Quantum behaved artificial bee colony based conventional controller for optimum dispatch

Since a multi area system (MAS) is characterized by momentary overshoot, undershoot and intolerable settling time so, neutral copper conductors are replaced by multilayer zigzag graphene nano ribbon (MLGNR) interconnects that are tremendously advantageous to copper interconnects for the future transmission line conductors necessitated for economic and emission dispatch (EED) of electric supply system giving rise to reduced overshoots and settling time and greenhouse effect as well. The recent work includes combinatorial algorithm involving proportional integral and derivative controller and heuristic swarm optimization; we say it as Hybrid- particle swarm optimization (PSO) controller. The modeling of two multi area systems meant for EED is carried out by controlling the conventional proportional integral and derivative (PID) controller regulated and monitored by quantum behaved artificial bee colony (ABC) optimization based PID (QABCOPID) controller in MATLAB/Simulink platform. After the modelling and simulation of QABCOPID controller it is realized that QABCOPID is better as compared to multi span double display (MM), neural network based PID (NNPID), multi objective constriction PSO (MOCPSO) and multi objective PSO (MOPSO). The real power generation fixed by QABCOPID controller is used to estimate the combined cost and emission objectives yielding optimal solution, minimum losses and maximum efficiency of transmission line

Controlling Locomotion of a Robotic Leg

Dr. Xing and Professor Refvem are working to research and develop a quadruped robot that is capable of basic movements including walking, running, and jumping. As senior project group F-11, we are joining a team of engineers to assist in the development of the quadruped. Our team was tasked with creating a mathematical model, designing a control method, and implementing that control method for the quadruped\u27s legs in Simulink. This will allow both current and future students to understand the response of the system and provide a building point for future researchers to create working quadrupedal robots. This report documents our research and cumulative work to reach our goals. The report highlights our final design for the controller loop, our implementation process for each controller component, and our design verification tests to justify our work

Power system controller tuning considering stochastic variations

Electrical power systems are vulnerable to external disturbances, such as short circuits, that can lead to damage on the equipments and even blackouts. In order to improve the system response to external disturbances, the generators of the power system are equipped with automatic controllers devised to maintain the generators working on a constant operating condition. The tuning of the controllers is performed assuming the system loads do not have time-dependent variations, but such assumption is not realistic as the power system loads are stochastically changing due to the switching on and o of every device (PCs, TVs, cellphones, etc.) connected to it. This work proposes two new methods for the tuning of the generator controllers which takes into account the stochastic nature of the system loads. More speci cally, this work proposes two new methods for the tuning of the governors and AVRs of the power system generators: one focused on the steady state response and the other focused on the fault response. First, the system response as a function of the controller parameters is calculated. As the power system is under the e ect of stochastic loads, the resulting system response is stochastic. Then, a stochastic objective function which measures the quality of the system response is de ned. Each tuning method uses a di erent objective function. Finally, the objective function is optimized using the metaheuristic Cuckoo Search, which is used for global optimization problems and can be used to optimize stochastic functions. The method was tested in di erent benchmark systems showing better system responses

A Novel Technique for Tuning PI -controller In Switched Reluctance Motor Drive for Transportation Systems

This paper presents, an optimal basic speed controller for switched reluctance motor (SRM) based on ant colony optimization (ACO) with the presence of good accuracies and performances. The control mechanism consists of proportional-integral (PI) speed controller in the outer loop and hysteresis current controller in the inner loop for the three phases, 6/4 switched reluctance motor. Because of nonlinear characteristics of a SRM, ACO algorithm is employed to tune coefficients of PI speed controller by minimizing the time domain objective function. Simulations of ACO based control of SRM are carried out using MATLAB /SIMULINK software. The behavior of the proposed ACO has been estimated with the classical Ziegler- Nichols (ZN) method in order to prove the proposed approach is able to improve the parameters of PI chosen by ZN method. Simulations results confirm the better behavior of the optimized PI controller based on ACO compared with optimized PI controller based on classical Ziegler-Nichols method

The estimation and compensation of processes with time delays

The estimation and compensation of processes with time delays have been of interest to academics and practitioners for several decades. A full review of the literature for both model parameter and time delay estimation is presented. Gradient methods of parameter estimation, in open loop, in the time and frequency domains are subsequently considered in detail. Firstly, an algorithm is developed, using an appropriate gradient algorithm, for the estimation of all the parameters of an appropriate process model with time delay, in open loop, in the time domain. The convergence of the model parameters to the process parameters is considered analytically and in simulation. The estimation of the process parameters in the frequency domain is also addressed, with analytical procedures being defined to provide initial estimates of the model parameters, and a gradient algorithm being used to refine these estimates to attain the global minimum of the cost function that is optimised. The focus of the thesis is subsequently broadened with the consideration of compensation methods for processes with time delays. These methods are reviewed in a comprehensive manner, and the design of a modified Smith predictor, which facilitates a better regulator response than does the Smith predictor, is considered in detail. Gradient algorithms are subsequently developed for the estimation of process parameters (including time delay) in closed loop, in the Smith predictor and modified Smith predictor structures, in the time domain; the convergence of the model parameters to the process parameters is considered analytically and in simulation. The thesis concludes with an overview of the methods developed, and projections regarding future developments in the topics under consideration

