IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
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.
Non-Linear Controller for Electric Vehicle based on Indian Road ConditionsIDES Editor
A nonlinear controller namely sliding mode
controller has been designed for the modeled transfer function
of DC shunt motor based Electric Vehicle Drive, which takes
into account Vehicle parameters, Motor Parameters and Indian
Road conditions. The performance analysis of PI controller as
well as sliding mode controller based on trending law for the
developed transfer function has been analyzed and quantified
that sliding mode controller is better and robust for Electric
vehicle suitable for Indian road conditions.
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
Artificial Neural Network Based Closed Loop Control of Multilevel InverterIJMTST Journal
Multi level inverters are gaining attraction because of the inherent advantages like low switching losses and less voltage stress which results in low filter cost. The common techniques that are available for switching the multi level inverters are based on sinusoidal pulse width modulation and using conventional PI based controllers, hysteresis based controllers. These controllers suffer with slow response time this makes usage of multi level inverters in custom power devices difficult. Because custom power devices require fast acting controller action which can be achieved by intelligent controllers. In this project artificial neural network based modulation scheme is designed and implemented for a cascaded H bridge inverter. The response time of controller for different operating power factors of the load are compared with conventional PI controllers and are presented. The developed control technique is developed by using Sim Power Systems Block set of MATLAB/SIMULINK Release R2015a.
TORQUE CONTROL OF AC MOTOR WITH FOPID CONTROLLER BASED ON FUZZY NEURAL ALGORITHMijics
Nowadays in the complicated systems, design of proper and implementable controller has a most importance. With respect to ability of fractional order systems in complicated systems identification as a first order fractional system with time delay, usage of fractional order PID has a proper result. From one side flexibility of fractional calculus than integer order has been topics of interest to the researchers. From another side, PMSM motors which are one the AC motor types, has been allocated largely accounted position in industry and used in variety applications. Therefore in this paper torque direct control of PMSM motors with FOPID based on model is proposed. Also fuzzy neural controllers are widely considered. Reason of this is success of fuzzy neural controller in control and identification of uncertain and complicated systems. The proposed method in this paper is combination of FOPID controller with fuzzy neural supervision system which with coefficients setting of this controller, control operation of PMSM will improve. Results of proposed method show the ability of proposed technique in reference signal tracking, elimination of disturbances effects and functional robustness in presence of noise and uncertainty. The results show the error averagely in three condition, nominal form, step disturbance and noise and uncertainly will decrease 11.66% in proposed method (FNFOPID) with Integral Square Error criterion and 7.69% with Integral Absolute Error criterion in comparison to FOPID.
Methodology of Mathematical error-Based Tuning Sliding Mode ControllerCSCJournals
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical error-based tuning sliding mode controller (MTSMC) for highly nonlinear dynamic robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller is selected. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the switching function in presence of mathematical error-based method instead of switching function method in pure sliding mode controller. The results demonstrate that the sliding mode controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Pure sliding mode controller has difficulty in handling unstructured model uncertainties. To solve this problem applied mathematical model-free tuning method to sliding mode controller for adjusting the sliding surface gain (ë ). Since the sliding surface gain (ë) is adjusted by mathematical model free-based tuning method, it is nonlinear and continuous. In this research new ë is obtained by the previous ë multiple sliding surface slopes updating factor (á). Chattering free mathematical error-based tuning sliding mode controller is stable controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in mathematical error-based tuning sliding mode controller with switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12).
FLC-Based DTC Scheme for a New Approach of Two-Leg VSI Fed Induction MotorIJERA Editor
A new Direct Torque Control (DTC) strategy for Induction Motor (IM) drive fed by a two leg three phase
inverter (i.e., Four switches are used in VSI) was proposed in this paper. The proposed methodology is based on
the emulation of operation of the conventional Six-switch three phase inverter. The combination of four
unbalanced voltage vectors is generated by the two-leg three phase inverter, approaching to the synthesis of the
six balanced voltage vectors of the conventional DTC. This approach has been implemented in the design of the
vector selection table of the proposed DTC strategy. Further, Fuzzy Logic Controller (FLC) is proposed in the
speed controller for the improvement of torque ripples. Convention DTC with Six Switch three phase VSI, twoleg
three phase VSI with PI and Fuzzy Controller are implemented using MATLAB/SIMULINK. Simulation
results have shown that the proposed DTC strategy, two-leg inverter fed IM drive revealed an improved
performance.
Vibration and tip deflection control of a single link flexible manipulatorijics
In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible
manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub
angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic
controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control
using the resonant frequencies at different resonant modes of the system which were determined from
experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking
control and to achieve zero steady state error. The performance of the proposed control scheme is
investigated via simulations and the results show the effectiveness of the control scheme, in addition the
controller is tested to show it robustness using different values of payload.
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.
Non-Linear Controller for Electric Vehicle based on Indian Road ConditionsIDES Editor
A nonlinear controller namely sliding mode
controller has been designed for the modeled transfer function
of DC shunt motor based Electric Vehicle Drive, which takes
into account Vehicle parameters, Motor Parameters and Indian
Road conditions. The performance analysis of PI controller as
well as sliding mode controller based on trending law for the
developed transfer function has been analyzed and quantified
that sliding mode controller is better and robust for Electric
vehicle suitable for Indian road conditions.
