Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123446
R. Benyamin, M. A. Nugroho, A. Sepri, B. Trilaksono, Agoes Moelyadi
Flapping Wings MAV (FWMAV) is the result of UAV technology development with the mechanism of flapping wings and with the dimensions of the object as small as possible. Modeling of FWMAV dynamics is needed to predict future conditions based on information from current conditions and designed control actions. Modeling of the FWMAV system is done by system identification, based on measurable data from IMU sensors. Modeling is done each with a black-box approach using the N4SID estimation, while the grey-box approach is used structure parametric, using SSEST estimation. Then a fit model of these two models is compared by plotting the Paparazzi log with the output of the system obtained in MATLAB for the same input. Then this model will be simulated on SIMULINK. The automated PID Tuning is perform to obtain PID constants to be implemented into Paparazzi software for Pitch Loop and Roll Loop.
{"title":"Dynamic modeling using system identification and attitude control design of GaneFly flapping wings micro aerial vehicle (FWMAV)","authors":"R. Benyamin, M. A. Nugroho, A. Sepri, B. Trilaksono, Agoes Moelyadi","doi":"10.1109/ICSENGT.2017.8123446","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123446","url":null,"abstract":"Flapping Wings MAV (FWMAV) is the result of UAV technology development with the mechanism of flapping wings and with the dimensions of the object as small as possible. Modeling of FWMAV dynamics is needed to predict future conditions based on information from current conditions and designed control actions. Modeling of the FWMAV system is done by system identification, based on measurable data from IMU sensors. Modeling is done each with a black-box approach using the N4SID estimation, while the grey-box approach is used structure parametric, using SSEST estimation. Then a fit model of these two models is compared by plotting the Paparazzi log with the output of the system obtained in MATLAB for the same input. Then this model will be simulated on SIMULINK. The automated PID Tuning is perform to obtain PID constants to be implemented into Paparazzi software for Pitch Loop and Roll Loop.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128357863","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123434
N. Farah, M. Talib, Z. Ibrahim, M. Azri, Z. Rasin
The rapid advancements in induction motor drives has led to the development of robust non-linear controller such as Fuzzy Logic Controller (FLC). The proportional integral or derivative controllers (PI, PID, and PD) have been in use for induction motor drives for past decades as speed and current controller's. However, these controllers are fixed to motor parameter changes which results in decrease in performance. FLC is robust and non-linear controller which has the ability to withstand with the motor parameters variation. The conventional fuzzy speed controller depends on the speed error and the fixed scaling gains adjusted in most designs. However, this paper proposed a new self-tuned mechanism of the output scaling factor of the fuzzy speed controller which can enhance the performance of the speed and torque of the motor especially during load and parameters variation. Matlab/Simulink environment was utilized to build and design the proposed system and verify the results.
{"title":"Self-tuned output scaling factor of fuzzy logic speed control of induction motor drive","authors":"N. Farah, M. Talib, Z. Ibrahim, M. Azri, Z. Rasin","doi":"10.1109/ICSENGT.2017.8123434","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123434","url":null,"abstract":"The rapid advancements in induction motor drives has led to the development of robust non-linear controller such as Fuzzy Logic Controller (FLC). The proportional integral or derivative controllers (PI, PID, and PD) have been in use for induction motor drives for past decades as speed and current controller's. However, these controllers are fixed to motor parameter changes which results in decrease in performance. FLC is robust and non-linear controller which has the ability to withstand with the motor parameters variation. The conventional fuzzy speed controller depends on the speed error and the fixed scaling gains adjusted in most designs. However, this paper proposed a new self-tuned mechanism of the output scaling factor of the fuzzy speed controller which can enhance the performance of the speed and torque of the motor especially during load and parameters variation. Matlab/Simulink environment was utilized to build and design the proposed system and verify the results.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131643332","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123423
M. Mat-Noh, M. Arshad, R. Mohd-Mokhtar
This paper presents the evaluation of super-twisting sliding mode control (STSMC) implementation in autonomous underwater glider (AUG). Underwater glider can be considered as an under-actuated system which is difficult to maneuver and it is also very much dependent on their operational environment. The nonlinear controller is designed based on nonlinear motion of equation for 1DOF internal movable sliding mass where the acceleration of internal movable sliding mass and the ballast pumping rate become the control inputs to the AUG. The controller is designed and tested for the glide path that is moving from −25° to 25°. The performance of the STSMC is compared to conventional sliding mode control (SMC) based on its response time specifications.
