Modeling and control of a modular iron bird

This paper describes the control architecture and the control laws of a new concept of Modular Iron Bird aimed at reproducing flight loads to test mobile aerodynamic control surface actuators for small and medium size aircraft and Unmanned Aerial Vehicles. The iron bird control system must guarantee the actuation of counteracting forces. On one side, a hydraulic actuator simulates the hinge moments acting on the mobile surface due to aerodynamic and inertial effects during flight; on the other side, the actuator to be tested applies an active hinge moment to control the angular position of the same surface. Reference aerodynamic and inertial loads are generated by a flight simulation module to reproduce more realistic conditions arising during operations. The design of the control action is based on a dynamic model of the hydraulic plant used to generate loads. This system is controlled using a Proportional Integral Derivative control algorithm tuned with an optimization algorithm taking into account the closed loop dynamics of the actuator under testing, uncertainties and disturbances in the controlled plant. Numerical simulations are presented to show the effectiveness of the proposed architecture and control laws

Circle grid fractal plate as a turbulent generator for premixed flame: an overview

This review paper focuses to ascertain a new approach in turbulence generation on the structure of premixed flames and external combustion using a fractal grid pattern. This review paper discusses the relationship between fractal pattern and turbulence flow. Many researchers have explored the fractal pattern as a new concept of turbulence generators, but researchers rarely study fractal turbulence generators on the structure premixed flame. The turbulent flow field characteristics have been studied tand investigated in a premixed combustion application. In terms of turbulence intensity, most researchers used fractal grid that can be tailored so that they can design the characteristic needed in premixed flame. This approach makes it extremely difficult to determine the exact turbulent burning velocity on the velocity fluctuation of the flow. The decision to carry out additional research on the effect circle grid fractal plate as a turbulent generator for premixed flame should depends on the blockage ratio and fractal pattern of the grid. 1

Trajectory tracking control of a hydraulic-tendon actuator with an application to the exoskeleton

This paper presents a hydraulic actuator and tendon drive system that was specifically designed for a lower-limb exoskeleton to provide high power and low inertia. The dynamics of the actuator-tendon system were analyzed based on the exoskeleton system and an adaptive sliding-mode trajectory tracking controller was designed for the drive system. The stability proof indicates that the controller is globally stable. The experimental results demonstrated that the controller provides high tracking accuracy and is robust to external disturbances and unmodeled nonlinearities. Moreover, the controller has less errors than the conventional PID controller. Further tests that included the joints of the exoskeleton were conducted to verify the performance of the controller

Automation of Aircraft Engine Fuel Controls Tests: An Industrial Case Study involving PID Control of a Nozzle Emulator

The test of fuel control systems used on civil aircraft engines is performed with a network of distributed and, by design, isolated systems. The co-ordination of these test systems is performed manually by human operators in order to verify the airworthiness of a fuel control system throughout the products’ lifecycle. The main objective of this study is the automation of an existing network of systems for fuel control tests. The aspect of automation that is considered in this paper is the control of the engine nozzle emulator which is critical to determine the airworthiness of repaired fuel control systems. This system is realized using a model following PID controller design approach. The results from simulation studies and a hardware-in-the-loop test are presented. These demonstrate that this PID control structure provides the necessary level of accuracy and robustness for this engineering process

The strengthening of Islamic values on students through the metaphor of accepting death: an Indonesian perception

Death is a sure entity for every human that cannot be avoided in human life. The purpose of this research was to reveal that the usage of metaphor technique called, “The Acceptance of Death” in group counselling can improve Islamic values on Muslim students. This study employed an action research using The Kemmis Model with the stages of planning, action, observation, and reflection. This research implemented group counselling with metaphor technique of accepting death by students. The research subjects were 20 female students of State Islamic University of Sultan Syarif Kasim Riau who lived in the campus dormitory. The selection of the research subjects was done randomly by choosing the female students who were willing to join the group counselling activity. The research results showed that the practice of metaphor technique of “The Acceptance of Death” in the group counselling can strengthen the Islamic values and their characteristics as Muslims. They understand their previous mistakes and are willing to be better for the sake of their life. They have the commitment to become the best students and the best Muslims

Hydraulic Actuated Automotive Cooling Systems - Nonlinear Control and Test

The replacement of traditional automotive mechanical cooling system components with computer controlled servo-motor driven actuators can improve temperature tracking and reduce parasitic losses. The integration of hydraulic actuators in the engine cooling circuit offers greater power density in a smaller package space when compared with electric actuators. In this paper, a comprehensive nonlinear backstepping robust control technique is developed to regulate the engine coolant temperature by controlling a hydraulic coolant pump and radiator fan. An experimental test bench has been assembled to investigate the hydraulic automotive thermal system performance. Representative numerical and experimental results are presented and discussed. Overall, the proposed controller was successful in tracking prescribed engine temperature profiles while harmoniously regulating the power consumption of the coolant pump and radiator fan

Optimization of PID for industrial electro-hydraulic actuator using PSOGSA

The Electro-hydraulic actuator (EHA) systems known to be extremely nonlinear due to its dynamic characteristics and these existing nonlinearities and uncertainties yield to the constraint in the control of EHA system, which influences the position tracking accuracy and affect the occurrences of leakage and friction in the system. The purpose of this work is to develop the mathematical model for the industrial electrohydraulic actuator, then to design a controller by proportional-integral-derivative (PID) and optimize the parameters using Particle Swarm Optimization - Gravitational Search Algorithm (PSOGSA). A few controllers such as conventional PID (CPID) and model reference adaptive control (MRAC) designed for comparison. The performance of PID, PID-PSOGSA and modern controller MRAC will be compared in order to determine the most efficient controller. Despite all controllers are capable to provide good performance, PID-PSOGSA control methods generate good response compared to PID and MRAC in term of positioning

Improved Third Order PID Sliding Mode Controller for Electrohydraulic Actuator Tracking Control

An electrohydraulic actuator (EHA) system is a combination of hydraulic systems and electrical systems which can produce a rapid response, high power-to-weight ratio, and large stiffness. Nevertheless, the EHA system has nonlinear behaviors and modeling uncertainties such as frictions, internal and external leakages, and parametric uncertainties, which lead to significant challenges in controller design for trajectory tracking. Therefore, this paper presents the design of an intelligent adaptive sliding mode proportional integral and derivative (SMCPID) controller, which is the main contribution toward the development of effective control on a third-order model of a double-acting EHA system for trajectory tracking, which significantly reduces chattering under noise disturbance. The sliding mode controller (SMC) is created by utilizing the exponential rule and the Lyapunov theorem to ensure closed-loop stability. The chattering in the SMC controller has been significantly decreased by substituting the modified sigmoid function for the signum function. Particle swarm optimization (PSO) was used to lower the total of absolute errors to adjust the controller. In order to demonstrate the efficacy of the SMCPID controller, the results for trajectory tracking and noise disturbance rejection were compared to those obtained using the proportional integral and derivative (PID), the proportional and derivative (PD), and the sliding mode proportional and derivative (SMCPD) controllers, respectively. In conclusion, the results of the extensive research given have indicated that the SMCPID controller outperforms the PD, PID, and SMCPD controllers in terms of overall performance.