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Digital Fractional Order PID Controller Design And Realization 数字分数阶PID控制器的设计与实现
Pub Date : 2014-09-28 DOI: 10.33899/rengj.2014.100848
B. Mohammed, A. Mahmood
In this paper a special kind of PID controller has been designed and implemented which is called fractional order PID (FOPID) controller whose derivative and integral are fractional rather than integers. The FOPID controller has five parameters which have been tuned by using an intelligent particle swarm optimization (PSO) algorithm by minimizing the fitness function given as integral of time weighted absolute error (ITAE). The digital fractional order PID (DFOPID) controller in discrete time with suitable sampling period has been attained utilizing special approximation method called continued fraction expansion (CFE) that lead to convert the s domain transfer function into z domain using MATLAB tools. As a case of study the DFOPID controller has been designed and realized by software in C language on PIC microcontroller for DC motor as a position control. The results showed software fulfillment of DFOPID, with alike time domain performance of closed loop system for both continuous and discrete.
本文设计并实现了一种特殊的PID控制器——分数阶PID (FOPID)控制器,它的导数和积分都是分数阶而不是整数。FOPID控制器采用智能粒子群优化(PSO)算法,通过最小化以时间加权绝对误差(ITAE)积分形式给出的适应度函数对5个参数进行整定。采用连续分数展开(CFE)的特殊逼近方法,利用MATLAB工具将s域传递函数转换为z域,得到了离散时间下具有合适采样周期的数字分数阶PID (DFOPID)控制器。以直流电机位置控制为例,在PIC单片机上用C语言软件设计并实现了DFOPID控制器。结果表明,DFOPID的软件实现,在连续和离散情况下都具有闭环系统的时域性能。
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引用次数: 3
Softened Truss Model Theory for the Analysis of Fibre Reinforced Concrete Deep Beams and Corbels - E 纤维混凝土深梁、深梁的软化桁架模型理论[j]
Pub Date : 2014-09-28 DOI: 10.33899/RENGJ.2014.89966
S. A. Al-Ta'an, N. Al-Husaini
21 Softened Truss Model Theory for the Analysis of Fibre Reinforced Concrete Deep Beams and Corbels S. A. Al-Ta’an, Professor N. S. H. Al-Husaini, Assistant lecturer Department of Civil Engineering, Dept. of Building and Construction, Mosul University, IRAQ Technical Engineering College, Mosul Corresponding author, S. A. Al-Ta’an, Email: saad.altaan@yahoo.com Abstract Reinforced concrete members may be subjected to axial load, bending moment, shear and torsion. However the behaviour of these members under shear or combined shear and torsion is a complex phenomenon. In this study the softened truss model theory is applied for the analysis of fibre reinforced concrete deep beams and corbels. The theory is more promising than the strut and tie model which satisfies the equilibrium conditions and to some extent materials constitutive relationships. While this theory, considers the equilibrium, compatibility, materials constitutive relationships and the degrading effect of the diagonal tension cracks on the compressive strength of cracked reinforced concrete element when subjected to biaxial compression-tension stresses. The previously developed algorithms for the analysis were modified by incorporating the effect of short discrete steel fibres on the behaviour and strength of concrete subjected to shear. Fibre reinforced concrete deep beams and corbels were analyzed using the adopted algorithm and materials constitutive relationships. The predicted effects of the shear span / depth ratio, volume fraction of steel fibres and the longitudinal steel ratio on the shear strength of fibre reinforced concrete deep beams and corbels showed good agreement with published experimental results.
