of an induction motor using backstepping sliding mode control (BACK- SMC). First, the direct field oriented control IM is derived. Then, a sliding for direct field oriented control is proposed to compensate the uncertainties, which occur in the control. Finally, the study of Backstepping sliding controls strategy of the induction motor drive. Our non linear system is simulated in MATLAB SIMULINK environment, the results obtained illustrate the efficiency of the proposed control with no overshoot, and the rising time is improved with good disturbances rejections comparing with the classical control law.
This paper proposes a long-stroke linear switched reluctance machine (LSRM) with a primary and a secondary translator for industrial conveyance applications. The secondary one can translate according to the primary one so that linear compound motions can be achieved. Considering the fact that either one translator imposes a time-variant, nonlinear disturbance onto the other, the self-tuning position controllers are implemented for the compound machine and experimental results demonstrate that the absolute steady-state error values can fall into 0.03 mm and 0.05 mm for the secondary and primary translator, respectively. A composite absolute precision of less than 0.6 mm can be achieved under the proposed control strategy.
Robust second order sliding mode control for a quadrotor considering motor dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain
parameters presented based on high order sliding mode control (HOSMC). A controller based on the
HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor
dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method.
The performance and effectiveness of the proposed controller are tested in a simulation study taking into
account external disturbances with consider to motor dynamics. Simulation results show that the proposed
controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be
used in real time applications.
PID vs LQR controller for tilt rotor airplane IJECEIAES
The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.
In this paper, the design of a speed control scheme based on a total sliding mode control for Indirect Field Oriented of a three phase induction motor (IM) is proposed. Firstly, the indirect field oriented control is derived. Then, sliding mode control design is investigated to achieve a speed tracking objective under different load torque disturbance. Finally a dSPACE DS1104 R&D board is used to implement the proposed scheme. The experimental results released on 0.25 kW slip-ring IM show a high dynamic performance, fast transient response without overshot as well as a good load disturbances rejection response.
This work treats the modeling and simulation of non-linear system behavior of an induction motor using backstepping sliding mode control (BACK- SMC). First, the direct field oriented control IM is derived. Then, a sliding for direct field oriented control is proposed to compensate the uncertainties, which occur in the control. Finally, the study of Backstepping sliding controls strategy of the induction motor drive. Our non linear system is simulated in MATLAB SIMULINK environment, the results obtained illustrate the efficiency of the proposed control with no overshoot, and the rising time is improved with good disturbances rejections comparing with the classical control law.
This paper proposes a long-stroke linear switched reluctance machine (LSRM) with a primary and a secondary translator for industrial conveyance applications. The secondary one can translate according to the primary one so that linear compound motions can be achieved. Considering the fact that either one translator imposes a time-variant, nonlinear disturbance onto the other, the self-tuning position controllers are implemented for the compound machine and experimental results demonstrate that the absolute steady-state error values can fall into 0.03 mm and 0.05 mm for the secondary and primary translator, respectively. A composite absolute precision of less than 0.6 mm can be achieved under the proposed control strategy.
In this paper, a novel adaptive control approach for Unmanned Aerial Manipulators (UAMs) is proposed. The UAMs are a new configuration of the Unmanned Arial Vehicles (UAVs) which are characterized by several inhered nonlinearities, uncertainties and coupling. The studied UAM is a Quadrotor endowed with two degrees of freedom robotic arm. The main objectives of our contribution are to achieve both a tracking error convergence by avoiding any singularity problem and also the chattering amplitude attenuation in the presence of perturbations. Therefore, the proposed Adaptive Nonsingular Terminal Super-Twisting controller (ANTSTW) consists of the hybridization of a Nonsingular Terminal Sliding Mode Control and an Adaptive Super Twisting. The adaptive law, which adjust the Super-Twisting’s parameters, is obtained by using stability Lyapunov theorem. Simulation experiments in trajectory tracking mode were realized and compared with Nonsingular Terminal Super-twisting control to prove the superiority and the effectiveness of the proposed approach.
Improvement of Pitch Motion Control of an Aircraft SystemsTELKOMNIKA JOURNAL
The movement of the aircraft pitch is very important to ensure the passengers and crews are in
intrinsically safe and the aircraft achieves its maximum stability.The objective of this study is to provide a
solution to the control system that features particularly on the pitch angle motion of aircraft systemin order
to have a comfort boarding. Three controllers were developed in these projects which wereproportional
integral derivative (PID), fuzzy logic controller (FLC), and linear quadratic regulator (LQR) controllers.
These controllers will help improving the pitch angle and achievingthe target reference. By improving the
pitch motion angle, the flight will be stabilized and in steady cruise (no jerking effect), hence provides all
the passengers withthe comfort zone. Simulation results have been done and analyzed using Matlab
software. The simulation results demonstrated LQR and FLC were better than PID in the pitch motion
system due to the small error performance. In addition, withstrong external disturbances, a single controller
is unable to control the system, thus, the combination of PID and LQR managed to stabilize the aircraft.
Tracking and control problem of an aircraftANSUMAN MISHRA
Here our main focus is to monitor and maneuver the flight for a particular distance in a time-scale with absolute control. For this a rigorous formulation of flight mechanics and theories associated with advanced control systems are simplified and analyzed to obtain a feasible & optimized solution.
It is also important to remember that this idea basically involves handling problems of maneuvering control and other pilot-issues of an inner-loop flight-control system and does not dwell on outer loop control systems .
The operational significance of this maneuver is that it allows the pilot to slew quickly without increasing the normal acceleration and turning.
Thrust vector controlled (tcv) rocket modelling using lqr controllerMrinal Harsh
Design and state space modelling of a TCV Rocket using Simulink and Matlab with Gimbal Angle, Angular Velocity and Drift experienced as our control parameters.
- Using LQR control to stabilize the model.
- Support why LQR is used over PID control for TCV Modelling.
Velocity control of ROV using modified integral SMC with optimization tuning ...TELKOMNIKA JOURNAL
Remotely Operated Vehicle also known as ROV is a vehicle with high nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle. SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...csandit
This paper presents PID controller with feed-forward control. The cruise control system is one
of the most enduringly popular and important models for control system engineering. The
system is widely used because it is very simple to understand and yet the control techniques
cover many important classical and modern design methods. In this paper, the mathematical
modeling for PID with feed-forward controller is proposed for nonlinear model with
disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the
gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++
program written and feed to the microcontroller type AMR on our robot
Stability Control Structure of Hovercraft Prototype Utilising PID ControllerjournalBEEI
Hovercraft is a method of transportation as an option for clients who remain on the waterway and swamp surface. The issue with hovercraft is when dubious climate and natural condition, e.g. wind speed and wave tallness exasperate solidness of hovercraft to jeopardise the driver. We propose an approach to keep up adjust of the hovercraft by controlling the focal point of gravity (PG) to be determined position. The controller monitors the position of load to change the position. A 6-DOF IMU Sensor MPU 6050 was utilised to create information as an examination with setpoint. PID control strategy was employed. The test outcome demonstrates that the model of air cushion vehicle could keep its adjust the axis orientation of the roll in spite of the fact that it was less compelling in the pitch pivot direction.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
DEVELOPMENT AND IMPLEMENTATION OF A ADAPTIVE FUZZY CONTROL SYSTEM FOR A VTOL ...ijctcm
The studies in aerial vehicles modeling and control have been increased rapidly recently. This paper presents the modeling and control of a four rotor vertical take-off and landing (VTOL) vehicle. The modeling of the VTOL vehicle will be described by using Euler-Newton equations. In order to stable this vehicle and control the attitude of that, classical PID controller and a fuzzy system that adjusts the PID controller gains, have been designed. Although fuzzy control of various dynamical systems has been presented in literature, application of this technology to aerial vehicle control is quite new. This system has nonlinear characteristics where classical control methods are not adequate for stabilize that. On the other hand, fuzzy control is nonlinear and it is thus suitable for nonlinear system control. Matlab Simulink has been used to test, analyze and compare the performance of the controllers in simulations. Finally this
presented controller will be implemented on a real vehicle and performance of that will be showed. This study showed that although, both of the classical PID and the fuzzy self-tuning PID controllers, can control the system properly, the second controller performed better than the classical PID controller
Adaptive Variable Structure Controller Application to Induction Motor DriveIJERA Editor
Variable structure control is an adaptive control that gives robust performance of a drive with parameter variation and load torque disturbance. Variable control structure is a robust control scheme based on the concept of changing the structure of the controller in response to the changing state of the system in order to obtain a desired response. The control is nonlinear and can be applied to the linear or nonlinear plant. A high speed switching control action is used to switch between different structures of the controller and the trajectory of the system is forced to move along a chosen switching manifold in the state space. The controller detects the deviation of the actual trajectory from the reference trajectory and corresponding changes the switching strategy to restore the tracking. Prominent characteristics such as invariance, robustness, order reduction, and control chattering are discussed in detail. Methods for coping with chattering are presented. Both linear and nonlinear systems are considered. By using Variable structure controller to control the step change in reference speed and drive system under load torque variations.
