In this project a remote controlled self-balancing mobile robot was designed, built and controlled. This paper gives a summary of the work done in the fields of mechanical design, electronics, software design, system characterization and... more
In this project a remote controlled self-balancing mobile robot was designed, built and controlled. This paper gives a summary of the work done in the fields of mechanical design, electronics, software design, system characterization and control theory. This wide array of fields necessary for the realization of the project holds the project up as a leading example in the field of mechatronics. In the paper special focus will be on the modelling of the robotic system and the simulation results of various control methods required for the stabilization of the system.
This paper presents a new technique for a Takagi-Sugeno (TS) fuzzy parallels distribution compensation-PID'S (TSF-PDC-PID'S) to improve the performance of Egyptian load frequency control (ELFC). In this technique, the inputs to a... more
This paper presents a new technique for a Takagi-Sugeno (TS) fuzzy parallels distribution compensation-PID'S (TSF-PDC-PID'S) to improve the performance of Egyptian load frequency control (ELFC). In this technique, the inputs to a TS Fuzzy model are the parameters of the change of operating points. The TS Fuzzy model can definite the suitable PID control for a certain operating point. The parameters of PID'S controllers are obtained by ant colony optimization (ACO) technique in each operating point based on an effective cost function. The system controlled by the proposed TSF-PDC-PID’S is investigated under different types of disturbances, uncertainty and parameters variations. The simulation results ensure that the TSF-PDC-PID'S can update the suitable PID controller at several operating points so, it has a good dynamic response under many types of disturbances compared to fixed Optimal PID controller.
A detailed approach for a linear Proportional-Integral-Derivative (PID) controller and a non-linear controller-Linear Quadratic Regulator (LQR) is discussed in this paper. By analyzing several mathematical designs for the Skid Steer... more
A detailed approach for a linear Proportional-Integral-Derivative (PID) controller and a non-linear controller-Linear Quadratic Regulator (LQR) is discussed in this paper. By analyzing several mathematical designs for the Skid Steer Mobile Robot (SSMR), the controllers are implemented in an embedded microcontroller-Mbed LPC1768. To verify the controllers, Matlab-Simulink is used for the simulation of both the controllers involving motors-Maxon RE40. This paper compares between PID and LQR controller along with the performance comparison between Homogenous and Non-Homogenous LQR controllers.
The design of intelligent control systems has become an area of intense research interest. A promising direction in the design of intelligent systems involves the use of Fuzzy logic controller to discover the abilities of... more
The design of intelligent control systems has become
an area of intense research interest. A promising direction in the
design of intelligent systems involves the use of Fuzzy logic
controller to discover the abilities of intelligent control systems
in utilizing experience via rule-based knowledge.
The most commonly used controller in the industry field is
the proportional plus- integral-plus- derivative (PID). PID
controller requires a mathematical model of the system while
Fuzzy logic controller (FLC) provides an alternative to PID
controller, especially when data are not available or partly
available for the system.
For comparison purpose, three controllers PI, PID and FLC
have been designed and implemented in the MATLAB/Simulink
model to examine the performance of DC motor with different
loads. The results show that the FLC give better response
compared to PI &PID controller.
Il s’agit de découvrir les fonctions et outils de Matlab relatifs à l’étude des systèmes asservis . Matlab est un environnement généraliste de calcul numérique.
This study will examine the approaches toward instructional design that have been applied to date. A summary of the diverse types of instructional models will be classified them into various categories of instructional design. The... more
This study will examine the approaches toward instructional design that have been applied to date. A summary of the diverse types of instructional models will be classified them into various categories of instructional design. The evidence from many researches and theoretical discussions show and supports the classification of these instructional design categories. This study also investigates which existing trends are present in current instructional models. The most recent models have been designed under constructivism, but some of these models are considered postmodernism philosophy. Due to these new and hidden considerations we have developed and would to suggest a new trend in this field. In addition, we mention some reasons for this new trend based on social movements. The mentioned movements have been effected by postmodern philosophy. We attempt to propose an instructional design trend based on postmodernism orientation that named postmodern instructional design.
