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Go to Editorial ManagerThis study presents a speed control design for switched reluctance motor (SRM) drive based on PID controller. The applications of Switched Reluctance Motors (SRMs) have being increased day by day, but this type of motors represents a highly nonlinear system, therefore there are a lot of difficulties in modeling and controlling them. We have proposed a non-linear mathematical model of a four phases 8/6 poles SRM then simulated it through Simulink/Matlab facilities. The whole control mechanism consists of a hysteresis current controller to minimize the torque ripple and a PID speed controller. The control design results are then validated in real-time by Simulink/Matlab software package.
This paper presents a novel control framework for robot manipulator path tracking based on the integration of artificial immune systems, fuzzy logic, and fractional-order PID control. The proposed Fuzzy-Immune Fractional-Order PID (FIFOPID) controller combines immune feedback mechanisms, fuzzy logic reasoning, and fractional-order control principles, with controller parameters optimized using the Clonal Selection Algorithm (CSA). The performance of the FIFOPID controller is evaluated and compared against a Fuzzy-Immune PID (FIPID) controller under identical conditions. Simulation results conducted in MATLAB 2014a with SIMULINK demonstrate that the optimal FIFOPID controller outperforms the FIPID controller in terms of path tracking accuracy and overall control performance, highlighting its potential as an effective approach for precise robotic manipulator control.
This paper presents an implementation of an independent control of two-mechanically coupled Permanent Magnet Synchronous Motor (PMSM) fed by two Space Vector Pulse Width Modulation (SVPWM) inverters in a separate mode and in the event of failure one leg of one inverter, fault tolerant mode. In a fault tolerant mode, the two motors can operate in an independent control strategy from one inverter with five legs to maintain a constant output coupled torque. The Field Oriented Control (FOC) strategy is used to control the stator current of the two motors through two separate paths. Such application is used in the field of a coupled torque produced by multi-motors such as in subway applications. The whole system is simulated in Matlab /Simulink and the simulated results show a stable and robustness system which can maintain a constant developed torque with a velocity reaches to the rated under fault tolerant operation.
Vehicles usually consist of several essential systems. The performance of the vehicle is evaluated through the efficiency of these systems to perform their duties. The suspension system is one of these systems dedicated to absorbing shocks arising from vehicles passing over road bumps, thus reducing vibrations and achieving passenger comfort while driving. This paper presents a study on enhancing ride comfort in a nonlinear half-car model using a modified Proportional-Integral-Derivative (PID) controller. In this study a half-car model is developed considering the nonlinearities in the suspension system components. A nonlinear half-car model was adopted to increase accuracy and make the overall system closer to reality. Instead of the feed-forward conventional PID controller gains, the proposed controller gains are formed by putting the proportional and derivative gains in the feedback path while keeping the integral gain in the feed-forward path to act as an I- PD controller. The proposed controller is integrated into the model to deal with these nonlinearities effectively and to achieve the optimal performance of the vehicle body. The overall system has been developed and simulated in the Matlab Simulink environment to show the dynamic response. Simulation results demonstrate the effectiveness of the I-PD controller in improving the ride comfort and handling stability of the nonlinear half-car model by reducing body acceleration and suspension deflection. A comparison with other study has been conducted to verify the effectiveness of the proposed controller.
This study uses intelligent techniques to regulate brushless direct current speed (BLDC) motors. After these motors solved the problem of using brushes and commutators in traditional DC motors, they succeeded in replacing brushes and commutators with electronic commutators. Due to the use of electronic switching, brushless motor algorithms are more complex than those of conventional motors. In this study, to adjust the PID controller's settings (Kp, Ki, and Kd), a trial-and-error approach was taken, and a completely new method known as the settings of known PID controllers have been modified using the new Gray Wolf algorithm. A BLDC motor's main benefit is that it has easy speed adjustment across a broad range, whereas AC motors often cannot be controlled in this way. Through the use of Matlab/Simulink, the BLDC motor's mathematical model was developed and implemented. The simulation results show that in the first case, a PID controller effectively induces the turbulent dynamic behavior of BLDC under load and no-load conditions, and in the second case, the speed shows the lowest rise time, stability, overshoot, and stability conditions, and performs at its best. The characteristics of the traditional PID controller that regulates the engine speed must be regulated online to achieve the use of intelligent technologies, and the adjustment is done online using the neural network. The results showed that this technology, or feature - online tuning - is the most effective and reliable of all.