Neuro-fuzzy-based anti-swing control of automatic tower craneTELKOMNIKA JOURNAL
Controlling the position of the final load and the anti-swing control of the loads during the operation of the tower crane are challenging tasks. These are the most important control issues for safe operation, which are difficult to achieve easily with conventional control systems. Hence, the need to integrate the concepts of soft-computing into the tower crane control system. The aim of this research work is to design an adaptive-network-based fuzzy inference system (ANFIS) controller to move the payload to the final position with the lowest possible swing angle. To evaluate the ability of the proposed controller to meet the control requirements, its performance was compared to three other controllers: a conventional proportional derivative (PD) controller, a fuzzy-tuned PD controller and a fuzzy controller. MATLAB-based computer simulations of the crane and controllers were carried out to verify and compare the performance of the proposed controllers. The obtained results show the effectiveness of the ANFIS-based controller in adjusting the load position while keeping the load fluctuations small at the final position. The load oscillation angle is about ±2.28° with the ANFIS controller while it is about ±10° when using the PD controller. In addition, only one ANFIS controller is used for both load position and swing angle control.
The main objective of this paper is to continue the development of activities of basic and applied research related to wind energy and to develop methods of optimal control to improve the performance and production of electrical energy from wind. A new control technique of Double fed induction generator for wind turbine is undertaken through a robust approach tagged nonlinear sliding mode control (SMC) with exponential reaching law control (ERL). The SMC with ERL proves to be capable of reducing the system chattering phenomenon as well as accelerating the approaching process. A nonlinear case numerical simulation test is employed to verify the superior performance of the ERL method over traditional power rate reaching strategy. Results obtained in Matlab/Simulink environment show that the SMC with ERL is more robust, prove excellent performance for the control unit by improving power quality and stability of wind turbine.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic...TELKOMNIKA JOURNAL
This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a close-loop control for the each axis of the fork-lift’s movement. The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the rule base is determined and optimized to deal with microcontroller processing speed. In order to cater for the windup phenomenon, proportional and integrated antiwindup elements are integrated into the TSK-FLC model. This control strategy consumes less memory and is expected to increase the time response of the control system. The experiment and analysis is done on the actual forkloader unit of MHeLFAGV system. The experiment was done on the vertical axis motion since horizontal motion will have the same characteristic pattern of implementation and characteristic of tuning. The experiment shows that the proposed integrated TSK-FLC with antiwindup elements is able to speed up the time response of the system and eliminate the overshoot as well as oscillation on the forkloader movement.
Optimal Design of Super Twisting Control with PSO Algorithm for Robotic Manip...CSCJournals
Robotic manipulators are nonlinear and coupling systems exposing to external disturbance. They are used in wide industrial applications; the suitable selection of a nonlinear robust controller is required. Sliding Mode Controller (SMC) was designed to achieve these requirements, but unfortunately the chattering phenomenon was the main drawback of the conventional SMC. It leads to destructive of some components of a real system and subsequent loss in its accuracy. Hence, the design of Super-Twisting Controller (STC) is suggested for chattering elimination. In previous literatures, the accomplishment of the manual adjustment for the parameters of STC was a large burden and time consuming process. Therefore, a new combination of Particle Swarm Optimization (PSO) algorithm with STC is proposed for optimal tuning of STC parameters. The simulation results demonstrate the superiority of the super twisting technique for chattering mitigation comparing to the conventional SMC. Also, STC tuned via PSO proves its effectiveness and robustness to different types of external disturbances without the needs for the knowledge of their upper boundary values. Besides, the performance of the controlled system is faster and more accurate in the criteria of overshoot, settling time and rise time compared to the manual adjusting of super twisting controllers.
In this paper, a novel adaptive control approach for Unmanned Aerial Manipulators (UAMs) is proposed. The UAMs are a new configuration of the Unmanned Arial Vehicles (UAVs) which are characterized by several inhered nonlinearities, uncertainties and coupling. The studied UAM is a Quadrotor endowed with two degrees of freedom robotic arm. The main objectives of our contribution are to achieve both a tracking error convergence by avoiding any singularity problem and also the chattering amplitude attenuation in the presence of perturbations. Therefore, the proposed Adaptive Nonsingular Terminal Super-Twisting controller (ANTSTW) consists of the hybridization of a Nonsingular Terminal Sliding Mode Control and an Adaptive Super Twisting. The adaptive law, which adjust the Super-Twisting’s parameters, is obtained by using stability Lyapunov theorem. Simulation experiments in trajectory tracking mode were realized and compared with Nonsingular Terminal Super-twisting control to prove the superiority and the effectiveness of the proposed approach.
Improvement of Pitch Motion Control of an Aircraft SystemsTELKOMNIKA JOURNAL
The movement of the aircraft pitch is very important to ensure the passengers and crews are in
intrinsically safe and the aircraft achieves its maximum stability.The objective of this study is to provide a
solution to the control system that features particularly on the pitch angle motion of aircraft systemin order
to have a comfort boarding. Three controllers were developed in these projects which wereproportional
integral derivative (PID), fuzzy logic controller (FLC), and linear quadratic regulator (LQR) controllers.
These controllers will help improving the pitch angle and achievingthe target reference. By improving the
pitch motion angle, the flight will be stabilized and in steady cruise (no jerking effect), hence provides all
the passengers withthe comfort zone. Simulation results have been done and analyzed using Matlab
software. The simulation results demonstrated LQR and FLC were better than PID in the pitch motion
system due to the small error performance. In addition, withstrong external disturbances, a single controller
is unable to control the system, thus, the combination of PID and LQR managed to stabilize the aircraft.
Tracking and control problem of an aircraftANSUMAN MISHRA
Here our main focus is to monitor and maneuver the flight for a particular distance in a time-scale with absolute control. For this a rigorous formulation of flight mechanics and theories associated with advanced control systems are simplified and analyzed to obtain a feasible & optimized solution.
It is also important to remember that this idea basically involves handling problems of maneuvering control and other pilot-issues of an inner-loop flight-control system and does not dwell on outer loop control systems .
The operational significance of this maneuver is that it allows the pilot to slew quickly without increasing the normal acceleration and turning.
Thrust vector controlled (tcv) rocket modelling using lqr controllerMrinal Harsh
Design and state space modelling of a TCV Rocket using Simulink and Matlab with Gimbal Angle, Angular Velocity and Drift experienced as our control parameters.
- Using LQR control to stabilize the model.
- Support why LQR is used over PID control for TCV Modelling.
