Baraa B. Mohammed, Amar S. Abdul-Zahra, Ahmed A. Saleh
Accepted: 25th Sep. 2020 Abstract Heat recovery (HR) is often mentioned as a device that operates between two heat sources in different temperatures. In this device, the heat is transferred from one side to another in order to have a heat balance. Therefore, the device is working on preheating/precooling supplying air to the space by waste heat. The main aims of this work are to design and manufacture of a plate heat exchanger (PHE) with a high efficiency and low cost, calculate the cost of the PHE unit and compare it with the other HEs model from different companies. The PHE was manufactured at the University of Technology from aluminum plates in a simple and inexpensive way. The performance of the HE was evaluated in different external conditions and different air flow rates. The maximum effectiveness value of the HE is 50.76% at a condition of hot air side (DBT= 410C, RH=21%, W=10.2 g/kg, and air flow rate = 0.476 m3/s) and a condition of cold air side (DBT= 22.20C, RH=92.02 %, W=15.6 g/kg, and air flow rate = 0.476 m3/s).
{"title":"Design and Manufacture of a High Efficiency Plate Heat Exchanger","authors":"Baraa B. Mohammed, Amar S. Abdul-Zahra, Ahmed A. Saleh","doi":"10.29194/njes.23040345","DOIUrl":"https://doi.org/10.29194/njes.23040345","url":null,"abstract":"Accepted: 25th Sep. 2020 Abstract Heat recovery (HR) is often mentioned as a device that operates between two heat sources in different temperatures. In this device, the heat is transferred from one side to another in order to have a heat balance. Therefore, the device is working on preheating/precooling supplying air to the space by waste heat. The main aims of this work are to design and manufacture of a plate heat exchanger (PHE) with a high efficiency and low cost, calculate the cost of the PHE unit and compare it with the other HEs model from different companies. The PHE was manufactured at the University of Technology from aluminum plates in a simple and inexpensive way. The performance of the HE was evaluated in different external conditions and different air flow rates. The maximum effectiveness value of the HE is 50.76% at a condition of hot air side (DBT= 410C, RH=21%, W=10.2 g/kg, and air flow rate = 0.476 m3/s) and a condition of cold air side (DBT= 22.20C, RH=92.02 %, W=15.6 g/kg, and air flow rate = 0.476 m3/s).","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"46 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85988770","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}
Hadeer Abdul Rasol Hamed, M. Ismail, Abdul Rahman Najam
In this work it had been focused on the possibility of replacement of steel spring in suspension system by fiber reinforced polymer composite that is responsible for light weight of spring which leads to reduces the weight of vehicle and improve fuel efficiency. This type of spring used in motor cycles, light weight vehicle. The design will be simulated by ANSYS workbench. Then, E-Glass fiber has been used to fabricate helical compression spring of 40% fiber volume fraction of glass. with polyester resin. The deflection of glass reinforced composite spring is more than steel spring but within permissible limit. weight of composite spring is reduced by 57% than of steel.
{"title":"Design, Analysis and Manufacturing Polymer Fiber Reinforced Composite Helical Spring","authors":"Hadeer Abdul Rasol Hamed, M. Ismail, Abdul Rahman Najam","doi":"10.29194/njes.23040338","DOIUrl":"https://doi.org/10.29194/njes.23040338","url":null,"abstract":"In this work it had been focused on the possibility of replacement of steel spring in suspension system by fiber reinforced polymer composite that is responsible for light weight of spring which leads to reduces the weight of vehicle and improve fuel efficiency. This type of spring used in motor cycles, light weight vehicle. The design will be simulated by ANSYS workbench. Then, E-Glass fiber has been used to fabricate helical compression spring of 40% fiber volume fraction of glass. with polyester resin. The deflection of glass reinforced composite spring is more than steel spring but within permissible limit. weight of composite spring is reduced by 57% than of steel.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"99 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85337685","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}
Accepted: 14th Aug. 2020 Abstract Most of the soils suffered from significant geotechnical problems dependent on factors like the type of soil, soil composition and mineralogy. Especially, the problems related to mechanical and physical properties of soils. Several studies have been used to mitigate the adverse effects of soils through using either additive conventional materials such as cement, lime or these soils blending with produced material and chemical materials. Recently, additives from industrial, agricultural, domestic, and mineral wastes have been used to improve soils. According to literatures, such wastes have been classified as sustainable materials. This paper focuses on stabilizing or improving different soils using sustainable materials. These materials provided engineering and economic benefits through improving the geotechnical properties of soil. According to the results of this review, the effect of different sustainable materials on compaction characteristics, California bearing ratio and unconfined compressive strength have been studied and discussed in this paper.
