This research paper presents a relevant contribution to optimal control of angular veloci... more This research paper presents a relevant contribution to optimal control of angular velocities with trajectories tracking for 2WD mobile robots. The dynamic model of each robotic servomechanisms is modelled from experimental data as a second order transfer function. Then, the direct and reverse kinematic equations are analytically developed. Then, the LQRT (Linear Quadratic Regulator with Tracking) gains for angular velocity of servomechanisms, are computed over infinite time horizon from corresponding Riccatti equations, using PSO (Particles Swarm Optimization) values of weighted matrix Q and R. Therefore, the LQRT solution computed from PSO of Q and R is known as LQRT-PSO. In addition, the LQRT-PSO gains computed from the related Riccati equations, are transformed into equivalent PID/LQRT-PSO gains for angular velocities control. Furthermore, a trajectory tracking flowchart is designed to reinforce the robustness of the overall control system. On the other hand, relevant d...
A new generation of DAQ based on duty-cycle modulation technique is presented. It describes the d... more A new generation of DAQ based on duty-cycle modulation technique is presented. It describes the design and prototyping of a FPGA-based data acquisition and signal generation board using the duty-cycle modulation technique and with computer-based software interface. The system is built around the DE0-Nano development board that embeds an Altera cyclone IV FPGA in which a NIOS II processor running at 100 MHz has been instantiated. The conversion technique from analog-to-digital and vice versa is that of duty-cycle modulation technique which innovates by its reversibility. The resulting prototype has 4 input channels and 4 output channels and can be extended. It has input and output bandwidth of 100 kHz, which fully covers the bandwidth of the audio signals. It can measure or generate signals respectively in the range of voltages +/-3 V and +/-8 V, and thus can serve for the acquisition of physiological signals for instance. The sampling frequency is 50 MHz, the resolution is 12 bits f...
This paper presents a review of a multipurpose duty-cycle modulation (DCM) technology . A brief i... more This paper presents a review of a multipurpose duty-cycle modulation (DCM) technology . A brief introduction to switching modulation techniques is presented for the sake of well understanding of the innovative nature of the DCM architecture to be reviewed. The review is organized into numerous relevant application areas, including DCM-based instrumentation systems (i.e., DCM-based analog-to-digital conversion, DCM-based digital-to-analog conversion), DCM-based power electronic drivers (i.e. DCM-based Buck converters, DCM-based Boost converters, DCM-based power electronic inverters), and DCM-based digital transmission systems for arbitrary waveforms. Furthermore, the state-of-art evaluation as well as new research opportunities about the multipurpose DCM technology, are provided in order to outline possible patentable DCM control systems, to be dedicated in the future to electrical and electronics engineering markets .
The DCM (duty-cycle modulation) is used in industrial electronics as a special technique for prod... more The DCM (duty-cycle modulation) is used in industrial electronics as a special technique for producing switching time-varying periodic waves, with variable pulse width and modulation period. As an implication, unlike the fixed period of a PWM wave, the cyclic ratio of a DCM signal changes as a function of the modulating input according to a known function. However, most existing research works related to DCM-based instrumentation systems, are limited to single-channel contexts. In this paper, a multichannel DDCM (Digital Duty-Cycle Modulation) scheme is developed. It consists of an extended pre-computed DDCM data map, which significantly reduces the overall DSP (digital signal processing) time, and a piece of dual DDCM counting logic with a downstream zero order holder per analog channel. It is used to build a well tested 4-channel FPGA-based signal generator with 10–12 bits resolution.
This research paper presents a relevant contribution to optimal control of angular velocities wit... more This research paper presents a relevant contribution to optimal control of angular velocities with trajectories tracking for2WD mobile robots. The dynamic model of each robotic servomechanisms is modeled from experimental data as a second order transfer function. Then, the direct and reverse kinematic equations are analytically developed. Then, the LQRT (Linear Quadratic Regulator with Tracking) gains for angular velocity of servo-mechanisms, are computed over infinite time horizon from corresponding Riccatti equations, using PSO (Particles Swarm Optimization) values of weighted matrix Q and R. Therefore, the LQRT solution computed from PSO of Q and R is known as LQRT-PSO. In addition, the LQRT-PSO gains computed from the related Riccati equations are transformed into equivalent PID/LQRT-PSO gains for angular velocities control. Furthermore, a trajectory tracking flowchart is designed to reinforce the robustness of the overall control system. On the other hand, relevant developments conducted in the design step, are organized into an overall Matlab/Simulink PID/LQRT-PSO scheme. Finally, the obtained simulation results are presented in order to show the high performance of the proposed PID/LQRT-PSO control scheme for 2WD mobile robots.
