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Article
PID Controller Configuration and Tuning Based on Genetic Algorithms

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Abstract

Abstract-- In this work, the power of the Genetic Algorithms (GA) in searching for an optimal solution (in a pre-determined hyper space) is used to design the suitable configuration and parameters of the Proportional-Integral-Derivative (PID) controller. In most industrial plants, the PID controllers are configured either in cascade, feedback or in feed forward topologies. Besides, for each of these configurations the tuning gains have to be fixed in order to meet the required specifications. Therefore, GA is utilized efficiently to select the proper PID configuration in the context of signal following approach as well as the best tuning gains for the selected configuration. The proposed design procedure is applied to linear and nonlinear plants. It reflects a tremendous design results that heavily relied on computer to get the required controller.


Article
Quarter Car Active Suspension System Control Using PID Controller tuned by PSO

Author: Wissam H. Al-Mutar
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2015 Volume: 11 Issue: 2 Pages: 151-158
Publisher: Basrah University جامعة البصرة

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Abstract

The objective of this paper is to design an efficient control scheme for car suspension system. The purpose of suspension system in vehicles is to get more comfortable riding and good handling with road vibrations. A nonlinear hydraulic actuator is connected to passive suspension system in parallel with damper. The Particles Swarm Optimization is used to tune a PID controller for active suspension system. The designed controller is applied for quarter car suspension system and result is compared with passive suspension system model and input road profile. Simulation results show good performance for the designed controller


Article
Control System for Sluice Gates Flow in Irrigation Canals †

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Abstract

Abstract – Water has become the most important problem in relations between the countries of the Middle East in the recent years. It occupies an important place on the agenda of several international organizations. Water control and reduction loss of water discharge is a major challenge facing the design of new irrigation projects. A downstream control algorithm for demand operation of irrigation system is proposed in this paper through maintaining downstream end discharge of the canal at the target point by manipulating the upstream sluice gate in real time. The control of the water level and discharge for canal irrigation system has non-linear, time-varying and uncertainty characteristics. This paper compares three control algorithms; conventional PID, fuzzy neural network PID, and PID neural network control based on fuzzy neural network model. The simulation results show that the first control has larger over-shoot, longer adjusting time and poorer anti-interference ability. The second control overcomes above-mentioned short-comings, small overshoot, faster response speed, very small steady state error. Third control produces better effects than previous controllers in both steady performance and dynamic performance, including shorter steady-state time, non-overshot, no oscillator, and higher dynamic tracking rate.


Article
Design of Fuzzy-Like Position Controller for Permanent Magnet Stepper Motor

Authors: Farazdaq R. Yasien1 --- Zaid M. Khudher2
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2016 Volume: 16 Issue: 1 Pages: 84-91
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

Abstract –Permanent Magnet Stepper Motor (PMSM) is defined as a high nonlinear dynamics, MIMO electromechanical incremental actuator broadly applied as a position device. The closed loop control system is proposed to enhance the performance of PMSM from the load change, steady state error, and the parameters variation that appear in the open loop control. The proposed closed loop system is based on the Field Oriented Control (FOC). Fuzzy PID controller is proposed as an intelligent controller for the exact linearized system. The Feedback Linearization (FBL) technique is based on transforming the complex nonlinear model of PMSM into exact linearized model, unlike the Jacobian Linearization, which is based on linearizing the dynamics of the motor around operating point. The results of the proposed controller were compared with conventional PID on the exact linearized model and Fuzzy PID Controller on the nonlinear model of the PMSM. Robustness of the proposed controller was tested under parameters and load variation.


Article
MEDICAL OVEN TEMPERATURE CONTROL BASED ON SOFT COMPUTING TECHNIQUES
السيطرة على درجة حرارة فرن طبي بالاستناد على تقنيات الحوسبة الذكية

Authors: Abbas H. Issa --- Intisar N. Al-Obaidi
Journal: DIYALA JOURNAL OF ENGINEERING SCIENCES مجلة ديالى للعلوم الهندسية ISSN: 19998716/26166909 Year: 2016 Volume: 9 Issue: 3 Pages: 71-80
Publisher: Diyala University جامعة ديالى

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Abstract

Different types of controllers are designed in this research to control the temperature of medical oven. These controllers represented by the conventional PID, the intelligent Neural Network (NN), Fuzzy-Logic controller (FLC) and the hybrid Adaptive-Neuro-Fuzzy-Inference-System (ANFIS) controller. The controllers designed using MATLAB R2012a version 7.14 both m-file and Simulink. Two laboratory ovens (lab ovens) with different mathematical models are used. A comparison between the designed controllers has been made, first with step response with the first oven and second with different set points of four medical applications for the second practical lab oven, the ANFIS superiority over the others has been proven which highlighted the hybridization power and efficiency and its suitability for controlling the temperature of medical oven.