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
Artificial Neural Network Based Closed Loop Control of Multilevel InverterIJMTST Journal
Multi level inverters are gaining attraction because of the inherent advantages like low switching losses and less voltage stress which results in low filter cost. The common techniques that are available for switching the multi level inverters are based on sinusoidal pulse width modulation and using conventional PI based controllers, hysteresis based controllers. These controllers suffer with slow response time this makes usage of multi level inverters in custom power devices difficult. Because custom power devices require fast acting controller action which can be achieved by intelligent controllers. In this project artificial neural network based modulation scheme is designed and implemented for a cascaded H bridge inverter. The response time of controller for different operating power factors of the load are compared with conventional PI controllers and are presented. The developed control technique is developed by using Sim Power Systems Block set of MATLAB/SIMULINK Release R2015a.
TORQUE CONTROL OF AC MOTOR WITH FOPID CONTROLLER BASED ON FUZZY NEURAL ALGORITHMijics
Nowadays in the complicated systems, design of proper and implementable controller has a most importance. With respect to ability of fractional order systems in complicated systems identification as a first order fractional system with time delay, usage of fractional order PID has a proper result. From one side flexibility of fractional calculus than integer order has been topics of interest to the researchers. From another side, PMSM motors which are one the AC motor types, has been allocated largely accounted position in industry and used in variety applications. Therefore in this paper torque direct control of PMSM motors with FOPID based on model is proposed. Also fuzzy neural controllers are widely considered. Reason of this is success of fuzzy neural controller in control and identification of uncertain and complicated systems. The proposed method in this paper is combination of FOPID controller with fuzzy neural supervision system which with coefficients setting of this controller, control operation of PMSM will improve. Results of proposed method show the ability of proposed technique in reference signal tracking, elimination of disturbances effects and functional robustness in presence of noise and uncertainty. The results show the error averagely in three condition, nominal form, step disturbance and noise and uncertainly will decrease 11.66% in proposed method (FNFOPID) with Integral Square Error criterion and 7.69% with Integral Absolute Error criterion in comparison to FOPID.
Methodology of Mathematical error-Based Tuning Sliding Mode ControllerCSCJournals
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical error-based tuning sliding mode controller (MTSMC) for highly nonlinear dynamic robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller is selected. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the switching function in presence of mathematical error-based method instead of switching function method in pure sliding mode controller. The results demonstrate that the sliding mode controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Pure sliding mode controller has difficulty in handling unstructured model uncertainties. To solve this problem applied mathematical model-free tuning method to sliding mode controller for adjusting the sliding surface gain (ë ). Since the sliding surface gain (ë) is adjusted by mathematical model free-based tuning method, it is nonlinear and continuous. In this research new ë is obtained by the previous ë multiple sliding surface slopes updating factor (á). Chattering free mathematical error-based tuning sliding mode controller is stable controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in mathematical error-based tuning sliding mode controller with switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12).
FLC-Based DTC Scheme for a New Approach of Two-Leg VSI Fed Induction MotorIJERA Editor
A new Direct Torque Control (DTC) strategy for Induction Motor (IM) drive fed by a two leg three phase
inverter (i.e., Four switches are used in VSI) was proposed in this paper. The proposed methodology is based on
the emulation of operation of the conventional Six-switch three phase inverter. The combination of four
unbalanced voltage vectors is generated by the two-leg three phase inverter, approaching to the synthesis of the
six balanced voltage vectors of the conventional DTC. This approach has been implemented in the design of the
vector selection table of the proposed DTC strategy. Further, Fuzzy Logic Controller (FLC) is proposed in the
speed controller for the improvement of torque ripples. Convention DTC with Six Switch three phase VSI, twoleg
three phase VSI with PI and Fuzzy Controller are implemented using MATLAB/SIMULINK. Simulation
results have shown that the proposed DTC strategy, two-leg inverter fed IM drive revealed an improved
performance.
Vibration and tip deflection control of a single link flexible manipulatorijics
In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible
manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub
angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic
controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control
using the resonant frequencies at different resonant modes of the system which were determined from
experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking
control and to achieve zero steady state error. The performance of the proposed control scheme is
investigated via simulations and the results show the effectiveness of the control scheme, in addition the
controller is tested to show it robustness using different values of payload.
ADAPTIVE BANDWIDTH APPROACH ON DTC CONTROLLED INDUCTION MOTORijics
Induction motors are most commonly used motor type in industrial applications because of its well-known
advantages like robust structure, cheaper prices etc. Today, field oriented control (FOC) and direct torque
control (DTC) methods, also called vector control, are most famous control methods in high-performance
applications. The main structural and behavioural differences between the both methods can be
summarized as: the FOC has parameter dependence while the DTC has high torque ripples. In this study, a
new adaptive bandwidth approach was presented to reduce torque ripples in DTC controlled induction
motor drives. With the proposed method, instead of fixed bandwidth, adaptive bandwidth approach was
investigated in hysteresis controllers on the DTC method. Both the conventional DTC(C-DTC) method and
adaptive bandwidth DTC (AB-DTC) for induction motor were simulated in MATLAB/SIMULINK and the
results were presented and discussed to verify the proposed control. The comparisons shown that, torque
ripples were reduced remarkably with the proposed AB-DTC method.
Fuzzy logic Technique Based Speed Control of a Permanent Magnet Brushless DC...IJMER
This paper presents an analysis by which the dynamic performances of a permanent magnet
brushless dc (PMBLDC) motor drive with different speed controllers can be successfully predicted. The
control structure of the proposed drive system is described. The dynamics of the drive system with a
classical proportional-integral-derivative (PID) and Fuzzy-Logic (FL) speed controllers are presented.