Velocity control of ROV using modified integral SMC with optimization tuning ...TELKOMNIKA JOURNAL
Remotely Operated Vehicle also known as ROV is a vehicle with high nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle. SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...csandit
This paper presents PID controller with feed-forward control. The cruise control system is one
of the most enduringly popular and important models for control system engineering. The
system is widely used because it is very simple to understand and yet the control techniques
cover many important classical and modern design methods. In this paper, the mathematical
modeling for PID with feed-forward controller is proposed for nonlinear model with
disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the
gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++
program written and feed to the microcontroller type AMR on our robot
Stability Control Structure of Hovercraft Prototype Utilising PID ControllerjournalBEEI
Hovercraft is a method of transportation as an option for clients who remain on the waterway and swamp surface. The issue with hovercraft is when dubious climate and natural condition, e.g. wind speed and wave tallness exasperate solidness of hovercraft to jeopardise the driver. We propose an approach to keep up adjust of the hovercraft by controlling the focal point of gravity (PG) to be determined position. The controller monitors the position of load to change the position. A 6-DOF IMU Sensor MPU 6050 was utilised to create information as an examination with setpoint. PID control strategy was employed. The test outcome demonstrates that the model of air cushion vehicle could keep its adjust the axis orientation of the roll in spite of the fact that it was less compelling in the pitch pivot direction.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
DEVELOPMENT AND IMPLEMENTATION OF A ADAPTIVE FUZZY CONTROL SYSTEM FOR A VTOL ...ijctcm
The studies in aerial vehicles modeling and control have been increased rapidly recently. This paper presents the modeling and control of a four rotor vertical take-off and landing (VTOL) vehicle. The modeling of the VTOL vehicle will be described by using Euler-Newton equations. In order to stable this vehicle and control the attitude of that, classical PID controller and a fuzzy system that adjusts the PID controller gains, have been designed. Although fuzzy control of various dynamical systems has been presented in literature, application of this technology to aerial vehicle control is quite new. This system has nonlinear characteristics where classical control methods are not adequate for stabilize that. On the other hand, fuzzy control is nonlinear and it is thus suitable for nonlinear system control. Matlab Simulink has been used to test, analyze and compare the performance of the controllers in simulations. Finally this
presented controller will be implemented on a real vehicle and performance of that will be showed. This study showed that although, both of the classical PID and the fuzzy self-tuning PID controllers, can control the system properly, the second controller performed better than the classical PID controller
Adaptive Variable Structure Controller Application to Induction Motor DriveIJERA Editor
Variable structure control is an adaptive control that gives robust performance of a drive with parameter variation and load torque disturbance. Variable control structure is a robust control scheme based on the concept of changing the structure of the controller in response to the changing state of the system in order to obtain a desired response. The control is nonlinear and can be applied to the linear or nonlinear plant. A high speed switching control action is used to switch between different structures of the controller and the trajectory of the system is forced to move along a chosen switching manifold in the state space. The controller detects the deviation of the actual trajectory from the reference trajectory and corresponding changes the switching strategy to restore the tracking. Prominent characteristics such as invariance, robustness, order reduction, and control chattering are discussed in detail. Methods for coping with chattering are presented. Both linear and nonlinear systems are considered. By using Variable structure controller to control the step change in reference speed and drive system under load torque variations.
Neuro-fuzzy-based anti-swing control of automatic tower craneTELKOMNIKA JOURNAL
Controlling the position of the final load and the anti-swing control of the loads during the operation of the tower crane are challenging tasks. These are the most important control issues for safe operation, which are difficult to achieve easily with conventional control systems. Hence, the need to integrate the concepts of soft-computing into the tower crane control system. The aim of this research work is to design an adaptive-network-based fuzzy inference system (ANFIS) controller to move the payload to the final position with the lowest possible swing angle. To evaluate the ability of the proposed controller to meet the control requirements, its performance was compared to three other controllers: a conventional proportional derivative (PD) controller, a fuzzy-tuned PD controller and a fuzzy controller. MATLAB-based computer simulations of the crane and controllers were carried out to verify and compare the performance of the proposed controllers. The obtained results show the effectiveness of the ANFIS-based controller in adjusting the load position while keeping the load fluctuations small at the final position. The load oscillation angle is about ±2.28° with the ANFIS controller while it is about ±10° when using the PD controller. In addition, only one ANFIS controller is used for both load position and swing angle control.
The main objective of this paper is to continue the development of activities of basic and applied research related to wind energy and to develop methods of optimal control to improve the performance and production of electrical energy from wind. A new control technique of Double fed induction generator for wind turbine is undertaken through a robust approach tagged nonlinear sliding mode control (SMC) with exponential reaching law control (ERL). The SMC with ERL proves to be capable of reducing the system chattering phenomenon as well as accelerating the approaching process. A nonlinear case numerical simulation test is employed to verify the superior performance of the ERL method over traditional power rate reaching strategy. Results obtained in Matlab/Simulink environment show that the SMC with ERL is more robust, prove excellent performance for the control unit by improving power quality and stability of wind turbine.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic...TELKOMNIKA JOURNAL
This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a close-loop control for the each axis of the fork-lift’s movement. The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the rule base is determined and optimized to deal with microcontroller processing speed. In order to cater for the windup phenomenon, proportional and integrated antiwindup elements are integrated into the TSK-FLC model. This control strategy consumes less memory and is expected to increase the time response of the control system. The experiment and analysis is done on the actual forkloader unit of MHeLFAGV system. The experiment was done on the vertical axis motion since horizontal motion will have the same characteristic pattern of implementation and characteristic of tuning. The experiment shows that the proposed integrated TSK-FLC with antiwindup elements is able to speed up the time response of the system and eliminate the overshoot as well as oscillation on the forkloader movement.
Optimal Design of Super Twisting Control with PSO Algorithm for Robotic Manip...CSCJournals
Robotic manipulators are nonlinear and coupling systems exposing to external disturbance. They are used in wide industrial applications; the suitable selection of a nonlinear robust controller is required. Sliding Mode Controller (SMC) was designed to achieve these requirements, but unfortunately the chattering phenomenon was the main drawback of the conventional SMC. It leads to destructive of some components of a real system and subsequent loss in its accuracy. Hence, the design of Super-Twisting Controller (STC) is suggested for chattering elimination. In previous literatures, the accomplishment of the manual adjustment for the parameters of STC was a large burden and time consuming process. Therefore, a new combination of Particle Swarm Optimization (PSO) algorithm with STC is proposed for optimal tuning of STC parameters. The simulation results demonstrate the superiority of the super twisting technique for chattering mitigation comparing to the conventional SMC. Also, STC tuned via PSO proves its effectiveness and robustness to different types of external disturbances without the needs for the knowledge of their upper boundary values. Besides, the performance of the controlled system is faster and more accurate in the criteria of overshoot, settling time and rise time compared to the manual adjusting of super twisting controllers.
Adaptive control of nonlinear system based on QFT application to 3-DOF flight...TELKOMNIKA JOURNAL
Research on unmanned aerial vehicle (UAV) became popular because of remote flight access and
cost-effective solution. 3-degree of freedom (3-DOF) unmanned helicopters is one of the popular research
UAV, because of its high load carrying capacity with a smaller number of motor and requirement of
forethought motor control dynamics. Various control algorithms are investigated and designed for the motion
control of the 3DOF helicopter. Three-degree-of-freedom helicopter model configuration presents the same
advantages of 3-DOF helicopters along with increased payload capacity, increase stability in hover,
manoeuvrability and reduced mechanical complexity. Numerous research institutes have chosen
the three-degree-of-freedom as an ideal platform to develop intelligent controllers. In this research paper,
we discussed about a hybrid controller that combined with Adaptive and Quantitative Feedback theory (QFT)
controller for the 3-DOF helicopter model. Though research on Adaptive and QFT controller are not a new
subject, the first successful single Adaptive aircraft flight control systems have been designed for the U.S.
Air Force in Wright Laboratories unmanned research vehicle, Lambda [1]. Previously researcher focused on
structured uncertainties associated with controller for the flight conditions theoretically. The development of
simulationbased design on flight control system response, opened a new dimension for researcher to design
physical flight controller for plant parameter uncertainties. At the beginning, our research was to investigates
the possibility of developing the QFT combined with Adaptive controller to control a single pitch angle that
meets flying quality conditions of automatic flight control. Finally, we successfully designed the hybrid
controller that is QFT based adaptive controller for all the three angles.
