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Article
Control on 3-D Fixable Wing Flutter Using an Adaptive Neural Controller
السیطرة على رفرفة جناح يثلاث الأبعاد باستخدام مسیطر عصبي متكیف

Authors: Mauwafak Ali Tawfik --- Mohammed Idris Abu-Tabikh --- Hayder Sabah Abd Al-Amir
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2012 Volume: 30 Issue: 16 Pages: 2858-2874
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

An adaptive neural controller to control on flutter in 3-D flexible wing isproposed. The aeroelastic model was based on the coupling between structure-of theequivalent plate (wing) and the aerodynamic model that is based on a hybrid unsteadypanel methodTime domain simulations were used to examine the dynamic aeroelasticinstabilities of the system (e.g. the onset of flutter and limit cycle oscillation). Thestructure of the controller consists of two models namely modified Elman neuralnetwork (MENN) and feedforward multi-layer Perceptron (MLP). The MENN modelis trained with off-line and on-line stages to guarantee that the outputs of the modelaccurately represent the plunge motion of the wing and this neural model acts as theidentifier. The feedforward neural controller is trained off-line and adaptive weightsare implemented on-line to find the generalized control action (function of additionlift force), which controls the plunge motion of the wing. The general backpropagation algorithm is used to learn the feedforward neural controller and theneural identifier. The simulation results show the effectiveness of the proposedcontrol algorithm; this is demonstrated by the minimized tracking error to zeroapproximation with very acceptable settling time.

تم ف ي ھ ذا البح ث اقت راح مس یطر عص بي متكی ف للس یطرة عل ى الرفرف ة لنم وذج جن اح م رنثلاثي الأبعاد. ينب نموذج المرونة الھوائیة على مبدأ التزاوج بین نموذج الصفیحة المكافئ ة (الجن اح)و النم وذج ال دینامكي الھ وائي ال ذي ت م اس تخدام طریق ة الأش رطة غی ر المس تقرة الھجین ة. ت م تحدی دالمنطقة التي یكون فیھا النظام غیر مستقر من خلال فحص استجابتھ مع الزمن حیث تم إیجاد السرعةالتي تبدأ عندھا ظاھرة الرفرفة والتذبذب الدوري المح دد. تتك ون ھیكلی ة المس یطر م ن نم وذجین ھم القد تم تأھی ل نم وذج . (MLP) و بیرسبترون متعدد الطبقات (MENN) الشبكة العصبیة المحسنة لألمنف ي م رحلتین ھم ا مرحل ة الخ ط المغل ق ومرحل ة الخ ط المفت وح لض مان تط ابق مخ رج (MENN)النموذج العصبي مع مخرج منظومة الجناح وھو الحركة العمودیة لتكوین النموذج العصبي المعرف.تم تأھیل المسیطر العصبي الأمامي من خلال الخط المغلق ث م ت م تح دیث الأوزان لھ ذا المس یطر م نخلال الخط المفتوح لإیجاد فعل المسیطر العام(الذي ھو دالة قوة رفع إضافیة) المطلوب للسیطرة علىالحركة العمودیة.تم استخدام خوارزمیة الانتشار الخلفي لتأھیل النموذجین. كانت نت ائج المحاك اة لھ ذاالمسیطر العصبي فعالة من خلال تقلیل الرفرفة إلى صفر وبزمن استقرار مناسب .


Article
Operation and Ph Control of A Wastewater Treatment Unit Using Labview
عملیة والسیطرة على الحامضیة لوحدة المعالجة المیاه الثقیلة باستخدام برنامج LABVIE

Authors: Adnan Abdual Arazak --- Farooq A. Mehdi --- Ghanim M. Alwan
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2010 Volume: 28 Issue: 17 Pages: 5524-5546
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

LABVIEW is a powerful and versatile graphical programming language thathad its roots in operation, automation control and data acquisition of the system. The pH control system of a non-linear wastewater treatment unit, contains heavy metals (Cu, Cr, Cd, Fe, Ni and Zn), had been developed depending on dynamics behavior of the process. The pH value of wastewater is change by addition chemicals (lime or Na2S). The semi-batch pH process system dynamically behaved as a first order lag with dead time. The tuning of control parameters was carried byseveral methods; Internal Model Control (IMC), Minimum (ITAE) criteria and Adaptive mode. Since the process was fast, the Integral of Absolute of Error (IAE) criteria was used to compare between the above tuning methods. Adaptive control was the best and effective to determining the values of proportional gain (Kc), Integral time constant (t I) and Derivative time constant (t D ).PI mode was found to be the best for control the fast pH process.

