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Article
simulation of mean value engine model for Asingle cylinder spark ignition engine

Author: mohammed Y. Hassan
Journal: AL-NAHRAIN JOURNAL FOR ENGINEERING SCIENCES مجلة النهرين للعلوم الهندسية ISSN: 25219154 / eISSN 25219162 Year: 2012 Volume: 15 Issue: 1 Pages: 121-133
Publisher: Al-Nahrain University جامعة النهرين

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Article
INTELLIGENT TRACKING CONTROL USING PSO-BASED INTERVAL TYPE-2 FUZZY LOGIC FOR A MIMO MANEUVERING SYSTEM

Author: Mohammed Y. Hassan
Journal: Al-Qadisiyah Journal for Engineering Sciences مجلة القادسية للعلوم الهندسية ISSN: 19984456 Year: 2018 Volume: 11 Issue: 1 Pages: 22-39
Publisher: Al-Qadisiyah University جامعة القادسية

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Air vehicle modeling like the helicopter is very challenging assignment because of the highly nonlinear effects, effective cross-coupling between its axes, and the uncertainties and complexity in its aerodynamics. The Twin Rotor Mutli-Input Multi-OutputSystem (TRMS) represents in its behavior a helicopter. TRMS has been widely used as an apparatus in Laboratories for experiments of control applications. The system consists of two degrees of freedom (DOF) model; that is yawing and pitching.This paper discusses the design of Four Interval Type-2 fuzzy logic controllers (IT2FLC) for yaw and pitch axes and their cross-couplings of a twin rotor MIMO system. The objectives of the designed controllers are to maintain the TRMS position within the pre-defined desired trajectories when exposed to changes during its maneuver. This must be achieved under uncertain or unknown dynamics of the system and due to external disturbances applied on the yaw and pitch angles. The coupling effects are determined as the uncertainties in the nonlinear TRMS. A PSO algorithm is used to tune the Inputs and output gains of the four Proportional-Derivative (PD) Like IT2FLCs to enhance the tracking characteristics of the TRMS model.Simulation results show the substantial enhancement in the performance using PSO-Based Interval Type-2 fuzzy logic controllers compared with that of using IT2FLCs only. The maximum percentage of enhancements reaches about 33% and the average percentage of enhancements is about 17.1%. They also show the proposed controller effectiveness improving time domain characteristics and the simplicity of the controllers

Keywords

IT2FLC --- TRMS --- PSO algorithm --- MIMO system --- FLC


Article
Comparison Between Adaptive Fuzzy and PID Fuzzy Automotive Engine Controllers in Idle Speed Mode
مقارنھ بین مسیطر المنطق المضبب المتكیف ومتحكم المنطق المضبب نوع PID في المحركات الذاتیة الحركھ خلال نمط سرعة العطالھ

Authors: Mohammed Y. Hassan --- Saba T. Al -Wais
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2010 Volume: 28 Issue: 23 Pages: 6785-6800
Publisher: University of Technology الجامعة التكنولوجية

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Automatic control of automotive engines provides benefits in the enginesperformance like emission reduction, fuel economy and drivability. To ensure betterachievement of these requirements the engine is equipped with an electronic controlunit (ECU) that is a microprocessor based system. This control unit continuallymonitors the engine state using several sensors and selects better control actions toachieve what is demanded from an engine under different defined operating modes.One of the most important modes in automotive engines is the idle speed mode. Dueto high dropping in the rotational speed in the presence of load torque and disturbance,which may lead to engine stalling, the ECU has to keep the engine speed at thereference idling speed.In this paper, The problem of maintaining the engine idle speed at a referencevalue with minimum overshoot, minimum undershoot, minimum settling time andminimum steady state error with the presence of load is studied. A Self Tuningadaptive Fuzzy Logic Controller (ST-FLC) is designed to solve this problem.Comparisons between fuzzy controller and adaptive fuzzy controller are made.Simulation results of this adaptive fuzzy controller show good improvement over thePID fuzzy controller in the idle speed response.All simulations are carried out using MATLAB software. Simulink is used inthe simulation, which comprises system model, controllers design andimplementation