{"title":"Nonlinear control of autonomous underwater glider based on super-twisting sliding mode control (STSMC)","authors":"M. Mat-Noh, M. Arshad, R. Mohd-Mokhtar","doi":"10.1109/ICSENGT.2017.8123423","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123423","url":null,"abstract":"This paper presents the evaluation of super-twisting sliding mode control (STSMC) implementation in autonomous underwater glider (AUG). Underwater glider can be considered as an under-actuated system which is difficult to maneuver and it is also very much dependent on their operational environment. The nonlinear controller is designed based on nonlinear motion of equation for 1DOF internal movable sliding mass where the acceleration of internal movable sliding mass and the ballast pumping rate become the control inputs to the AUG. The controller is designed and tested for the glide path that is moving from −25° to 25°. The performance of the STSMC is compared to conventional sliding mode control (SMC) based on its response time specifications.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131173163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123429
Harold Anak Geruna, N. Abdullah, Maulana Zulfikar Asril, M. Mustafa, R. Samad, Dwi Pebrianti
One of the main issues that still emerging as the most complex fundamental problems in power system operation is Economic dispatch (ED). This paper presents the application of Fruit Fly Optimization (FFO) algorithm technique for solving ED problem. The FFO algorithm is applied to minimize the cost of generating units by allocating the most optimum value of real power for a specific generating unit in a power system while operated within the limitation. The effectiveness of the proposed technique was validated on standard IEEE-26 bus Reliability Test System (RTS).
{"title":"Fruit fly optimization (FFO) for solving economic dispatch problem in power system","authors":"Harold Anak Geruna, N. Abdullah, Maulana Zulfikar Asril, M. Mustafa, R. Samad, Dwi Pebrianti","doi":"10.1109/ICSENGT.2017.8123429","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123429","url":null,"abstract":"One of the main issues that still emerging as the most complex fundamental problems in power system operation is Economic dispatch (ED). This paper presents the application of Fruit Fly Optimization (FFO) algorithm technique for solving ED problem. The FFO algorithm is applied to minimize the cost of generating units by allocating the most optimum value of real power for a specific generating unit in a power system while operated within the limitation. The effectiveness of the proposed technique was validated on standard IEEE-26 bus Reliability Test System (RTS).","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132932401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123427
J. Jost, T. Kirks, Benedikt Mättig
The digitization of industrial processes in production systems and logistics reveals new concepts of control and new techniques of information technology to solve complex problems of systems to be decentralized. The Internet of Things and the so called Industry 4.0 accompanied by their definition of architecture on the one hand and multi-agent systems with their decentralized system structure to handle complex tasks and adapting to changing conditions on the other hand are not matched as of yet. Furthermore, the human worker is not yet an integrated part of these kinds of systems and may be overstrained by the vast amount of information resulting from more and more digitally available information. This paper proposes a strategy to integrate methods and architecture of IoT with cyber-physical systems and multi-agent systems. It elaborates on the processing of data and environmental conditions to provide the human worker with context-based information reduction which helps to minimize the information overload. Two use cases in the field of intralogistics which make use of the new concept are presented.