{"title":"A Review of Sustainable Materials to Improve Geotechnical Properties of Soils","authors":"Farah Qais Al-Naje, A. Abed, Abbas J. Al-Taie","doi":"10.29194/njes.23030289","DOIUrl":"https://doi.org/10.29194/njes.23030289","url":null,"abstract":"Accepted: 14th Aug. 2020 Abstract Most of the soils suffered from significant geotechnical problems dependent on factors like the type of soil, soil composition and mineralogy. Especially, the problems related to mechanical and physical properties of soils. Several studies have been used to mitigate the adverse effects of soils through using either additive conventional materials such as cement, lime or these soils blending with produced material and chemical materials. Recently, additives from industrial, agricultural, domestic, and mineral wastes have been used to improve soils. According to literatures, such wastes have been classified as sustainable materials. This paper focuses on stabilizing or improving different soils using sustainable materials. These materials provided engineering and economic benefits through improving the geotechnical properties of soil. According to the results of this review, the effect of different sustainable materials on compaction characteristics, California bearing ratio and unconfined compressive strength have been studied and discussed in this paper.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"71 1","pages":"289-305"},"PeriodicalIF":0.0,"publicationDate":"2020-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90634061","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}
Accepted: 14th Aug. 2020 Abstract Numerical analysis of the performance of reinforced concrete (RC) deep beam subjected to static and fixed-point pulsating loading at the midpoint has been investigated. Three-dimensional nonlinear finite element model using the Strut and Tie approach was adopted. The damage level under the influence of the applied fixed pulsating loading is higher than the static applied loading, hence early crack was observed because of the stepwise loading in the form of vibration. Although the Strut and Tie approach gave a good estimation of the resistance capacity of the beam, the beam undergo high shear damage when subjected to these two types of loading. Material strength properties, applied loadings and cross-sections adopted are some of the factors that affect the performance of the deep beam.
{"title":"Strut and Tie Modelling of Reinforced Concrete Deep Beams Under Static and Fixed Pulsating Loading","authors":"Ajibola Ibrahim Quadri","doi":"10.29194/njes.23030306","DOIUrl":"https://doi.org/10.29194/njes.23030306","url":null,"abstract":"Accepted: 14th Aug. 2020 Abstract Numerical analysis of the performance of reinforced concrete (RC) deep beam subjected to static and fixed-point pulsating loading at the midpoint has been investigated. Three-dimensional nonlinear finite element model using the Strut and Tie approach was adopted. The damage level under the influence of the applied fixed pulsating loading is higher than the static applied loading, hence early crack was observed because of the stepwise loading in the form of vibration. Although the Strut and Tie approach gave a good estimation of the resistance capacity of the beam, the beam undergo high shear damage when subjected to these two types of loading. Material strength properties, applied loadings and cross-sections adopted are some of the factors that affect the performance of the deep beam.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"23 1","pages":"306-312"},"PeriodicalIF":0.0,"publicationDate":"2020-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87954629","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}
Accepted: 14th Aug. 2020 Abstract In this vast world after an earthquake lessons are learned; many strategies have been considered in order to achieve a proper seismic strength capacity. The aim of this paper is studying the seismic behavior of a typical reinforced concrete bridge pier in Iraq and implementing a proper technique of strengthening in order to fix any damage that had happened. Structure of a full scale three-dimensional finite element model was used in order to simulate a reinforced concrete pier via the computer software ABAQUS/CAE 2017 using concrete plasticity damage model (CDP). Under the action of Halabja earthquake, which was recorded at city of Halabja in Iraq on 12 November 2017, the behavior of model was traced, analyzed and the resulted damages were managed. The finite element analysis results indicated that the proposed configuration of carbon fiber reinforced polymers laminates substantially increases the lateral load strength and deformation capacity of the bridge pier.