This paper deals with the modeling and control strategics of the motion of wheeled mobile robot. The model of the mobile robot has two driving wheels and the azimuth and velocity are dependently controlled by two PID controllers. The PID controller is one of the earliest and famous industrial controllers. It has many advantages: It is economic, simple easy to be tuned and robu.~t. The tuning of these controllers is governed by system nonlinearities and continuous parameter variations. lbis paper deals with the optimal design of a PID controller for path tracking of mobile robot by using genetic algorithms (GA). The designed controller is tested for different paths.
Modeling and simulation of non-linear quarter-car suspension system for two air spring models (traditional and dynamic new air spring) are contrasted in terms of (RMS) sprung mass acceleration, dynamic load coefficient, the vertical displacement, they are compared. Two and three (DOF) of the mathematical quarter models are implemented in MATLAB/Simulink platform. The Ride Comfort (RC), Dynamic Load Coefficient (DLC) and Road Handling (RH) responses are evaluated as objective functions respectively considering a vehicle speed at 72 km/h and road ISO Class B. The obtained results indicate that the vertical displacement, the (RMS) of the sprung mass acceleration, and dynamic load coefficient values with the new air model system decrease by 10.7 %, 30.6 %, and 13.49 % respectively, in comparison to a tradition suspension system, this one gives more comfort and effortless handling.
A five-phase two-motor drive system with a series connection of stator windings and decoupled dynamic control is considered in the present paper. The two-motor drive system is supplied from a single five-phase Space Vector Pulse Width Modulation (S VPWM) Voltage Source Inverter (VSI) and controlled using a vector control scheme, provided that the stator windings are connected in series with appropriate phase transposition. The concept has been developed under the assumption that the inverter voltages are controlled in the stationary dq-reference frame. A fuzzy logic-based speed controller has been constructed and used to drive the two-motor in this work. The two-motor system, inverter system, and fuzzy controller models are implemented and tested using Simulink/Matlab facilities. 1be presented results show the validity of the model to do well for the sake of speed control in wider different operating conditions.
An energy-harvesting hydraulic regeneration suspension system is described in this article, which includes a hydraulic motor, a spool valves, and a hydraulic cylinder. Regenerative actuators are built using a hydraulic transmission system as their inspiration. The proposed regenerative actuator is implemented in the vehicle's non-linear suspension system for a complete model. MATLAB Simulink is utilized to generate and simulate the entire vehicle's regenerative suspension system, which has force properties which are nonlinear with hydraulic actuators equations with energy harvesting from regenerative actuators. During the mathematical simulation, the effect of pressure differential on the spool valve's operation is also taken into account. The quantity of captured energy is compared to the energy expended on the active actuator and the energy generated with the electromagnetic actuator at three distinct input signals at three different pressure level (10, 30 and 50 bars) (random, sinusoidal, and square). The energy generated in the regenerative hydraulic actuator at three pressure levels behaves the same as the active actuator in terms of response, plus the highest pressure of 50 bar is closely comparable to the active system in terms of energy harvest and gradually decreases as the output pressure drops in addition to the behavior of the electromagnetic and its comparison with the wasted energy of the active system.
The purpose of this research is to control a quarter car suspension system and also to reduce the fluctuated movement caused by passing the vehicle over road bump using modified PID (Proportional Integral and Derivative) controller. The proposed controller deals with dual loop feedback signals instead of single feedback signal as in the conventional PID controller. The structure of the modified PID controller was created by moving the proportional and derivative actions in the feedback path while remaining the integral action in the forward path. Thus, high accuracy results were obtained. Firstly, modelling and simulation of linear passive suspension system for a quarter car system was performed using Matlab – Simulink software. Then the linear suspension system was activated and simulated by using an active hydraulic actuator to generate the necessary force which can be regulated and controlled by the proposed controller. The performance of whole system has been enhanced with a modified PID controller.