Real-coded genetic algorithm for system identification and controller tuning

AbstractThis paper presents an application of real-coded genetic algorithm (RGA) for system identification and controller tuning in process plants. The genetic algorithm is applied sequentially for system identification and controller tuning. First GA is applied to identify the changes in system parameters. Once the process parameters are identified, the optimal controller parameters are identified using GA. In the proposed genetic algorithm, the optimization variables are represented as floating point numbers. Also, cross over and mutation operators that can directly deal with the floating point numbers are used. The proposed approach has been applied for system identification and controller tuning in nonlinear pH process. The simulation results show that the GA based approach is effective in identifying the parameters of the system and the nonlinearity at various operating points in the nonlinear system

Development of new parameter extraction schemes and maximum power point controllers for photovoltaic power systems

In the recent years, in every parts of the world, focus is on supplementing the conventional fossil fuel based power generation with power generated from renewable sources such as photovoltaic (PV) and wind systems. PV technology is one of the fastest growing energy technologies in the world owing to its abundant availability. But unfortunately, the cost of PV energy is higher than that of other electrical energy from other conventional sources.Therefore, a great deal of research opportunities lie in applying power electronics and control technologies for harvesting PV power at higher efficiencies and efficient utilization. Simulation and control studies of a PV system require an accurate PV panel model. Further, for efficient utilization of the available PV energy, a PV system should operate at its maximum power point (MPP). A maximum power point tracker (MPPT) is needed in the PV system to enable it to operate at the MPP.The output characteristic of a PV system is non-linear and its output power fluctuates to a large extent in accordance with the variation of solar irradiance and temperature. A lot of research is being pursued on this area and several MPPT techniques have been proposed and implemented. But, still there is a lot of scope on designing new parameter extraction algorithms to achieve fast and accurate extraction of PV panel parameters. Further, there is need of development of efficient MPPT algorithms that can be adapted to different weather conditions with minimal fluctuations in input PV current and voltage.The work described in the thesis involves development of some new parameter extraction and robust adaptive MPPT algorithms. Two parameter extraction algorithms have been proposed namely a hybrid Newton Raphson method (hybrid NRM) and an evolutionary computational technique called Bacterial Foraging Optimization (BFO). These two parameter extraction techniques are found to be extracting parameters of a PV panel accurately in all weather conditions with less computational overhead. Further, these two parameter extraction techniques do not suffer from singularity problem during convergence. BFO technique being a global optimization technique provides accurate PV panel parameters

Methods of system identification, parameter estimation and optimisation applied to problems of modelling and control in engineering and physiology