21纤维钢筋混凝土深梁与桁架分析的软化桁架模型理论S. A. Al-Ta 'an, N. S. H. Al-Husaini教授,摩苏尔大学,伊拉克摩苏尔技术工程学院,建筑工程系土木工程系助理讲师,通讯作者,S. A. Al-Ta 'an, Email: saad.altaan@yahoo.com摘要钢筋混凝土构件可承受轴向荷载、弯矩、剪力和扭转。然而,这些构件在剪切或剪切和扭转联合作用下的行为是一个复杂的现象。本文将软化桁架模型理论应用于纤维混凝土深梁和深梁的分析。该理论比满足平衡条件和一定程度上满足材料本构关系的杆系模型更有前景。而该理论则考虑了平衡、相容性、材料本构关系以及受双轴压拉应力作用时斜拉裂缝对开裂钢筋混凝土单元抗压强度的退化效应。先前开发的分析算法通过纳入短离散钢纤维对受剪切混凝土的行为和强度的影响进行了修改。采用所采用的算法和材料本构关系对纤维混凝土深梁和深梁进行了分析。预测的抗剪跨深比、钢纤维体积分数和纵钢比对纤维混凝土深梁和深梁抗剪强度的影响与已发表的试验结果吻合较好。
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引用次数: 1
Design a piplined math processor, doubling its speed and implementing it on FPGA 设计一个流水线数学处理器,将其速度提高一倍,并在FPGA上实现
Pub Date : 2014-09-28 DOI: 10.33899/rengj.2014.101511
B. S. Mahmood, Qutaiba Abdullah Hassan
ةصلاخلا ةي ل مادختيساب بييبانلأا طيخ بوليسأب ييضاير جلايعم ميميصت ميت صيحبلا اذيا ييف VHDL ) ايكاحم ليمع ميت صييح ، ايعملل ايكاحملا جماينرب مادختيساب جل ISE10.1 ، ذي فِن ااديعب ِ ةيقاقر ريلع FPGA ةيحول يييف SPARTAN3E مييت صييح ذفنملا مادختساب ميمصتلا طيقست USB ةييلمع متيت صييحب نيتتقتيملا ايمهيتركاذو زاعيلإا ليلحتو بلج يلجس نم ٌّ لك ممّصِ . ٌّ ّ ِ ادختسا اهسفن ةضبنلا للاخ هسفن عقوملا رلع ةباتكلاو ءارقلا ري ل )ةيباتكلل ىريخلأاو ءاريقلل ةيضبنلا يتفاح ىدحإ م ذفنم مادختسا مت دقو ،جلاعملا ةعرس دايز JTAG جلايعملل ةيسيلرلا ركاذيلا ييف ةينونخملا ازايعيياو اينايبلا صيدحتل ركاذييلا وييتحت .ةييبقارم رييلاد مادختييسا تيييري نييع جلاييعملل ةييسيلرلا ايينايبلا صيدييحتل ييصخم امادييحم نيذييفنم رييلع نيم ِّ لك ءانب مت ذيفنتلا ةعرس دايز ر لو .اهنم ازاعيياو انايبلا ءارقل صخم يناثلاو اهيف ةنونخملا ازاعيياو ِّ ي صيحب زاعيلإا ذيفنتو ليلحت يتدحو نكم .زٍاوتم لٍكشب ايلمعلا عيمج ذيفنت ٍ ٍ يا ااذيفنتب جلاعملا موقي يتلا ايلمعلا ددع نإ 03 ةيلمع لمشتو اودلا رذجلاو دلانلا عطقلا لاودو ةيثلثملا ل ددع نم .نيتيزاوتملا ريودتلاو فيحنتلا يتيلمعو لقنلا ايلمعو ةنراقملا رلاودو تطنملاو باسحلا ايلمعو ،يعيبرتلا ِ ِ نيب حوارتت ةيضايرلا لاودلا اهجاتحت يتلا اضبنلا 71 30 كانا ةضبن لك دعب مث ،جارخإ لوم رلع لوصحلل ةضبن نع جارخإ حرطلاو عمجلا لثم ةيقطنملاو ةيضايرلا ايلمعلا امم . رمتسمو ةلسلستم لاودلا ياخدإ ميق نوكت امد .جارخلإا رلع لوصحلل دحاو ةضبن رلإ جاتحتف )خلا .... برضلاو وا ةممصملا ةقاقرلا لي شتل ددرت رلعا نا 700,333 يا ةقاقرلا ةيجاتنا نا ا ،نترا اكيم 700,333 MFlops . ذفنم مادختسا مت بوساحلا ةشاش رلع جلاعملا اجارخإ عيمج رع ر لو VGA جلايعملا اذهل يلكلا ميمصتلا ، ل تسا 83 % ذفنمب هطبر دنع VGA مجح نم لا ةحول رلع دوجوملا ةقاقر SPARTAN3E .