The simulation results for different parameters and operation modes of the drive system are investigated
and compared. The results with FL speed controller show improvement in transient response of the
PMBLDC drive over conventional PID controller. Moreover, useful conclusions stemmed from such a
study which is thought of good use and valuable for users of these 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.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
This research presents a very important industrial issue of controlling the production target, despite changing loads. Engines of various types, whether synchronous or synchronous, operate on single and three phase AC, DC motors or special motors such as stepper and servo. In all these motors, the speed control of the torque and speed of the above motors has gained considerable importance. There are three main ways reviewed in the current search, the second that completes the previous research referred to in the references. The three methods are PID method, LQR method and feeding –forward control methods. A real DC motor was used in electrical engineering machine laboratory at University of Diyala, Iraq. Where the actual parameters of the DC motor were actually calculated. The practical parameters were then integrated into the three control method Matlab codes for the purpose of comparing the results and representing the motor performance in the indicated control methods.
Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Fe...Waqas Tariq
In this paper, fuzzy adaptive base tuning feedback linearization fuzzy methodology to adaption gain is introduced. The system performance in feedback linearization controller and feedback linearization fuzzy controller are sensitive to the main controller coefficient. Therefore, compute the optimum value of main controller coefficient for a system is the main important challenge work. This problem has solved by adjusting main fuzzy controller continuously in real-time. In this way, the overall system performance has improved with respect to the classical feedback linearization controller and feedback linearization fuzzy controller. Adaptive feedback linearization fuzzy controller solved external disturbance as well as mathematical nonlinear equivalent part by applied fuzzy supervisory method in feedback linearization fuzzy controller. The addition of an adaptive law to a feedback linearization fuzzy controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. Refer to this research; tuning methodology can online adjust coefficient parts of the fuzzy rules. Since this algorithm for is specifically applied to a robot manipulator.
T ORQUE R IPPLES M INIMIZATION ON DTC C ONTROLLED I NDUCTION M OTOR WITH A DA...csandit
Field oriented control (FOC) and direct torque cont
rol (DTC), also called vector control, are
most famous control methods in high-performance mot
or applications. If we want to specify the
basic handicaps of both methods: the FOC has parame
ter dependence while the DTC has high
torque ripples. This paper proposes a new adaptive
bandwidth approach to reduce torque
ripples in DTC controlled induction motor drives. W
ith the proposed method, instead of fixed
bandwidth, adaptive bandwidth approach is investiga
ted in hysteresis controllers on the DTC
method. Both the conventional DTC(C-DTC) method and
adaptive bandwidth DTC (AB-DTC)
for induction motor are simulated in MATLAB/SIMULIN
K and the results are presented and
discussed to verify the proposed control. The compa
risons have shown that, torque ripples have
been reduced remarkably with the proposed AB-DTC me
thod.
Indirect power control of DFIG based on wind turbine operating in MPPT using ...IJECEIAES
This paper describes a MPPT control of the stator powers of a DFIG operating within a wind energy system using the backstepping control technique. The objective of this work consists of providing a robust control to the rotor-side converter allowing the stator active power to be regulated at the maximum power extracted from the wind turbine, as well as maintaining the stator reactive power at zero to maintain the power factor at unity, under various conditions. We have used the Matlab/Simulink platform to model the wind system based on a 7.5 kW DFIG and to implement the MPPT control algorithm in a first step, then we have implemented the field-oriented control and the backstepping controller in a second step. The simulation results obtained were very satisfactory with a fast transient response and neglected power ripples. They furthermore confirmed the high robustness of the approach used in dealing with the variation of the internal parameters of the machine.
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.
ANN Based PID Controlled Brushless DC drive SystemIDES Editor
Brushless (BLDC) DC motors find many industrial
applications such as process control, robotics, automation,
aerospace etc. Wider usage of this system has demanded an
optimum position control for high efficiency, accuracy and
reliability. Hence for the effective position control, estimation
of dynamic load parameters i.e. moment of inertia and friction
coefficient is necessary. This paper incorporates the estimation
of mechanical parameters such as moment of inertia and
friction coefficient of BLDC motor and load at various load
settings by using simple procedure. To achieve the optimum
position control, PID controller is employed and tuned using
PARR method. ANN training is used for obtaining the
mechanical and PID controller parameters at different load
settings. Closed loop position control system of the BLDC
drive system is created using SIMULINK. Simulation results
of this system are obtained at different load settings. It is
evident from the results that the position control system
responds to the desired position with minimum rise time,
settling time and peak overshoot.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
ADAPTIVE BANDWIDTH APPROACH ON DTC CONTROLLED INDUCTION MOTORijics
Induction motors are most commonly used motor type in industrial applications because of its well-known
advantages like robust structure, cheaper prices etc. Today, field oriented control (FOC) and direct torque
control (DTC) methods, also called vector control, are most famous control methods in high-performance
applications. The main structural and behavioural differences between the both methods can be
summarized as: the FOC has parameter dependence while the DTC has high torque ripples. In this study, a
new adaptive bandwidth approach was presented to reduce torque ripples in DTC controlled induction
motor drives. With the proposed method, instead of fixed bandwidth, adaptive bandwidth approach was
investigated in hysteresis controllers on the DTC method. Both the conventional DTC(C-DTC) method and
adaptive bandwidth DTC (AB-DTC) for induction motor were simulated in MATLAB/SIMULINK and the
results were presented and discussed to verify the proposed control. The comparisons shown that, torque
ripples were reduced remarkably with the proposed AB-DTC method.
