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Hydraulic Model of a Lifting and Handling Manipulator 升降搬运机械手的液压模型
Pub Date : 2021-06-30 DOI: 10.51485/AJSS.V6I2.5
Abdelkader Benmisra, Abderahmane Belaidi, Hadjira Belaidi, A. Brahimi, Moufida Irki
Abstract: This publication concerns hydraulic robots used in flexible production lines, in fact in hydraulicsystems, energy is transmitted and controlled by means of a pressurized fluid circulating in a circuit. whichform a new series of applications pick & place (Patents: N° 9507799623622 AL 1996088,9622856 AL19960801, 9620818 AL 19960711. . .). Circuit diagrams are an aid facilitating the understanding, study anddescription of production cells. The new, very simple structure of the hydraulic robot is a novelty in Algeria andhas been adapted to the data of a production line made up of seven production lines. In order to avoid anyconfusion and error during development, production, installation and maintenance and in order to transformthis production line into a flexible cell, it appears essential that these diagrams be linked to a standardizedrepresentation.Keywords: CAD modification, trajectories, Pick & Place (Signals input-output).
摘要:本出版物涉及用于柔性生产线的液压机器人,实际上在液压系统中,能量是通过在回路中循环的加压流体来传递和控制的。这形成了一系列新的应用拾取和放置(专利:N°9507799623622 AL 1996088,9622856 AL19960801, 9620818 AL 19960711…)。电路图有助于理解、研究和描述生产单元。这种结构简单的新型液压机器人在阿尔及利亚是一种新奇的产品,已经适应了一条由七条生产线组成的生产线的数据。为了避免在开发、生产、安装和维护过程中的任何混乱和错误,为了将这条生产线转换成一个灵活的单元,这些图表与标准化表示相关联似乎是必不可少的。关键词:CAD修改,轨迹,拾取(信号输入-输出)。
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引用次数: 0
Adaptive Fuzzy Actuator Failure Compensation Control for a Class of MIMO Nonlinear Systems 一类MIMO非线性系统的自适应模糊作动器失效补偿控制
Pub Date : 2021-06-30 DOI: 10.51485/AJSS.V6I2.128
S. Boulouma, S. Labiod, H. Boubertakh
In this paper, an adaptive fuzzy control scheme is developed for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with uncertain actuator failures. Within this scheme, a fixed grouping of redundant actuators and a proportional actuation scheme for each group are considered. Afterward, a fuzzy system is used for the online approximation of a nominal control vector. The parameter adaptation laws for the nominal controller are driven by the prediction error, which is defined as the difference between the unknown nominal controller and the fuzzy controller. The proposed controller can compensate for both total and partial loss of effectiveness failure types. Closed-loop system stability and convergence properties of the tracking errors are proved based on Lyapunov theory. A piecewise analysis is carried out to prove that these properties hold despite the presence of parameter jumps caused by abrupt failures. A simulation study is carried out on a redundant joint two-link robot manipulator with joint failures at each link. Simulation results show the effectiveness of the proposed control scheme.
针对一类具有不确定执行器失效的不确定多输入多输出(MIMO)非线性系统,提出了一种自适应模糊控制方案。该方案考虑了冗余作动器的固定组和每组的比例作动方案。然后,使用模糊系统在线逼近标称控制向量。标称控制器的参数自适应规律由预测误差驱动,预测误差定义为未知标称控制器与模糊控制器的差值。所提出的控制器可以补偿效能失效类型的全部和部分损失。基于李雅普诺夫理论证明了闭环系统的稳定性和跟踪误差的收敛性。进行了分段分析,以证明尽管存在由突然失效引起的参数跳变,但这些特性仍然保持不变。对一种冗余关节双连杆机器人机械臂进行了仿真研究。仿真结果表明了所提控制方案的有效性。
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引用次数: 0
Rotor Fault Detection in Squirrel Cage Induction Motors using MCSA and DWT Techniques 基于MCSA和DWT技术的鼠笼式异步电动机转子故障检测
Pub Date : 2021-03-31 DOI: 10.51485/AJSS.V6I1.7
N. Bessous, S. Sbaa, R. Pusca, R. Romary
This article presents the fault detection of broken rotor bar (BRB) faults in squirrel cage induction motors (SCIMs). This work applied two diagnostic methods on stator current signal. It is necessary to verify the machine health to avoid any catastrophic damage. The first method uses the fast Fourier transform (FFT) which is generally called motor current signature analysis (MCSA). We carefully verified the spectral content of the stator current to detect BRB fault. The new harmonics allows us to take a good decision about BRB fault. The second method is based on the discrete wavelet transform (DWT). This technique is widely used in the diagnosis field of rotating machinery. According to DWT method, we used the mean square error (MSE) as a good indicator. An experimental test with different conditions of the induction motor has been performed. The experimental results have been exploited using MCSA and DWT methods to achieve a good decision.