马格蒂萨普·皮伊帕纳···普利斯普·普利·梅米耶·耶姆·米耶姆·耶姆姆·耶姆·耶姆姆·耶姆姆·耶斯10 - 1)·······伊莱··伊莱伊·伊莱伊·伊莱伊·伊莱伊·伊莱伊。伊莱伊·伊莱伊。请回答:“你有30个不同的对话。你知道吗?在他们的帮助下,他们为我制造了一棵干枯的树苗。马格萨号在“盖拉”号上拉出了药片。
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引用次数: 0
Neural Network Based on Model Reference Using for Robot Arm Identification and Control 基于模型参考的神经网络在机械臂识别与控制中的应用
Pub Date : 2014-09-28 DOI: 10.33899/rengj.2014.101498
R. A. Khalil, R. Antar
In this work, neural network control theory is applied to identify and control the robot arm with two links conformed by two equations of second order which alternate their operation simultaneous. A neural network is trained to learn the robot arm in the dynamic behavior. The simulation results of the neural network controller based on model reference that used to identify and control the robot arm give very close results.
本文将神经网络控制理论应用于具有两个二级交替运动方程的机械臂的辨识与控制。通过训练神经网络来学习机械臂的动态行为。将基于模型参考的神经网络控制器用于机械臂的识别和控制,仿真结果非常接近。
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引用次数: 0
Manufacturing of Bricks from Soil and Crushed Limestone by Compression- E 用土壤和碎石灰石压缩制砖技术
Pub Date : 2014-09-28 DOI: 10.33899/RENGJ.2014.89972
M. Amin, M. Khidir, A. Taher
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引用次数: 2
The Property of Similarity in the Plans of Traditional Houses inOld Mosul City 摩苏尔老城传统房屋规划的相似性
Pub Date : 2014-09-28 DOI: 10.33899/rengj.2014.101518
A. Al-Jameel, Assda A. H. Al-Tuhafi
This research focuses on defining and clarifying the property of similarity which characterizes the Traditional Houses Architecture, as previous related literature, which has dealt with this issue almost implicitly, is characterized with inadequate and unclear knowledge regarding this property in the plans of traditional houses in old Mosul city. The research aims at studying and elaborating the property of similarity and testing the principle hypothesis that the plans of traditional houses of old Mosul city may be characterized by certain patterns of similarity on both the level of the overall plan composition and the level of plan parts. The research achieved its goal via four stages; the first stage includes the deffinitions of similarity and its related aspects. In the second stage the related previous literature is reviewed in relation with the issue of similarity, while the third stage focuses on introducing elaborated theoretical framework of the research variables within various compositional levels. The fourth stage is dedicated to practical study procedures, presenting and discussing results and finally introducing the conclusions which support the hypothesis of the research and introduce a more detailed definition of the similarity patterns within the plans of traditional houses in old Mosul city in the light of the measured variables and the related recommendations.