Fuzzy logic Technique Based Speed Control of a Permanent Magnet Brushless DC...IJMER
This paper presents an analysis by which the dynamic performances of a permanent magnet
brushless dc (PMBLDC) motor drive with different speed controllers can be successfully predicted. The
control structure of the proposed drive system is described. The dynamics of the drive system with a
classical proportional-integral-derivative (PID) and Fuzzy-Logic (FL) speed controllers are presented.
The simulation results for different parameters and operation modes of the drive system are investigated
and compared. The results with FL speed controller show improvement in transient response of the
PMBLDC drive over conventional PID controller. Moreover, useful conclusions stemmed from such a
study which is thought of good use and valuable for users of these 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.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
This research presents a very important industrial issue of controlling the production target, despite changing loads. Engines of various types, whether synchronous or synchronous, operate on single and three phase AC, DC motors or special motors such as stepper and servo. In all these motors, the speed control of the torque and speed of the above motors has gained considerable importance. There are three main ways reviewed in the current search, the second that completes the previous research referred to in the references. The three methods are PID method, LQR method and feeding –forward control methods. A real DC motor was used in electrical engineering machine laboratory at University of Diyala, Iraq. Where the actual parameters of the DC motor were actually calculated. The practical parameters were then integrated into the three control method Matlab codes for the purpose of comparing the results and representing the motor performance in the indicated control methods.
Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Fe...Waqas Tariq
In this paper, fuzzy adaptive base tuning feedback linearization fuzzy methodology to adaption gain is introduced. The system performance in feedback linearization controller and feedback linearization fuzzy controller are sensitive to the main controller coefficient. Therefore, compute the optimum value of main controller coefficient for a system is the main important challenge work. This problem has solved by adjusting main fuzzy controller continuously in real-time. In this way, the overall system performance has improved with respect to the classical feedback linearization controller and feedback linearization fuzzy controller. Adaptive feedback linearization fuzzy controller solved external disturbance as well as mathematical nonlinear equivalent part by applied fuzzy supervisory method in feedback linearization fuzzy controller. The addition of an adaptive law to a feedback linearization fuzzy controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. Refer to this research; tuning methodology can online adjust coefficient parts of the fuzzy rules. Since this algorithm for is specifically applied to a robot manipulator.
T ORQUE R IPPLES M INIMIZATION ON DTC C ONTROLLED I NDUCTION M OTOR WITH A DA...csandit
Field oriented control (FOC) and direct torque cont
rol (DTC), also called vector control, are
most famous control methods in high-performance mot
or applications. If we want to specify the
basic handicaps of both methods: the FOC has parame
ter dependence while the DTC has high
torque ripples. This paper proposes a new adaptive
bandwidth approach to reduce torque
ripples in DTC controlled induction motor drives. W
ith the proposed method, instead of fixed
bandwidth, adaptive bandwidth approach is investiga
ted in hysteresis controllers on the DTC
method. Both the conventional DTC(C-DTC) method and
adaptive bandwidth DTC (AB-DTC)
for induction motor are simulated in MATLAB/SIMULIN
K and the results are presented and
discussed to verify the proposed control. The compa
risons have shown that, torque ripples have
been reduced remarkably with the proposed AB-DTC me
thod.
Indirect power control of DFIG based on wind turbine operating in MPPT using ...IJECEIAES
This paper describes a MPPT control of the stator powers of a DFIG operating within a wind energy system using the backstepping control technique. The objective of this work consists of providing a robust control to the rotor-side converter allowing the stator active power to be regulated at the maximum power extracted from the wind turbine, as well as maintaining the stator reactive power at zero to maintain the power factor at unity, under various conditions. We have used the Matlab/Simulink platform to model the wind system based on a 7.5 kW DFIG and to implement the MPPT control algorithm in a first step, then we have implemented the field-oriented control and the backstepping controller in a second step. The simulation results obtained were very satisfactory with a fast transient response and neglected power ripples. They furthermore confirmed the high robustness of the approach used in dealing with the variation of the internal parameters of the machine.
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.
ANN Based PID Controlled Brushless DC drive SystemIDES Editor
Brushless (BLDC) DC motors find many industrial
applications such as process control, robotics, automation,
aerospace etc. Wider usage of this system has demanded an
optimum position control for high efficiency, accuracy and
reliability. Hence for the effective position control, estimation
of dynamic load parameters i.e. moment of inertia and friction
coefficient is necessary. This paper incorporates the estimation
of mechanical parameters such as moment of inertia and
friction coefficient of BLDC motor and load at various load
settings by using simple procedure. To achieve the optimum
position control, PID controller is employed and tuned using
PARR method. ANN training is used for obtaining the
mechanical and PID controller parameters at different load
settings. Closed loop position control system of the BLDC
drive system is created using SIMULINK. Simulation results
of this system are obtained at different load settings. It is
evident from the results that the position control system
responds to the desired position with minimum rise time,
settling time and peak overshoot.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Ponencia de Patricia Gómez, de Iberdrola, en la jornada sobre "Los caudales ecológicos en la demarcación hidrográfica del Tajo", organizada por la FNCA, la Universidad Autónoma de Madrid y la Universidad Politécnica de Madrid.
Reestruturação Urbana e Mobilidade: Nova estação ferroviária Água Brancanadjones
Apresentação feita na banca final do meu Trabalho Final de Graduação, na Faculdade de Arquitetura e Urbanismo da Universidade Presbiteriana Mackenzie (São Paulo), em dezembro de 2010.
