Çok girişli çok çıkışlı kısıtlamalı sistemlerin öngörülü kontrol uygulamaları

ABSTRACT PREDICTIVE CONTROL APPLICATIONS OF MULTI INPUT MULTI OUTPUT CONSTRAINED SYSTEMS Recently, multivariable control techniques have received increased industrial interest especially in chemical industry. But various problems are encountered in multivariable control applications since most industrial process have multi input and multi output with interactions in between. Such systems are called Multi Input Multi Output (MIMO) systems. Also physical constraints exist in MIMO systems. These constraints can be on the input due to actuator limitation as well as on the outputs and also can be due to safety, product quality and efficiency requirements. In any control application it is important to take these constraints into consideration. In the conventional controllers each variable is controlled separately such as pressure, temperature, liquid level, flow etc. This is not ideal solution for the process automation. It is desired to design a single controller to control all the variable simultaneously. To handle the above mentioned problems predictive control algorithm which is based on the prediction of the system output has become a major research area. In this study, we first analyses of the MIMO systems and information on some multivariable algorithms were presented. A classical Quadruple Tank application was performed using classical multivariable trajectory tracking PI controller to illustrate the concepts in multivariable control. A pressure-liquid level system which has two input and two outputs (TITO) has been designed and build on which predictive control has been applied. A mathematical model for the process system based on experimental results was derived and tested. Transfer function parameters calculated in real-time using the input-output relation. The open loop response of the obtained model was compared to the real-time open loop response of the system. Information of model predictive control algorithms were given, how these algorithms were expanded for MIMO systems and the how constraints were incorporated was explained. Due to the structure of predictive control, constraints have been easily defined and model predictive control algorithm has been easily applied to our pressure-level system. The designed results of the controller were compared with results of decoupling PI which is a classical multivariable control technique, experimental and simulation results were presented. The experimental results show that model predictive controller (MPC) controls the pressure-level tank system in desired limits. When compared with PI controller also satisfactorily controls the system as MPC under variable references. But when the constraints were considered the MPC controller works better than PI controller

Gunt RT512 sıvı seviye kontrol ünitesinin bulanık mantık yöntemiyle kontrolü

Bu çalışmada Marmara Üniversitesi Teknik Eğitim Fakültesi Elektronik-Bilgisayar Eğitimi Bölümü Kontrol Ana Bilim Dalı laboratuarında bulunan GUNT RT512 SEVİYE ÜNİTESİ Bulanık Mantık( Fuzzy Logic) yöntemiyle kontrol edilecektir. Endüstride sıvı seviye sistemleri yaygın olarak kullanılmaktadır. Bu sistemler genellikle PID(Proportional, Integral, Derivative) ve ON-OFF kontrol yöntemleriyle kontrol edilmektedir. Bu yöntemlerle kontrol edilen sistemlerde aşım ve kararlı hal hatası oluşmaktadır, bu da sistemin hassasiyetini olumsuz yönde etkilemektedir. Bulanık Mantık yönteminin uygulanmasıyla bu problemin ortadan kaldırılması amaçlanmaktadır. GUNT RT512 SEVİYE ÜNİTESİ endüstride kullanılan sistemlere benzer bir sistemdir. Kullanılan elemanlar tamamen endüstride yer alanların aynısıdır. Mevcut sistem üzerinde enerji girişi pnömatik, kontrol girişi ise 4-20mA akım olan bir oransal valf, sıvı tankı, 1 fazlı asenkron motor tarafından sürülen bir pompa, dönüş vanası, basınç algılayıcı , basınç/akım transdüseri(2-6bar/4-20mA), ölçekli seviye tüpü ve UDC5000 dijital kontrolörü bulunmaktadır. Bulanık kontrolü gerçekleştirmek amacıyla, sistemdeki PID ve ON-OFF kontrol işlemini gerçekleştiren UDC5000 dijital kontrolörü devre dışı bırakılacaktır. Sisteme bir PC bağlanacak, bulanık kontrolör yazılım ile gerçekleştirilecektir. Tasarlanan bulanık kontrolörün girişleri , seviye ve seviye değişimi olarak seçilecektir. Kontrolör çıkışı ile oransal valfin konumu değiştirilecek, sıvı seviyesi istenen değerde sabit tutulacaktır. Son olarak seviye ünitesine uygulanan Bulanık Mantık kontrol yöntemi diğer kontrol yöntemleriyle karşılaştırılacaktır. Endüstri işletmelerin teknik eleman ihtiyacını karşılayan teknik ve endüstri meslek liselerine öğretmen yetiştiren Teknik Eğitim Fakültesi'nde uygulamalı eğitimin önemi çok büyüktür Uygulamalarda kullanılan deney setlerinin endüstridekilerine uygun olması yetişen teknik öğretmenin dolayısıyla teknik elemanın kalitesini arttıracak ve endüstride karşılaşabileceği sorunları en aza indirgeyecektir. Bu çalışma ile GUNT RT512 SEVİYE ÜNİTESİ ne Bulanık Kontrol kontrolör sistemi ilave edilerek, öğrencilerin sistem üzerinde yer alan PID ve ON-OFF kontrol yöntemlerinin yanısıra, Bulanık kontrol yöntemini de uygulama imkanı bulacaklar ve değişik kontrolör davranışlarını aynı sistem üzerinde inceleyebilecektir. ABSTRACT In this study, the GUNT RT512 LEVEL UNIT which is in the laboratory of Electronics and Computer Education Department of Tecnical Education Faculty in Marmara University will be controlled by using Fuzzy Logic. The liquid level system are used widely in ındustry. Those systems are usually controlled by PID (Proportional Integral Derivative) or On-Off control methods. Over-shot and steady-state errors occur usually in such systems controlled by using that methods. These errors affect the sensitivity of the system. It is aimed to overcome this problems by using Fuzzy Logic in this study. GUNT RT 512 LEVEL UNIT is similar to systems used in industrial aplication. The equipments are exactly the same in ındustry. Our system consists of a proportional valf which energy input is pneumatic and control ınput is 4-20 mA current, a liquid tank , a liquid tube, a pump that drived by a single-phase motor, an output valf, a pressure transducer (2-6 bar / 4-20mA) and UDC5000 digital controller (PID and On-Off). Fuzzy Controller will be used in the system instead of UDC5000. The Fuzzy Controller Software will be applied to system using a PC. The inputs of the designed Fuzzy Controller are level and level change. The position of the proportional valf will be adjusted according to the controller's output. Then liquid level will be kept constant at desired level. And finally, Fuzzy Logic Control Method will be compared to conventional controlling methods. Application is very important in Techical Education Faculties which graduates lots of teachers for Technical High Schools. Experiment Units in Lab are similar to real ones used in Industry. Then, teacher's knowledge and experience will be improved. At the same time the problems in real life can be minimized. In this study,The students will be able to examine both PID and On-Off Control and Fuzzy Control Method on the system and to see different control method's responces on the same system. Anahtar Kelimeler: Bulanık Mantık, Sıvı seviye,Bulanık Kontrolör, Fuzzy Logic, Liquid Level, Fuzzy Controlle