أنواع مختلفة من المسيطرات قد تم تصميمها في هذا البحث لغرض السيطرة على درجة حرارة الفرن الطبي. و هذه المسيطرات تتمثل بالمسيطر التقليدي التناسبي التكاملي التفاضلي و المسيطرات الذكية مُمـثلة بمسيطر الشبكة العصبية و مسيطر المنطق الضبابي و مسيطر النظام التكيفي العصبي الضبابي الاستدلالي الهجين. لقد صُممت هذه المسيطرات باستخدام برنامج MATLAB الاصدار R2012a-7.14 وبواسطة كُلٍ من M-file و Simulink و باستخدام فرنين مختبريين بنموذجين رياضيين مختلفين. و قد أُجريت مقارنة بين هذه المسيطرات المُصممة بدءاً باختبار الاستجابة لدرجة واحدة بالنسبة للفرن الاول, وثانياً لدرجات حرارة مختلفة ٌلأربع تطبيقات طبية بالنسبة للفرن الثاني. وبذلك فان تفوق المسيطر الهجين على باقي المسيطرات قد تم اثباته حيث اثبت قوة التهجين و كفائته و ملائمته للسيطرة على حرارة الفرن الطبي.

Keywords

Modeling --- medical oven --- PID --- FLC --- NN --- ANFIS


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
On-Line Auto-Tuning Robust Nonlinear Neural PID Controller Design for Double-Pipe Heat Exchanger Based on Particle Swarm Optimization
تصميم مسيطر عصبي تناسبي تكاملي تفاضلي لاخطي نشيط ذاتي التنغيم وبشكل حي ومتصل لمبادل حراري مزدوج الانبوب مبني على اساس خوارزمية حشد الجسيمات

Author: Hayder Sabah Abd Al-Ameer حيدر صباح عبد الامير
Journal: Al-Rafidain University College For Sciences مجلة كلية الرافدين الجامعة للعلوم ISSN: 16816870 Year: 2016 Issue: 37 Pages: 316-341
Publisher: Rafidain University College كلية الرافدين الجامعة

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Abstract

The heat exchanger systems have highly nonlinear features between its variables and time delay. In addition, the parameters of them change constantly during operation. Therefore, the heat exchangers need nonlinear robust controller for obtaining required outlet temperature under all operating conditions.In this paper, a robust nonlinear neural PID (NLNPID) controller is proposed for temperature control of double-pipe heat exchanger. Particle swarm optimization (PSO) technique is used to determine on line auto tuning the optimal parameters of proportional-integral-derivative (PID) controller. Mathematical model of heat exchanger takes into account the changes in the density, thermal conductivity, viscosity, specific heat and convection heat transfer coefficient of the fluid which are resulting from changing in temperatures and the velocities with classical PID control. Simulations results show that the performance of the NLNPID controller produces good responses features and give desired outlet temperature under all operating conditions without over shoot and fluctuating.

بارامترات المبادلات الحرارية تتغير باستمرار اثناء عملها. بالاضافة الى وجود العلاقات اللاخطية بين متغيرات المبادلات الحرارية. لذلك فان هذه المبادلات تحتاج الى مسيطرات لاخطية نشيطة تعطي درجة الحرارة الخارجة المطلوبة عند كل ظروف العمل. في هذا البحث تم تقديم مسيطر لاخطي نشيط للسيطرة على درجة حرارة المبادل الحراري من نوع مزدوج الانبوب. استخدمت تقنية أمثلية حشد الجسيمات لحساب البارمترات المثالية للمسيطر التناسبي التكاملي التفاضلي. النموذج الرياضي للمبادل الحراري اخذ بنظر الاعتبار التغيرات الحاصلة في الكثافة والموصلية الحرارية واللزوجة والحرارة النوعية ومعامل انتقال الحرارة بالحمل للمائع الناتجة من تغير درجات الحرارة وسرع المائع. السيطرة على درجة حرارة المبادل الحراري باستخدام المسيطر العصبي التناسبي التكاملي التفاضلي اللاخطي النشيط قورنت مع السيطرة باستخدام المسيطر التناسبي التكاملي التفاضلي التقليدي. نتائج المحاكاة اظهرت ان اداء المسيطر أمثلية حشد الجسيمات انتج صفات استجابة جيدة واعطى درجة الحرارة الخارجة المطلوبة عند كل ظروف العمل بدون تجاوز الهدف والتذبذب.