本研究的重点是定义和澄清传统房屋建筑特征的相似性属性,因为之前的相关文献几乎隐含地处理了这个问题,其特点是对摩苏尔老城传统房屋规划中这一属性的认识不充分和不明确。本研究旨在研究和阐述相似性的性质,并检验摩苏尔老城传统民居的平面在整体平面构成层面和平面局部层面上可能具有一定相似性模式的原则假设。该研究通过四个阶段实现了其目标;第一阶段包括相似性的定义及其相关方面。在第二阶段,回顾了与相似性问题相关的先前相关文献,而第三阶段侧重于介绍各个组成层面内研究变量的详细理论框架。第四阶段致力于实践研究程序,介绍和讨论结果,最后介绍支持研究假设的结论,并根据测量的变量和相关建议,对摩苏尔老城传统房屋规划中的相似模式进行更详细的定义。
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引用次数: 0
The Impact of Changing the Entries' Location on the Spatial Configuration Features for the Educational Buildings in the University of Mosul 改变项目位置对摩苏尔大学教育建筑空间形态特征的影响
Pub Date : 2014-07-28 DOI: 10.33899/rengj.2014.88204
Amer Abdullah Fathi Al-Azawi
General pre-planning was available only for some buildings of universities in the world. University of Mosul and its buildings are cumulative development university, therefore, many of its old buildings today witness big changes in various of its utilities, and the phenomenon of changing the entries' location of some of its educational buildings may considered as the most important of these changes especially these building are occupied by the same science departments, hence the research problem is defined, which is the fuzziness of the impact of changing the entries' location on the spatial configuration features for the educational buildings in the university of Mosul, due to the importance of the spatial configuration which reflects the human organizing and behaviour that created this configuration, the research aim was defined as trying to illustrate this impact, and some of educational buildings are chosen, which their entries are changed, then their features of spatial configurations are studied before and after change by using the space syntax methodology. The research reached at the originated entries allowed to increase integration degree and decreasing the depth rate value for the educational administrative and servant departments in their relation with exterior on the contrary of the particular part of the teaching staff rooms in the research buildings sample. :ملتسأ 13 – 1 2013 :لبق 23 – 9 2013 Al-Rafidain Engineering Vol.22 No. 3 April 2014
在世界范围内,一般的预规划只适用于部分大学建筑。摩苏尔大学和它的建筑是一所累积发展的大学,因此,它的许多旧建筑今天见证了它的各种功能的巨大变化,改变一些教育建筑的入口位置的现象可能被认为是这些变化中最重要的,特别是这些建筑被相同的科学部门占用,因此研究问题被定义,这是改变入口位置对摩苏尔大学教育建筑空间配置特征影响的模糊性,由于空间配置反映了创造这种配置的人类组织和行为的重要性,研究目标被定义为试图说明这种影响,并选择了一些教育建筑,它们的入口被改变了。然后运用空间句法方法研究了它们变化前后的空间形态特征。与研究楼样本中教职员室的特定部分相反,研究的出发点是为了提高教务部门和服务部门与外部关系的整合程度,降低深度率值。:ملتسأ 13 - 1 2013:لبق 23 - 9 2013 Al-Rafidain Engineering Vol.22 No. 3 2014年4月
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引用次数: 1
A Robust Method for New Object Detection in Video Surveillance Systems 视频监控系统中新目标检测的鲁棒方法
Pub Date : 2014-07-28 DOI: 10.33899/rengj.2014.88214
Loma Akram Hamdai, A. F. Mahmood
Video surveillance systems is a powerful tool for public safety and with the increasing need for more security in airports, banks, schools and other critical environments, the demand for video system is growing rapidly. Sides from the intrinsic usefulness of begin able to segment video streams into moving and background components, detecting moving blobs provide a focus of attention for recognition, classification and activity analysis, making these later processes more efficient since only “moving” pixels need to be considered. In this paper an efficient moving object detection method using modified Horprasert model for video surveillance system is present. The modified dynamic thresholds are able to detect a new object with it's shadow through different video stream in terms of light conditions. It consists of background model, distortion of brightness, color calculations and classification. Four regions are segmented depending on the thresholds foreground (moving object), background, highlight background and shadow. The proposed automatic threshold depends on background computations of brightness and is thus expected to achieved better classification performance. Keywords: Horprasert model; background subtraction; background model; Video Surveillance