Controller design for gantry crane system using modified sine cosine optimiza...TELKOMNIKA JOURNAL
The objective of this research paper is to design a control system to optimize the operating works of the gantry crane system. The dynamic model of the gantry crane system is derived in terms of trolley position and payload oscillation, which is highly nonlinear. The crane system should have the capability to transfer the material to destination end with desired speed along with reducing the load oscillation, obtain expected trolley position and preserving the safety. Proposed controlling method is based on the proportional-integral-derivative (PID) controller with a series differential compensator to control the swinging of the payload and the system trolley movement in order to perform the optimum utilization of the gantry crane. Standard sine cosine optimization algorithm is one of the most-recent optimization techniques based on a stochastic algorithm was presented to tune the PID controller with a series differential compensator. Furthermore, the considered optimization algorithm is modified in order to overcome the inherent drawbacks and solve complex benchmark test functions and to find the optimal design's parameters of the proposed controller. The simulation results show that the modified sine cosine optimization algorithm has better global search performance and exhibits good computational robustness based on test functions. Moreover, the results of testing the gantry crane model reveal that the proposed controller with standard and modified algorithms is effective, feasible and robust in achieving the desired requirements.
Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain parameters presented based on high order sliding mode control (HOSMC). A controller based on the HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances with consider to motor dynamics. Simulation results show that the proposed controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be used in real time applications.
Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain parameters presented based on high order sliding mode control (HOSMC). A controller based on the HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances with consider to motor dynamics. Simulation results show that the proposed controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be used in real time applications.
Experimental verification of SMC with moving switching lines applied to hoisti...ISA Interchange
In this paper we propose sliding mode control strategies for the point-to-point motion control of a hoisting crane. The strategies employ time-varying switching lines (characterized by a constant angle of inclination) which move either with a constant deceleration or a constant velocity to the origin of the error state space. An appropriate design of these switching lines results in non-oscillatory convergence of the regulation error in the closed-loop system. Parameters of the lines are selected optimally in the sense of two criteria, i.e. integral absolute error (IAE) and integral of the time multiplied by the absolute error (ITAE). Furthermore, the velocity and acceleration constraints are explicitly taken into account in the optimization process. Theoretical considerations are verified by experimental tests conducted on a laboratory scale hoisting crane.
Induction motors are work-horse of the industry and major element in energy conversion. The replacement of the existing non-adjustable speed drives with the modern variable frequency drives would save considerable amount of electricity. A proper control scheme for variable frequency drives can enhance the efficiency and performance of the drive. This paper attempt to provide a rigorous review of various control schemes for the induction motor control and provides critical analysis and guidelines for the future research work. A detailed study of sensor based control schemes and sensor-less control schemes has been investigated. The operation, advantages, and limitations of the various control schemes are highlighted and different types of optimization techniques have been suggested to overcome the limitations of control techniques.
This paper presents a study concerning a sensorless vector control of an induction machine fed by a voltage source inverter. The aim is to provide a scheme to control the speed and the rotor flux using a sensorless integral backstepping control approach. The rotor speed estimation is done by an observer using the model reference adaptive system (MRAS) technique whereas the nonlinear backstepping observer is used to get the rotor flux. The main objective is to achieve a robust control, adaptive and efficient, which will allow us to test and evaluate the performance of the proposed observer, combined with a sensorless control of the induction machine. Tests and validation are done using numerical simulations with MATLAB/SIMULINK-PSB (Power System Block set) toolbox. The results show good performance in terms of robustness regarding machine parameter variations and show the excellent quality of the control law associated with the observer, despite the observability problems when the machine operates at low speed.
A High Order Sliding Mode Control with PID Sliding Surface: Simulation on a T...IJITCA Journal
Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different approaches, among it the sliding mode control. The sliding mode control has proved its effectiveness through the different studies. The advantage that makes such an important approach is its robustness versus the disturbances and the model uncertainties. However, this approach implies a disadvantage which is the chattering phenomenon caused by the discontinuous part of this control and which can have a harmful effect on the actuators. This paper deals with the basic concepts, mathematics, and design aspects of a control for nonlinear systems that make the chattering effect lower. As solution to this problem we will adopt as a starting point the high order sliding mode approaches then the PID sliding surface. Simulation results show that this control strategy can attain excellent control performance with no chattering problem.
Synthesis of the Decentralized Control System for Robot-Manipulator with Inpu...ITIIIndustries
It is discussed the problem of synthesis of the decentralized adaptive-periodic control system for two degrees of freedom robotic manipulator which have an input limitations. The solution of the problem is based on the use of hyperstability criterion, L-dissipativity conditions and dynamic filter-corrector.
Optimization of Closure Law of Guide Vanes for an Operational Hydropower Plan...Dr. Amarjeet Singh
This paper addresses the optimization of twostage closure law of guide vanes in an operational
hydropower plant of Nepal. The mathematical model
has been established in commercial software Bentley
Hammer, whose correctness has been validated by
comparing the results with the data of experimental
load rejection test. The validated mathematical model
has been employed to find the parameters of optimum
closure pattern, which minimizes the non-linear
objective function of maximum water pressure and
maximum rotational speed of turbine.
Induction motor harmonic reduction using space vector modulation algorithmjournalBEEI
The vector control was proposed as an alternative to the scalar control for AC machines control. Vector control provide high operation performance in steady state and transient operation. However, the variable switching frequency of vector control causes high flux and torque ripples which lead to an acoustical noise and degrade the performance of the control scheme. The insertion of the space vector modulation was a very useful solution to reduce the high ripples level inspite of its complexity. Numerical simulation results obtained in MATLAB/Simulink show the good dynamic performance of the proposed vector control technique and the effectiveness of the proposed sensorless strategy in the presence of the sudden load torque basing on the integral backstepping approach capabilities on instant perturbation rejection.
Keywords
Aircraft pitch control design using LQG controller based on genetic algorithmTELKOMNIKA JOURNAL
Designing a robust aircraft control system used to achieve a good tracking performance and stable dynamic behavior against working disturbances problem has attracted attention of control engineers. In this paper, a pitch angle control system for aircraft is designed utilizing liner quadratic Gaussian (LQG) optimal controller technique with a numerical tuning algorithm method in the longitudinal plane through cruising stage. Main design approach of LQG controller includes obtaining best weighting matrices values using trial and error method that consumes effort and takes more time, in addition, there is no guarantees to obtain optimum values for weighting matrices elements. In this research, genetic algorithm (GA) is used to optimize the state and control weighting matrices and determine best values for their elements. The proposed traditional and optimized LQG pitch controller schemes are implemented utilizing Matlab simulation tool and their performance are presented and compared based on transient and steady state performance parameters. The simulation results reveal the ability of the optimized GA_LQG controller to reject the effect of the noises in the aircraft system dynamic and achieve a good and stable tracking performance compared with that of the conventional LQG pitch control system.
An Heterogeneous Population-Based Genetic Algorithm for Data Clusteringijeei-iaes
As a primary data mining method for knowledge discovery, clustering is a technique of classifying a dataset into groups of similar objects. The most popular method for data clustering K-means suffers from the drawbacks of requiring the number of clusters and their initial centers, which should be provided by the user. In the literature, several methods have proposed in a form of k-means variants, genetic algorithms, or combinations between them for calculating the number of clusters and finding proper clusters centers. However, none of these solutions has provided satisfactory results and determining the number of clusters and the initial centers are still the main challenge in clustering processes. In this paper we present an approach to automatically generate such parameters to achieve optimal clusters using a modified genetic algorithm operating on varied individual structures and using a new crossover operator. Experimental results show that our modified genetic algorithm is a better efficient alternative to the existing approaches.