إن السيطرة الالية على المحركات الذاتية الحركة تحقق فوائد عديدة في خصائص هذهالمحركات مثل خفض الإنبعاثات واقتصاديه الوقود وأداء المحرك. ولضمان أحسن انجاز لهذهالخصائص فقد جهزت هذه المحركات بوحدة تحكم اليكترونيه ، وهي عبارة عن نظام يعمل بمعالجدقيق. وحدة السيطرة هذه تراقب بإستمرار حالة المحرك من خلال بعض المتحسسات و تختار افضلإجراءات لإنجاز ما مطلوب من المحرك ضمن بعض أشكال عمل معرفة ضمن هذه الوحدة . احدأشكال العمل الأكثر أهميه في المحركات الذاتية الحركة هي بقاء العمل ضمن سرعة العطالة والتيتنخفض بسبب الانخفاض الكبير في السرعة الدورانية للمحرك بوجود عزم الحمل والضوضاءالمسلطين على المحرك , والذي يمكن أن يؤدي إلى توقف المحرك . إن وحدة التحكم الالكترونيةمسؤولة عن الحفاظ على سرعة التوقف ثابتة على قيمة معينة بوجود عزم الحمل و الضوضاء .وفي هذا البحث تمت دراسة مشكلة تثبيت سرعة المحرك على قيمة محددة مع اقل قيمه لتجاوزالهدف وأقل قيمه لأسفل الهدف واقل زمن للاستقرار و اقل خطأ في حالة الاستقرار بوجود ضوضاء عزم الحمل . و تم تصميم مسيطر متكيف متغير ذاتيا يعمل على اساس المنطق المضبب لحل هذهوقد أظهرت نتائج PID المشكلة . وقد أجريت مقارنات بينه وبين مسيطر المنطق المضبب نوعفي PID محاكاة المسيطر المتكيف تحسن جيد لهذا المسيطر مقارنة مسيطر المنطق المضبب نوعتصرف استجابة السرعة .في Simulink حيث استخدمت رزمة Matlab أن كل المحاكاة نفذت باستخدام برمجياتمحاكات النظام و الذي شمل نموذج النظام و تصميم المسيطرات و تنفيذها


Article
Modeling and Force-Position Controller Design of Rehabilitation Robot for Human Arm Movements
نمذجة وتصميم مسيطر قوة ومسارلروبوت إعادة التأهيل الطبي لحركات الذراع البشرية

Authors: Mohammed Y. Hassan --- Zeyad A. Karam
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2014 Volume: 32 Issue: 8 Part (A) Engineering Pages: 2079-2095
Publisher: University of Technology الجامعة التكنولوجية

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Physical disabilities such as full or partial loss of function in the shoulder, elbow or wrist is a common impairment in the elderly, and can also be a secondary effect due to strokes, trauma, sports injuries, and occupational injuries. Rehabilitation programs are the main method to promote functional recovery in these subjects. This work focuses on designing and nonlinear modeling of 3DOF non-wearable rehabilitation robot for rehabilitee the upper limbs in human body. The structure of this robot will eliminate singularity problem by depending on articulated configuration through adding shoulder offset to the robot base. The nonlinear modeling of a rehabilitation robot including kinematic and dynamic models is done for three degrees of freedom, with the effect of friction term in robot actuator. Three Intelligent Force-Position controllers, PD-like Fuzzy logic controllers are designed for position control and P controllers for force control, for moving the shoulder and elbow joints of the rehabilitation robot at desired trajectories. These controllers were tuned in order to make the robot end effecter tracking the desired medical trajectories in a specific time with minimum overshoot, minimum settling time and minimum steady state error. Each controller is tested by applying different trajectories with the application of external disturbances on the robot body. A comparison between the proposed intelligent controllers and conventional PD Force-Position controllers shows superior of the intelligent type of controller to make the end effecter follow the desired trajectory compared with the use of conventional controllers.

الإعاقات الجسدية مثل الفقدان الكامل أو الجزئي لوظيفة من الوظائف في الكتف أو الكوع أو الرسغ هو ضعف شائع في كبار السن، ويمكن أيضا أن يكون لها تأثير ثانوي بسبب الجلطات الدماغيةوالصدمات النفسية والإصابات الرياضية . إن برامج التأهيل الطبي هي الوسيلة الرئيسية لإعادة فعالية الحركة للاطراف المصابة بالضعف الحركي.يركز هذا العمل على تصميم روبوت طبي يتكون من ثلاث مفاصل يستخدم لإعادة تأهيل الاطراف العليا للجسم البشري (الذراع). حيث أن هيكل هذا الروبوت صمم لحل مشكلة تمييز نهاية المحوربالنسبة للقاعدة بالاعتماد على الروبوت المفصلي التكوين, وذلك من خلال إضافة كتف (ازاحة) إلى القاعدة . وضعت نماذج رياضية غير خطية لهيكل روبوت إعادة التأهيل متمثلة بنموذج الحركة الديناميكية ثلاثي المفاصل.وقد اخذت مشكلة الاحتكاك الموجودة في علبة ترووس محركات المفاصل الكهربائية في التمثيل الرياضي لغرض السيطرة عليها . وصممت مسيطرات قوة وموقع تتضمن مسيطر منطق ضبابي ذكيمتناسب- متفاضل لكل محور للتحكم بمساره حسب المسار الطبي المطلوب ومسيطر متناسب- متفاضل للقوة . واختبرتالمسيطراتالمصممة الثلاثة من خلال تطبيق مسارات طبية مختلفة مع وجود الاضطرابات الخارجية على جسم الروبوت. وقورنت نتائج المسيطر المقترح مع مسيطرتقليدي وقد ظهر ان شبه الخطاء في استقرار الحالة في اتباع المسارات من قبل الروبوت قد قلتمقارنة مع أستخدام المسيطر التقليدي وكما هو موضح في نتائج البحث.