International Journal of Research in Engineering and Science is an open access peer-reviewed international forum for scientists involved in research to publish quality and refereed papers. Papers reporting original research or experimentally proved review work are welcome. Papers for publication are selected through peer review to ensure originality, relevance, and readability.
The International Journal of Engineering and Science (The IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
The aim of this research is the speed tracking of the permanent magnet synchronous motor (PMSM) using an intelligent Neural-Network based adapative backstepping control. First, the model of PMSM in the Park synchronous frame is derived. Then, the PMSM speed regulation is investigated using the classical method utilizing the field oriented control theory. Thereafter, a robust nonlinear controller employing an adaptive backstepping strategy is investigated in order to achieve a good performance tracking objective under motor parameters changing and external load torque application. In the final step, a neural network estimator is integrated with the adaptive controller to estimate the motor parameters values and the load disturbance value for enhancing the effectiveness of the adaptive backstepping controller. The robsutness of the presented control algorithm is demonstrated using simulation tests. The obtained results clearly demonstrate that the presented NN-adaptive control algorithm can provide good trackingperformances for the speed trackingin the presence of motor parameter variation and load application.
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.
Optimal Control of a Teleoperation System via LMI- based Robust PID Controllersidescitation
ince the performance of the teleoperation systems
can be considerably degraded by time-delay of communication
channels and uncertainty in various parts of such systems,
the main objectives of the controller design in loads of different
structures of the bilateral teleoperation system are to preserve
stability and tracking performance of these systems in spite
of aforementioned sources of uncertainty. In this paper, a
new robust PID controller will be designed based on H” control
theory by using the Linear Matrix Inequality (LMI) approach.
Therefore, the problem of a Robust PID controller design can
be regarded as a special case of the output-feedback controller
via employing some sorts of changes in control and system
parameters. To show the effectiveness of the proposed
controller, the robust PID controller is compared with the
multiobjective H2/H ” one. The main feature of the suggested
structure is its ability to control the teleoperation system via
using the simplest structure in which two signals will be
transmitted to control the teleoperation system. In addition,
use of PID controller has more practical applications in
industrial units, due to its simplicity in implementation and
capability to predict the time responses caused by changes in
control parameters.
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.
This paper aims to design the pitch angle control based on proportional–integral–derivative (PID) controller combined with fuzzy logic for small-scale wind turbine systems. In this control system, the pitch angle is controlled by the PID controller with their parameter is tuned by the fuzzy logic controller. This control system can compensate for the nonlinear characteristic of the pitch angle and wind speed. A comparison between the fuzzy-PID-controller with the conventional PID controller is carried out. The effectiveness of the method is determined by the simulation results of a small wind turbine using a permanent magnet generator (PMSG).
PID controller for microsatellite yaw-axis attitude control system using ITAE...TELKOMNIKA JOURNAL
The need for effective design of satellite attitude control (SAC) subsystem for a microsatellite is imperative in order to guarantee both the quality and reliability of the data acquisition. A proportional-integral-derivative (PID) controller was proposed in this study because of its numerous advantages. The performance of PID controller can be greatly improved by adopting an integral time absolute error (ITAE) robust controller design approach. Since the system to be controlled is of the 4th order, it was approximated by its 2nd order version and then used for the controller design. Both the reduced and higher-order pre-filter transfer functions were designed and tested, in order to improve the system performance. As revealed by the results, three out of the four designed systems satisfy the design specifications; and the PD-controlled system without pre-filter transfer function was recommended out of the three systems due to its structural simplicity, which eventually enhances its digital implementation.
Refer to the research, design a novel SISO adaptive fuzzy sliding algorithm inverse dynamic like method (NAIDLC) and application to robot manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in inverse dynamic controller, fuzzy logic controller and self tuning fuzzy sliding method, the output has improved. The main objective in this research is analyses and design of the adaptive robust controller based on artificial intelligence and nonlinear control. Robot manipulator is nonlinear, time variant and a number of parameters are uncertain, so design the best controller for this plant is the main target. Although inverse dynamic controller have acceptable performance with known dynamic parameters but regarding to uncertainty, this controller\'s output has fairly fluctuations. In order to solve this problem this research is focoused on two methodology the first one is design a fuzzy inference system as a estimate nonlinear part of main controller but this method caused to high computation load in fuzzy rule base and the second method is focused on design novel adaptive method to reduce the computation in fuzzy algorithm.
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.
Joint control of a robotic arm using particle swarm optimization based H2/H∞ ...TELKOMNIKA JOURNAL
This paper proposes a small structure of robust controller to control robotic arm’s joints where exist some uncertainties and unmodelled dynamics. Robotic arm is widely used now in the era of Industry 4.0. Nevertheless, the cost for an industry to migrate from a conventional automatic machine to industrial robot still very high. This become a significant challenge to middle or small size industry. Development of a low cost industrial robotic arm can be one of good solutions for them. However, a low-cost manipulator can bring more uncertainties. There might be exist more unmodelled dynamic in a low-cost system. A good controller to overcome such uncertainties and unmodelled dynamics is robust controller. A low-cost robotic arm might use small or medium size embedded controller such as Arduino. Therefore, the control algorithm should be a small order of controller. The synthesized controller was tested using MATLAB and then implemented on the real hardware to control a robotic manipulator. Both the simulation and the experiment showed that the proposed controller performed satisfactory results. It can control the joint position to the desired position even in the presence of uncertainties such as unmodelled dynamics and variation of loads or manipulator poses.