{"title":"Seismic Analysis of Reinforced Concrete Pier Strengthened by Carbon Fiber Reinforced Polymers","authors":"Sarah Fadhil Abass, B. Muhammad, Q. Hasan","doi":"10.29194/njes.23030313","DOIUrl":"https://doi.org/10.29194/njes.23030313","url":null,"abstract":"Accepted: 14th Aug. 2020 Abstract In this vast world after an earthquake lessons are learned; many strategies have been considered in order to achieve a proper seismic strength capacity. The aim of this paper is studying the seismic behavior of a typical reinforced concrete bridge pier in Iraq and implementing a proper technique of strengthening in order to fix any damage that had happened. Structure of a full scale three-dimensional finite element model was used in order to simulate a reinforced concrete pier via the computer software ABAQUS/CAE 2017 using concrete plasticity damage model (CDP). Under the action of Halabja earthquake, which was recorded at city of Halabja in Iraq on 12 November 2017, the behavior of model was traced, analyzed and the resulted damages were managed. The finite element analysis results indicated that the proposed configuration of carbon fiber reinforced polymers laminates substantially increases the lateral load strength and deformation capacity of the bridge pier.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"1 1","pages":"313-318"},"PeriodicalIF":0.0,"publicationDate":"2020-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75416641","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}
Three-dimensional reconstruction of real objects comprises capturing the appearance and the shape for these objects and determining the three-dimensional coordinates for their profiles. This reconstruction process can be accomplished either by using active or passive techniques. In this paper, a new fusion method is proposed for 3D reconstruction. This method exploits the advantages of both stereo-based passive and laser-based active techniques and overcomes their limitations to improve the performance of 3D reconstruction. With this method, a hybrid laser-based structured light scanning system is designed and implemented. This system captures the required information using passive and active techniques and uses the proposed fusion method for 3D reconstruction. The performance of the proposed method and its scanning system were experimentally evaluated. The evaluation results show high reconstruction performance for the proposed fusion method over the traditional 3D reconstruction techniques. The results also show the effectiveness of the hybrid laser scanning system and its ability to scan and reconstruct the shape and the appearance for real objects using the proposed fusion method.
{"title":"3D Reconstruction Based on Fusing Active Structured Laser and Passive Stereo Techniques","authors":"Shahad A. Al-Saqal, A. Al-Temeemy","doi":"10.29194/njes.23030277","DOIUrl":"https://doi.org/10.29194/njes.23030277","url":null,"abstract":"Three-dimensional reconstruction of real objects comprises capturing the appearance and the shape for these objects and determining the three-dimensional coordinates for their profiles. This reconstruction process can be accomplished either by using active or passive techniques. In this paper, a new fusion method is proposed for 3D reconstruction. This method exploits the advantages of both stereo-based passive and laser-based active techniques and overcomes their limitations to improve the performance of 3D reconstruction. With this method, a hybrid laser-based structured light scanning system is designed and implemented. This system captures the required information using passive and active techniques and uses the proposed fusion method for 3D reconstruction. The performance of the proposed method and its scanning system were experimentally evaluated. The evaluation results show high reconstruction performance for the proposed fusion method over the traditional 3D reconstruction techniques. The results also show the effectiveness of the hybrid laser scanning system and its ability to scan and reconstruct the shape and the appearance for real objects using the proposed fusion method.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"188 1","pages":"277-288"},"PeriodicalIF":0.0,"publicationDate":"2020-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79407010","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}
In the last two decades, underwater acoustic sensor networks have begun to be used for commercial and non-commercial purposes. In this paper, the focus will be on improving the monitoring performance system of oil pipelines. Linear wireless sensor networks are a model of underwater applications for which many solutions have been developed through several research studies in previous years for data collection research. In underwater environments, there are certain inherent limitations, like large propagation delays, high error rate, limited bandwidth capacity, and communication with short-range. Many deployment algorithms and routing algorithms have been used in this field. In this work a new hierarchical network model proposed with improvement to Smart Redirect or Jump algorithm (SRJ). This improved algorithm is used in an underwater linear wireless sensor network for data transfer to reduce the complexity in routing algorithm for relay nodes which boost delay in communication. This work is implemented using OMNeT++ and MATLAB based on their integration. The results obtained based on throughput, energy consumption, and end to the end delay.
