Showing 25 results for Control
M. Jafarboland, H. R. Momeni and N. Sadati,
Volume 21, Issue 2 (1-2003)
Abstract
Various methods are presented to control the attitude of satellite due to lack of information of yaw axis attitude so far.
In this paper, a new method is used which is more general and is applicable to all types of satellites, with at least one controller.
This method is not limited to YAW axis and can control the two other axes as well. One feature of this approach is the ability to be modified for large angle maneuvers for special applications.
A new observer is also proposed for the controller, which causes the angles attitude to be kept in desirable values, with minimum control effort and more accuracy. Simulation results show that compare with methods using the complete all axis information, this approach is satisfactory.
Keywords: Attitude control, PID controlley, BIBO stability, pseudo observer
M. Alizadeh and H. Edriss,
Volume 21, Issue 2 (1-2003)
Abstract
In recent years many different ways have been investigated by steel producers to increase ductility, impact strength and formability of steels. More important ways are steels with very low amounts of inclusion, small size inclusions and modified inclusions. In this study, experiments have been performed on the API-X42 steel produced by the electric arc furnace in Mobarekeh Steel Co. After the preparation of the melt in the electric arc furnace, it is taped in a 200-ton ladle and ladle treatment was preformed in a ladle furnace (LF) in the steelmaking shop. In this study the effects of amount and the rate of CaSi wire addition on the shape and structure of inclusion were investigated. The optimum conditions for adding CaSi for inclusion shape control were also determined. Scanning electron microscope (SEM) and chemical energy analysis dispersive system (EDS) showed that adding calcium to the melt affects the chemical composition of inclusions present in steel melt. The effects of CaSi wire injection treatment, injection amount and inclusion shape control on the impact property and formability of steel were shown using charpy impact test.
Keywords: Inclusion shape control, calcium treatment, ladle furnace and inclusion modification
J. Soltani and F. Katiraei,
Volume 22, Issue 1 (7-2003)
Abstract
In this paper, using a personal computer (PC), the practical implementation of scalar and vector control methods on a three–phase rotor surface- type permanent magnet synchronous machine drive is discussed. Based on the machine dynamic equations and the above control strategies, two block diagrams are presented first for closed-loop speed controlling of the machine drive/system. Then, the design and implementation of hardware circuits for power, insulating, and signal matching stages are explained along with a description of the written software program for the servo drive system control. These circuits are
used to produce the drive inverter switching pulses. To supply the machine drive, the sinusoidal, uniform sampling and step-trapezoidal PWM voltage source inverters are examined. For closed loop speed control of the drive system, the stator currents and rotor speed signals (in scalar control method only the rotor speed) are sampled on-line. After filtering, buffering and matching operations, these signals are transferred to a personal computer port via a high frequency sampling and high resolution A/D converter. It is worth mensioning that both methods of controlling mathematical calculations is done by computer. Finally, the practical and computer simulation results obtained are demonstrated.
Keywords: Machine Drive, Synchronous Machine, Permanent Magnet, Rotor Surface Type, Scalar and Vector Control, Voltage – Source Inverter, Control by PC.
H. Farzanehfard and A. Pakizeh Moghadam,
Volume 22, Issue 1 (7-2003)
Abstract
Soft Switcing techniques have recently been applied in the design of dc-ac converters, in order to achive better performance, higher efficiency, and power density. One of the soft switching techniques uesd in inverters is resonant dc links. These topologies have some disadvantages such as irregular current peaks, large voltage peaks, uncotrollble pulse width, etc. Another soft switching method in inverters is using Quasi –resonant links, which have PWM modulation capability. Inverters with series or parallel Quasi-resonant dc links use several quasi-resonant current or voltage pulses, respectively, to produce PWM modualation. In this paper an inverter with a novel Quasi-resonant series dc link is introduced. This topology enables current source inverters to have characteristics such as resonant pulse peak limition and pulse width controllability. This circuit provides the inverter with two to three ranges of PWM control capability which increases the switching time control in a larger range.
Various operational modes of this novel Quasi-resonant dc link is analyesed and then the circuit losses is calculated. Finally, simulation results by PSPICE software is presented to justify the circuit operation.