Article
PID-LIKE FLC FOR FOUR CYLINDERS MEAN VALUE GASOLINE ENGINE MODEL IN IDLE MODE

Authors: Mohammed Y. Hassan --- Muslim A. Abdali
Journal: KUFA JOURNAL OF ENGINEERING مجلة الكوفة الهندسية ISSN: 25230018 Year: 2018 Volume: 9 Issue: 2 Pages: 114-130
Publisher: University of Kufa جامعة الكوفة

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Abstract

Automatic control of automotive engines provides benefits in the engines performance like emission reduction and fuel economy. Due to high dropping in the rotational speed in the presence of load torque and disturbance, which may lead to engine stalling, an electronic control unit (ECU) has to keep the engine speed at the reference idling speed. In this paper, the four strokes, four cylinders, gasoline, port fuel injection engine is studied and a Mean Value Engine Model (MVEM) is used to simulate the nonlinear model of the engine. The problem of preserving the engine speed with minimum settling time, minimum undershoot and minimum overshoot in the presence of load torque or disturbance at idle speed mode is studied. PID-like Fuzzy Logic Control (PID-FLC) with minimum structure is designed to solve this problem. Comparisons among conventional PID controller and fuzzy controller is made. Simulation results of this PID fuzzy controller show good improvement over the conventional PID controller the idle speed response. The simulation results with PIDFC show that the dropping in the engine speed is reduced around (33%) compared with PID controller. The peak overshoot is reduced around (19%) compared with PID controller for the same value of the load torque. The settling time is reduced by (50 %) compared with the PID controller.


Article
FPGA BASED P/PI/PD/PID-LIKE INTERVAL TYPE -2 FLC DESIGN FOR CONTROL SYSTEMS

Authors: Mohammed Y. Hassan --- Saif F. Abulhail
Journal: KUFA JOURNAL OF ENGINEERING مجلة الكوفة الهندسية ISSN: 25230018 Year: 2018 Volume: 9 Issue: 3 Pages: 165-179
Publisher: University of Kufa جامعة الكوفة

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Type-2iFuzzyilogicicontrol contains footprint of uncertainty (FOUi) that is able to handle the numerical uncertainties, nonlinearities, and linguistic associated with the inputs and outputs. This paper presents the structure of P/PI/PD/PID-like Interval Type-2 Fuzzy Logic Controller (IT2-FLC) that is designed and simulated using MATLAB SIMULINK. This controller is designed by combining the advantages of fuzzy inference and different structures of controller. The type of the controller is selected using two bits control inputs. The inputs to the controller are: input-output gains, set-point, and the actual output. Karnick-Mendel (KM) algorithm is used to implement the IT2-FLC. IT2FLC has two triangular shaped membership functions. The range of the universe of discourse (−1.5


Article
SPIKING NEURAL NETWORKS BASED PID LIKE FLC DESIGN FOR AN IDLE SPEED CONTROL OF AN AUTOMOTIVE ENGINE

Authors: Muslim Abdulameer Alghazali --- Mohammed Y. Hassan
Journal: Al-Qadisiyah Journal for Engineering Sciences مجلة القادسية للعلوم الهندسية ISSN: 19984456 Year: 2017 Volume: 10 Issue: 4 Pages: 629-642
Publisher: Al-Qadisiyah University جامعة القادسية

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Automatic control of automotive engines provides benefits in the engines performancelike emission reduction and fuel economy. The drop in idle speed problem can be seen as thedisturbance rejection problem in the main engine speed. In this paper, a PID-like Fuzzy LogicControl (PIDFC) with minimum structure for the four strokes, four cylinders, gasoline engine isdesigned and simulated to maintain the engine speed at nominal value in idle speed mode. Thespeed performance must satisfy minimize fuel consumption, and as a result reduces the fuelemissions. A spiking Neural Network (SNN) trained by Particle Swarm Optimization (PSO)algorithm is proposed to online-adapt the inputs and output gains of the PID fuzzy controller inorder to achieve the required speed performance. A Mean Value Engine Model (MVEM) is used tosimulate nonlinear model of engine. .Results of simulation for this controller showed goodimprovements over the PIDFC in the idle speed response. .The peak overshoot is reduced about(70 %), the undershoot is reduced about (50 %), the settling time is. .reduced about (83%) and thefuel consumed is reduced about (53%).