{"title":"Performance Enhancement of Oil pipeline Monitoring for a Simulated Underwater Wireless Sensor Network","authors":"Waseem M. Jassim, A. E. Abdelkareem","doi":"10.29194/njes.23030260","DOIUrl":"https://doi.org/10.29194/njes.23030260","url":null,"abstract":"In the last two decades, underwater acoustic sensor networks have begun to be used for commercial and non-commercial purposes. In this paper, the focus will be on improving the monitoring performance system of oil pipelines. Linear wireless sensor networks are a model of underwater applications for which many solutions have been developed through several research studies in previous years for data collection research. In underwater environments, there are certain inherent limitations, like large propagation delays, high error rate, limited bandwidth capacity, and communication with short-range. Many deployment algorithms and routing algorithms have been used in this field. In this work a new hierarchical network model proposed with improvement to Smart Redirect or Jump algorithm (SRJ). This improved algorithm is used in an underwater linear wireless sensor network for data transfer to reduce the complexity in routing algorithm for relay nodes which boost delay in communication. This work is implemented using OMNeT++ and MATLAB based on their integration. The results obtained based on throughput, energy consumption, and end to the end delay.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"28 1","pages":"260-266"},"PeriodicalIF":0.0,"publicationDate":"2020-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75269255","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}
Accepted: 14th Aug. 2020 Abstract In this paper, the efficiency of six different types of corrosion inhibitors used in Basrah drinking water tanks was assessed using a potentiostatic test method. The mechanism of adsorption of silicate and phosphate inhibitors in AISI 316 stainless steel surfaces and the effects of different water components in inhibitors are discussed in detail. The values of corrosion rate obtained from the Potentiostatic test showed that the protection against corrosion in the presence of inhibitors is better compared to the case of absence of inhibitors. The results of the six types of corrosion inhibitors tested showed that the inhibitory efficacy is higher below the temperatures 45oC, but when raise the temperature above 45oC the inhibitory efficiency becomes to decrease. Also, the test results indicated that the corrosion inhibitor involves silicate products provided more inhibited efficiency compared to the phosphate inhibitor alone or used the combined silicate/phosphate corrosion inhibitor. The inspection of the surface of the tested samples using optical methods shows that the pitting corrosion is demonstrated on the specimen surfaces after testing with or without inhibitors.
{"title":"Evaluation the Efficiency of Various Types of Corrosion Inhibitors Used for Basrah Water Storage Tanks","authors":"H. Jasim, Read Abd Al-Hussain, Ahmed Sadeq","doi":"10.29194/njes.23030267","DOIUrl":"https://doi.org/10.29194/njes.23030267","url":null,"abstract":"Accepted: 14th Aug. 2020 Abstract In this paper, the efficiency of six different types of corrosion inhibitors used in Basrah drinking water tanks was assessed using a potentiostatic test method. The mechanism of adsorption of silicate and phosphate inhibitors in AISI 316 stainless steel surfaces and the effects of different water components in inhibitors are discussed in detail. The values of corrosion rate obtained from the Potentiostatic test showed that the protection against corrosion in the presence of inhibitors is better compared to the case of absence of inhibitors. The results of the six types of corrosion inhibitors tested showed that the inhibitory efficacy is higher below the temperatures 45oC, but when raise the temperature above 45oC the inhibitory efficiency becomes to decrease. Also, the test results indicated that the corrosion inhibitor involves silicate products provided more inhibited efficiency compared to the phosphate inhibitor alone or used the combined silicate/phosphate corrosion inhibitor. The inspection of the surface of the tested samples using optical methods shows that the pitting corrosion is demonstrated on the specimen surfaces after testing with or without inhibitors.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"1 1","pages":"267-276"},"PeriodicalIF":0.0,"publicationDate":"2020-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90152742","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}
Regaining the activities of daily living after stroke and spinal cord injury requires repetitive and intensive tasks, meaning that rehabilitation therapy should be treated with a long duration. Thus, the need for rehabilitation devices based home is of most importance to increase the rehabilitation process and provide more comfortability for patients. This paper focuses on implementing and construction of a three degree of freedom (DOF) (flexion/extension, adduction/abduction, and pronation/supination), low cost, lightweight, and portable robotic exoskeleton for wrist-forearm rehabilitation. SolidWorks software program and 3D printer technology are used to model and construct the proposed robotic exoskeleton structure. In addition, the anthropometric parameters of the normal human lower arm are considered for this exoskeleton to provide a range of motion (ROM) and velocity for the links, joints, which matches with the anatomical structure of human and also to avoid the excesses motions over the normal range. The exoskeleton is constructed by a 3D printer utilizing polylactic acid (PLA) plastic material. The proposed implementing structure of the robotic exoskeleton shows comfortable, lightweight, simple and economic as well.
