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Article
Tuning of a PID Controller by Bacterial Foraging Algorithm for Position Control of DC Servo Motor

Author: Manal H. Jasim
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2018 Volume: 36 Issue: 3 Part (A) Engineering Pages: 287-294
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

Controlling the position of Direct Current servo motor is the first aim of this paper, by Bacterial Foraging Algorithm (BFA), the best Proportional – Integral - Derivative (PID) controller parameters were obtained through Mat-Lab application, including the simulation and modeling of Direct Current servo motor, BFA controller and conventional PID Controller as benchmark to the performance of BFA. Proportional – Integral - Derivative controller is a closed loop system, the error made by the Direct Current motor was corrected and determine the correct position to the desired point were controlled By integrating the Proportional – Integral - Derivative controller. Kp, Ki and Kd parameters was tuned to the find best values, which make the Direct Current Motor reached quickly the accurate position without any mistake.

Keywords

DC servo motor --- position control --- PID --- BFA.


Article
Adaptive feed control of operating tool in Robot machine
التحكم في تغذية أدوات العمل في ألة روبوت

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Abstract

Adaptive ornate milling technology involves variation of milling operational parameters (particularly, cutter feed speed) based on wood surface texture at the processing spot. It is appropriate to use wood fiber orientation optical recognition method for adaptive ornate milling. Adaptive milling method is very efficient for ornate milling, when cutter moves along a complex trajectory in space, and feed direction and fibers alignment substantially alters along the trajectory. Moreover, at sharp trajectory sections, adaptive choice of operational parameters permits to materially reduce the chance of wood damaging. Adaptive milling method is most effective for poor value wood that has low stress-strain properties and complex surface structure, so is very prone to damage. System for programmed PID controller adjustment involves computer with software for certain operating system, input/output hardware and connector cables. Communication with facilities is typically performed by use of ОРС server. While adjusting, an object is included in the control loop. The system adjusts and PID controller is registering obtained parameters. Obtained in such way controller parameters will be near optimal due to intuitive user interface, high computer capability and limitless system identification algorithms.The format in the search shows schematic structure of automated control system of tool feed in adaptive milling, which uses CNC-controlled 3D vertical milling machine, control computer and camera for wood fiber orientation optical recognition, its signal being transferred to milling parameters optimization application.It should be noted that at such milling with control of supply rate along the complex trajectory of supply of the milling tool, it would be possible to significantly reduce the percentage of shatters. This would allow to significantly reduce economic expenditures for additional operations concerning the surface recovery.

يتضمن نظام ضبط وحدة التحكم (PID) برنامج كمبيوتر مع برمجيات نظام تشغيل معينة ، تماما مثل أجهزة الإدخال / الإخراج وكابلات الموصل ، الاتصالات يمكن أن تؤدي إلى التسهيلات التي يتم تنفيذها عادة من قبل استخدام خادم ОРС ، في حين التوافق هو الكائن الذي يشتمل في حلقة نظام التحكم. توافق النظام ومنسق ال (PID) هو التسجيل التام للحصول عليه من الباراميتر بطريقة تكون قريبة من الاوبتيمل نتيجة لبديهية واجهة المستخدم، كومبيوترات عليه القدرة و خوارزميات تحديد نظام لا حدود لها.


Article
Design and Implementation of a Two Stage Controller for Ball and Beam System Using FPGA

Authors: Ivan A. Hashim --- Ekhlas H. Karam --- Noor S. Abdul-Jaleel
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2018 Volume: 36 Issue: 4 Part (A) Engineering Pages: 381-390
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

The ball and beam is, in fact, a standout amongst the essentially vital models, which are generally utilized for educating the control system because its simplicity to be built, modeled, and controlled. This system involve a ball roll on a beam and since the angle of the beam manipulate by servo motor, so the purposes of this paper is to design two stages controller to stabilize the ball position along the beam by varying the angle of beam. The First controller stage “is Proportional- Integral- Derivative” (PID) “for servo motor. The second stage of the controller is Proportional-Derivative (PD) to control the ball and beam plant. The Matlab simulation results illustrate the efficiency of this controller. Furthermore, this paper presents the complete hardware Field Programmable Gate Arrays (FPGA) design with real time implementation for the suggested controller. This controller utilized 1% of occupied slices when implement on Spartan-3A DSP 3400A Xilinx kit with 70.265