Article
Planning of motion strategy for hexapod robot using biogeography based optimization

Authors: Hayder Mahdi Abdulridha --- Hawraa Neema Jasem
Journal: Journal of University of Babylon مجلة جامعة بابل ISSN: 19920652 23128135 Year: 2017 Volume: 25 Issue: 5 Pages: 1870-1883
Publisher: Babylon University جامعة بابل

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Abstract

The necessity to utilize the usage of the robot cannot be denied since there are a lot of natural disasters occur around the world, the robot can reach places where humans cannot reach. Hexapod robotic is one of the robots utilized in this case due to its balance and versatility at some stage in the movement on any kind of floor. In this project the explanation of using software and hardware Arduino microcontroller is used to control of such a hexapod. The output signal from Arduino for controlling leg's joint angular position such as a pulse called Pulse Width Modulation (PWM). Also Arduino programmed to create the sequence of motion for six legs. The second part of project is about controlling hexapod to avoid hitches and tracking the wall by using PID controller. Tuning of the PID processes based on Biogeography Based Optimization(BBO) need to keep the connection between PC and hexapod, because the BBO was written by Matlab. The experimental results using BBO to optimize the PID controller parameters of hexapod robot show the efficiency of this technique in the adaptation of controller.

استخدام الروبوت ضرورة لا يمكن انكار فائدتها .لأن هناك كثير من الكوارث الطبيعية التي تحدث حول العالم يمكن للروبوت الوصول الى الأماكن لا يمكن للبشر ان يصل اليها. الروبوت السداسي الأرجل هو احد الروبوتات المستخدمة في مثل تلك الحالات و ذلك لما يتمتع به من الاستقرار يه و المرونة اثناء الحركة على انواع مختلفة من الاسطح. يوضح هذا البحث كيفية استخدام البرامج و اجهزة (Arduino) من اجل التحكم و السيطرة على مثل هكذا نوع من الروبوت سداسي الارجل. الاشارة الصادرة من جهاز(Arduino) للسيطرة على موقع الزاوي لمفاصل الساق و التي تكون على شكل نبضة تدعى( تعديل عرض النبضة). كذلك لغة برمجة (Arduino) تمكن من تنسيق حركة الارجل الستة للروبوت. الجزء الثاني من البحث يكمن في كيفية تجنب العقبات و تتبع الجدار من خلال استخدام وحدة التحكم (النسبي, التكامل, المشتقة). لقد اثبتنا في بحثنا هذا ان الخوارزمية التطورية يمكن الاعتماد عليها في ضبط خوارزمية لسيطرة على الروبوت و التقليل من اخطاء التتبع التي يمكن ان تحدث. يتم استخدام الاتصال التسلسلي للربط البرنامج ال (Matlab) مع برنامج ال (Arduino) لأن خوارزمية نظرية تكيف الجغرافية الحيوية قد كتبت في (Matlab). النتائج التجريبية باستخدام نظرية تكيف الجغرافية الحيوية لتحسين معالم نظام التحكم لروبوت سداسي الأرجل تظهر كفاءة هذه التقنية في التكيف مع وحدة تحكم.


Article
DESIGN FUZZY PID CONTROLLER FOR NONLINEAR SYSTEMS

Author: Sami Abdulaziz Ali
Journal: Journal of Engineering and Sustainable Development مجلة الهندسة والتنمية المستدامة ISSN: 25200917 Year: 2017 Volume: 21 Issue: 6 Pages: 178-185
Publisher: Al-Mustansyriah University الجامعة المستنصرية

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Abstract

The Proportional, Integral and Derivative (PID) controller is one of the most common controllers that is used by the industry. In nonlinear systems, the PID controller performance is weak unlike its performance with the linear systems which is very well. In this research, we are dealing with the PID parameters characterization. Fuzzy PID controller is proposed to enhance the performance of the conventional PID controller. The proposed controller is done by investigate a partial fuzzy PID controller and compare it with classical PID. To distinguish the efficiency and robustness of the proposed controller for closed loop systems. The proposed controller is tested for both linear and nonlinear systems with success with both. The results show that the proposed fuzzy PID controller is performing better than classical PID controller


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.

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