A New Estimate Sliding Mode Fuzzy Controller for Robotic ManipulatorWaqas Tariq
One of the most active research areas in field of robotics is control of robot manipulator because this system has highly nonlinear dynamic parameters and most of dynamic parameters are unknown so design an acceptable controller is the main goal in this work. To solve this challenge position new estimation sliding mode fuzzy controller is introduced and applied to robot manipulator. This controller can solve to most important challenge in classical sliding mode controller in presence of highly uncertainty, namely; chattering phenomenon based on fuzzy estimator and online tuning and equivalent nonlinear dynamic based on estimation. Proposed method has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
This paper presents an enhanced nonlinear PID (NPID) controller to follow a preselected speed profile of brushless DC motor drive system. This objective should be achieved regardless the parameter variations, and external disturbances. The performance of enhanced NPID controller will be investigated by comparing it with linear PID control and fractional order PID (FOPID) control. These controllers are tested for both speed regulation and speed tracking. The optimal parameters values of each control technique were obtained using Genetic Algorithm (GA) based on a certain cost function. Results shows that the proposed NPID controller has better performance among other techniques (PID and FOPID controller).
Review on controller design in pneumatic actuator drive systemTELKOMNIKA JOURNAL
A pneumatic actuator is a device that converts compressed air into mechanical energy to perform varieties of work. It exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement which is difficult to manage and requires an appropriate controller for better performance. The purpose of this study is to review the controller design of pneumatic actuator recommended by previous researchers from the past years. Initially, the basic views of the pneumatic will be presented in terms of introduction to the pneumatic actuator and its applications in industries. At the end of this review, discussions on the design of the controllers will be concluded and further research will be proposed along with the improvement of control strategies in the pneumatic actuator systems.
1. S. Mallikarjunaiah, S. Narayana Reddy / International Journal of Engineering Research and
Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 3, Issue 1, January -February 2013, pp.1207-1212
Design of PID Controller for Flexible Link Manipulator
S. Mallikarjunaiah*, S. Narayana Reddy**
*(Department of Electrical and Electronics Engineering, CR Engineering College, Tirupati, A.P., India)
** (Department of Electrical and Electronics Engineering, SV University, Tirupati, A.P., India)
ABSTRACT
This paper focuses on the end-point use of lightweight materials in large space structures.
control of a single flexible link which rotates in The main difficulty associated with the flexible link
the horizontal plane. The dynamic model is manipulator is the vibrations at the end effectors.
derived using a Lagrangian assumed modes Various control strategies are available in the
method based on Euler–Bernoulli beam theory. literature to minimize the vibrations. A brief
Initially the system is modeled as a voltage-input description of these methods is given below.
model, and different controllers were applied to It is known that the flexible system is a highly
control the system. The position and trajectory nonlinear and heavily coupled system, ddifferent
control is performed by PID control methods for assumed modes method [1-3] is used for the
this system. The purpose of this study is to keep dynamic modeling and implemented via a
the rotate angle of the link at desired position and commercially available symbolic manipulation
to eliminate the oscillation angle of end effectors. program. Systematic method is developed to
The results were produced for mode 1 and mode symbolically derive the full nonlinear dynamic
2 operation. The control blocks required for this equations.
system are performed on MATLAB – High performance manipulators with
SIMULINK. The simulated results of the system dynamic behavior in which the flexibility is an
based on PID controller are quite satisfactory. essential aspect are addressed [4]. The mathematical
representations commonly used in modeling flexible
Keywords - Flexible Link Manipulator, PID arms and arms with flexible drives are examined.
controller, High Frequency modes Dynamic deformations of the flexible arm were
represented in a simple and compact form with use
I. INTRODUCTION of the virtual coordinate systems in [5]. Using the
An important advanced robotic system is assumed-modes approach it is possible to find
the flexible-link robot arm. The desire to improve the transfer function between the torque input and
robot performance has led to the design of lighter the net tip deflection [6]. It is shown that when the
flexible links. A light-flexible link robot arm has number of modes is increased for more accurate
many advantages compared to conventional rigid modeling, the relative degree of the
link robots such as lower power consumption, higher transfer function becomes ill-defined.
payload-to-robot weight ratio, lower manufacturing In [8] the first method designs a stable pre-
cost, and easier transportation to name a few. filter using the extended bandwidth zero phase error
Because of the elasticity of the flexible robot arm, tracking control method. The second feed forward
the controller algorithms are different from that of method adds delay to the inverse model and then
the traditional rigid robot arm. uses common filter design techniques to
A flexible link robot arm is a distributed approximate this delayed frequency response.
parameter system of infinite order, Due to elastic PID type composite controller for
properties of flexible manipulators, the development controlling flexible arms modeled by the singular
of a mathematical description and subsequent perturbation approach [9], and investigates a tuning
model-based control of the system is a complicated method based on the proposed controller structure.
