Search results for "controller"
showing 10 items of 224 documents
Zigler-Nicols PID Tuning Method for Position Control of a Mobile Robot
2016
This paper presents the implementation and the tuning of PID controller for a mobile platform with differential steering. It presents a mobile platform built in the Department of Industrial Machinery & Equipment, of the Engineering Faculty of Sibiu for an European contest. In a first phase, a brief introduction to PID controller is made, followed by a description of the various robot's components and traction principles underlying locomotion of mobile platforms. At the end the paper contains several principles of tuning the PID controller for the mobile robot.
Hammerstein Model-Based Robust Control of DC/DC Converters
2007
This paper deals with model-based robust control of DC/DC power electronic converters. The converter is modelled by means of its static characteristic and a few continuous-time linear and time-invariant (LTI) models corresponding to contiguous ranges of duty-cycle. The model appears as a Hammerstein model in which the values of the parameters of the LTI part depend on the actual duty-cycle operating range. This suggests to describe the converter as an uncertain system to be controlled using robust control techniques. Frequency domain approach is used for describing the nominal model and the uncertainty. In view of applying robust control, identification of the LTI models is performed by mea…
Using the Microcontroller and the PLC in a RPP Robot Control
2012
This paper presents some aspects regarding the possibility of combining microcontroller and programmable logic controller (PLC) for robot control. The RPP robot is designed and manufactured within the Faculty of Engineering from “Lucian Blaga” University of Sibiu, as a patent: BRAŢ TELESCOPIC, Nr. 112418 B1, Int.CI.6 B 25 J 18/02, from 17.02.1997. Classical systems for programming and control of industrial robot are based on numerical control equipment, developed around a PC. Programmable Logic Controllers (PLC) haves proven to be viable alternatives to driving machine tools, industrial systems and Robots. Microcontrollers as computers offer advantage due to programmable inputs and outputs …
Emergent behaviors and scalability for multi-agent reinforcement learning-based pedestrian models
2017
This paper analyzes the emergent behaviors of pedestrian groups that learn through the multiagent reinforcement learning model developed in our group. Five scenarios studied in the pedestrian model literature, and with different levels of complexity, were simulated in order to analyze the robustness and the scalability of the model. Firstly, a reduced group of agents must learn by interaction with the environment in each scenario. In this phase, each agent learns its own kinematic controller, that will drive it at a simulation time. Secondly, the number of simulated agents is increased, in each scenario where agents have previously learnt, to test the appearance of emergent macroscopic beha…
Electromagnetic immunity analysis of a new interface device with power line communication for smart grid and energy storage applications
2013
An analysis of EMC standards related to smart grid devices with PLC port has been carried out and the standardization lacks have been pointed out with reference to the evaluation of electromagnetic immunity to narrowband, coming from other communication systems connected to the grid, and RF disturbances conducted disturbances, usually present in a power grid. In particular, the paper analyses the electromagnetic conducted immunity of a new interface protection device (ID) for smart grid and energy storage applications. The new ID is equipped with a measuring board, a STM32 microcontroller, for data elaboration and memorization, and a ST7580 N-PSK powerline transceiver. An experimental test …
Gigabit Ethernet backbones with active loops
2001
The current standard Ethernet switches are based on the Spanning Tree (ST) protocol. Their most important restriction is that they can not work when the topology has active loops. In fact, the ST protocol selects a tree from the real topology by blocking the links that are not involved in the tree. This restriction produces a network traffic unbalancing behavior saturating those link near the root switch while rest of links will be idle or with a very low utilization. This paper proposes a new transparent switch protocol for Gigabit Ethernet backbones that considerably improves the performance of current ones. The proposed protocol is named ALOR for Active Loops and Optimal Routing. ALOR pr…
Improving scalability of web applications based on stability of the network with the use of controller PI
2015
This paper presents mathematical model of a computer network and then the model has been presented in the form of a flow chart. RED algorithm is a standard in computer network. RED algorithm has been replaced with the PI controller. In the article it has been assumed that a computer network is a particular dynamic system and it can be examined using known methods of the theory of dynamic systems. We tested of stability for the real computer networks. This method is called method the uncertain parameters space.
Nonlinear model based particle swarm optimization of PID shimmy damping control
2016
The present study aims to investigate the shimmy stability behavior of a single wheeled nose landing gear system. The system is supposed to be equipped with an electromechanical actuator capable to control the shimmy vibrations. A Proportional-Integrative-Derivative (PID) controller, tuned by using the Particle Swarm Optimization (PSO) procedure, is here proposed to actively damp the shimmy vibration. Time-history results for some test cases are reported and commented. Stochastic analysis is last presented to assess the robustness of the control system.
Special issue on Trends and challenges of sustainable irrigated agriculture
2014
In the twenty-first century, the shortage of freshwater is one of the most important environmental concerns facing several regions of the world because of the growing demand of increasing population, agricultural intensification, and economic growth. Global climate change will contribute to exacerbate the problem, generating new drought-prone areas and increasing those already characterized by severe aridity. Worldwide it is estimated that, on average, agriculture accounts for 70% of the total water consumption, compared with 10% for domestic consume and the remaining used by industry. Moreover, according to FAO estimates, by 2050 agricultural production has to increase by 60% to satisfy th…
Digital power conversion system based on a sigma-delta modulator linear model
2005
This paper presents a new linear model for the sigma-delta (/spl Sigma//spl Delta/) modulator, based on modeling the nonlinear quantizer with a linear factor, and its input-to-output transfer function is given. The use of a 1-bit sigma-delta modulator in DC/DC power converter systems permits to implement a complete digital control. Results of an investigation from a prototype for a DC-DC converter are here reported. Using of a field programmable gate array allows implementing a simple variable control function. The modulator output produces a variable-frequency variable duty-ratio signal to control the switching power transistors.