Development of a Wireless Sensors Network for Greenhouse Monitoring and Controlijeei-iaes
Wireless sensor networks (WSN) could be used to monitor and control many parameters of environment such as temperature, humidity, and radiation leakage. In greenhouse the weather and soil should be independent of the natural agents. To achieve this condition a wireless sensor nodes could be deployed and communicate with a central base station to measure and transmit the sensed required environment factors. In this paper a WSN was implemented by deployed wireless sensor nodes in a greenhouse with temperature, humidity, moisture light, and CO2 sensors. The proposed model was built and tested, and the result shows an excellent improvement in the sensed parameters. To control the environmental factors, the used microcontroller programmed to control the parameters according to preset values, or manually through a user interface panel.
Analysis of Genetic Algorithm for Effective power Delivery and with Best Upsurgeijeei-iaes
Wireless network is ready for hundreds or thousands of nodes, where each node is connected to one or sometimes more sensors. WSN sensor integrated circuits, embedded systems, networks, modems, wireless communication and dissemination of information. The sensor may be an obligation to technology and science. Recent developments underway to miniaturization and low power consumption. They act as a gateway, and prospective clients, I usually have the data on the server WSN. Other components separate routing network routers, called calculating and distributing routing tables. Discussed the routing of wireless energy balance. Optimization solutions, we have created a genetic algorithm. Before selecting an algorithm proposed for the construction of the center console. In this study, the algorithms proposed model simulated results based on "parameters depending dead nodes, the number of bits transmitted to a base station, where the number of units sent to the heads of fuel consumption compared to replay and show that the proposed algorithm has a network of a relative.
Design for Postplacement Mousing based on GSM in Long-Distanceijeei-iaes
This design for mousing is made up of power control module, infrared sensor module, signal processing module, distance information transportation based on GSM and device of power grid. The design consists of two sets of conductors, separately linked by fire wire and null line and distributing alternatively. The major innovation is infrared sensor module with Fresnel lens, and that the infrared detecting area should be spread in one direction at least. When the mouse get into the infrared detecting area, the sensor signal of infrared detecting device is sent to power control module through signal element and then starts the device of power grid to power up to make the mouse be shocked or die. GSM module is adopted to tell that the mouse is caught successfully. This design can be placed in any position that the mouse is always out and no need of baits.
Investigation of TTMC-SVPWM Strategies for Diode Clamped and Cascaded H-bridg...ijeei-iaes
This paper presents a concept of two types multilevel inverters such as diode clamped and cascaded H-bridge for harmonic reduction on high power applications. Normally, multilevel inverters can be used to reduce the harmonic problems in electrical distribution systems. This paer focused on the performance and analysis of a three phase seven level inverter including diode clamped and cascaded H-bridge based on new tripizodal triangular space vector PWM technique approaches. TTMC based modified Space vector Pulse width modulation technique so called tripizodal triangular Space vector Pulse width modulation (TTMC-SVPWM) technique. In this paper the reference sine wave generated as in case of conventional off set injected SVPWM technique. It is observed that the TTMC-Space vector pulse width modulation ensures excellent, close to optimized pulse distribution results and THD is compared to seven level, diode clamped and cascaded multi level inverters. Theoretical investigations were confirmed by the digital simulations using MATLAB/SIMULINK software.
Optimal Power Flow with Reactive Power Compensation for Cost And Loss Minimiz...ijeei-iaes
One of the concerns of power system planners is the problem of optimum cost of generation as well as loss minimization on the grid system. This issue can be addressed in a number of ways; one of such ways is the use of reactive power support (shunt capacitor compensation). This paper used the method of shunt capacitor placement for cost and transmission loss minimization on Nigerian power grid system which is a 24-bus, 330kV network interconnecting four thermal generating stations (Sapele, Delta, Afam and Egbin) and three hydro stations to various load points. Simulation in MATLAB was performed on the Nigerian 330kV transmission grid system. The technique employed was based on the optimal power flow formulations using Newton-Raphson iterative method for the load flow analysis of the grid system. The results show that when shunt capacitor was employed as the inequality constraints on the power system, there is a reduction in the total cost of generation accompanied with reduction in the total system losses with a significant improvement in the system voltage profile
Mitigation of Power Quality Problems Using Custom Power Devices: A Reviewijeei-iaes
Electrical power quality (EPQ) in distribution systems is a critical issue for commercial, industrial and residential applications. The new concept of advanced power electronic based Custom Power Devices (CPDs) mainly distributed static synchronous compensator (D-STATCOM), dynamic voltage restorer (DVR) and unified power quality conditioner (UPQC) have been developed due to lacking the performance of traditional compensating devices to minimize power quality disturbances. This paper presents a comprehensive review on D-STATCOM, DVR and UPQC to solve the electrical power quality problems of the distribution networks. This is intended to present a broad overview of the various possible DSTATCOM, DVR and UPQC configurations for single-phase (two wire) and three-phase (three-wire and four-wire) networks and control strategies for the compensation of various power quality disturbances. Apart from this, comprehensive explanation, comparison, and discussion on D-STATCOM, DVR, and UPQC are presented. This paper is aimed to explore a broad prospective on the status of D-STATCOMs, DVRs, and UPQCs to researchers, engineers and the community dealing with the power quality enhancement. A classified list of some latest research publications on the topic is also appended for a quick reference.
Comparison of Dynamic Stability Response of A SMIB with PI and Fuzzy Controll...ijeei-iaes
Consumer utilities are non –linear in nature. This injects increased flow of current and reduced voltage with distortions which cause adverse effect on the stability of consumer utilities. To overcome this problem we are using a modern Flexible Alternating Current Transmission System controller i.e. distributed power flow controller (DPFC). This controller is similar to UPFC, which can be installed in a transmission line between the two electrical areas. In DPFC, instead of the common Dc link capacitor three single phase converters are used. In this paper we are concentrating on system stability (oscillation damping). For analyzing the stability of a single machine infinite bus system (SMIB) we have used PI controlled Distributed Power Flow Controller (DPFC) and Fuzzy controlled DPFC. All these models are simulated using MATLAB/SIMULINK. Simulation results shows Fuzzy controlled DPFC are better than PI controlled DPFC. The significance of the results are better stability and constant power supply.
Embellished Particle Swarm Optimization Algorithm for Solving Reactive Power ...ijeei-iaes
This paper proposes Embellished Particle Swarm Optimization (EPSO) algorithm for solving reactive power problem .The main concept of Embellished Particle Swarm Optimization is to extend the single population PSO to the interacting multi-swarm model. Through this multi-swarm cooperative approach, diversity in the whole swarm community can be upheld. Concurrently, the swarm-to-swarm mechanism drastically speeds up the swarm community to converge to the global near optimum. In order to evaluate the performance of the proposed algorithm, it has been tested in standard IEEE 57,118 bus systems and results show that Embellished Particle Swarm Optimization (EPSO) is more efficient in reducing the Real power losses when compared to other standard reported algorithms.
Intelligent Management on the Home Consumers with Zero Energy Consumptionijeei-iaes
The energy and environment crisis has forced modern humans to think about new and clean energy sources and in particular, renewable energy sources. With the development of home network, the residents have the opportunity to plan the home electricity usage with the goal of reducing the cost of electricity. In this regard, to improve the energy consumption efficiency in residential buildings, smart buildings with zero energy consumption were considered as a proper option. Zero-energy building is a building that has smart equipment whose integral of generated and consumed power within a year is zero. In this article, smart devices submit their power consumption with regard to the requested activity associated with the user’s time setting for run times and end times of the work to the energy management unit and ultimately the time to start work will be determined. The problem’s target function is reducing the energy cost for the consumer with taking into account the applicable limitations.
Analysing Transportation Data with Open Source Big Data Analytic Toolsijeei-iaes
Big data analytics allows a vast amount of structured and unstructured data to be effectively processed so that correlations, hidden patterns, and other useful information can be mined from the data. Several open source big data analytic tools that can perform tasks such as dimensionality reduction, feature extraction, transformation, optimization, are now available. One interesting area where such tools can provide effective solutions is transportation. Big data analytics can be used to efficiently manage transport infrastructure assets such as roads, airports, bus stations or ports. In this paper an overview of two open source big data analytic tools is first provided followed by a simple demonstration of application of these tools on transport dataset.