task. This is made difficult by the presence of a large For the slow sub-controller, a PD plus disturbance
(infinite) number of modes of vibration in the observer is used, which eventually takes on PID
system. The modes become significant in two ways: form, and for the fast sub-controller, modal feedback
firstly, because the oscillations themselves prolong PID control is utilized. By using the Tchebyshev
the settling time and secondly, because attempts to representation of a discrete-time transfer function
actively control some modes result in instability of and some new results on root counting with respect
the other modes. This non-linear behavior of the to the unit circle[10], were shown that how the
structure at high speeds, firstly, degrades end-point digital PID stabilizing gains can be determined by
accuracy and secondly complicates controller solving sets of linear inequalities in two unknowns
development. for a fixed value of the third parameter. The
The flexible link systems play an important application of the H∞ and PID control synthesis
role in the industrial applications, mainly due to the method is used to develop the tip position control of
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2. S. Mallikarjunaiah, S. Narayana Reddy / International Journal of Engineering Research and
Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 3, Issue 1, January -February 2013, pp.1207-1212
a flexible-link manipulator [11]. A modified PID payload at one end. The beam can bend freely in the
control (MPID) is proposed [12] which depend only horizontal plane but is considered stiff with respect
on vibration feedback to improve the response of the to vertical bending and torsion. The model is
flexible arm without the massive need for developed using the Lagrange formulation and
measurements. model expansion method. The length of the
The requirement of controllers with faster manipulator is assumed to be constant, and
response and higher accuracy introduces a challenge deformation due to shear, rotary inertia and the
that the researchers have faced in different ways. effects of axial forces are neglected. The moment of
The large mass and energy requirements of standard inertia about the hub O is denoted by and is the
rigid link manipulators have led to a desire for
linear mass density. The arm has length l , and the
flexible link manipulators characterized by low-mass
payload mass is given by . The control torque T
links and actuators with low power requirements.
This is particularly desirable in certain applications, is applied at the hub of the manipulator by way of
such as space systems, where mass and energy the rotary actuator. The angular displacement of the
requirements must be minimized for transport manipulator, moving in the xOy plane, is denoted by
purposes. Flexible link dynamics are also found in . The width of the arm is assumed to be much
certain mechanical pointing systems and in systems greater than it’s the thickness, thus allowing it to
with links having high length-to-width ratios. These vibrate dominantly in the horizontal direction. The
dynamics make the system outputs such as tip shear deformation and rotary inertia effects are
position more difficult to control. Therefore, before ignored.
flexible link manipulators can be surrealistically
implemented, it is necessary to study the nature of
flexible link manipulators and determine effective
methods for position control.
This paper deals with the modeling and PID
control of single flexible link manipulator. The PID
controller is a combination of PID controller and
plant matrix controller that is adapted based on the
output of PID controller. The paper aims at end-
point control by using PID controllers, which
overcomes the disadvantage of the conventional
controllers such as more raise time and settling time. Fig. 1 Schematic representation of the flexible
manipulator system
II. FLEXIBLE MANIPULATOR
For an angular displacement and an elastic
The conventional approach to the design of
an automatic control system often involves the
deflection y(x,t) the total displacement u(x,t) of a
construction of a mathematical model which best
point, measured at a distance x from the hub can be
describes the dynamics behavior of the plant to be
described as a function of the above, measured from
controlled, and the application of analytical
the direction of Ox.
techniques to this plant model to derive an
(x, t) = u(x, t) +θ (t) x (1)
appropriate control law. Usually, such a
The kinetic energy of the system can be written as
mathematical model consist of a set linear or non-
linear differential equations, most of them are
derived using some form of approximation and
(2)
simplification. The traditional model-based control
techniques break down, when a representative model
In eqn. (2), the first term on the right hand
is difficult to obtain due to uncertainty or sheer side is due to the hub inertia, the second term is due
complexity. It is known that robot system is highly
to the rotation of the manipulator with respect to the
non-linear and heavily coupled system, and accurate
origin, and the third term is due to the payload mass.
mathematical model is difficult to obtain, thus it The potential energy is related to the bending of
making difficult to control using conventional manipulator. Since the width of the manipulator
techniques. This paper presents the mathematical
under consideration is assumed to be significantly
modeling of a single link flexible manipulator. The
larger than its thickness, the effects of the shear
system is modeled by the Lagrange formulation and
displacement can be neglected. In this way, the
model expansion method.
potential energy of the manipulator can be written as
III. MATHEMATICAL MODELLING OF (3)
FLEXIBLE MANIPULATOR where E is the modulus of the elasticity for the beam
The manipulator is illustrated in fig. 1, and material, and I denote the second moment of area of
is modeled as a pinned-free flexible beam with the beam cross-section.
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Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 3, Issue 1, January -February 2013, pp.1207-1212
The non-conservative work for the input torque T Table 1 Parametric values for the flexible
can be written as manipulator
Physical parameter Symbol Value
W (4) Length L 0.61 m
Section area A 310-5 m2
The Lagrangian for the system is formulated as Density Ρ 7.8103 kg/m3
Young modulus E 200109 N/m2
L=T-V (5) Second moment of
area
I 2.510-12 m4
To obtain the equation of the motion of the Payload M 31.710-3 kg
manipulator, Hamilton extended principle is used as Moment of inertia of
described in eqn. (6) hub
J 4.310-3 kg-m2
(6) Substitution of eqn. (10) into eqn. (7) by apply
boundary and initial conditions of eqn. (9), the
where t1 and t2 are two arbitrary times and w following ordinary differential equations can be
represents virtual work. Manipulating Eqn. (1) - (6) derived
yields the equation of motion of the manipulator as
(11)
(7)
(12)
Where
The dynamic equation of the manipulator is
described as
(8)
Where
The corresponding boundary and initial conditions denotes the frequency of vibration, which can
are given by be determined from the above using the boundary
conditions. The frequencies for the first and second
modes of vibration and the corresponding terms
are shown in table 2.
Table 2 Mode dependent parameters
Mode a bi
i
2 -2
1 2.6178 1.003510 6.829210 4.496110-1
2 6.9626 5.0215103 9.653910-3 2.224810-1
(9)
Using the assumed mode method, the If X is assumed as state space variables,
solution of the dynamic equation of motion of the
manipulator can be obtained as linear combination
and Y is assumed as the output,
of the product of the admissible function i (x) and , eqn. (11) and eqn .(12) can
the time-dependent generalized coordinates q i (t), as be written as
follows, where
(10)
The admissible function i (x) also called (13)
the mode shape, is purely a function of the and
displacement along the length of the manipulator
and q i (t) is purely a function of the time and (14)
includes an arbitrary, multiplicative constant. The
parameter values for flexible manipulator are given thus a fourth order model is considered as a system.
in Table 1.