Keyword: Inverter, Soft switching, Novel quasi-series resonant link, increasing control areas, Losses
M. Jafarboland, H. R. Momeni and N. Sadati,
Volume 22, Issue 1 (7-2003)
Abstract
Designing a robust tracking control for a non-linear MIMO system with uncertainty is one of the most complicated control problems. In this paper, sliding mode changed to non-linear controllable canonical form by input-output linearization. This, sliding surfaces can be defined in a way that we can de-couple equations and indicate the sliding conditions of multi-variable controller system. The uncertain parameters will be estimated properly and the input equation improved to apply the restricted input condition. The control law will be improved in a way that in addition to increasing the tracking accuracy inside the boundary layer, the speed of convergence will increase outside of the boundary layer. In order to satisfy the balance of the filter, the thickness of the adaptive boundary layer is used. Thus, a robust tracking control is designed which can trace the angle
of attitude of satellite for maneuvers with a very large angle (180 deg.) on a piece-wise smooth path. Finally, the simulation results are compared with Elmali & Olgac’s methods and it is shown that despite decreasing control signals, the tracking accuracy increases by several ten times.
Keywords: Attitude, Control, Sliding-mode control, Non-linear System, Input-Output Linearzation
J. Soltani and N. R. Abjadi,
Volume 22, Issue 2 (1-2004)
Abstract
In this paper, based on feedback linearization control method and using a special PI (propotational integrator) regulator (IP) in combination with a feed-forward controller, a three-phase induction servo-drive is speed controlled. First, an observer is employed to estimate the rotor d and q axis flux components. Then, two input-output state variables are introduced to control the dynamics of torque and the magnitude of the rotor flux independently. In addition, based on the model refrence adaptive system (MRAS) and the recursive least square (RLC) error techniques, the rotor time constant and the mechnical parameters (J, R) are simultaneously estimated. Finally, the efficiency of the proposed method is confirmed against results from computer simulation.
Keywords: Adaptive speed ontrol, Inducation servo-drive, Feedback linearization, IP controller, Model reference, Adaptive
system, Recursive least square.
Sasan Azadi, Hamidreza Momeni, and Ahmadreza Sharafat,
Volume 22, Issue 2 (1-2004)
Abstract
The objective of this study is to design a robust direct model reference adaptive controller (DMRAC) for a nonlinear cardiovascular model over a range of plant parameters representing a variety of physical conditions. The direct adaptive controllers used in thisd study require the plant to be almost strictly positive real (ASPR) that is, for a plant to be controlled there must exist a feedback gain such that the resulting closed loop system is strictly positive real. We designed a new compensator so that the system composed of the cardiovascular plant and the compensator satisfy the ASPR condition.
Numerous studies in the past have considered a small range of gain variations of the cardiovascular system. In most cases, the controller was designed based on variations in either time delay or plant gains. Many of these workers treated the cardiovascular system as a single-input single output (SISo) plant in which the control output was Mean Arterial Pressure (MAO). We treated the cardiovascular system as a multi-input multi-output (MIMO) plant in which both the MAP and Cardiac Output (CO) are simultaneously controlled.
In this study, a new linear model is presented that provides a better approximation thanthe one the original linear model does. By doing so and utilizing the DMRAC algorithm, we could satisfy the stability conditions for the nonlinear model while satisfactory responses obtained under every possible condition for the cardiovascular nonlinear model.
Keywords: Adaptive control, Cardiovascular system, Blood pressure, Cardiac output
K. Badv,
Volume 23, Issue 2 (1-2005)
Abstract
This study is an attempt to introduce scientific fundamentals and available methods for wellhead protection area (capture zone) delineation for drinking water wells in cities. The results of this study could obviate some demands of the national water and wastewater company in quality control of the drinking water resources by delineation and application of the wellhead protection areas. For this purpose, the available literaturer reviewed to extract, criteria and methods of wellhead protection delineation, Then, (1) fixed radius method, (2) simplified variable shape methods, and (3) flow-transport analytical methods implemented in the computer code WHPA are introduced. The applicability of these methods is shown by some sample calculations for Urmia drinking water wells. Samples of the calculated wellhead protection areas for 36 wells in Urmia City will be shown using three analytical modules in WHPA. The effects of the hydrogeologic parameters on the wellhead areas will be discussed. When reliable hydrogeologic parameters are available in the region where wells are located, the analytical methods and WHPA code produce accurate results for wellhead protection areas.
M. Ebrahimi and A. Ghaderi,
Volume 24, Issue 2 (1-2006)
Abstract
Stator flux oriented vector control of induction motor (IM) drives for speed sensorless control has several advantages. But the application of a pure integrator for the flux estimation is difficult due to the presence of measurement noise and dc offset. To overcome these problems, some have used a programmable cascaded low pass filter (PCLPF). In this paper, it is shown that some problems still exist and some new problems arise from this approach. In order to solve these
problems, a novel compensation method is proposed. In this scheme, the dc offset is detected and subtracted from the estimated flux along d and q axes. The simulation results show that it works well in the low speed region as well as in the transient state. The oscillation of the torque and the estimated flux are also reduced notably when the torque reference changes rapidly.