ھي لغة برمجة الرسم التي استخدمت لتشغیل و السیطرة الاتوماتیكیة واكتساب النت ائج LABVIEWالعملیة لمنظومة البحث الحالیة. تم تطویر نظام الس یطرة عل ى الحامض یة لوح دة معالج ة المی اه الص ناعیة واعتم اداً عل ى دراس ة الس لوك (Cu, Cr, Cd, Fe, Ni and Zn) الت ي تحت وي عل ى العناص ر الثقیل ةان . (lime or Na2S) ال دینامیكي للمنظوم ھ. ان قیم ة الحامض یة تتغی ر بواس طة اض افة الم واد الكیمیاوی ةالعملیة شبھ مستمرة دینامیكیاً و من الدرجة الاولى مع وجود اعاق ة زمنی ة. ت م توص یف مؤش رات الس یطرةAdaptive و Integral of Absolute of Error و Internal Model Control بط رق مختلفةكاس اس (IAE) لایجاد افضل قیم للمعاملات . نتیجة لسرعة العملیة تم استخدام معیار الخطا المطلق modeللمقارنة بین الطرق و ان اسلوب التوصیف الذاتي ھم الافضل و الادق و اكثر تاثیرا في احتساب مؤشراتھو الافضل بالنسبة لباقي المسیطرات و ذلك لكون العملیة سریعة. PI السیطرة. و قد وجد ان الصیغة


Article
Comparison between Using FLC and Auto-Tuning FLC in Synchronous Generator Transient Voltage Stability Enhancement
مقارنة بين استخدام متحكم المنطق الضبابي وبين متحكم المنطق الضبابي تلقائي التنغيم لتحسين استقرارية الجهد العابر لمولد متزامن

Authors: Majli Nema Hawas --- Abdullah Yaseen Abbas
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2013 Volume: 31 Issue: 8 Part (A) Engineering Pages: 1474-1482
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This paper compares between responses of Fuzzy Logic Controller (FLC) based exciter and auto-tuning FLC based exciter. Both of the exciters are simulated separately with synchronous generator connected to infinite bus through a short transmission line. The systems where subjected to three phase fault at the infinite bus, maximum Integral of Square Error (ISE) of generator terminal voltage response and critical clearing time were taken as performance indices of the exciters. The systems then studied under normal operating condition to justify the need of auto-tuning.

هذه الورقة تقارن بين أستجابة محفز معتمد على مسيطر ضبابي وإستجابة محفز معتمد على مسيطر ضبابي ذاتي التنغيم. تم محاكاة كل محفز على حده للسيطرة على الجهد الطرفي العابر للمولد تزامني متصل بعمومي لانهائي خلال خط نقل قصير. أخضع النظام الى إضطراب ثلاثي الطور على العمومي اللانهائي. أستخدم تكامل مربع الخطأ لاستجابة الفولتية الطرفية للمولد وزمن الإزالة الحرج كدلائل لمعرفة الإداء للمحفزات في ظروف العمل المضطربة وتم إثبات الحاجة الى التنغيم الذاتي في ظروف العمل الطبيعية.