Journal of Electrical Engineering, Electronics, Control and Computer Science, 2018
This paper presents a review of a multipurpose duty-cycle modulation (DCM) technology. A brief in... more This paper presents a review of a multipurpose duty-cycle modulation (DCM) technology. A brief introduction to switching modulation techniques is presented for the sake of well understanding of the innovative nature of the DCM architecture to be reviewed. The review is organized into numerous relevant application areas, including DCM-based instrumentation systems (i.e., DCM-based analog-todigital conversion, DCM-based digital-to-analog conversion), DCM-based power electronic drivers (i.e. DCM-based Buck converters, DCM-based Boost converters, DCM-based power electronic inverters), and DCM-based digital transmission systems for arbitrary waveforms. Furthermore, the state-of-art evaluation as well as new research opportunities about the multipurpose DCM technology, are provided in order to outline possible patentable DCM control systems, to be dedicated in the future to electrical and electronics engineering markets.
A new generation of DAQ based on duty-cycle modulation technique is presented. It describes the d... more A new generation of DAQ based on duty-cycle modulation technique is presented. It describes the design and prototyping of a FPGA-based data acquisition and signal generation board using the duty-cycle modulation technique and with computer-based software interface. The system is built around the DE0-Nano development board that embeds an Altera cyclone IV FPGA in which a NIOS II processor running at 100 MHz has been instantiated. The conversion technique from analog-to-digital and vice versa is that of duty-cycle modulation technique which innovates by its reversibility. The resulting prototype has 4 input channels and 4 output channels and can be extended. It has input and output bandwidth of 100 kHz, which fully covers the bandwidth of the audio signals. It can measure or generate signals respectively in the range of voltages +/-3 V and +/-8 V, and thus can serve for the acquisition of physiological signals for instance. The sampling frequency is 50 MHz, the resolution is 12 bits for ADC and 10 bits for DAC, the theoretical SNR value is 97.9794 dB. The interface to the PC is built around the USB-UART TTL converter CP2102.
This research paper presents a relevant contribution to optimal control of angular veloci... more This research paper presents a relevant contribution to optimal control of angular velocities with trajectories tracking for 2WD mobile robots. The dynamic model of each robotic servomechanisms is modelled from experimental data as a second order transfer function. Then, the direct and reverse kinematic equations are analytically developed. Then, the LQRT (Linear Quadratic Regulator with Tracking) gains for angular velocity of servomechanisms, are computed over infinite time horizon from corresponding Riccatti equations, using PSO (Particles Swarm Optimization) values of weighted matrix Q and R. Therefore, the LQRT solution computed from PSO of Q and R is known as LQRT-PSO. In addition, the LQRT-PSO gains computed from the related Riccati equations, are transformed into equivalent PID/LQRT-PSO gains for angular velocities control. Furthermore, a trajectory tracking flowchart is designed to reinforce the robustness of the overall control system. On the other hand, relevant d...
A new generation of DAQ based on duty-cycle modulation technique is presented. It describes the d... more A new generation of DAQ based on duty-cycle modulation technique is presented. It describes the design and prototyping of a FPGA-based data acquisition and signal generation board using the duty-cycle modulation technique and with computer-based software interface. The system is built around the DE0-Nano development board that embeds an Altera cyclone IV FPGA in which a NIOS II processor running at 100 MHz has been instantiated. The conversion technique from analog-to-digital and vice versa is that of duty-cycle modulation technique which innovates by its reversibility. The resulting prototype has 4 input channels and 4 output channels and can be extended. It has input and output bandwidth of 100 kHz, which fully covers the bandwidth of the audio signals. It can measure or generate signals respectively in the range of voltages +/-3 V and +/-8 V, and thus can serve for the acquisition of physiological signals for instance. The sampling frequency is 50 MHz, the resolution is 12 bits f...