R.b.kazemzadeh, R.noorossana and M. Karbasian,
Volume 24, Issue 2 (1-2006)
Abstract
In the last few years, Run-to-Run (R2R) control techniques have been developed and used to control various processes in industries. These techniques combine response surface, statistical process control, and feedback control techniques. The R2R controller consists of a linear regression model that relates input variables to output variables using Exponentially Weighted Moving Average (EWMA). In this paper, we have developed a R2R controller model based on quality costs. The model consists of finding optimum weight of EWMA procedure in R2R controllers with respect to conformities and
nonconformities costs. The validity and performance of the developed model were tested using a real case study in an optic industry application.
A. Ebrahimi, S. A.a. Mousavian, and M. Mirshams,
Volume 24, Issue 2 (1-2006)
Abstract
The rapid growth of space utilization requires extensive construction, and maintenance of space structures and satellites in orbit.
This will, in turn, substantiate application of robotic systems in space. In this paper, a near-minimum-time optimal control law is developed for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The time optimal control solution for the rigid-body mode is obtained as a bang-bang function and applied to the flexible system after smoothening the control inputs to avoid stimulation of the flexible modes. This will also reflect practical limitations in exerting bang-bang actuator forces/torques, due to delays and non-zero time constants of existing actuation elements. The smoothness of the input command is obtained by reshaping its profile based on consideration of additional first-order and second-order derivative constraints. The platform is modeled as a linear undamped elastic system that yields an appropriate model for the analysis of planar rotational maneuvers. The developed control law is applied on a given satellite during a slewing maneuver. The simulation results show that the modified realistic optimal input compared to the bang-bang solution agrees well with the practical limitations and also alleviates the vibrating motion of the flexible appendage, which reveals the merits of the new control law developed here.
S. A. A. Moosavian and A. Mirani,
Volume 24, Issue 2 (1-2006)
Abstract
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base nonholonomic constraints. Combining the kinematic model with the initial dynamic equations and eliminating Lagrange multiplier with natural orthogonal complement technique lead to the comprehensive dynamic model. The variables of this model include the path of a reference point of the base and the position and orientation of the end-effector. The proposed approach will be applied on a car-like platform and a manipulator with 5 degrees-of freedom. The calculations for deriving such a model will be implemented by a program in Maple which can be used for control design and simulation purposes. The validity of the methodology is demonstrated using a second model and comparing the elements of these two models with each other. With trajectory generation for platform and manipulator generalized coordinates separately, set points for control system design will be provided. Motion generation for the platform, which due to the nonholonomic constraint has more sensitivity, will be dealt with by two motion modes. Inverting the model in terms of joint space variables, strict control of the work space variables is accomplished. Introducing state space variables and inverting the system into first order equations, the necessary preliminaries for control system design will be provided. Based on two simulation programs in Matlab, two controllers are designed with model-based algorithm (MBA) and Transposed Jacobian (TJ) control. Simulating different external conditions such as parameter perturbation, disturbances and noise, the robotic system behavior in the vicinity of real conditions will be examined. The results obtained show the merits of the TJ algorithm in controlling highly nonlinear and complex systems with multiple degrees- of freedom (DOF), without requiring a priori knowledge of plant dynamics, and with reduced computational burden which motivates further work on this algorithm
M. Jafarboland, N. Sadati, and H. R. Momeni,
Volume 25, Issue 1 (7-2006)
Abstract
Control of a class of uncertain nonlinear systems, which estimates unavailable state variables, is considered. A new approach for robust tracking control problem of satellite for large rotational maneuvers is presented in this paper. The features of this approach include a strong algorithm to estimate attitude, based on discrete extended Kalman filter combined with a continuous extended Kalman filter and attitude nonlinear model, and a robust controller based on sliding-mode with perturbation estimation. Estimation accuracy in this method is five times higher than other recent approaches based on Kalman filter. We have used sliding-mode controller in this paper. Not only the controller and the corresponding observer but also their composition must be robust. To make this controller robust against the uncertainty of parameters, the robust Kalman filter is used. Based on interval algebra, an upper bound and a lower bound are estimated for state variables of the system and considering these bounds in indicating the sliding conditions, stability of the controller in combination with the observer will be satisfied simultaneously. The simulation results show the capability of this method in spite of different uncertainty levels (up to %50).