{"title":"Multi-agent systems for decentralized control and adaptive interaction between humans and machines for industrial environments","authors":"J. Jost, T. Kirks, Benedikt Mättig","doi":"10.1109/ICSENGT.2017.8123427","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123427","url":null,"abstract":"The digitization of industrial processes in production systems and logistics reveals new concepts of control and new techniques of information technology to solve complex problems of systems to be decentralized. The Internet of Things and the so called Industry 4.0 accompanied by their definition of architecture on the one hand and multi-agent systems with their decentralized system structure to handle complex tasks and adapting to changing conditions on the other hand are not matched as of yet. Furthermore, the human worker is not yet an integrated part of these kinds of systems and may be overstrained by the vast amount of information resulting from more and more digitally available information. This paper proposes a strategy to integrate methods and architecture of IoT with cyber-physical systems and multi-agent systems. It elaborates on the processing of data and environmental conditions to provide the human worker with context-based information reduction which helps to minimize the information overload. Two use cases in the field of intralogistics which make use of the new concept are presented.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130265443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123428
N. I. A. Rahman, M. Mustafa, R. Samad, N. Sulaiman, N. Abdullah, N. H. Noordin, Amran Abdul Hadi, S. Ahmad
The road accident increases each year due to increased vehicle on the road. Driver vigilance easily distracted when in a state of fatigue and sleepiness. This research proposes to use physiological measures of electromyography (EMG) signal to assess muscle fatigue during driving game obtained from biceps brachii. The experiment starts with data collection of EMG signal for 3 subjects while driving Need for Speed the Run Game for 2 hours. Then signal preprocessing is applied to remove artifact in EMG signal. Next, the EMG signal is transformed into the frequency-domain using Fast Fourier Transform (FFT). From FFT the Power Spectral Density (PSD) and Energy Spectral Density (ESD) can be obtained. Mean, median, RMS and average powers in PSD are calculated. While from the ESD, total energy was calculated. Based on results obtained (RMS = 9.7198, average power = 94.4744, mean = 6.2451 and median = 6.2456), the objective for the project is achieved. The result shows that the PSD is better used to evaluate the biceps brachii muscle fatigue compared to ESD.
{"title":"Initial experiment of muscle fatigue during driving game using electromyography","authors":"N. I. A. Rahman, M. Mustafa, R. Samad, N. Sulaiman, N. Abdullah, N. H. Noordin, Amran Abdul Hadi, S. Ahmad","doi":"10.1109/ICSENGT.2017.8123428","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123428","url":null,"abstract":"The road accident increases each year due to increased vehicle on the road. Driver vigilance easily distracted when in a state of fatigue and sleepiness. This research proposes to use physiological measures of electromyography (EMG) signal to assess muscle fatigue during driving game obtained from biceps brachii. The experiment starts with data collection of EMG signal for 3 subjects while driving Need for Speed the Run Game for 2 hours. Then signal preprocessing is applied to remove artifact in EMG signal. Next, the EMG signal is transformed into the frequency-domain using Fast Fourier Transform (FFT). From FFT the Power Spectral Density (PSD) and Energy Spectral Density (ESD) can be obtained. Mean, median, RMS and average powers in PSD are calculated. While from the ESD, total energy was calculated. Based on results obtained (RMS = 9.7198, average power = 94.4744, mean = 6.2451 and median = 6.2456), the objective for the project is achieved. The result shows that the PSD is better used to evaluate the biceps brachii muscle fatigue compared to ESD.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114874741","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123436
A. Hussain, K. Chellappan, S. Z. Mukari
Difficulty of understanding speech in noise among the elderly community necessitates the need for Auditory Training which has made a renewal of interest in the last decade with the auditory training applications. This interest is perhaps spurred by advances in computer-based technology. In computer-based training, speech signals are considered as training stimuli where input speech signals need to be verified prior to training as the speech signals are mixed with noise signals in real-life acoustic environment. Computer-based Auditory Training System can be embedded with input speech verifying module. Input speech verifying module is employed with speech and noise separator simulator. This simulator needs to guarantee accurate separation of speech from noise signals. Therefore, in this research, Projection Pursuit (PP) algorithm under Blind Source Separation (BSS) method is intended to separate the speech source signals which are mixed with speech babble. This article uses Malay language based sentences which differ in word length and hence number of sample values. The experimental simulation considers two-channel random and linear mixing of speech sources and speech babble as noise signal. The aim of this study is to evaluate the performance of the anticipated PP algorithm for various sample values of speech signals which varies in time duration due to word length dissimilarity. Simulation results show that PP algorithm is feasible for source separation. As a consequence, high correlation value of r ≥ 0.99 is obtained between extracted speech signal and original speech signal for all categories of speech signals. It is further verified by the maximum nongaussianity of extracted speech signal which has high kurtosis value of 32.