The mechatronic systems represent one of the most challenging control applications due to their interdisciplinary nature. Numerous control algorithms have been proposed to deal with nonlinear dynamics of the mechatronic systems. For... more
The mechatronic systems represent one of the most challenging control applications due to their interdisciplinary nature. Numerous control algorithms have been proposed to deal with nonlinear dynamics of the mechatronic systems. For linear mechatronic systems, the proportional-integral-derivative (PID) controller is often used owing to its simple structure and robustness. One of the most common applications in all mechatronic domains is the control of DC motors. To develop a product which will can be used efficiently. In this case, develop a PCB (Printed Circuit Board) to control a servomotor position and speed. Arduino UNO ATMEGA 328 is used to control the motor. This motor is controlled using PID logic (Proportional Integrative Differential). The PID logic is implemented in the motor using the Arduino UNO ATMEGA 328 micro controller. After implementing the above, proteus design is made and PCB is printed. The final printed circuit board will be able to control the motor using PID logic.
The paper deals with the study of SISO and MIMO processes using PID controller for a coupled tank process. The PID controllers have found wide acceptance and applications in the industries. In spite of their simple structures, PID... more
The paper deals with the study of SISO and MIMO processes using PID controller for a coupled tank process. The PID controllers have found wide acceptance and applications in the industries. In spite of their simple structures, PID controllers are proven to be sufficient for many practical control problems. This paper presents the PID controller design for controlling liquid level of coupled tank system. These coupled tank systems form a second order system. Simulation study was carried out for this process with more concern given to the heights of the tank & performance evaluating parameters are then determined.
The Due to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life. Two link robot manipulator is a very... more
The Due to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life. Two link robot manipulator is a very basic classical and simple example of robot followed in understanding of basic fundamentals of robotic manipulator. The equation of motion for two link robot is a nonlinear differential equation. For higher degrees of freedom, as the closed form solutions are very difficult we have to use numerical solution. Here we focused mainly on control of robot manipulator to get the desired position using combination of two classical methods PID and computed torque control method after deriving the equation of motion. For the same simulation is represented using MATLAB and compared with computed torque control method.
Liquid level tanks are employed in many industrial and chemical areas. Their level must be keep a defined point or between maximum-minimum points depending on changing of inlet and outlet liquid quantities. In order to overcome the... more
Liquid level tanks are employed in many industrial and chemical areas. Their level must be keep a defined point or between maximum-minimum points depending on changing of inlet and outlet liquid quantities. In order to overcome the problem, many level control methods have been developed. In the paper, it was aimed that obtain a mathematical model of an installed liquid level tank system. Then, the mathematical model was derived from the installed system depending on the sizes of the liquid level tank. According to some proportional-integral-derivative (PID) parameters, the model was simulated by using MATLAB/Simulink program. After that, data of the liquid level tank were taken into a computer by employing data acquisition cards (DAQs). Lastly, the computer-controlled liquid level control was successfully practiced through a written computer program embedded into a PID algorithm used the PID parameters obtained from the simulations into Advantech VisiDAQ software.
A strategy for adaptive control and energetic optimization of aerobic fermentors was implemented, with both air flow and agitation speed as manipulated variables. This strategy is separable in its components: control, optimization,... more
A strategy for adaptive control and energetic optimization of aerobic fermentors was implemented, with both air flow and agitation speed as manipulated variables. This strategy is separable in its components: control, optimization, estimation. We optimized parameter’s estimation (from the usual KLa correlation) using sinusoidal excitation of air flow and agitation speed. We have implemented parameter’s estimation trough recursive least squares algorithm with forgetting factor. We carried separate essays on control, optimization and estimation algorithms. We carried our essays using an original computational simulation environment, with noise and delay generating facilities for data sampling and filtering.
Our results show the convergence and robustness of the estimation algorithm used, improved with use of both forgetting factor and KLa dead-band facilities. Control algorithm used in our work compares favorably with PID using the integrated area criteria for deviation between oxygen molarity and critical molarity (set point). Optimization algorithm clearly reduces energetic consumption, respecting critical molarity. Integration of control, optimization and adaptive algorithms was implemented, but future work is needed for stability. Methods were defined and implemented for stability improvement. We have implemented data acquisition and computer manipulation of air flow and agitation speed for actual fermentors.