介绍了鼠笼式异步电动机转子断条故障的故障检测方法。本文采用两种方法对定子电流信号进行诊断。有必要验证机器的健康状况,以避免任何灾难性的损坏。第一种方法使用快速傅里叶变换(FFT),通常称为电机电流特征分析(MCSA)。我们仔细验证了定子电流的频谱含量,以检测BRB故障。新谐波可以帮助我们更好地判断BRB故障。第二种方法基于离散小波变换(DWT)。该技术广泛应用于旋转机械的诊断领域。根据DWT方法,我们使用均方误差(MSE)作为一个很好的指标。对异步电动机进行了不同工况下的实验测试。利用MCSA和DWT方法对实验结果进行了比较,取得了较好的决策效果。
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引用次数: 0
Design of high throughput 2.7 Tbps DWDM System under MIMO-FSO Channel as Back-up Optical Link for 5G Networks MIMO-FSO信道下高吞吐量2.7 Tbps DWDM系统作为5G网络备份光链路的设计
Pub Date : 2021-03-31 DOI: 10.51485/AJSS.V6I1.1
H. E. Adardour, S. Kameche, M. Hadjila, S. M. H. Irid, Mohammed Hicham Hachemi, Z. Kourdi
The present article aims to investigate and evaluate the performances of DWDM (or Dense Wavelength Division Multiplexed) system under MIMO-FSO (or multiple input multiple output-free space optical) channel. However, the proposed system is configured and simulated in the worst-case meteorological conditions, and we base here on the variation of the attenuation coefficient. In this article, the proposed system is devoted to 90 users, every user exploits 30 Gbps. So, the total capacity of system is 90x30 Gbps. In addition, the use of MIMO technique in FSO channel ensures us the stability of the proposed system in the worst-case meteorological conditions and especially when the system exploits a high throughput. To assess the acceptable performance levels of the proposed system, it is necessary to use the following criteria: the minimum bit error rate (or BER) performance, the maximum quality factor (or Q-Factor) and the optical signal to noise ratio (or OSNR) performance. Finally, the proposed system in this paper provides a promising solution for 5G networks as back-up optical link.
本文旨在研究和评估MIMO-FSO(或多输入多输出无空间光)信道下DWDM(或密集波分复用)系统的性能。然而,所提出的系统是在最坏的气象条件下配置和模拟的,我们在这里基于衰减系数的变化。在本文中,建议的系统专用于90个用户,每个用户使用30gbps。因此,系统的总容量为90x30gbps。此外,在FSO信道中使用MIMO技术确保了系统在最恶劣气象条件下的稳定性,特别是当系统利用高吞吐量时。为了评估系统可接受的性能水平,有必要使用以下标准:最小误码率(BER)性能,最大质量因子(Q-Factor)和光信噪比(OSNR)性能。最后,本文提出的系统为5G网络作为备份光链路提供了一种有前景的解决方案。
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引用次数: 2
NBTI Fast Electrical Characterization in pMOSFET Devices pMOSFET器件的NBTI快速电特性
Pub Date : 2021-03-31 DOI: 10.51485/AJSS.V6I1.3
DhiaElhak Messaoud, B. Djezzar, A. Benabdelmoumene, M. Boubaaya, Boumediene Zatout, A. Zitouni
To measure the entire characteristic of p-MOSFET, we have implemented the fast Ids-Vgs technique. The latter is used to study NBTI phenomenon with measure-stress-measure method, for electric field 5MV/cm < Eox < 7.5MV/cm, and temperatures 27°C < Ts < 120°C. Measurement time has reached 10 us, and a stress-measure delay (switching time) of about a hundred of milliseconds was obtained. However, strengths and weaknesses of the implemented technique have been discussed. Furthermore, the extraction methods: transconductance (Gm), subthreshold slope (SS), and mid-gap (MG), have been implemented and discussed as well. NBTI parameter i.e. Delta Vth, n, gamma and Ea were extracted and compared to other results. A time exponent n of 0.149 has been touched. Activation energy Ea = 0.039 eV and a field factor gamma = 0.41 MV/cm for a stress time ts < 10 s have been obtained.