{"title":"Evaluation of source separation using projection pursuit algorithm for computer-based auditory training system","authors":"A. Hussain, K. Chellappan, S. Z. Mukari","doi":"10.1109/ICSENGT.2017.8123436","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123436","url":null,"abstract":"Difficulty of understanding speech in noise among the elderly community necessitates the need for Auditory Training which has made a renewal of interest in the last decade with the auditory training applications. This interest is perhaps spurred by advances in computer-based technology. In computer-based training, speech signals are considered as training stimuli where input speech signals need to be verified prior to training as the speech signals are mixed with noise signals in real-life acoustic environment. Computer-based Auditory Training System can be embedded with input speech verifying module. Input speech verifying module is employed with speech and noise separator simulator. This simulator needs to guarantee accurate separation of speech from noise signals. Therefore, in this research, Projection Pursuit (PP) algorithm under Blind Source Separation (BSS) method is intended to separate the speech source signals which are mixed with speech babble. This article uses Malay language based sentences which differ in word length and hence number of sample values. The experimental simulation considers two-channel random and linear mixing of speech sources and speech babble as noise signal. The aim of this study is to evaluate the performance of the anticipated PP algorithm for various sample values of speech signals which varies in time duration due to word length dissimilarity. Simulation results show that PP algorithm is feasible for source separation. As a consequence, high correlation value of r ≥ 0.99 is obtained between extracted speech signal and original speech signal for all categories of speech signals. It is further verified by the maximum nongaussianity of extracted speech signal which has high kurtosis value of 32.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133168083","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123415
Kristina Gruber, Jakob Huemer, A. Zimmermann, Ralph Maschotta
Modern passenger cars are no longer mechanically dominated systems; their customer value and physical behavior are greatly influenced by electric/electronic systems and software. Therefore technical and economic importance of electric and electronic functions is increasing in the automotive industry over the last few years. Today's demands on infotainment- and driver assistance systems and the ambition of realizing autonomous driving further enhance the number and complexity of electronic systems in passenger cars. As a result, new challenges emerge in automotive engineering and especially in the field of overall passenger car development. In order to handle complexity under constantly changing circumstances cross-domain requirements engineering of both mechanical and electric/electronic elements is necessary. This paper proposes a model-based approach to automotive requirements engineering for the overall passenger car development based on SysML. The SysML stereotype Requirement is extended to functional and non-functional requirements. The paper validates the advantages that include classified and graphically modeled requirements, as well as their relationships being explicitly mapped. Using an industrial example, it is demonstrated how this requirement specification manages the interactions between mechanical and electric/electronic requirements.
{"title":"Integrated description of functional and non-functional requirements for automotive systems design using SysML","authors":"Kristina Gruber, Jakob Huemer, A. Zimmermann, Ralph Maschotta","doi":"10.1109/ICSENGT.2017.8123415","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123415","url":null,"abstract":"Modern passenger cars are no longer mechanically dominated systems; their customer value and physical behavior are greatly influenced by electric/electronic systems and software. Therefore technical and economic importance of electric and electronic functions is increasing in the automotive industry over the last few years. Today's demands on infotainment- and driver assistance systems and the ambition of realizing autonomous driving further enhance the number and complexity of electronic systems in passenger cars. As a result, new challenges emerge in automotive engineering and especially in the field of overall passenger car development. In order to handle complexity under constantly changing circumstances cross-domain requirements engineering of both mechanical and electric/electronic elements is necessary. This paper proposes a model-based approach to automotive requirements engineering for the overall passenger car development based on SysML. The SysML stereotype Requirement is extended to functional and non-functional requirements. The paper validates the advantages that include classified and graphically modeled requirements, as well as their relationships being explicitly mapped. Using an industrial example, it is demonstrated how this requirement specification manages the interactions between mechanical and electric/electronic requirements.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129662378","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123431
T. H. Hing, M. Mailah, S. Sharif
The feed flow rate of a syringe fluid dispensing system is regulated through a Proportional-Integral-Derivative (PID) and Active Force Control (AFC) control scheme that was actuated using a DC servo motor considering a real-time implementation. The focus of this study is to control the speed of a DC motor by implementing an AFC strategy in rejecting the disturbance in the system. The AFC is implemented by cascading its control loop with the outer PID controller loop to form a two degree-of-freedom (DOF) controller. The performance of the proposed PID with AFC control scheme was investigated considering experimental works. The real-time experimentation was done by utilizing the Arduino MEGA 2560 microcontroller with MATLAB/Simulink driver for the data acquisition, interface and control implementation. The results implies the robustness of the AFC-based system in controlling the feed flow rate of the fluid in the dispenser. The best performance is obtained for 100% AFC with the disturbance due to vibration almost completely compensated via the proposed scheme in comparison to the PID counterpart.