This paper presents a review of a multipurpose duty-cycle modulation (DCM) technology . A brief i... more This paper presents a review of a multipurpose duty-cycle modulation (DCM) technology . A brief introduction to switching modulation techniques is presented for the sake of well understanding of the innovative nature of the DCM architecture to be reviewed. The review is organized into numerous relevant application areas, including DCM-based instrumentation systems (i.e., DCM-based analog-to-digital conversion, DCM-based digital-to-analog conversion), DCM-based power electronic drivers (i.e. DCM-based Buck converters, DCM-based Boost converters, DCM-based power electronic inverters), and DCM-based digital transmission systems for arbitrary waveforms. Furthermore, the state-of-art evaluation as well as new research opportunities about the multipurpose DCM technology, are provided in order to outline possible patentable DCM control systems, to be dedicated in the future to electrical and electronics engineering markets .
The DCM (duty-cycle modulation) is used in industrial electronics as a special technique for prod... more The DCM (duty-cycle modulation) is used in industrial electronics as a special technique for producing switching time-varying periodic waves, with variable pulse width and modulation period. As an implication, unlike the fixed period of a PWM wave, the cyclic ratio of a DCM signal changes as a function of the modulating input according to a known function. However, most existing research works related to DCM-based instrumentation systems, are limited to single-channel contexts. In this paper, a multichannel DDCM (Digital Duty-Cycle Modulation) scheme is developed. It consists of an extended pre-computed DDCM data map, which significantly reduces the overall DSP (digital signal processing) time, and a piece of dual DDCM counting logic with a downstream zero order holder per analog channel. It is used to build a well tested 4-channel FPGA-based signal generator with 10–12 bits resolution.
This research paper presents a relevant contribution to optimal control of angular velocities wit... more This research paper presents a relevant contribution to optimal control of angular velocities with trajectories tracking for2WD mobile robots. The dynamic model of each robotic servomechanisms is modeled from experimental data as a second order transfer function. Then, the direct and reverse kinematic equations are analytically developed. Then, the LQRT (Linear Quadratic Regulator with Tracking) gains for angular velocity of servo-mechanisms, are computed over infinite time horizon from corresponding Riccatti equations, using PSO (Particles Swarm Optimization) values of weighted matrix Q and R. Therefore, the LQRT solution computed from PSO of Q and R is known as LQRT-PSO. In addition, the LQRT-PSO gains computed from the related Riccati equations are transformed into equivalent PID/LQRT-PSO gains for angular velocities control. Furthermore, a trajectory tracking flowchart is designed to reinforce the robustness of the overall control system. On the other hand, relevant developments conducted in the design step, are organized into an overall Matlab/Simulink PID/LQRT-PSO scheme. Finally, the obtained simulation results are presented in order to show the high performance of the proposed PID/LQRT-PSO control scheme for 2WD mobile robots.
Journal of Electrical Engineering, Electronics, Control and Computer Science, 2018
This paper presents a review of a multipurpose duty-cycle modulation (DCM) technology. A brief in... more This paper presents a review of a multipurpose duty-cycle modulation (DCM) technology. A brief introduction to switching modulation techniques is presented for the sake of well understanding of the innovative nature of the DCM architecture to be reviewed. The review is organized into numerous relevant application areas, including DCM-based instrumentation systems (i.e., DCM-based analog-todigital conversion, DCM-based digital-to-analog conversion), DCM-based power electronic drivers (i.e. DCM-based Buck converters, DCM-based Boost converters, DCM-based power electronic inverters), and DCM-based digital transmission systems for arbitrary waveforms. Furthermore, the state-of-art evaluation as well as new research opportunities about the multipurpose DCM technology, are provided in order to outline possible patentable DCM control systems, to be dedicated in the future to electrical and electronics engineering markets.
A new generation of DAQ based on duty-cycle modulation technique is presented. It describes the d... more A new generation of DAQ based on duty-cycle modulation technique is presented. It describes the design and prototyping of a FPGA-based data acquisition and signal generation board using the duty-cycle modulation technique and with computer-based software interface. The system is built around the DE0-Nano development board that embeds an Altera cyclone IV FPGA in which a NIOS II processor running at 100 MHz has been instantiated. The conversion technique from analog-to-digital and vice versa is that of duty-cycle modulation technique which innovates by its reversibility. The resulting prototype has 4 input channels and 4 output channels and can be extended. It has input and output bandwidth of 100 kHz, which fully covers the bandwidth of the audio signals. It can measure or generate signals respectively in the range of voltages +/-3 V and +/-8 V, and thus can serve for the acquisition of physiological signals for instance. The sampling frequency is 50 MHz, the resolution is 12 bits for ADC and 10 bits for DAC, the theoretical SNR value is 97.9794 dB. The interface to the PC is built around the USB-UART TTL converter CP2102.
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