Article
Adaptive Control-based synchronization of chaotic systems with uncertain parameters and its application

Authors: Ola Jabbar Hussain علا جبار حسين --- Fadhil Rahma Tahir فاضل رحمه طاهر
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2016 Volume: 16 Issue: 1 Pages: 8-14
Publisher: Basrah University جامعة البصرة

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Abstract

This paper is concerned with performance on thewidely used control technique: adaptive control forsynchronization between two identical chaotic systemsembedded in the Master and Slave. It is assumed that theparameters of slave system are unknown. The required stabilitycondition is derived to ensure the stability of error dynamics.Adaptive control laws are designed using appropriateparameters estimation law. The system parameters areasymptotically synchronized; thus the slave parameters can beidentified. As an application, the proposed scheme is applied tosecure communication system. The information signal istransmitted and recovered on the basis of identificationparameters also the system is tested under the consideration ofthe noisy channel. Finally, through Numerical simulationresults, the proposed scheme was a success in the communicationapplication.


Article
Design of L1 Adaptive Controller for Position Control of Permanent Magnet Linear Synchronous Motor (PMLSM)

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Abstract

In the present work, the design of an L1 adaptive controller forposition control of a linear servo motor for X-Y table application has beendeveloped. The AC Permanent Magnet Linear Synchronous Servo Motor(PMLSM) is considered. A comparative study between L1 adaptive control andModel Reference Adaptive Control (MRAC) has been made. The effectiveness ofthe L1 adaptive controller against uncertain parameters is analyzed based onsimulated results. Robustness characteristics of both L1 adaptive controller andmodel reference adaptive controller to different input reference signals anddifferent structures of uncertainty have been evaluated. The L1-adaptivecontroller could ensure uniformly bounded transient and asymptotic trackingfor input and output signals. Simulations based on MATLAB of an x-y tablebased on PMLSM with time-varying friction and disturbance are presented toverify the theoretical findings. The simulation results within the environment ofMATLAB/SIMULINK showed that L1-adaptive controller could give bettertracking performance, dynamic and steady-state characteristics, than thatobtained from MRAC for considered types of input and for various structures ofuncertainties.


Article
VIBRATIONAL CONTROL OF THE NEUTRALIZATION PROCESS
السيطرة الاهتزازية على عملية المعادلة الحامضية

Author: Asst. Lec. Ahmed A.Ubeed م.م. أحمد عباس عبيد
Journal: Al-Qadisiyah Journal for Engineering Sciences مجلة القادسية للعلوم الهندسية ISSN: 19984456 Year: 2016 Volume: 9 Issue: 3 Pages: 292-301
Publisher: Al-Qadisiyah University جامعة القادسية

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Abstract

ABSTRACTControlling of the pH system theoretically was achieved successfully using vibrational controlmethod with very small offset. Modeling of pH system was derived using reaction invariantsconcept where the specific invariants combined and adapted in the mole balance equations withcontribution the charge balance to give the final pH process model.

الخلاصةتمت السيطرة بنجاح على نظام حامض قوي وقاعدة قوية كمثال على عملية المعادلة الحامضية بشكل نظري وذلك بأستخدام طريقةالسيطرة الاهت ا ززية والتي اعطت حيد قليل جدا عن القيمة المرغوبة. تم تكوين الانموذج الرياضي لعملية المعادلة الحامضية عنطريق اعتماد مبدأ ثوابت التفاعل ، ركبت هذه الثوابت المحددة في معادلات التوازن المولية لاعطاء النموذج الرياضي النهائيلعملية المعادلة الحامضية.


Article
Combined Neural Network and PD Adaptive Tracking Controller for Ship Steering System

Author: Abdul-Basset Al- Hussein
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2017 Volume: 13 Issue: 1 Pages: 59-66
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a combined RBF neural network sliding mode control and PD adaptive tracking controller is proposed for controlling the directional heading course of a ship. Due to the high nonlinearity and uncertainty of the ship dynamics as well as the effect of wave disturbances a performance evaluation and ship controller design is stay difficult task. The Neural network used for adaptively learn the uncertain dynamics bounds of the ship and their output used as part of the control law moreover the PD term is used to reduce the effect of the approximation error inherited in the RBF networks. The stability of the system with the combined control law guaranteed through Lyapunov analysis. Numeric simulation results confirm the proposed controller provide good system stability and convergence.


