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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
CONTROLLR MODELLING AND DESIGN OF ROTATIONAL SPEED FOR INTERNAL COMBUSION ENGINE

Authors: Raoof M. Radhi --- Emad Q. Hussien
Journal: University of Thi-Qar Journal for Engineering Sciences مجلة جامعة ذي قار للعلوم الهندسية ISSN: 26645564/26645572 Year: 2013 Volume: 4 Issue: 2 Pages: 1-13
Publisher: Thi-Qar University جامعة ذي قار

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Abstract

This paper proposes a controller design of a nonlinear model of an internal combustion engine based on linear quadratic regulator (LQR) technique. The design takes into consideration the effect of external disturbances that occurs during the operation of system. The equations of motion are linearized according to the perturbation theory in order to inspect the dynamic stability of the engine motion, and the subsequent design of appropriate feedback controllers for the system, which can be obtained by solving the LQR problem. The results show that the proposed controller has good performance and stability than PID controller. The simulations have been carried out in Matlab/Simulink environment.

يهدف البحث الى تصميم سيطرة على النموذج اللا خطي لمنظومة محرك الاحتراق الداخلي على أساس تقنية LQR. يأخذ التصميم بنظر الاعتبار الاضطرابات الخارجية المؤثرة على عمل المحرك , ويمر على تحول المعادلات الحركة الى النموذج الخطي حسب نظرية الاضطراب ومن ثم دراسة الاستقرار الديناميكي لاداء المحرك وبالتالي تصميم منظومة مناسبة لوحدة تحكم ردود الفعل من خلال معالجة معوقات تطبيقLQR. أظهرت النتائج البحث ان وحدة التحكم المقترحة قد ادت الى تحسن واضح في اداء والاستقرارية المنظومة بالمقارنة مع المسيطر PID , علما ان عملية المحاكاة قد تمت في اطار MATLAB / SIMULINK.


Article
Nonlinear Controller Design for a Mobile Manipulator Trajectory Tracking †

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Abstract

Abstract –In this paper, a mobile manipulator consisting of four degrees of freedom(4-DOF) robotic manipulator mounted at the top of a mobile platform (front point) of amobile robot with four differential drive wheels is presented. A mobile manipulatorcombines the dexterous manipulator capability offered by fixed-based manipulators andthe mobility offered by the mobile robot. The work involves the modeling of mobilemanipulator robot and using the partial feedback linearization approach. The centralidea is to algebraically transform nonlinear systems dynamics into partially linear form,so that linear control techniques can be applied to control on the wheel mobilemanipulator robot in order to track any trajectory such as an ellipse, circle….etc,without violating the non holonomic constraints. However, and in order to consider theuncertainty in system parameters and the effects of the external disturbances a nonlinearPID controller is proposed in this work. The results demonstrate a good ability of thedesigned nonlinear PID controller in regulating the mobile robot to track the desiredpath in the presence of the external disturbances and the uncertainty in systemparameters


Article
Improved Trajectory Tracking Control for a Three Axis SCARA Robot Using Fuzzy Logic

Authors: Shaymaa M. Mahdi1 --- Safanah M. Raafat1
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: 11-19
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

Abstract –This paper presents a fuzzy based adaptive controller for a three-axis SCARA robot (Selective Compliance Articulated Robot Arm) in the presence of non- linearities, uncertainties and external perturbations. The nonlinear system is treated as a partially known system. The known dynamic is used to design a nominal feedback controller based on the well-known feedback linearization method and Proportional Derivative (PD) controller. A fuzzy Proportional Integral (fuzzy-PI) based adaptive tracking controller is applied to further improves the control action. Compensation for the effects of the system uncertainties have been achieved and noticeable improvement of the tracking performance has been obtained. The improvements are based on simplified controller design and improved performance characteristics in terms of highly reduced maximum absolute error.


Article
Robust Adaptive Sliding Mode Controller for a Nonholonomic Mobile Platform
تصميم مسيطر منزلق المتكيف المتين لمنصة التحرك الذاتي ذات القيود الغير التامة

Authors: Shibly Ahmed Al-Samarraie شبلي أحمد --- Taif Ghadban Hama طيف غضبان حمه
Journal: Journal of Engineering مجلة الهندسة ISSN: 17264073 25203339 Year: 2019 Volume: 25 Issue: 8 Pages: 19-38
Publisher: Baghdad University جامعة بغداد

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Abstract

In this paper, a robust adaptive sliding mode controller is designed for a mobile platform trajectory tracking. The mobile platform is an example of a nonholonomic mechanical system. The presence of holonomic constraints reduces the number of degree of freedom that represents the system model, while the nonholonomic constraints reduce the differentiable degree of freedom. The mathematical model was derived here for the mobile platform, considering the existence of one holonomic and two nonholonomic constraints imposed on system dynamics. The partial feedback linearization method was used to get the input-output relation, where the output is the error functions between the position of a certain point on the platform and the desired path. The dynamic error model was considered uncertain and subjected to friction torques on the wheels. The adaptive sliding mode control was utilized to design a robust controller, that will force the platform to follow the desired trajectory. The simulation of the proposed controller was done via MATLAB to reveal the ability of the robust adaptive sliding mode controller applied as a trajectory tracker for various path shapes.

في هذه الورقة البحثية، تم تصميم وحدة تحكم باستخدام المسيطر المنزلق لتتبع مسار منصة ذاتية التحرك. منصة ذاتية التحرك هي مثال على نظام ميكانيكي غيرتامة التقييد. إن وجود قيود تامة يقلل من درجة الحرية التي تمثل نموذج النظام ، في حين أن القيود غير التامة تقلل من درجة الحرية المختلفة. تم اشتقاق النموذج الرياضي هنا منصة ذاتية التحرك ، مع الأخذ في الاعتبار قيد تام واحدة وقيدين غير تاميين مفروضين على ديناميكية النظام. تم استخدام طريقة التغذية الخلفية الجزئية للحصول على علاقة المدخلات والمخرجات ، حيث يكون الناتج هو وظائف الخطأ بين موضع نقطة معينة على المنصة والمسار المطلوب. واعتبر النموذج الديناميكي للخطأ غير مؤكد ، وتعرض لعزم إحتكاك الدوران على العجلات. تم استخدام المسيطر المنزلق المكييف لتصميم وحدة تحكم متينة ، والتي ستجبر المنصة على اتباع المسار المطلوب. تم إجراء محاكاة وحدة التحكم المقترحة عبر MATLAB للكشف عن قدرة المسيطر المنزلق المتين المكييف كمتتبع مسار لأشكال المسيرات المختلفة.

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