Article
Design a Fuzzy PID Controller for Trajectory Tracking of Mobile Robot

Authors: M.J. Mohamed --- M.Y. Abbas
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2018 Volume: 36 Issue: 1 Part (A) Engineering Pages: 100-110
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

In this paper, a trajectory tracking control for a non-holonomic differential wheeled mobile robot (WMR) system is presented. A big number of investigations have been used the kinematic model of mobile robot which is a nonlinear model in nature, thus a hard task to control it. This work focuses on the design of fuzzy PID controller tuned with a firefly optimization algorithm for the kinematic model of mobile robot. The firefly optimization algorithm has been used to find the best values of controller's parameters. The aim of this controller is trying to force the mobile robot tracking a pre-defined continuous path with the least possible value of error. Matlab Simulation results show that a good performance and robustness of the controller. This is confirmed by the value of minimized tracking error and the smooth velocity especially concerning presence of external disturbance or change in initial position of mobile robot.


Article
Upgrading of Alum Preparation and Dosing Unit for Sharq Dijla Water Treatment Plant by Using Programmable Logic Controller System
تطوير وحدة إضافة جرعة الشب لمشروع ماء شرق دجلة باستخدام منظومة السيطرة المنطقية PLC

Authors: Aumar Al-Nakeeb عمر نجدت النقيب --- Adnan A. Al-Samawi عدنان عباس السماوي --- Huda A. Al-Saffar هدى عدنان الصفار
Journal: Journal of Engineering مجلة الهندسة ISSN: 17264073 25203339 Year: 2018 Volume: 24 Issue: 2 Pages: 131-141
Publisher: Baghdad University جامعة بغداد

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Abstract

One of the important units in Sharq Dijla Water Treatment Plant (WTP) first and second extensions are the alum solution preparation and dosing unit. The existing operation of this unit accomplished manually starting from unloading the powder alum in the preparation basin and ending by controlling the alum dosage addition through the dosing pumps to the flash mix chambers. Because of the modern trend of monitoring and control the automatic operation of WTPs due to the great benefits that could be gain from optimum equipment operation, reducing the operating costs and human errors. This study deals with how to transform the conventional operation to an automatic monitoring and controlling system depending on a Programmable Logic Controller (PLC) and online sensors for alum preparation and dosing unit in Sharq Dijla WTP. PLC system will receive, analyze transmitting data, compare them with preset points then automatically orders the operational equipment (such as pumps, valves, and mixers) in a way that guarantees the safe and appropriate operation of the unit. As a result of Process and Instrumentation Diagrams (PID) that were prepared in this study, these units can be fully operating and manage by using Supervisory Control and Data Acquisition (SCADA) system.

تعد وحدة تحضير وأضافة الشب من الوحدات المهمة في مشروع ماء شرق دجلة بتوسعيه الأول والثاني. حيث تتم أدارة عمليات تحضير وأضافة الشب في احواض التحضير بصوره يدوية بدءاً من أضافة مسحوق الشب وانتهاءً بعملية تعديل جرع الشب المضافة عن طريق مضخات اضافة جرع الشب الى أحواض المزج السريع. وبالنظر للتوجه الحديث في السيطرة والمراقبة الاوتوماتيكية لمشاريع الماء لما يوفره من منافع متعددة سواء في التشغيل الامثل للمعدات، وتقليل كلف التشغيل والأخطاء البشرية. فهذه الدراسة تعنى بتحويل نظام التشغيل التقليدي لوحدة تحضير واضافة الشب للمشروع الى منظومة سيطرة ومراقبة أوتوماتيكية اعتمادا على جهاز سيطرة مبرمج (PLC) ومتحسسات. حيث تقوم هذه المنظومة باستلام وتحليل البيانات المنقولة ومقارنتها بعدد من القيم مسبقة الضبط وتوجيه الاوامر للمعدات التشغيل (مثل المضخات والصممات واجهزة المزج) بما يضمن التشغيل الامثل والأمن لهذه الوحدة. كنتيجة لمخططات أجهزة العمليات PID المعدة في هذه الدراسة، يمكن لهذه الوحدات ان تشغل وتدار بواسطة منظومة التحكم الاشرافي واستحصال البيانات SCADA.


