IAES International Journal of Robotics and Automation (IJRA)
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Neural Network Based MPPT Controller for Solar PV Connected Induction Motor
Get PDFIn this paper, Maximum Power Point Tracking Controller is designed based on Neural Network Controller (NNC). This controller will sense the speed of a single phase induction motor which is fed from solar panel. Maximum power point tracking (MPPT) algorithm are required in all photovoltaic (PV) system and in order to increase the efficiency of the system, Incremental Conductance algorithm which is an effective algorithm is used to extract maximum power from the solar panel which supplies an Induction motor of 1HP. To step up the voltage available from the solar panel, the SEPIC dc – dc converter is used. The main advantage of the converter is having non-inverted output. The converter acts as an interface between PV array and motor load. The entire system is modeled and simulated using MATLAB/Simulink software
Nonlinear Adaptive Control for Wind Turbine Under Wind Speed Variation
Get PDFWind turbines components work as nonlinear systems where electromechanical parameters change frequently [1], which makes nonlinear control an interesting solution to prevail good efficiency. SMC has been largely used in electrical power applications because it offers interesting features like robustness to parametric uncertainties and external disturbances, to conquer the biggest drawback of the SMC, adaptation strategy consists on updating the sliding gain and the turbine torque to contribute with some important characteristics such as chatter-free performance, heftiness, robustness and secure power system operation. Matlab tests are introduced and compared
Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded
Get PDFA detailed approach for a linear Proportional-Integral-Derivative (PID) controller and a non-linear controller - Linear Quadratic Regulator (LQR) is discussed in this paper. By analyzing several mathematical designs for the Skid Steer Mobile Robot (SSMR), the controllers are implemented in an embedded microcontroller - Mbed LPC1768. To verify the controllers, MATLAB-Simulink is used for the simulation of both the controllers involving motors - Maxon RE40. This paper compares between PID and LQR controller along with the performance comparison between Homogenous and Non-Homogenous LQR controllers
Investigation of Formation Control Approaches Considering the Ability of a Mobile Robot
Get PDFThis work investigates and compares various formation control approaches for mobile robots. A comprehensive literature review was conducted, with particular focus on the approaches' applicability to be implemented on real mobile robots with limited hard and software capabilities. A realistic model of mobile robots is introduced and its parameters are identi ed with measurements from actual mo-bile robots. Later on, the model is extended and used within simulation studies of the various investigated approaches. A collision avoidance controller based on a formation controller is proposed and simulations are carried out. Experiments on real mobile robots are conducted for two formation controllers and for the pro-posed collision avoidance controller. It is shown that if the requirements resulting from the simulation studies are satis ed, an implementation on the real robots is possible
Maximum Wind Energy Extraction by Using Neural Network Estimation and Predictive Control of Boost Converter
Get PDFThis paper proposes a new method to extract maximum energy from wind turbine systems. The artificial neural network (ANN) is used to estimate the wind speed based on the rotor speed and the output power. In addition to ANN, a predictive controller is used to maximize the efficiency of the boost converter. The method has been developed and analyzed by utilizing a turbine directly driven permanent-magnet synchronous generator (PMSG). The simulation results verify the performance of the proposed method. Results show that this method maximizes wind energy extraction with more accuracy and fastness
Developed Z-Source H-Bridge Multilevel Inverter with Reduced Components for Speed Control of Induction Motor
Get PDFThis paper introduces a new developed H-bridge based cascaded multilevel inverter with reduced components. This topology has a low complexity thereby reducing the overall cost of an inverter. The proposed circuit is connected with a PI controller and switches are controlled by pulse width modulation technique to control the speed of an induction motor. The simulation was carried out using Matlab / Simulink. The simulation of the same was made and performance of various PWM techniques such as Phase disposition (PD), Phase opposite disposition (POD) and phase shifted (PS) and there results were compared on different quantitative measures such as Voltage, current stator Total harmonic Distortion, Voltage stress and rise time. It was observed that that the proposed power circuit with Phase disposition pulse width modulation (PDPWM) that offers reduced total harmonic Detection in terms of voltage, current and phase was found to be very less when compared to other Pulse width modulation techniques. The simulation results will have a fast and quick rise time thereby making this inverter a choice for speed control of induction motor
Exploration Strategies of Coordinated Multi-Robot System: A Comparative Study
Get PDFEnvironment Exploration is the basic process that most of Multi Robot Systems applications depend on it. The exploration process performance depends on the coordination strategy between the robots participating in the team. In this paper the coordination of Multi Robot Systems in the exploration process is surveyed, and the performance of different Multi Robot Systems exploration strategies is contrasted and analyzed for different environments and different team sizes
Analytically Modeling, Design and Analysis a Nonlinear Controller for a STATCOM operations
Get PDFThe concept of H Control is extended, in principle, to the SVPWM (Space Vector Pulse Width Modulation) based inverter switching of a STATCOM (STATic synchronous COMpensator) device. The SVPWM assures a greater value of modulation factor in the undermodulation as well as the overmodulation range compared to SPWM (Sine Pulse Width Modulation) i.e. a much higher fundamental content. In the present work, the STATCOM has been modeled and its model is nonlinear in (phase angle between fundamental of system voltage and output voltage of STATCOM. The effect of increased modulation index and lower harmonic distortion has been studied through simulation w.r.t. different performance indices and dynamic response of relevant variables. A PI and an H Controller have been designed for closed-loop control of the system. It is found through simulation that H controller gives better response than PI controller for nonlinear system
Study of Grid Connected Wind Energy System with Fuzzy Logic Based MPPT Controller
Get PDFRenewable energy sources (RESs) are gaining more importance due to depleting fossil fuel sources in few decades. When compared to other RESs wind energy system is widely available and user friendly in nature. This paper presents modelling and simulation of grid connected PMSG based wind energy conversion system with P&O maximum power point tracking (MPPT) control technique. The PQ controller is used for grid tied inverter to exchange real and reactive power with DC bus voltage regulation. The fuzzy logic controller (FLC) is used for MPPT implementation as it provides better performance as compared to the traditional PID controllers. The various case studies are considered for power management between wind system and the utility grid and the results are evaluated in MATLAB/ Simulink platform
Hierarchical Inspection System Using Visual and MFL Probe Robots
Get PDFStructural Health Monitoring (SHM) represents a critical appurtenance to modern engineering that amalgamates the skills and techniques from various disciplines of engineering and computational science. Modern civil architectures, involving high-rise buildings, complex structural designs, and innovative shapes, on one hand represent the urban development, but at the same time is a challenge from sustainability perspective. In order to ensure the tenability of such structures, advanced SHM procedures need to be developed. The presented work in this paper is an effort on these lines. The wear and tear in the buildings related to weather, as well as other natural disasters, needs to be monitored regularly and systematically in order to prevent any serious structural damage. In current SHM practices, human experts are deployed at various structurally critical places on these buildings to perform specific measurements and analyze them to decide on the structural health condition. This simple approach is becoming more and more complicated as well as perilous for the human personnel involved, due to the modern architecture that involves greater heights, and complex structures. The proposed system utilizes flying and crawling/roving robots for this purpose. The flying robots, first, scan the surface of the building to any height needed, and then the custom-designed algorithms analyze the images from these scans in order to discern the possible defects/anomalies in the structure. Using these defect pointers, the custom-designed rover robot on top of the structure lowers a robotic probe that scans only those areas for substantiating the anomalies and the degree of defects present