Article
Hover Control for Helicopter Using Neural Network-Based Model Reference Adaptive Controller

Author: Abdul-Basset A. Al-Hussein
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2017 Volume: 13 Issue: 1 Pages: 67-72
Publisher: Basrah University جامعة البصرة

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Abstract

Unmanned aerial vehicles (UAV), have enormous important application in many fields. Quanser three degree of freedom (3-DOF) helicopter is a benchmark laboratory model for testing and validating the validity of various flight control algorithms. The elevation control of a 3-DOF helicopter is a complex task due to system nonlinearity, uncertainty and strong coupling dynamical model. In this paper, an RBF neural network model reference adaptive controller has been used, employing the grate approximation capability of the neural network to match the unknown and nonlinearity in order to build a strong MRAC adaptive control algorithm. The control law and stable neural network updating law are determined using Lyapunov theory.


Article
Neural Network-Based Adaptive Control of Robotic Manipulator: Application to a Three Links Cylindrical Robot

Author: Abdul-Basset A. AL-Hussein
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2017 Volume: 13 Issue: 1 Pages: 114-122
Publisher: Basrah University جامعة البصرة

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Abstract

A composite PD and sliding mode neural network (NN)-based adaptive controller, for robotic manipulator trajectory tracking, is presented in this paper. The designed neural networks are exploited to approximate the robotics dynamics nonlinearities, and compensate its effect and this will enhance the performance of the filtered error based PD and sliding mode controller. Lyapunov theorem has been used to prove the stability of the system and the tracking error boundedness. The augmented Lyapunov function is used to derive the NN weights learning law. To reduce the effect of breaching the NN learning law excitation condition due to external disturbances and measurement noise; a modified learning law is suggested based on e-modification algorithm. The controller effectiveness is demonstrated through computer simulation of cylindrical robot manipulator.


Article
Adaptive Control of Robot Manipulators with Velocity Estimation and Bounded Torque

Author: Wajdi Sadik Aboud
Journal: AL-NAHRAIN JOURNAL FOR ENGINEERING SCIENCES مجلة النهرين للعلوم الهندسية ISSN: 25219154 / eISSN 25219162 Year: 2017 Volume: 20 Issue: 4 Pages: 853-863
Publisher: Al-Nahrain University جامعة النهرين

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Abstract

The robot manipulator output feedback problem points out to the controlled system in which the measurements of the joint position are available. In this study, all kinematic and dynamic parameters of robot manipulator are supposed unknown and the manipulator have to follow the desired trajectory. Therefore, the adaptive control problem for robot manipulators based on velocity estimation is investigated. According to the practical robot actuator power limitation, the bounded torque input is also considered in this study. The control algorithm is applied for 2-link manipulator to evaluate controller effectiveness. The design parameters that guaranteed the control performance of closed loop system are chosen by using optimization output constrained method. The proposed controller performances are provided by numerical simulations.

يقصد بمشكلة التغذية العكسية لمخرج الروبوت المناور على انها المنظومة المسيطر عليها عند توفر قراءات لموقع المفصل. في هذه الدراسة, المعاملات الحركية للربوت المناور اعتبرت غير معلومة والمناورعليه ان يتبع المسار المفترض. لذلك جرى التحقق من تصميم مسيطر متكيف لربوت مناور بالاعتماد على السرعة المخمنة. وفقا لكون المشغلات الميكانيكية العملية في الربوت المناور تكون محددة القدرة لذلك اخذ بنظر الاعتبار في هذه الدراسة تقييد العزم الداخل للمناور. خوازمية السيطرة المقترحة تم تطبيقها على مناور ثنائي الذراع لتقييم فعالية المسيطر. تم اختيار وتصميم المعاملات والتي تضمن اداء السيطرة للمنظومة المغلقة الدورة عن طريق استخدام طريقة تحديد المخرجات المثلى. تم الحصول على الااداء ونتائج المسيطر المقترح عن طريق المحاكاة العددية.

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