A Pattern Classification Based approach for Blur Classificationijeei-iaes
Blur type identification is one of the most crucial step of image restoration. In case of blind restoration of such images, it is generally assumed that the blur type is known prior to restoration of such images. However, it is not practical in real applications. So, blur type identification is extremely desirable before application of blind restoration technique to restore a blurred image. An approach to categorize blur in three classes namely motion, defocus, and combined blur is presented in this paper. Curvelet transform based energy features are utilized as features of blur patterns and a neural network is designed for classification. The simulation results show preciseness of proposed approach.
Computing Some Degree-Based Topological Indices of Grapheneijeei-iaes
Graphene is one of the most promising nanomaterial because of its unique combination of superb properties, which opens a way for its exploitation in a wide spectrum of applications ranging from electronics to optics, sensors, and bio devices. Inspired by recent work on Graphene of computing topological indices, here we compute new topological indices viz. Arithmetic-Geometric index (AG2 index), SK3 index and Sanskruti index of a molecular graph G and obtain the explicit formulae of these indices for Graphene.
A Lyapunov Based Approach to Enchance Wind Turbine Stabilityijeei-iaes
This paper introduces a nonlinear control of a wind turbine based on a Double Feed Induction Generator. The Rotor Side converter is controlled by using field oriented control and Backstepping strategy to enhance the dynamic stability response. The Grid Side converter is controlled by a sliding mode. These methods aim to increase dynamic system stability for variable wind speed. Hence, The Doubly Fed Induction Generator (DFIG) is studied in order to illustrate its behavior in case of severe disturbance, and its dynamic response in grid connected mode for variable speed wind operation. The model is presented and simulated under Matlab/ Simulink.
Site Diversity Technique Application on Rain Attenuation for Lagosijeei-iaes
This paper studied the impact of site diversity (SD) as a fade mitigation technique on rain attenuation at 12 GHz for Lagos. SD is one of the most effective methods to overcome such large fades due to rain attenuation that takes advantage of the usually localized nature of intense rainfall by receiving the satellite downlink signal at two or more earth stations to minimize the prospect of potential diversity stations being simultaneously subjected to significant rain attenuation. One year (January to December 2011) hourly rain gauge data was sourced from the Nigerian Meteorological Agency (NIMET) for three sites (Ikeja, Ikorodu and Marina) in Lagos, Nigeria. Significant improvement in both performance and availability was observed with the application of SD technique; again, separation distance was seen to be responsible for this observed performance improvements.
Impact of Next Generation Cognitive Radio Network on the Wireless Green Eco s...ijeei-iaes
Land mobile communication is burdened with typical propagation constraints due to the channel characteristics in radio systems.Also,the propagation characteristics vary form place to place and also as the mobile unit moves,from time to time.Hence,the tramsmission path between transmitter and receiver varies from simple direct LOS to the one which is severely obstructed by buildings, foliage and terrain. Multipath propagation and shadow fading effects affect the signal strength of an arbitrary Transmitter-Receiver due to the rapid fluctuations in the phase and amplitude of signal which also determines the average power over an area of tens or hundreds of meters. Shadowing introduces additional fluctuations, so the received local mean power varies around the area –mean. The present paper deals with the performance analysis of impact of next generation wireless cognitive radio network on wireless green eco system through signal and interference level based k coverage probability under the shadow fading effects.
Music Recommendation System with User-based and Item-based Collaborative Filt...ijeei-iaes
Internet and E-commerce are the generators of abundant of data, causing information Overloading. The problem of information overloading is addressed by Recommendation Systems (RS). RS can provide suggestions about a new product, movie or music etc. This paper is about Music Recommendation System, which will recommend songs to users based on their past history i.e. taste. In this paper we proposed a collaborative filtering technique based on users and items. First user-item rating matrix is used to form user clusters and item clusters. Next these clusters are used to find the most similar user cluster or most similar item cluster to a target user. Finally songs are recommended from the most similar user and item clusters. The proposed algorithm is implemented on the benchmark dataset Last.fm. Results show that the performance of proposed method is better than the most popular baseline method.
A Real-Time Implementation of Moving Object Action Recognition System Based o...ijeei-iaes
This paper proposes a PixelStreams-based FPGA implementation of a real-time system that can detect and recognize human activity using Handel-C. In the first part of our work, we propose a GUI programmed using Visual C++ to facilitate the implementation for novice users. Using this GUI, the user can program/erase the FPGA or change the parameters of different algorithms and filters. The second part of this work details the hardware implementation of a real-time video surveillance system on an FPGA, including all the stages, i.e., capture, processing, and display, using DK IDE. The targeted circuit is an XC2V1000 FPGA embedded on Agility’s RC200E board. The PixelStreams-based implementation was successfully realized and validated for real-time motion detection and recognition.
Wireless Sensor Network for Radiation Detectionijeei-iaes
n this paper a wireless sensor network (WSN) is designed from a group of radiation detector stations with different types of sensors. These stations are located in different areas and each sensor transmits its data through GSM network to the main monitoring and control station. The design includes GPS module to determine the location of mobile and fixed station. The data is transmitted with GSM/GPRS modem. Instead of using traditional SMS data string or word messages a digital data frame is constructed and transmitted as SMS data. In the main monitoring station graphical user interface (GUI) software is designed to shows information and statues of the all stations in the network. It reports any radiation leaks, in addition to the data; the GUI contains a geographical map to display the location of the leakage station and can control the stations power consumption by sending a special command to it.
Charge Sharing Suppression in Single Photon Processing Pixel Arrayijeei-iaes
This paper proposes a mechanism for suppression of charge sharing in single photon processing pixel array by introducing additional circuit. The idea of the proposed mechanism is that in each pixel only analog part will introduced, the digital part is shared between each four pixels, this leads to reduce the number of transistors (area). By having communication pixels, a decision that which one of the neighboring pixels shall collect the distributed charges is taken. The functionality, which involves analog and digital behaviors, is modeled in VHDL.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Student information management system project report ii.pdfKamal Acharya
Our project explains about the student management. This project mainly explains the various actions related to student details. This project shows some ease in adding, editing and deleting the student details. It also provides a less time consuming process for viewing, adding, editing and deleting the marks of the students.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Top 10 Oil and Gas Projects in Saudi Arabia 2024.pdf
Fuzzy Control of a Large Crane Structure
1. Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Vol. 5, No. 1, March 2017, pp. 85~98
ISSN: 2089-3272, DOI: 10.11591/ijeei.v5i1.256 85
Received October 9, 2016; Revised January 23, 2017; Accepted February 15, 2017
Fuzzy Control of a Large Crane Structure
Samir A. Farag
1*
, Salah G. Foda
2
, and Ahmed Alenany
3
1
Department of Electrical and computer Engineering, Higher Technological Institute (H.T.I), 10th of
Ramadan, Egypt.
2
Department of Mechanical Engineering, Future University (F.U.E), Egypt.
3
Department of Computers and Systems Engineering, Zagazig University, Egypt.
e-mail: samir.harb22@yahoo.com*, salah.foda@fue.edu.eg, alenany102@hotmail.com
Abstract
The usage of tower cranes, one type of rotary cranes, is common in many industrial structures,
e.g., shipyards, factories, etc. With the size of these cranes becoming larger and the motion expected to
be faster and has no prescribed path, their manual operation becomes difficult and hence, automatic
closed-loop control schemes are very important in the operation of rotary crane. In this paper, the plant of
concern is a tower crane consists of a rotatable jib that carries a trolley which is capable of traveling over
the length of the jib. There is a pendulum-like end line attached to the trolley through a cable of variable
length. A fuzzy logic controller with various types of membership functions is implemented for controlling
the position of the trolley and damping the load oscillations. It consists of two main types of controllers
radial and rotational each of two fuzzy inference engines (FIEs). The radial controller is used to control the
trolley position and the rotational is used for damping the load oscillations. Computer simulations are used
to verify the performance of the controller. The results from the simulations show the effectiveness of the
method in the control of tower crane keeping load swings small at the end of motion.