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4. S. Mallikarjunaiah, S. Narayana Reddy / International Journal of Engineering Research and
Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 3, Issue 1, January -February 2013, pp.1207-1212
IV. PROBLEM FORMULATION system from reaching its target value due to the
Control strategies are designed for models control action.
of a flexible link manipulator that are linearized
about a particular operating point, that is, for a given 4.2 Turning of PID Controller
set of hub angle and elastic mode positions and If the PID controller parameters are chosen
velocities. The greater the variation of these in correctly, the controlled process input can be
positions and velocities from the operating point, the unstable, i.e. its output diverges, with or without
greater is the variation of the linearized model from oscillation and is limited only by saturation or
the actual system. This variation becomes more mechanical breakage. Tuning a control loop is
pronounced for high-performance control systems adjustment of its control parameters to the optimum
since high performance implies rapid motion and values for the desired control response.
therefore large departures of the hub angle and There are several methods for tuning a PID
elastic mode positions and velocities from their loop. The most effective methods are generally
nominal values. System performance and stability involve the development of some form of process
will degrade unless the situation is addressed. The model, then choosing P, I and D based on the
objective is to control the angular displacement θ, dynamic model parameters. Manual tuning methods
and to minimize the vibrations at the final deflected can be relatively inefficient. The choice of the
position. method will depend largely on whether or not the
loop can be taken offline for tuning, and the
4.1 PID Controller response time of the system. If the system can be
A proportional–integral–derivative taken offline, the best tuning method often involve
controller (PID controller) is a generic loop feedback subjecting the system to a step change in input,
(controller) widely used in industrial control measuring the output as a function of time, and using
systems. A PID controller attempts to correct the this response to determine the control parameters.
error between a measured process variable and a
desired set point by calculating and then instigating a V. RESULTS AND ANALYSIS
corrective action that can adjust the process By exerting this controller to the system,
accordingly and rapidly, to keep the error minimal. the step response and the closed loop response in
both modes will be as shown in Fig. 3 to 8.
Fig. 2 Block diagram of PID Controller
The PID controller calculation involves
three separate parameters; the proportional, the
integral and derivative values as shown in fig. 2. The Fig. 3 Step response (alpha) of the system with PID
proportional value determines the reaction to the controller for mode 1
current error, the integral value determines the
reaction based on the sum of recent errors, and the
derivative value determines the reaction based on the
rate at which the error has been changing. The
weighted sum of these three actions is used to adjust
the process via a control element such as the position
of a control valve or the power supply of a heating
element.
Some applications may require using only one or
two modes to provide the appropriate system
control. This is achieved by setting the gain of
undesired control outputs to zero. A PID controller
will be called a PI, PD, P or I controller in the Fig. 4 Step response (theta) of the system with PID
absence of the respective control actions. PI controller for mode 1
controllers are particularly common, since derivative
action is very sensitive to measurement noise, and
the absence of an integral value may prevent the
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5. S. Mallikarjunaiah, S. Narayana Reddy / International Journal of Engineering Research and
Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 3, Issue 1, January -February 2013, pp.1207-1212
Fig. 6 and 7 are shown the amplitude (alpha) and
angular velocity (Theta) of the step response of the
system PID controller without addition of
disturbance for mode 2 operation where as fig. 8
shows the step response(alpha) of the PID controller
with addition of disturbance under mode 2 operation.
The operating modes are shown with different
parameters in the table 3.
Table 3 Results of different parameters of PID
Controller
Fig. 5 Step response (Alpha) of PID controller with Type of Settling time Peak over
a disturbance for mode1 operation (Sec) Shoot (Amps)
Mode -1 15.2 1.40
Fig. 3 and 4 are shown the amplitude Mode - 2 19.5 1.58
(alpha) and angular velocity (Theta) of the step
response of the system PID controller without
From the Fig. 3 to 8, it has observed that
addition of disturbance for mode 1 operation where
the PID controller doesn’t create a suitable step
as fig. 5 shows the step response(alpha) of the PID
response for the system. Intense the settling time is
controller with addition of disturbance under mode 1
15.2 seconds for mode-1 operation and 19.5 seconds
operation.
for mode -2 operation. It shows the Peak over shoot
is 1.4 Amps for mode-1 operation and 1.58 Amps
for mode-2 operation.
VI. CONCLUSION
PID Control of a Single Flexible Link
Manipulator (SFLM) has been investigated in this
paper. In this paper initially simulations have been
carried out using PID controller, the step response
and the closed-loop response in both modes are
shown in fig 3 to 8. It is clear that the PID controller
Fig. 6 Step response (theta) of PID controller with doesn’t create a suitable step response for the
disturbance input system. Intense transient oscillation and high over
shoot are the shortcoming of such controller.
Moreover the parameters of this controller are
constant, no adaption with system dynamical
changes. Since the amplitude of oscillation persists
and in order improves the transient response of the
system, a PID controller has been designed and
simulated along with the system.
Fig. 7 Step response (Alpha) of the system with PID
controller for mode 2
Fig. 8 Step response (Theta) of the system with PID
controller for mode 2
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Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 3, Issue 1, January -February 2013, pp.1207-1212
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