Article
PID and Fuzzy Logic Controller Design for Balancing Robot Stabilization

Authors: Hussein S. Mohammed --- Bashar F. Midhat2 --- Firas A. Raheem
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2018 Volume: 18 Issue: 1 Pages: 1-10
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This paper addresses the problem of position control and stabilization for the two wheeled balancing robot. A mathematical model is derived based on the robot’s position and tilt angle and a fuzzy logic control is proposed for the balancing robot control. The fuzzy logic controller performance is compared with a conventional PID controller to show the difference between them. Both controllers were tested on the balancing robot in simulation using MATLAB software and the results were put together for a comparative point of view. The simulations shows a relative advantage for the fuzzy logic controller over the conventional PID controller especially in reducing the time required for stabilization which takes about 2 seconds and almost without overshoot while in the PID case the robot will have about 10% overshoot in position and about 20 degrees in tilt angle.


Article
The Dynamic Behavior and Control of Absorption Column

Authors: Sahar A. Ahmed --- Duraid F. Ahmed
Journal: Tikrit Journal of Engineering Sciences مجلة تكريت للعلوم الهندسية ISSN: 1813162X 23127589 Year: 2018 Volume: 25 Issue: 2 Pages: 1-11
Publisher: Tikrit University جامعة تكريت

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Abstract

The present paper deals with studying the dynamic model and control of absorption column by implementing two types of control strategies for CO2 gas and NaOH solution. The control methods in this study are PID, fuzzy with five membership function. The results showed that a good improvement for CO2/Air-NaOH system with chemical reaction is achieved when the fuzzy logic with five membership function because these methods have more suitable, lower over shoot, less offset value and less integral absolute error.


Article
Design of Speed-Controller for Brushless DC-Motor Based on Grey Predictor-PID Controller

Author: Mohammed M. Ezzaldean
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2018 Volume: 36 Issue: 8 Part (A) Engineering Pages: 900-905
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

Brushless direct current (BLDC) motor is a permanent-magnet synchronous motor but the commutator and the brushes are replaced by electronic commutation system. This motor is characterized by many advantages compared with other motors and it being used in a wide range of applications. In BLDC motor, speed control plays an essential role; the speed-controller has to respond rapidly to command changes and to offer enough robustness against the variations of the mechanical load. In this paper, the design of Grey-PID controller is proposed as speed controller of BLDC motor where a new adaptation algorithm is suggested to update the parameters of the adaptive PID controller. The proposed algorithm takes advantages of both of Grey model GM(1,1) and gradient-descent method. The Grey-PID speed control system is simulated by using MatlabSimulink environment. The simulation results confirm that the proposed controller performs better than the traditional PID controller. By using Grey-PID controller, starting the motor or sudden change of speed can be performed with short rise and settling times, no overshoot and no steady-state error. The proposed controller, also, has a great ability to restrain the fluctuation of speed caused by load disturbance.


Article
Modelling and Development of Linear and Nonlinear Intelligent Controllers for Anti-lock Braking Systems (ABS)

Author: Mohammad Najeh Nemah
Journal: Journal of University of Babylon مجلة جامعة بابل ISSN: 19920652 23128135 Year: 2018 Volume: 26 Issue: 3 Pages: 1-12
Publisher: Babylon University جامعة بابل

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Abstract

Antilock braking systems (ABS) are utilized as a part of advanced autos to keep the vehicle’s wheels from deadlocking when the brakes are connected. The control performance of ABS utilizing linear and nonlinear controls are cleared up in this research. In order to design the control system of ABS a nonlinear dynamic model of the antilock braking systems is derived relying upon its physical system. The dynamic model contains set of equations valid for simulation and control of the mechanical framework. Two different controllers technique is proposed to control the behaviors of ABS. The first one utilized the PID controller with linearized technique around specific point to control the nonlinear system, while the second one used the nonlinear discrete time controller to control the nonlinear mathematical model directly. This investigation contributes to more additional information for the simulation of the two controllers, and demonstrate a clear and reasonable advantage of the classical PID controller on the nonlinear discrete time controller in control the antilock braking system.

