A Design and Implementation of a New Control Based on Petri Nets for Three Phase PWM-Rectifier

This article introduces a novel and effective diagram based on direct instantaneous power control (DPC) of a PWM-controlled rectifier connected to the grid without a switching table. An optimum control vector of the PWM rectifier's input voltage, which depends on the switching states determined by a Petri nets controller, is adopted. This approach limits the instantaneous detection errors of reactive and active powers, maintains the DC bus voltage at a reference level, and ensures current close to a sinusoidal wave, guaranteeing operation at a unit power factor. The instantaneous tracking errors of active and reactive powers and the angular position of the voltage are used as input variables for the proposed controller, which then selects the best control vector for the converter based on the transition of a Petri net. The significant advantages of DPC based on Petri nets compared to traditional switching tables are that hysteresis comparators are not required, and the classical regulation of active and reactive powers is achieved in all sectors. Simulation and testing findings demonstrated excellent performance, supporting the viability of the suggested control approach using Petri nets

Implementation of fuel cell and photovoltaic panels based DC micro grid prototype for electric vehicles charging station

Today, electric vehicle (EV) appears as an evident solution for the future automotive market. The introduction of EV will lead to the reduction of greenhouse gas emissions and decrease the travelling cost. However, electric vehicle is truly an ecological solution only if the production of electricity necessary for its operation is produced from sustainable energy sources. In this paper, an Electric Vehicle Charging Station (EVCS) through sustainable energy sources via a DC micro-grid system has been proposed. The proposed system includes a fuel cell (FC), photovoltaic (PV) panels, storage battery and possibility of a connection to the grid. In this work a low power prototype of a micro-grid based EVCS has been first validated using a numerical simulation under Matlab/Simulink using variable irradiance and number of recharging vehicles. In the second part of this paper, an EVCS prototype has been realized in the laboratory. The tests are realized using an emulator of the PEM fuel cell with the concept of the hardware-in-the-loop (HIL). The objective of this emulation is to evaluate the performances of the whole system without the need for a real fuel cell. The whole system is implemented on the dSPACE 1103 platform and the results of the tests are discussed.N/

Characterization and Control of Supercapacitors Bank for Stand-Alone Photovoltaic Energy

AbstractIn this paper, a simple scheme of the supercapacitor based on (RC) circuit is modeled and characterized using experimental methods. Then, computer simulations and experimental results showed very good agreement which demonstrates the accuracy of the adopted model. An example of hybrid photovoltaic/supercapacitor stand-alone system is considered in this paper. Dynamic model of photovoltaic system component is developed and validated with experimental results. In addition, the maximum power point tracking (MPPT) control for photovoltaic and the supercapacitor state of charge (SOC) control are also addressed in this work. Based on the dynamic component models, a simulation model for the considered hybrid energy system has been developed using MATLAB/Simulink. The simulation results show the primary role of the supercapacitor when the load changes rapidly

Sliding Mode Control of the PUMA 560 Robot

The purpose of this article is to present the application of the sliding mode control and investigate its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the sliding mode control law for the PUMA 560 model, three degrees of freedom, through the development of a dynamic simulation model. The simulation results show the effectiveness of this proposed method for the automation of industrial applications, such as assembly, machining (deburring, trimming), and surface tracking (polishing). This technique provides a useful insight into the advantages of using sliding mode control laws in robotics applications

Modeling and Simulation of Quadcopter Using Self-tuning Fuzzy-PI Controller

Helicopters, commonly known as quadrotors (UAVs), are popular unmanned aerial vehicles. Despite their small size and high stability, they are used in a variety of applications. This chapter presents the fundamental principles for modeling and controlling quadcopters that will form the basis for future research and development in the field of drones. The problem is addressed on two fronts; first, the mathematical dynamic models are developed, and second, the trajectory of the quadcopter is stabilized and controlled. IMUs (Inertial Measurement Units) consist of accelerometers and gyroscopes and constitute the core of the system. In order to fly the quadcopter in six directions, it is necessary to determine the orientation of the system and control the speed of four BLDC motors. A Matlab/Simulink analysis of the quadcopter is performed. A self-tuning fuzzy-PI regulator is used to control the quadcopter’s pitch, roll, and yaw. It was evaluated whether the quadcopter controller was effective and efficient, and the desired outputs were discussed

A Suite of Robotic Solutions for Nuclear Waste Decommissioning

Dealing safely with nuclear waste is an imperative for the nuclear industry. Increasingly, robots are being developed to carry out complex tasks such as perceiving, grasping, cutting, and manipulating waste. Radioactive material can be sorted, and either stored safely or disposed of appropriately, entirely through the actions of remotely controlled robots. Radiological characterisation is also critical during the decommissioning of nuclear facilities. It involves the detection and labelling of radiation levels, waste materials, and contaminants, as well as determining other related parameters (e.g., thermal and chemical), with the data visualised as 3D scene models. This paper overviews work by researchers at the QMUL Centre for Advanced Robotics (ARQ), a partner in the UK EPSRC National Centre for Nuclear Robotics (NCNR), a consortium working on the development of radiation-hardened robots fit to handle nuclear waste. Three areas of nuclear-related research are covered here: human–robot interfaces for remote operations, sensor delivery, and intelligent robotic manipulation