BLDC motors have the main contribution in the transportation industry applications, for example, is used as the driving electric bicycles. The purpose of this paper is to explain how to improve the performance of BLDC motors with... more
BLDC motors have the main contribution in the transportation industry applications, for example, is used as the driving electric bicycles. The purpose of this paper is to explain how to improve the performance of BLDC motors with optimization. The method used in this study first experimented with collecting input and output data on a BLDC motor with a specification of 350-watt power. Input and output data was simulated by the ARX method to identify the transfer function equation. After obtaining the transfer function equation, simulations and analyses are performed using several optimization methods, such as PID, Fuzzy, Hybrid Fuzzy PID, and the last is by combining fuzzy and PID optimized with PSO algorithm. The results showed that the combination of Fuzzy and PID optimization with the PSO Algorithm could improve performance effectively and efficiently
The aim of this study is to design a control strategy for the angular rate (speed) of a DC motor by varying the terminal voltage. This paper describes various designs for the control of direct current (DC) motors. We derive a transfer... more
The aim of this study is to design a control strategy for the angular rate (speed) of a DC motor by varying the terminal voltage. This paper describes various designs for the control of direct current (DC) motors. We derive a transfer function for the system and connect it to a controller as feedback, taking the applied voltage as the system input and the angular velocity as the output. Different strategies combining proportional, integral, and derivative controllers along with phase lag compensators and lead integral compensators are investigated alongside the linear quadratic regulator. For each controller transfer function, the step response, root locus, and bode plot are analysed to ascertain the behaviour of the system, and the results are compared to identify the optimal strategy. It is found that the linear quadratic controller provides the best overall performance in terms of steady-state error, response time, and system stability. The purpose of the study that took place was to design the most appropriate controller for the steadiness of DC motors. Throughout this study, analytical means like tuning methods, loop control, and stability criteria were adopted. The reason for this was to suffice the preconditions and obligations. Furthermore, for the sake of verifying the legitimacy of the controller results, modelling by MATLAB and Simulink was practiced on every controller.
In this paper self-tuning fuzzy PID controller is developed to improved the performance for a pitch control of aircraft system. The controller is designed based on the dynamic modeling of system begins with a derivation of suitable... more
In this paper self-tuning fuzzy PID controller is developed to improved the performance for a pitch control of aircraft system. The controller is designed based on the dynamic modeling of system begins with a derivation of suitable mathematical model to describe the longitudinal motion of an aircraft. Fuzzy logic is used to tune each parameter of Proportional-integral-derivative (PID) controller by selecting appropriate fuzzy rules through simulation in Matlab and Simulink. Comparative assessment based on time response specifications between conventional PID controller with self-tuning fuzzy PID for an autopilot of longitudinal dynamic in pitch aircraft is investigated and analyzed. Simulation results show that, the performance of a pitch control system has improved significantly using self-tuning fuzzy PID compared to conventional PID controller.
Two methods for determining fuel contamination in groundwaters are compared. The first is based on headspace extraction, while the other utilizes purge and trap. Analyses, in both cases, are made by gas chromatography/flame ionization... more
Two methods for determining fuel contamination in groundwaters are compared. The first is based on headspace extraction, while the other utilizes purge and trap. Analyses, in both cases, are made by gas chromatography/flame ionization detection, with benzene, toluene, and xylene isomers as monitoring agents for fuel leaks. When compared, results show satisfactory agreement if we take into account the high
In biochemistry analyzer the temperature play crucialrole as many of the health parameters are tested at precise temperature. In automated bio-chemistry analyzer, precise temperature control is achieve d by using the... more
In biochemistry analyzer the temperature play crucialrole as many of the health parameters are tested at precise temperature. In automated bio-chemistry analyzer, precise temperature control is achieve d by using the peltier device as heat pump and PID control action. The temperature is measured at the flow cell using the LM-35 temperature sensor and set point temperature is set by using the PWM output of a microcontroller employed for the control action. In the presented work, the temperature control is achieved at an accuracy of ±0.1 0C by controlling the design parameters of the heat pump circuit. Further, besides controlling the temperature at desired set point, the temperature achieving rate has to made as fast as possible. This is made by using an enhanced current source by suitable designing the peltier driving circuit
Different traditional and advanced control strategies have been tested and the performance investigated, revealing their incentives. The investigated control approaches are: conventional decentralized PID control, MPC control based on... more
Different traditional and advanced control strategies have been tested and the performance investigated, revealing their incentives. The investigated control approaches are: conventional decentralized PID control, MPC control based on analytical model, MPC based on Artificial Neural Networks (ANN) model and Fuzzy Logic Control (FLC). Comparative control results are shown for the multivariable control structures, aimed to control the main variables