A. Zaery, and F. Sheikholeslam,
Volume 25, Issue 2 (1-2007)
Abstract
An important consideration in control issues is control of nonlinear systems. Sliding control is among those nonlinear controllers that can control the system desirably in the presence of unstructured uncertainties of carelessness in specifying parameters of the system. In sliding control, also called Variable Structure Control, the main objectives of the controller
are achieved by introducing a sliding surface. One of the fundamental problems which may occur in sliding control is the chattering phenomenon on unwanted oscillation around the sliding surface. Different solutions are introduced to eliminate chattering. One of the commonest solutions is using a constant boundary layer round the sliding surface. In this paper, efforts are made to reduce chattering and to increase stability of the system by varying the sliding controller with a constant boundary layer. Finally, the mathematical model of a pendulum/cart in the presence of uncertainty is developed and the result of the simulation of the introduced controllers are compared.
H. R. Sheibani and H. Bayyat,
Volume 26, Issue 1 (7-2007)
Abstract
A physical model of gabion overflow dams was studied to determine the velocity profile and Reynolds shear stress. Physical tests were done under two different conditions of dam crest, overflow dams with impermeable and with permeable crests. Instantaneous velocity components over dam crest were measured by an ADV (Acoustic Doppler Velocimeter) instrument. This instrument is capable of measuring instantaneous velocity components with frequencies up to 25 Hz. Average velocity components and bed shear stress were extracted from ADV measurements. The results of this research show the effect of crest permeability on velocity and Reynolds shear stress. The magnitude of Reynolds shear stresses, horizontal velocity components, and absolute value of vertical velocity components under the permeable scenario are bigger than those of the impermeable scenario. Velocity distribution over the dam crest is different from the universal logarithmic profile.
A. Hosseini, M. Keshmiri, and M. J. Sadigh,
Volume 26, Issue 1 (7-2007)
Abstract
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Problem, (TPBVP). The problem is solved for a cooperative manipulator system consisting of two 3-DOF serial robots.
M. Sheikhzadeh, K. Matin, M. G. Tafreshi,
Volume 26, Issue 1 (7-2007)
Abstract
The aim of this research is to design a controlling loop that eliminates the irregularities in yarn tension during the winding process. In order to achieve this, we employed a relative feedback industrial control system. The yarn tension sensor measures the tension. Its output is analyzed in the automatic controlling unit. This unit adjusts the tension level according to feedback signals, thus adjusting the yarn tension to the desired value. The yarn package wound using this system will additionally experience the least yarn tension variations.
A. Eslami, H. Modaraei, and H. Ahmadi,
Volume 26, Issue 2 (1-2008)
Abstract
A. Arkan, and S.r. Hejazi,
Volume 27, Issue 2 (1-2009)
Abstract
Supply chain coordination has become a critical success factor for supply chain management (SCM). In the past few years, the researchers have widely emphasized that cooperation among supply chain (SC) firms is a key source of competitive advantage. This paper is focused on supply chain coordination from the perspective of inventory management. Li and Liu [1] developed a model for illustrating how to use quantity discount policy by price adjustment mechanism to achieve supply chain coordination. We extend this mechanism to three echelon supply chain and consider variable lead time which has more
representation of the real world situation. For this purpose, we will develop a model with benefit objective function for the problem. We will then analyze the model with and without coordination. By solving the proposed model, proper order quantities will be obtained. Finally, the advantages of the proposed mechanism will be explored and a surplus benefit dividing method will be designed.
S. Ghadiri, A. Hassanzadeh-Tabrizi,
Volume 37, Issue 1 (6-2018)
Abstract
In this study, the synthesis of nano-porous calcium magnesium silicate was performed and studied to improve drug properties and drug release. This synthesis was carried out by using the tetraethyl ortho silicate precursor (TEOS) and the Cetyltrimethyl ammonium bromide surfactant (CTAB) in a sol-gel alkaline environment; and the product was heat treated at 600° C and 800° C temperatures. The purpose of this study is to investigate the effect of the calcination temperature on the potential for ibuprofen release by the production produced compound. The product was studied using X-ray diffraction patterns (XRD), Nitrogen adsorption / desorption, Fourier-transform infrared spectroscopy (FTIR), ultraviolet spectroscopy (UV) and Transmission electron microscopy (TEM), and field emission scanning electron microscopy (FE-SEM). The results of Nitrogen absorption-desorption assay showed a surface area of 42-140 m2 /g The drug release after 240 hours showed that the calcite sample had a lower release at 600 ° C, temperature that which was is due to the smaller size of the cavities and the more surface area, as compared tothan the other specimens. Also, calcium and magnesium elements increased the loading capacity, and createcreating a suitable substrate for for the slower drug release. Overall, This this study showed that nano-porous magnesium silicate calcium has had the ability to load and release the ibuprofen and can could be, therefore, used as a modern drug delivery system in the bone tissue engineering field.