为了测量p-MOSFET的整体特性,我们实现了快速Ids-Vgs技术。后者采用测量-应力测量法研究NBTI现象,在电场5MV/cm < Eox < 7.5MV/cm,温度27℃< Ts < 120℃条件下。测量时间达到10us,应力测量延迟(切换时间)约为百毫秒。然而,已经讨论了所实现技术的优缺点。此外,还对跨电导(Gm)、阈下斜率(SS)和中间隙(MG)提取方法进行了实现和讨论。提取NBTI参数Delta Vth, n, gamma和Ea,并与其他结果进行比较。时间指数n为0.149。在应力时间ts < 10 s时,得到了活化能Ea = 0.039 eV和场因子gamma = 0.41 MV/cm。
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引用次数: 4
Voltage Sensorless Direct Power Control for PWM Rectifier Under Distorted Network Using Improved Virtual Flux Estimator 基于改进虚磁链估计的失真网络下PWM整流器无电压传感器直接功率控制
Pub Date : 2021-03-31 DOI: 10.51485/AJSS.V6I1.6
S. Djabali, Melissa Ait Hamou Ali, A. Ammar
Generally, AC-DC conversion system in the power system use the diode-bridge based rectifiers that cannot be reversible and causes high current distortion. Besides, they reduce the power factor and energy quality. recently, the application of three-phase pulse width modulation (PWM) rectifier has been risen quickly due to breakthrough advancement in the power devices. This converter offers sinusoidal input currents and minimized harmonic distortion and unity power factor. This work presents an improved sensorless control for performance enhancement purpose of the PWM-rectifier. The proposed control strategy uses the virtual flux principle with second-order generalized integrator (SOGI) in order to overcome the accompanying drawbacks of using pure integrator of low-pass filters for estimation. The integration of improved virtual flux estimator with direct power control saves the cost of using many voltage sensors which can increase the reliability and effectivity of the control system. Moreover, it improves control robustness and against highly distorted network. The different proposed approaches have been investigated through simulation using MATLAB/Simulink software.
在电力系统中,交直流转换系统一般采用基于二极管桥的整流器,这种整流器不可逆,电流畸变大。此外,它们还降低了功率因数和能源质量。近年来,由于功率器件的突破性进展,三相脉宽调制整流器的应用迅速兴起。该转换器提供正弦输入电流和最小的谐波失真和统一的功率因数。这项工作提出了一种改进的无传感器控制,以提高pwm整流器的性能。该控制策略采用二阶广义积分器(SOGI)的虚通量原理,克服了低通滤波器使用纯积分器进行估计的缺点。将改进的虚拟磁链估计器与直接功率控制相结合,节省了使用多个电压传感器的成本,提高了控制系统的可靠性和有效性。此外,它还提高了控制的鲁棒性和对高度扭曲网络的抵抗能力。利用MATLAB/Simulink软件对不同的方法进行了仿真研究。
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引用次数: 0
Development of Instrumentation Adapted by C.M.M.S. Dedicate to Poly-articulated Mechanisms 用于多关节机构的测量仪器的开发
Pub Date : 2021-03-31 DOI: 10.51485/AJSS.V6I1.4
Abdelkader Benmisra, Hadjira Belaidi, Abderahmane Belaidi, A. Brahimi, Moufida Irki
Abstract: In this article three study phases have been discussed: Landing phase of a civil transport aircraft,when part of the flow entering the reactors is redirected by thrust reversers. Phase of the functional andtechnical study of which reflects on the aircraft maintenance component, without forgetting the phase ofsynthesis of the landing system mechanisms. The approach presented relates to the description of thedifferent instruments and languages used for the control of vibratory behavior in a maintenance plan. Activedevices are used mainly in systems where the excitation acts permanently on the system and the minimizationof the amplitude of the vibrations is the dominant criterion. This is the reason why it is important to plan andcontrol the technical aspect which will contain the landing system from the point of view of geometry, torques,positions, speeds and accelerations, and trajectories from the mechanism design phase.Keywords: Synthesis of mechanisms, Measurement and Instrumentation, CAD Prototype  
摘要:本文讨论了民用运输机着陆阶段,部分进入反应堆的气流被反推器重定向。其中功能和技术研究阶段体现在飞机维修部件上,同时不忘着陆系统机构的综合阶段。所提出的方法涉及到在维护计划中用于控制振动行为的不同仪器和语言的描述。主动装置主要用于激励对系统起永久作用的系统中,并且振动幅度的最小化是主要标准。这就是为什么从机械设计阶段开始,从几何、扭矩、位置、速度和加速度以及轨迹的角度来规划和控制着陆系统的技术方面是很重要的。关键词:机构综合,测量与仪器,CAD样机
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引用次数: 0
Evaluation of Hot Carrier Impact on Lateral-DMOS with LOCOS feature 热载流子对具有LOCOS特征的横向dmos的影响评估
Pub Date : 2021-03-31 DOI: 10.51485/ajss.v6i1.2
A. Houadef, B. Djezzar
Hot carrier stress is evaluated on a laterally diffused MOSFET (LDMOS) by TCAD simulation. The device under test is obtained from process simulation under a 1µm CMOS flow available at CDTA. The n-type transistor uses the LOCOS (local oxidation of silicon) and single RESURF (reduced surface field) features. Using the trap degradation model, degradation over time and different biases, the shift of threshold voltage VTH, ON-state resistance RON, saturation current IDsat, and device lifetime are extracted. The shifts were found to be manageable, they have a single process mechanism and are due to hot electrons in our case. But, flicker noise assessment under the same stress shows noticeable instabilities.