Article
Design a Different Structures Controller for Controlled Systems Using a Spiking Neural Network

Authors: Ahmed Abduljabbar Mahmood --- Mohammed Y. Hassan
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2019 Volume: 19 Issue: 2 Pages: 18-29
Publisher: University of Technology الجامعة التكنولوجية

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The design and simulation of the Spiking Neural Network (SNN) areproposed in this paper to control a plant without and with load. The proposedcontroller is performed using Spike Response Model. SNNs are more powerfulthan conventional artificial neural networks since they use fewer nodes to solvethe same problem. The proposed controller is implemented using SNN to workwith different structures as P, PI, PD or PID like to control linear andnonlinear models. This controller is designed in discrete form and has threeinputs (error, integral of error and derivative of error) and has one output. Thetype of controller, number of hidden nodes, and number of synapses are setusing external inputs. Sampling time is set according to the controlled model.Social-Spider Optimization algorithm is applied for learning the weights of theSNN layers. The proposed controller is tested with different linear andnonlinear models and different reference signals. Simulation results proved theefficiency of the suggested controller to reach accurate responses with minimumMean Squared Error, small structure and minimum number of epochs under noload and load conditions.


Article
Improvement of Output Displacement of Servo Pneumatic System using Fuzzy PI Controller
تصميم مسيطر مضبب متناسب _ متكامل للمنظومات الهوائية المؤازرة

Authors: Mohammed Y. Hassan --- Majid A. Oleiwi --- Shaimaa Mahmood Mahdy
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2009 Volume: 27 Issue: 13 Pages: 2496-2508
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

Pneumatic systems are widely used in industrial automation for theiradvantages such as speed of motion, low cost of maintenance, safe operation and high power/ weight ratio, cleanliness, simplicity of operation as compared with other systems such as hydraulic and electro - mechanical technologies. In this work, a fuzzy PI controller is designed for improving the output displacement of the servo pneumatic system, in order to improve the position transient response. The aim of tuning is to reach minimum steady state error in the output displacement and also to compensate the effect of applyingdifferent types of external load forces. The parameters of the controller are tuned using a trial and error method. A comparison between the results of using Fuzzy PI controller and the PID controller showed that the Fuzzy PI controller has improved the maximum error ratio in position up to 45 % by adding a fixed external load force and up to 19 % by adding variable external load force with highcompensation for the effects of any external load force.

لقد أصبحت أنظمة الهواء و دوائرها أكثر انتشارا واستعمالا في الأجهزةالصناعية لعدة فوائد : سرعة الحركة و قلة تكلفة الصيانة و أمان و علو نسبة القدرة إلى الوزن ونظافة الاستعمال وسهولة في عملية المقارنة مع أنظمة أخرى مثل أنظمة الهيدروليك و أنظمة الكهروميكانيك . ان استخدامات الأنظمة الهوائية و تطبيقاتها في عدة مجالات منها : في بعض الاجهزة الطبية و الروبوت , كذلك تدخل في المعامل المصنعة للحديد والخشب و البلاستك ... الخ . بالرغم من ان استخدام الانظمة الهوائية في تطبيقات السيطرة على الموقع تواجه صعوبة وتوعز هذه الصعوبة إلى التأثيرات اللاخطية في أنظمة الهواء . وقد تم في هذا البحث تصميم وتنغيم المسيطر المضبب لأجل تحسين دقة المواقع اللحظية والوصول إلى ( Fuzzy PI ) المتناسب – المتكامل اقل نسبة خطأ للاستقرار في الموقع وكذلك لتعويض تأثير تسليط أي حمل خارجي , مع العلم إن عوامل كلا من المسيطرين قد نغمت باستخدام طريقة المحاولة والخطأ . ولغرض المقارنة تم تصميم وتنغيم نوع اخر من المسيطرات كالمسيطر و تمت المقارنة بين نتائج استعمال كلا من , (PID) المتناسب – المتكامل – المتفاضل قد حسن نسبة الخطأ للدائرة ( Fuzzy PI) المسيطرين و قد بينت المقارنة أن المسيطر بإضافة حمل خارجي ثابت إلى 45 % و بإضافة حمل خارجي متغير . % مع تعويض واضح لتأثير إضافة الأحمال الخارجية إلى 19


Article
Modeling and Control of Proportional Directional Control Valve Using Neural Network .

Authors: Dr.Mohammed Y. Hassan --- Dr.Majid A. Aliewe
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2006 Volume: 6 Issue: 3 Pages: 80-89
Publisher: University of Technology الجامعة التكنولوجية

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