视频监控系统是公共安全的有力工具,随着机场、银行、学校等关键环境对安全的需求日益增加,对视频系统的需求也在迅速增长。从能够将视频流分割为运动和背景组件的内在有用性开始,检测运动斑点为识别,分类和活动分析提供了关注焦点,使这些后期处理更有效,因为只需要考虑“运动”像素。本文提出了一种基于改进Horprasert模型的视频监控系统运动目标检测方法。修改后的动态阈值能够根据光照条件通过不同视频流检测出带有阴影的新物体。它包括背景模型、亮度失真、颜色计算和分类。根据前景(移动对象)、背景、高光背景和阴影的阈值分割四个区域。所提出的自动阈值依赖于亮度的背景计算,因此有望获得更好的分类性能。关键词:Horprasert模型;背景减法;背景模型;视频监控
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引用次数: 0
Heat Characteristics and Performance of Longitudinal Fin Exposed to Wet Air 暴露在湿空气中的纵翅片的热特性和性能
Pub Date : 2014-05-25 DOI: 10.33899/RENGJ.2014.88463
Ziad M. Al-Makhyoul
A numerical study of the performance of longitudinal fin exposed to wet air has been carried out using finite difference technique. The temperature distribution over the fin surface was determined by using a third-degree polynomial correlation for the relationship between dry bulb temperature and humidity ratio for the saturated air at relative humidity of (0, 25, 50 and 100)% and length of fin from (0.01 to 0.1)m. Also, fin efficiency, fin effectiveness and heat transfer have been calculated. The effect of the atmospheric pressure was also considered. The study showed that the fin effectiveness and fin efficiency of a fin in the case of fully wet fin was found to be smaller than those in the dry fin and the temperature gradient at the tip for a dry fin was greater than that for the wet fin. Key words:  Longitudinal fins, relative humidity, heat transfer
利用有限差分技术对湿空气下纵向翅片的性能进行了数值研究。利用相对湿度为(0、25、50和100)%时饱和空气干球温度和湿度比与翅片长度(0.01 ~ 0.1)m之间的三次多项式相关关系确定了翅片表面的温度分布。并对翅片效率、翅片效能和换热进行了计算。还考虑了大气压力的影响。研究表明,在完全湿润的情况下,翅片的效能和效率均小于干鳍,且干鳍的尖端温度梯度大于湿鳍。关键词:纵向翅片,相对湿度,传热
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引用次数: 1
Design of Dual Band Circular Polarization Stacked Microstrip Antenna for GPS Applications GPS双频圆极化堆叠微带天线设计
Pub Date : 2014-05-25 DOI: 10.33899/RENGJ.2014.88215
Y. Ali, A. Qader
In this paper dual-band microstrip antenna for Global Positioning System (GPS) application is designed.This design contents on two circular patch ( upper circular patch, lower circular patch) printed on a two-layer substrate of an FR4 dielectric layer, and cutting a crossed-slot in the upper patch and four I slots in the lower patch. The antenna can work at GPS Ll band (1.575GHz) and L2 band (1.227GHz). The design achieved an approximately impedance bandwidth of 15.8 MHz for L1 for two ports, while L2 band is 11.8 MHz for two ports with maximum gain of 2.54dBi and 1.177dBi in the L1 and L2 band respectively for two ports. The resulting circular polarization (with axial ratio ≤ 3 dB) has been found to meet that required for this application. The VSWR is approximately1.1  (VSWR ≤ 2) for L1 and 1.2 for L2. Results were obtained above using the software CST, which shows that this antenna can meet the demands of the signals of satellite navigation system.The antenna dimensions are (70*70 mm 2 ). The structure is compact and has a good application prospect. The results with low-profile characteristics make the antenna suitable for GPS applications. Keywords: microstrip antenna, GPS antenna, Circular polarization, dual-band antenna, Global Positioning System.
本文设计了一种适用于全球定位系统(GPS)的双频微带天线。本设计的内容是将两个圆形贴片(上圆形贴片,下圆形贴片)印刷在FR4介电层的双层衬底上,并在上贴片上切割一个交叉槽,在下贴片上切割四个I槽。天线可以工作在GPS l1频段(1.575GHz)和L2频段(1.227GHz)。该设计实现了两个端口L1的阻抗带宽约为15.8 MHz, L2频段为11.8 MHz,两个端口L1和L2频段的最大增益分别为2.54dBi和1.177dBi。由此产生的圆偏振(轴比≤3db)已被发现满足此应用的要求。L1的VSWR约为1.1 (VSWR≤2),L2的为1.2。利用CST软件对该天线进行了仿真分析,结果表明该天线能够满足卫星导航系统的信号需求。天线尺寸为(70* 70mm2)。结构紧凑,具有良好的应用前景。结果表明,该天线具有低轮廓的特点,适合GPS应用。关键词:微带天线,GPS天线,圆极化,双频天线,全球定位系统
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引用次数: 1
期刊
AL Rafdain Engineering Journal
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