利用TCAD仿真计算了横向扩散MOSFET (LDMOS)的热载流子应力。被测器件是在CDTA提供的1 μ m CMOS流下通过工艺模拟获得的。n型晶体管使用LOCOS(硅的局部氧化)和单个RESURF(减少表面场)特征。利用陷阱退化模型,提取了阈值电压VTH、导通电阻RON、饱和电流IDsat和器件寿命随时间和不同偏差的位移。我们发现这些变化是可控的,它们有一个单一的过程机制,在我们的例子中是由热电子引起的。但是,在相同应力下的闪烁噪声评估显示出明显的不稳定性。
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引用次数: 2
Voltage Stability Maximization by Optimal Wind Turbine Insertion Using Genetic Algorithm 基于遗传算法的风电机组最优插入电压稳定最大化
Pub Date : 2021-03-31 DOI: 10.51485/AJSS.V6I1.124
M. Mosbah, R. Bawazir, N. Cetin, S. Arif, K. Sebaa
The integration of clean or renewable sources such as wind turbines based distributed generation (WT_DG) into the power system has become one of the priorities of the grid operator. In this paper a study on the search for optimal locations and sizes of WT in the transmission network has been carried in order to maximize the lambda parameter and therefore the voltage stability, using Genetic Algorithms Technique (GAT). This method has been applied on the modified IEEE 30 bus network, with MATLAB code. The results demonstrated the effectiveness of wind turbine integration in improving the voltage stability of the studied network.    
将清洁或可再生能源(如基于风力涡轮机的分布式发电)整合到电力系统中已成为电网运营商的优先事项之一。本文利用遗传算法技术(GAT)研究了在输电网中寻找小波变换的最佳位置和大小,以使λ参数最大化,从而保证电压的稳定性。该方法已在改进的ieee30总线网络上得到应用,并附有MATLAB代码。结果表明,风电机组集成对改善电网电压稳定性是有效的。
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引用次数: 1
Capacity Optimization of MIMO Systems Involving Conformal Antenna Arrays using a Search Group Algorithm 基于搜索群算法的共形天线阵列MIMO系统容量优化
Pub Date : 2020-12-15 DOI: 10.51485/AJSS.V5I4.118
A. Recioui
MIMO systems constitute a backbone of the fourth and fifth generations of wireless communication systems. The purpose of this paper is to introduce the involvement of conformal antenna arrays into MIMO systems. The Search Group Algorithm (SGA) is then used to further enhance the capacity of MIMO system employing conformal antenna arrays at both ends (Transmitter; Tx and Receiver; Rx). The results reveal that compared to the linear and 2D cases, conformal antenna arrays promise higher capacity values which motivates their employment in future MIMO communication systems.
MIMO系统构成了第四代和第五代无线通信系统的骨干。本文的目的是介绍共形天线阵列在MIMO系统中的应用。然后,使用搜索组算法(SGA)进一步提高在两端采用共形天线阵列的MIMO系统的容量(发射机;Tx和Receiver;Rx)。结果表明,与线性和二维情况相比,共形天线阵列具有更高的容量值,这促使其在未来的MIMO通信系统中得到应用。
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引用次数: 7
期刊
Algerian Journal of Signals and Systems
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