Mathematical and computer-based models provide the foundation of most methods of engineering design. They are recognised as being especially important in the development of integrated dynamic systems, such as “control-configured” aircraft or in complex robotics applications. These models usually involve combinations of linear or nonlinear ordinary differential equations or difference equations, partial differential equations and algebraic equations. In some cases models may be based on differential algebraic equations. Dynamic models are also important in many other fields of research, including physiology where the highly integrated nature of biological control systems is starting to be more fully understood. Although many models may be developed using physical, chemical, or biological principles in the initial stages, the use of experimentation is important for checking the significance of underlying assumptions or simplifications and also for estimating appropriate sets of parameters. This experimental approach to modelling is also of central importance in establishing the suitability, or otherwise, of a given model for an intended application – the so-called “model validation” problem. System identification, which is the broad term used to describe the processes of experimental modelling, is generally considered to be a mature field and classical methods of identification involve linear discrete-time models within a stochastic framework. The aspects of the research described in this thesis that relate to applications of identification, parameter estimation and optimisation techniques for model development and model validation mainly involve nonlinear continuous time models Experimentally-based models of this kind have been used very successfully in the course of the research described in this thesis very in two areas of physiological research and in a number of different engineering applications. In terms of optimisation problems, the design, experimental tuning and performance evaluation of nonlinear control systems has much in common with the use of optimisation techniques within the model development process and it is therefore helpful to consider these two areas together. The work described in the thesis is strongly applications oriented. Many similarities have been found in applying modelling and control techniques to problems arising in fields that appear very different. For example, the areas of neurophysiology, respiratory gas exchange processes, electro-optic sensor systems, helicopter flight-control, hydro-electric power generation and surface ship or underwater vehicles appear to have little in common. However, closer examination shows that they have many similarities in terms of the types of problem that are presented, both in modelling and in system design. In addition to nonlinear behaviour; most models of these systems involve significant uncertainties or require important simplifications if the model is to be used in a real-time application such as automatic control. One recurring theme, that is important both in the modelling work described and for control applications, is the additional insight that can be gained through the dual use of time-domain and frequency-domain information. One example of this is the importance of coherence information in establishing the existence of linear or nonlinear relationships between variables and this has proved to be valuable in the experimental investigation of neuromuscular systems and in the identification of helicopter models from flight test data. Frequency-domain techniques have also proved useful for the reduction of high-order multi-input multi-output models. Another important theme that has appeared both within the modelling applications and in research on nonlinear control system design methods, relates to the problems of optimisation in cases where the associated response surface has many local optima. Finding the global optimum in practical applications presents major difficulties and much emphasis has been placed on evolutionary methods of optimisation (both genetic algorithms and genetic programming) in providing usable methods for optimisation in design and in complex nonlinear modelling applications that do not involve real-time problems. Another topic, considered both in the context of system modelling and control, is parameter sensitivity analysis and it has been found that insight gained from sensitivity information can be of value not only in the development of system models (e.g. through investigation of model robustness and the design of appropriate test inputs), but also in feedback system design and in controller tuning. A technique has been developed based on sensitivity analysis for the semi-automatic tuning of cascade and feedback controllers for multi-input multi-output feedback control systems. This tuning technique has been applied successfully to several problems. Inverse systems also receive significant attention in the thesis. These systems have provided a basis for theoretical research in the control systems field over the past two decades and some significant applications have been reported, despite the inherent difficulties in the mathematical methods needed for the nonlinear case. Inverse simulation methods, developed initially by others for use in handling-qualities studies for fixed-wing aircraft and helicopters, are shown in the thesis to provide some important potential benefits in control applications compared with classical methods of inversion. New developments in terms of methodology are presented in terms of a novel sensitivity based approach to inverse simulation that has advantages in terms of numerical accuracy and a new search-based optimisation technique based on the Nelder-Mead algorithm that can handle inverse simulation problems involving hard nonlinearities. Engineering applications of inverse simulation are presented, some of which involve helicopter flight control applications while others are concerned with feed-forward controllers for ship steering systems. The methods of search-based optimisation show some important advantages over conventional gradient-based methods, especially in cases where saturation and other nonlinearities are significant. The final discussion section takes the form of a critical evaluation of results obtained using the chosen methods of system identification, parameter estimation and optimisation for the modelling and control applications considered. Areas of success are highlighted and situations are identified where currently available techniques have important limitations. The benefits of an inter-disciplinary and applications-oriented approach to problems of modelling and control are also discussed and the value in terms of cross-fertilisation of ideas resulting from involvement in a wide range of applications is emphasised. Areas for further research are discussed

Visual Analysis of Dynamics Behaviour of an Iterative Method Depending on Selected Parameters and Modifications

There is a huge group of algorithms described in the literature that iteratively find solutions of a given equation. Most of them require tuning. The article presents root-finding algorithms that are based on the Newton-Raphson method which iteratively finds the solutions, and require tuning. The modification of the algorithm implements the best position of particle similarly to the particle swarm optimisation algorithms. The proposed approach allows visualising the impact of the algorithm's elements on the complex behaviour of the algorithm. Moreover, instead of the standard Picard iteration, various feedback iteration processes are used in this research. Presented examples and the conducted discussion on the algorithm's operation allow to understand the influence of the proposed modifications on the algorithm's behaviour. Understanding the impact of the proposed modification on the algorithm's operation can be helpful in using it in other algorithms. The obtained images also have potential artistic applications

Quadrotor team modeling and control for DLO transportation

94 p.Esta Tesis realiza una propuesta de un modelado dinámico para el transporte de sólidos lineales deformables (SLD) mediante un equipo de cuadricópteros. En este modelo intervienen tres factores: - Modelado dinámico del sólido lineal a transportar. - Modelo dinámico del cuadricóptero para que tenga en cuenta la dinámica pasiva y los efectos del SLD. - Estrategia de control para un transporte e ciente y robusto. Diferenciamos dos tareas principales: (a) lograr una con guración cuasiestacionaria de una distribución de carga equivalente a transportar entre todos los robots. (b) Ejecutar el transporte en un plano horizontal de todo el sistema. El transporte se realiza mediante una con guración de seguir al líder en columna, pero los cuadricópteros individualmente tienen que ser su cientemente robustos para afrontar todas las no-linealidades provocadas por la dinámica del SLD y perturbaciones externas, como el viento. Los controladores del cuadricóptero se han diseñado para asegurar la estabilidad del sistema y una rápida convergencia del sistema. Se han comparado y testeado estrategias de control en tiempo real y no-real para comprobar la bondad y capacidad de ajuste a las condiciones dinámicas cambiantes del sistema. También se ha estudiado la escalabilidad del sistema