This paper employs a 2-DOF (degree of freedom) PID controller for compensating a physical magnetic levitation system. It is shown that because of having a feedforward gain in the proposed 2-DOF PID ...control, the transient performance of the compensated system can be changed in a desired manner unlike the conventional 1-DOF PID control. It is also shown that for a choice of PID parameters, although the theoretical loop robustness is the same for both the compensated systems, in real-time, 2-DOF PID control may provide superior robustness if a suitable choice of the feedforward parameter is made. The results are verified through simulations and experiments.
•A novel 2-DOF PID controller design is proposed and applied to a physical magnetic levitation (MAGLEV) system.•The performance and robustness of the 2-DOF PID controller are examined and compared with 1-DOF based PID controller.•The superiority of the 2-DOF design over 1-DOF one is verified through simulations and experiments.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
Six-step operation can enhance the torque output capability and maximum power utilization and decrease the switching frequency for the PMSM traction system. The main problems of closed-loop current ...control extended to six-step operation are voltage error disturbances from current controller windup and low-order harmonics current under the low ratio of switching frequency to fundamental frequency. The problem of low-order harmonics current is alleviated by the hybrid synchronized PWM (HSPWM) schemes, but the sample-control frequency is time-varying with speed and fluctuated to keep synchronization. A complex vector current controller (CVCC) with time-varying and stable active resistances to improve the disturbance rejection, including delay time compensation and anti-windup, is designed to be combined with HSPWM. The accurate torque control and closed-loop current control extended to six-step operation are realized. Simulations and experiments are carried out to validate the effectiveness of the proposed control scheme.
A Simulink code for numerical simulation of ship manoeuvring is developed based on the appropriate differential equations. Both the Abkowitz and MMG models are implemented as choices according to the ...available hydrodynamic particulars of a given ship. Reliability of the developed code is assessed by performing the turning and zigzag tests for two different ships, employing the Abkowitz and MMG models in turn according to the available characteristics. As a field study, real time records of the routes followed by a passenger ship crossing the Strait of Istanbul under the disturbing effect of a lateral current were made. One of the vessels tested was autopiloted by a classic PD and a fuzzy-like PD controller separately, guiding the ship to a target destination under cross-current as in the Strait of Istanbul. Performances of these controllers in comparison with the human piloting of the field observations reveal that under disturbing current effects both controllers provide relatively shorter travel paths and the fuzzy-like PD controller stands as a better choice between the two.
•Simulink Code implements both the Abkowitz and MMG models for ship manoeuvring simulations.•A classic PD and fuzzy-like PD are used for controlling the ship to a destination point.•Real time records of boats crossing the Strait of Istanbul are compared with the simulations of a.•PD-controlled boat under cross-currents.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
Abstract
The real-time evaluation method of CAN bus is studied. The event-triggered CAN protocol has no limitation on the worst transmission time of information. Based on the study of ratio monotone ...analysis (RMA), a single step recursive relation equation is deduced. Using LabWindows /CVI design and analysis software, the research method is applied to offline realtime analysis of CAN bus information of a certain vehicle. The results show that this method is of great significance to the real-time evaluation of CAN bus.
The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance ...of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers.
•Two-degree of freedom fractional order PID controllers are implemented for a two link robotic manipulator with payload.•Cuckoo search algorithm is used for optimization of controller parameters.•Robustness testing is done for model uncertainties, payload variations, disturbance rejection and random noise suppression.•Two-degree of freedom fractional order PID controllers outperform their integer order designs and PID controllers.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
This paper proposes a novel economic Model Predictive Control algorithm aiming at achieving optimal steady-state performance despite the presence of plant-model mismatch or unmeasured nonzero mean ...disturbances. According to the offset-free formulation, the system’s state is augmented with disturbances and transformed into a new coordinate framework. Based on the new variables, the proposed controller integrates a moving horizon estimator to determine a solution of the nominal system surrounded by a set of potential states compatible with past input and output measurements. The worst cost within a single homothetic tube around the nominal solution is chosen as the economic objective function which is minimized to provide a tightened upper bound for the accumulated real cost within the prediction horizon window. Thanks to the combined use of the nominal system and homothetic tube, the designed optimization problem is recursively feasible and less conservative economic performance bounds are achieved. The proposed controller is demonstrated on a two-tanks system.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
In this article, we address the event-triggered based adaptive finite-time control problem for active suspension systems (ASSs) over the resource-constrained controller area network (CAN), which is ...the most extensively employed in-vehicle communication network in automotive systems. The control aim is to develop an event-triggered algorithm to reduce the communication burden from the CAN and meanwhile improve the suspension performances. Specifically, a novel finite-time performance function is presented to guarantee that the tracking error is retained in a small region at any prespecified time. It is shown that under the proposed control framework, ride comfort, suspension space limitation, and handling stability are all ensured. Then, the established event-triggered mechanism based on the relative threshold method can avoid Zeno behavior. Finally, all the signals are bounded for the closed-loop ASSs. The usefulness of the presented adaptive control strategy is demonstrated through the simulation results.
Diabetes Millitus Control remains popular from the past years to explore for more investigations. Exogenous Insulin infusion is explored in the study for further analysis. Administration of Insulin ...delivery has been discussed for type-1 patients. These are some control challenges faced when Artificial Pancreas is developed. Different linear and non-linear schemes have also been discussed for Diabetes. PID Controller has been applied to control TIDM. Simulink Models has been explained and plotted. It’s a control loop strategy which makes Artificial Pancreas reality.
Diabetes Millitus Control remains popular from the past years to explore for more investigations. Exogenous Insulin infusion is explored in the study for further analysis. Administration of Insulin ...delivery has been discussed for type-1 patients. These are some control challenges faced when Artificial Pancreas is developed. Different linear and non-linear schemes have also been discussed for Diabetes. PID Controller has been applied to control TIDM. Simulink Models has been explained and plotted. It’s a control loop strategy which makes Artificial Pancreas reality.
Diabetes Millitus Control remains popular from the past years to explore for more investigations. Exogenous Insulin infusion is explored in the study for further analysis. Administration of Insulin ...delivery has been discussed for type-1 patients. These are some control challenges faced when Artificial Pancreas is developed. Different linear and non-linear schemes have also been discussed for Diabetes. PID Controller has been applied to control TIDM. Simulink Models has been explained and plotted. It’s a control loop strategy which makes Artificial Pancreas reality.