注射器液点胶系统的进料流量通过比例积分导数(PID)和主动力控制(AFC)控制方案进行调节，该控制方案使用直流伺服电机驱动，考虑了实时实现。本研究的重点是通过实施AFC策略来控制直流电机的速度，以抑制系统中的干扰。AFC通过将其控制环与外部PID控制器环级联形成二自由度控制器来实现。结合实验工作，对所提出的PID与AFC控制方案的性能进行了研究。利用Arduino MEGA 2560单片机进行实时实验，采用MATLAB/Simulink驱动程序进行数据采集、接口和控制实现。结果表明，基于afc的系统在控制分配器中流体的进料流量方面具有鲁棒性。与PID控制相比，所提出的方案几乎完全补偿了振动引起的干扰，在100% AFC下获得了最佳性能。
{"title":"Practical implementation of a syringe fluid dispenser feed rate control using PID and active force control","authors":"T. H. Hing, M. Mailah, S. Sharif","doi":"10.1109/ICSENGT.2017.8123431","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123431","url":null,"abstract":"The feed flow rate of a syringe fluid dispensing system is regulated through a Proportional-Integral-Derivative (PID) and Active Force Control (AFC) control scheme that was actuated using a DC servo motor considering a real-time implementation. The focus of this study is to control the speed of a DC motor by implementing an AFC strategy in rejecting the disturbance in the system. The AFC is implemented by cascading its control loop with the outer PID controller loop to form a two degree-of-freedom (DOF) controller. The performance of the proposed PID with AFC control scheme was investigated considering experimental works. The real-time experimentation was done by utilizing the Arduino MEGA 2560 microcontroller with MATLAB/Simulink driver for the data acquisition, interface and control implementation. The results implies the robustness of the AFC-based system in controlling the feed flow rate of the fluid in the dispenser. The best performance is obtained for 100% AFC with the disturbance due to vibration almost completely compensated via the proposed scheme in comparison to the PID counterpart.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129707776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/ICSENGT.2017.8123417
Goh Ming Qian, Dwi Pebrianti, Yee Woon Chun, Y. Hao, L. Bayuaji
Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with 4 propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for the MAVs which significantly shorten the travel distance. Therefore, we proposed a waypoint navigation quad-rotor MAV based on PID controller in this paper. User can set mission with multiple waypoint and the PID controller to control MAV autonomously moving along the waypoint to the desired position without remotely controlled by radio control and guidance of pilot. The results show PID controller is capable to control MAV to move to the desired position with high accuracy. As the conclusion, the result of real flight experiment shows that the %OS of designed PID controller for x is 13% while y is 11.89% and z is 2.34%. Meanwhile, steady-state error for all axis are 0%. This shows that the performance of PID controller is satisfied. Hence, the quadrotor MAV could move to the desired location via waypoint navigation without guidance of pilot.
{"title":"Waypoint navigation of quad-rotor MAV","authors":"Goh Ming Qian, Dwi Pebrianti, Yee Woon Chun, Y. Hao, L. Bayuaji","doi":"10.1109/ICSENGT.2017.8123417","DOIUrl":"https://doi.org/10.1109/ICSENGT.2017.8123417","url":null,"abstract":"Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with 4 propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for the MAVs which significantly shorten the travel distance. Therefore, we proposed a waypoint navigation quad-rotor MAV based on PID controller in this paper. User can set mission with multiple waypoint and the PID controller to control MAV autonomously moving along the waypoint to the desired position without remotely controlled by radio control and guidance of pilot. The results show PID controller is capable to control MAV to move to the desired position with high accuracy. As the conclusion, the result of real flight experiment shows that the %OS of designed PID controller for x is 13% while y is 11.89% and z is 2.34%. Meanwhile, steady-state error for all axis are 0%. This shows that the performance of PID controller is satisfied. Hence, the quadrotor MAV could move to the desired location via waypoint navigation without guidance of pilot.","PeriodicalId":350572,"journal":{"name":"2017 7th IEEE International Conference on System Engineering and Technology (ICSET)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131566244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：