{"title":"Robotic Exoskeleton: A Compact, Portable, and Constructing Using 3D Printer Technique for Wrist-Forearm Rehabilitation","authors":"N. S. Shalal, Wajdi S. Aboud","doi":"10.29194/njes.23030238","DOIUrl":"https://doi.org/10.29194/njes.23030238","url":null,"abstract":"Regaining the activities of daily living after stroke and spinal cord injury requires repetitive and intensive tasks, meaning that rehabilitation therapy should be treated with a long duration. Thus, the need for rehabilitation devices based home is of most importance to increase the rehabilitation process and provide more comfortability for patients. This paper focuses on implementing and construction of a three degree of freedom (DOF) (flexion/extension, adduction/abduction, and pronation/supination), low cost, lightweight, and portable robotic exoskeleton for wrist-forearm rehabilitation. SolidWorks software program and 3D printer technology are used to model and construct the proposed robotic exoskeleton structure. In addition, the anthropometric parameters of the normal human lower arm are considered for this exoskeleton to provide a range of motion (ROM) and velocity for the links, joints, which matches with the anatomical structure of human and also to avoid the excesses motions over the normal range. The exoskeleton is constructed by a 3D printer utilizing polylactic acid (PLA) plastic material. The proposed implementing structure of the robotic exoskeleton shows comfortable, lightweight, simple and economic as well.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"37 1","pages":"238-248"},"PeriodicalIF":0.0,"publicationDate":"2020-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87745323","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}
The indemnification of uncertainty and disturbance which is added to non-linear systems by an Integral Sliding Mode Controller (ISMC) design. the key target of this paper is designing a sturdy controller to observe the performance of a 2-link robot. The nonlinearity in mechanical systems is a shared issue that the researchers are facing in formulating control systems for it. The best solution to this problem is a design Sliding Mode Controller (SMC) for controlling a nonlinear system. In the current paper, 2-link robot is studied which suffering from disturbances and parameter uncertainty and coulomb friction as additional to friction inertia of the system for each link. firstly, Classical Sliding Mode Controller (CSMC) is designed and then Integral Sliding Mode Controller (ISMC). As known, CSMC includes two phases: reaching phase and sliding phase. SMC is suffering from the known phenomenon as "chattering" which is supposed as a critical case and unsuitable characteristic. chattering is described as a curvy movement span the switching surface. In the current study, the chattering is attenuated by employing a saturation function alternative of a sign function. Although SMC can be considered as a good way of controlling nonlinear systems. Where it continues to suffer from the long settling time as undesired features. ISMC is a good method can be employed for reducing the settling time and controlling a nonlinear system. ISMC is easy, robust execution and supposes as an active and strong technique. The most significant advantage in ISMC designing, the reaching phase is canceled that considered a major part of designing classical SMC. The 2 link Robot system was used for proving the performance of CSMC and ISMC algorithms. The outcomes received from the simulations utilizing the ISMC and CSMC which fulfilled asymptotic stability for the system. In comparative between CSMC and ISMC. ISMC is better than CSMC in the good performance of tracking the desired position with less time. Finally, MATLAB2019a software package has relied upon this work.
{"title":"Characterization and Designing Integral Sliding Mode Controller for 2-Link Robot System with Coulomb Friction","authors":"Dena Hameed Tu'ma, A. Hammoudi","doi":"10.29194/njes.23030249","DOIUrl":"https://doi.org/10.29194/njes.23030249","url":null,"abstract":"The indemnification of uncertainty and disturbance which is added to non-linear systems by an Integral Sliding Mode Controller (ISMC) design. the key target of this paper is designing a sturdy controller to observe the performance of a 2-link robot. The nonlinearity in mechanical systems is a shared issue that the researchers are facing in formulating control systems for it. The best solution to this problem is a design Sliding Mode Controller (SMC) for controlling a nonlinear system. In the current paper, 2-link robot is studied which suffering from disturbances and parameter uncertainty and coulomb friction as additional to friction inertia of the system for each link. firstly, Classical Sliding Mode Controller (CSMC) is designed and then Integral Sliding Mode Controller (ISMC). As known, CSMC includes two phases: reaching phase and sliding phase. SMC is suffering from the known phenomenon as \"chattering\" which is supposed as a critical case and unsuitable characteristic. chattering is described as a curvy movement span the switching surface. In the current study, the chattering is attenuated by employing a saturation function alternative of a sign function. Although SMC can be considered as a good way of controlling nonlinear systems. Where it continues to suffer from the long settling time as undesired features. ISMC is a good method can be employed for reducing the settling time and controlling a nonlinear system. ISMC is easy, robust execution and supposes as an active and strong technique. The most significant advantage in ISMC designing, the reaching phase is canceled that considered a major part of designing classical SMC. The 2 link Robot system was used for proving the performance of CSMC and ISMC algorithms. The outcomes received from the simulations utilizing the ISMC and CSMC which fulfilled asymptotic stability for the system. In comparative between CSMC and ISMC. ISMC is better than CSMC in the good performance of tracking the desired position with less time. Finally, MATLAB2019a software package has relied upon this work.","PeriodicalId":7470,"journal":{"name":"Al-Nahrain Journal for Engineering Sciences","volume":"102 47","pages":"249-259"},"PeriodicalIF":0.0,"publicationDate":"2020-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91408078","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}
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