Keywords: fuzzy control, crane structure, controller, fuzzy inference engines (FIEs).
1. Introduction
A crane is a specific machine that is equipped with chains or wires, and sheaves and
used for transportation of heavy loads and hazardous materials in factories, shipyards, high-
building construction, and nuclear installations. The main task of crane in industry is to move a
load from one point to another without swinging (minimum swing as possible) in the minimum
time. Doing this task needs a skillful operator using his/her experience to immediately stop the
swing at the right position and the operator has to wait until the load stops swinging. The failure
in controlling crane might also cause accident and harm people. During the crane operation,
the load - held by crane - is free to swing in a pendulum-like pattern. The nonlinear properties
of crane bring about undesired swings, especially at take-off and arrival. Such uncontrolled
swings cause both stability and safety problems. If these swings exceed the allowable limits,
there will be two options; which are damping the swings or stopping the operation until the
swings die out. Either of the two options consumes time, and hence reduces the facility
availability [1].
The aforementioned problems have motivated many researchers to develop control
approaches to automate cranes. However, two problems arise in automation of crane
operations. Firstly, cranes belong to a class of under-actuated/under-constrained mechanical
systems, i.e., in which the number of control input/outputs is fewer than degrees of freedom. In
other words, a limited number of inputs control more outputs. Secondly, the unstructured nature
of the crane environment in factory floors, shipyards...etc. So, the control algorithm should be
able to cope with these problems. Enormous controlling approaches were implemented for
controlling cranes systems based on open-loop and closed-loop control systems [3, 6, 10, 14].
Approaches to control the crane operations can be summarized as follows.
1.1. Open-loop controllers
An early used approach of open loop controller utilizes the natural frequency of the
suspended object in presenting an open-loop-optimal-programmed control strategy. This
means damping vibrations with the aid of a specific case from a general control technique
involving shaping of inputs [2, 8].
2. ISSN: 2089-3272
IJEEI Vol. 5, No. 1, March 2017 : 85 – 98
86
Also, bringing the load to settle at the end point of a predefined motion profile presented
using multiple input shaping techniques; using a numerical optimization process to generate
parameters describing the jib angular acceleration profile and dynamic programming method
algorithms to calculate the input acceleration to the jib motor. However, these techniques
couldn't reduce oscillations developed less than [1, 2, 10, 11].
An approach that generates crane commands which minimize the swings of the payload
without a priori knowledge of the desired maneuver. The strategy depended basically on using a
notch filter (based on filtering the input signal commanded by the operator, i.e., forward path
velocity commands of the jib rotation speed and trolley speed) to eliminate the components of
the slew and travel inputs that happen to be at the natural frequency of the payload pendulum.
They designed the filter based on assuming that the trolley position was constant over each
finite length period. Although the experimental results showed a reduction in load swings
throughout the load transportation (a decrease in the residual oscillation magnitude in excess of
40dB), there were two problems in this approach. First, a delay of up to 2.4 seconds occurred
between the operator input (unfiltered input) and the actual input (filtered input) from the filter to
the crane (the noticeable delay between filtered and unfiltered motion in the jib rotation and
trolley position due to the notch filtering). This delay produced in this approach leads to
inconvenience to the operator and it could also cause confusion in case of accidental inputs.
Second, the roll off factor of the filter had to be computed each time the cable length is changed
because the notch filter is dependent on the length of the hoisting cable [1]-[12].
1.2. Closed-loop controllers:
Due to the well-known disadvantages of open-loop control, the previous approaches are
inefficient in the presence of external disturbances and model uncertainty. Therefore, several
efforts have been suggested using closed loop control. For example, in [8] the task of gantry
crane control was facilitated by distributing the controlling action over two main controllers (each
controller deals with few certain variables instead of all variables at once). Each controller
consists of two sub-controllers (or fuzzy inference engines FIEs). After performing all of the
required calculations, the outputs of the two engines are combined to obtain the final control
signal. In other words, the proposed controller consists of four separate controllers, two of them
deal with the motion of the cross-beam and the trolley, and the other two controllers handle
swing of the payload in both planes. The two main controllers are displacement fuzzy controller
and swing fuzzy controller. They obtained good results for damping the swings of payload and
also reducing its travel time.
A bang-bang controller is used to track the time optimal trajectories generated for the
jib, the trolley, and the cable length. At first, computer simulations showed uncontrolled load
swings. The authors attained better results and obtained reduction in the payload swings when
they relaxed the constraint on time with a slight increase in the travel time [5].
The authors in [9] could minimize pendulations resulted during the operation of
overhead cranes by implementing a fuzzy controller whose control action is distributed between
displacement fuzzy controller and swing fuzzy controller. These controllers are fed the
displacement and velocity errors with respect to the desired motion profile and they output the
forces needed to drive the crane.
The authors in [2] extended the same approach used in [8] to rotary cranes in which
both the trolley and jib are allowed to move. They presented three simulation cases for
operating crane.
a. Radial mode in which the trolley moves along the jib while the jib is fixed.
b. Rotary mode, the trolley moves along the jib and the jib rotates.
c. The trolley and jib are fixed while the load is given an initial disturbance.
The results from the simulations show that the fuzzy controller is capable of keeping the
load-oscillation angles small.
A hybrid command-shaper of two stages, a primary double-step command-shaper
cascaded by a virtual feedback system is implemented to generate acceleration commands to
minimize swings of a double-pendulum overhead crane. The commands of the primary shaper
are modified by the virtual feedback loop and then used to drive the actual crane. This approach
succeeded in reducing 95% of oscillations produced [7].
A hybrid input shaping is presented for anti-sway control of a three degree-of freedom
(3-DOF) rotary crane system. They obtained a nonlinear equation of motion in a state space
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form for the crane’s tower. At first, the authors developed an LQR control for the tower rotation
angle of the crane, then they extended the controller to incorporate input shaping techniques for
anti-swaying control of the system for another payload and they achieved an acceptable anti-
sway capability [4].
The approach of this study has similar traits to the technique used in [2] but our
investigation will be based on some modifications in rules and gains used with fuzzy controllers
as will be introduced later.
2. Model Description and System Parameters
The model developed in this work is for rotary cranes. It can be described as a trolley
that moves radially along a jib which rotates in a horizontal plane. The combined movements of
the trolley and the jib enable positioning of the trolley and consequently the load over any point
in the work space. The variation in the length of the hoisting cable is important for picking up the
load, putting it down, and moving it away from obstacles. It also can be used as a part of the
control strategy.
We can briefly describe the crane model (Figure 1) as follows:
1. A tower fixed to a base to prevent any oscillations
2. A jib fixed to the tower is free to rotate around with angle ( )
3. A trolley can travel a distance ( ) (over the length of the jib) from the center of tower.
It holds a load P by a cable of variable length ( ).
Figure 1: A three dimensional model of a tower crane
The derivation of the mathematical model is explained in [2]. Both of ( ) and ( ) are to
be used as system control inputs. The load is modeled as a point mass. It is also assumed that
the mass of the load is very small compared to that of the crane, so that the interaction between
the crane dynamics and the load dynamics can be neglected.
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Figure 2: The in-plane angle ϕ from the side view of the crane
The two angles, ϕ and θ (shown in Figure 3) describe the load swings. Obviously, as
shown in Figure 2, the angle ϕ is the angle which the line of load makes with the z-axis in the
xz-plane. The out-of-plane angle θ is the angle which the line of load makes with the xz-plane.
Thus, it is clear now that our task is to move the load while keeping the swings angles as small
as possible.