نظام منع انغلاق المكابح (ABS) يستخدم كجزء مهم في المركبات الحديثة لمنع الاطار من الغلق بعد تعشيق المكابح. الاداء العام لنظام سيطرة منع انغلاق المكابح مستفيدا من كون النظام خطياً او غير خطي موضحاً في هذا البحث. من اجل تصميم نظام السيطرة، تم اشتقاق نموذج ديناميكي لاخطي لمانع الانزلاق استناداً على طبيعه نظامه الفيزيائي. النموذج الديناميكي متكون من عدة معادلات تحكم عمل النظام الميكانيكي. نظامين سيطرة محتلفين تم استخدامهم للسيطرة على اداء منع انغلاق المكابح، الاول تم الاستفادة من المسيطر الخطي نوع (PID) مع استخدام تقنية تحويل النظام من اللاخطي الى الخطي حول نقطة معينه للسيطرة على النظام اللاخطي. بينما تم استخدام المسيطر اللاخطي الثاني نوع (discrete time) للسيطرة على النظام الديناميكي اللاخطي بشكل مباشر. هذه الدراسة اعطت معلومات اضافية حول كيفية محاكاة هذين المسيطرين، و اعطت افضلية واضحة للمسيطر التقليدي (PID) على المسيطر نوع (discrete time) في السيطرة و التحكم بنظام منع انغلاق المكابح.


Article
Modified Elman Neural-PID Controller Design for DC-DC Buck Converter System Based on Dolphin Echolocation Optimization
تصميم مسيطر تناسبي تكاملي تفاضلي عصبي ايلمن المعدل لنظام محول خافض التيار المستمر مبنيا على أساس أمثلية الدولفين لتحديد الموقع بالصدى

Author: Khulood E. Dagher خلود اسكندر داغر
Journal: Al-Khwarizmi Engineering Journal مجلة الخوارزمي الهندسية ISSN: 18181171 23120789 Year: 2018 Volume: 14 Issue: 3 Pages: 129-140
Publisher: Baghdad University جامعة بغداد

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Abstract

This paper describes a new proposed structure of the Proportional Integral Derivative (PID) controller based on modified Elman neural network for the DC-DC buck converter system which is used in battery operation of the portable devices. The Dolphin Echolocation Optimization (DEO) algorithm is considered as a perfect on-line tuning technique therefore, it was used for tuning and obtaining the parameters of the modified Elman neural-PID controller to avoid the local minimum problem during learning the proposed controller. Simulation results show that the best weight parameters of the proposed controller, which are taken from the DEO, lead to find the best action and unsaturated state that will stabilize the Buck converter system performance and achieve the desired output. In addition, there is a minimization for the tracking voltage error to zero value of the Buck converter output, especially when changing a load resistance by 10%.

إن هذا البحث يصف مقترح جديد لهيكلية المسيطر التناسبي التكاملي التفاضلي بالاعتماد على الشبكة العصبية المعدلة ايلمن لنظام المحول الخافض التيار المستمر والذي يستخدم في عمل البطارية للأجهزة المتنقلة. إن الخوارزمية الدولفين الامثلية لتحديد الموقع بالصدى تعتبر تقنية مضبوطة للتنغيم بشكل حي ومتصل لذلك تم استخدامها لتنغيم والحصول على عناصر المسيطر التناسبي التكاملي التفاضلي العصبي ايلمن المعدل بدون الوقوع في النهائيات الصغرى المحلية أثناء تعليم المسيطر المقترح. إن نتائج المحاكاة أظهرت ان أفضل عناصر للمسيطر المقترح تم أخذها من خوارزمية الدولفين التي قادت إلى إيجاد أفضل فعل وبدون حالة الإشباع وان هذا الفعل أدى إلى استقرار أداء النظام المحول الخافض للتيار المستمر وتحقيق الإخراج المرغوب. إضافة إلى ذلك، هنالك تقليل لتتابع خطأ إخراج فولتية الى قيمة الصفر لنظام المحول الخافض للتيار المستمر خصوصا عند تغيير ممانعة الحمل ب 10%.

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