Figure 3: Swinging angles, θ(t) and ϕ(t), of the load held by the trolley
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3. State-Space Model of the Crane
The state space model of the crane developed by [2] has 8 states defined as follows:
( ) ( ) ( ) ( )
̇( ) ̇ ( ) ̇( ) ̇( )
With ̈( ) and ̈( )
Hence,
̇ (3.1)
̇ (3.2)
̇ (3.3)
̇ (3.4)
̇ ̈( ) (3.5)
̇ ̈( ) (3.6)
And
̇ (
) (3.7)
̇ (
) (3.8)
4. Fuzzy Controller Design
In this section, the Simulink model for the system described by equations 3.1 to 3.8
is developed for the tower crane. Also, a fuzzy controller (similar to the controller used in
[2] is developed as follows.
Two main Fuzzy Logic controllers, FLCs, are employed in the work; each one is
created using two fuzzy inference engines (FIEs). The first is a radial controller that handles
transfer motion of the trolley over the jib. The second is a rotational controller that handles
rotational motion of the jib around the tower axis. As we mentioned before, ( ) and ( ) are
the inputs to the system and hence they are used to control the system behavior, i.e. to
move the payload while keeping ϕ and θ as small as possible). The four FIEs are created
as follows.
4.1. FIE-1: Radial tracking FIE
Inputs: The fuzzified radial distance error ̃ ( ) (shown in Figure 4), and its
derivative ̃̀ ( ) (shown in Figure 5). Where, ( ) ( ) ( ), ̀ ( ) ̀ ( ) ̀ ( ), ( )
is the desired radial distance (of the trolley along the jib) and ( ) is the actual radial
distance. We started simulation by setting ( ) to zero.
Output: The defuzzification of radial tracking acceleration ̈ ( ) (shown in Figure
6).
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4.2. FIE-2: Radial oscillation damping FIE:
Inputs: The fuzzified in-plane angle ̃( ) (shown in Figure 7) and its derivative ̃̀ ( )
(shown in Figure 8).
Output: The defuzzification of radial correction acceleration ̈ ( ) (shown in
Figure 9).
4.3. FIE-3: Rotational tracking FIE
Inputs: The fuzzified rotational angle error ̃ ( ) (shown in Figure 10) and its
derivative ̃̀ ( ) (shown in Figure 11). Where, ( ) ( ) ( ), ̀ ( ) ̀ ( ) ̀ ( ),
( ) is the desired rotational angle (that the jib traces around the tower axis) and ( ) is
the actual rotational angle. We started simulation by setting ( ) to zero.
Output: The defuzzification of rotational tracking acceleration ̈ ( ) (shown in
Figure 12).
4.4. FIE-4: Rotational oscillation damping FIE
Inputs: The fuzzified out-of-plane angle ̃( ) (shown in Figure 13) and its derivative
̃̀ ( ) (shown in Figure 14).
Output: The defuzzification of rotational correction acceleration ̈ ( ) (shown
in Figure 15).
The output of radial tracking FIE, ̈ ( ), and radial oscillation damping FIE,
̈ ( ), are combined together to give according to the relation: ̈ ( )
( ) ̈ ( ) ̈ ( )
The output of rotational tracking FIE, ̈ ( ), and rotational oscillation damping
FIE, ̈ ( ), are combined together to give according to the relation: ̈ ( )
( ) ̈ ( ) ̈ ( )
Where the determination of the parameters M & C help improve the system
response as will be introduced latter.
The fuzzy sets used here (shown in figures from Figure 4 to Figure 15) are similar
to those used by [2].
The four FIEs are Programmed (the fis-file is created for each engine using its own
fuzzy sets, rules in tables 1-4 and loading the fis file inside the FIE) and set L=1m,
g=9.8m/sec2.
Table 1: Rules for radial tracking FIE
̃̀ ( )
PL PM PS Z NS NM NL
̃ ( )
PL PL PM PM PM PS PS Z
PM PM PM PM PS PS Z NS
PS PM PM PS PS Z NS NS
Z PM PS PS Z NS NS NM
NS PS PS Z NS NS NM NM
NM PS Z NS NS NM NM NM
NL Z NS NS NM NM NM NL
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Figure 4: Fuzzy sets of radial distance error ( )
Figure 5: Fuzzy sets of the derivative of radial distance error ̀ ( )
Figure 6: Fuzzy sets of radial tracking acceleration ̈ ( )
Table 2: Rules for radial oscillation damping FIE
̃( )
PL PM PS Z NS NM NL
̃̀ ( )
P NM NS NS Z PS PM PM
Z Z Z Z Z Z Z Z
N NM NM NS Z PS PS PM
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Figure 7: Fuzzy sets of the in-plane angle ( )
Figure 8: Fuzzy sets of the derivative of in-plane angle ̀ ( )
Figure 9: Fuzzy sets of radial correction acceleration ̈ ( )
Table 3: Rules for rotational tracking FIE
̃̀ ( )
PL PM PS Z NS NM NL
̃ ( )
PL PL PM PM PM PS PS Z
PM PM PM PM PS PS Z NS
PS PM PM PS PS Z NS NS
Z PM PS PS Z NS NS NM
NS PS PS Z NS NS NM NM
NM PS Z NS NS NM NM NM
NL Z NS NS NM NM NM NL
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Figure 10: Fuzzy sets of rotational angle error ( )
Figure 11: Fuzzy sets of the derivative of rotational angle error ̀ ( )
Figure 12: Fuzzy sets of rotational tracking acceleration ̈ ( )
Table 4: Rules for rotational oscillation damping FIE
̃( )
PL PM PS Z NS NM NL
̃̀ ( )
P PM PS PS Z NS NM NM
Z Z Z Z Z Z Z Z
N PM PM PS Z NS NS NM
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Figure 13: Fuzzy sets of the out-of-plane angle ( )
Figure 14: Fuzzy sets of the derivative of out-of-plane angle ̀ ( )
Figure 15: Fuzzy sets of rotational correction acceleration ̈ ( )
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Figure 16: Simulink model for the controlled crane model using fuzzy control
5. Simulation results:
At first, we didn't use control, i.e. applied open-loop control, and the system response
was too oscillatory (as shown in Figure 17).
Figure 17: The response in case of open-loop control. Where, t is in seconds and
x1: out-of-plane oscillation angle ( ) and x2: in-plane oscillation angle ( )
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After applying fuzzy control (and using the optimal values for the parameters C & M to
be 0.66 and 0.67 respectively) and running the model for 50 seconds, we noted a reduction in
oscillation angles more than those got in [2] as shown in Figures 18 and19 compared to Figure
20.
Figure 18: The response in case of using fuzzy controller and running the model for
50 seocnds. Where, t is in seconds.
x1: out-of-plane oscillation angle ( ) and x2: in-plane oscillation angle ( )
Also, running the model for 100 seconds yields the results shown in Figure 19:
Figure 19: The response in case of using fuzzy controller and running the model for
100 seconds.
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Figure 20: The responses got in [2]
6. Conclusion
By distributing the controller task over two main controllers; each of them, deals with
few certain variables instead of all variables at once and each one consists of two FIEs whose
outputs are combined to give the final control signal to the system, the task of automating the
crane model becomes simpler. We showed, using simulation, that the fuzzy logic controller can
control the operations of tower crane and minimize the swings resulted from the nature of
pendulum-like end line attached to its trolley by the good choice of the fuzzy rules and the good
combination of the parameters C & M. The performance of fuzzy controller was simulated using
the nonlinear model of the crane and using the FLC block in the Simulink of MATLAB. From
simulation results, satisfactory vibration reduction of the system has been achieved using the
proposed method, even in case of the oscillations at the beginning of loading the crane, i.e.
damp the initial kicks in the in-plane and out-of-plane angles and hence the controller still
control the operation of crane. Also, the controller could minimize any swings resulted form any
disturbances during the operation of crane.
Acknowledgement
The first author would like to thank Drs. Tayel E. Dabbous and Dr. Helmy El-Zoghby for
their guidance.
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