Evaluation of Sensory Feedback from a Robotic Hand: A Preliminary Study

In this study, a robotic hand was equipped with force and bend sensors. Sensors were modified to fit the robotic hand and for more efficient utilization. A cylindrical grasping task was performed for three conditions, namely no object, soft object and hard object. Features were formed using the outputs of the sensors and their first and second derivatives. A multinomial logistic regression model was fitted to the data. Classification was done according to both object type (no object, soft object and hard object classes) and movement type (no movement, flexion, contact/release and extension classes). Results have shown that the information from the force sensors do not adequately contribute to the feature space because of poor coupling and this affects discrimination of soft object and contact/release classes. More sensors and a better actuation protocol need to be used in future work

An application for fundamental computer programming learning

Applied computer laboratory lessons could be unproductive because of many students in there. Correcting students' mistakes one by one is wasting lesson time. Especially for beginners, most of these mistakes caused by complex integrated development environments. In this study, we develop a client server application for computer laboratories. Developed application is able to compile programming language source code remotely. Thus, students don't need to make something out of the writing source code. Furthermore, instructors don't need to install compiler to the each computer in laboratory. For start lesson, it is enough that server has just been configured. (C) 2015 The Authors. Published by Elsevier Ltd

Design of Shape Memory Alloy-Based and Tendon-Driven Actuated Fingers Towards a Hybrid Anthropomorphic Prosthetic Hand

This paper presents the design of tendon-driven actuated fingers using a shape memory alloy for a hybrid anthropomorphic prosthetic hand. The ring and little (pinky) fingers are selected for shape memory activation due to their lower degree of movement during multiple grasping configurations. The fingers' tendon system is based on shape memory alloy (SMA) wires that form artificial muscle pairs for the required flexion/extension of the finger joints. The finger has four degrees of freedom such that three of them are active. An experimental setup was developed to evaluate the performance of the ring and little fingers. An electromyography (EMG) controlled Pulse Width Modulated (PWM) technique is preferred for the actuation of joint motions using a high speed microcontroller

Gunt RT512 sıvı seviye kontrol ünitesinin bulanık mantık yöntemiyle kontrolü

ÖZETBu çalışmada Marmara Üniversitesi Teknik Eğitim Fakültesi Elektronik-Bilgisayar Eğitimi Bölümü Kontrol Ana Bilim Dalı laboratuarında bulunan GUNT RT512 SEVİYE ÜNİTESİ Bulanık Mantık( Fuzzy Logic) yöntemiyle kontrol edilecektir. Endüstride sıvı seviye sistemleri yaygın olarak kullanılmaktadır. Bu sistemler genellikle PID(Proportional, Integral, Derivative) ve ON-OFF kontrol yöntemleriyle kontrol edilmektedir. Bu yöntemlerle kontrol edilen sistemlerde aşım ve kararlı hal hatası oluşmaktadır, bu da sistemin hassasiyetini olumsuz yönde etkilemektedir. Bulanık Mantık yönteminin uygulanmasıyla bu problemin ortadan kaldırılması amaçlanmaktadır.GUNT RT512 SEVİYE ÜNİTESİ endüstride kullanılan sistemlere benzer bir sistemdir. Kullanılan elemanlar tamamen endüstride yer alanların aynısıdır. Mevcut sistem üzerinde enerji girişi pnömatik, kontrol girişi ise 4-20mA akım olan bir oransal valf, sıvı tankı, 1 fazlı asenkron motor tarafından sürülen bir pompa, dönüş vanası, basınç algılayıcı , basınç/akım transdüseri(2-6bar/4-20mA), ölçekli seviye tüpü ve UDC5000 dijital kontrolörü bulunmaktadır. Bulanık kontrolü gerçekleştirmek amacıyla, sistemdeki PID ve ON-OFF kontrol işlemini gerçekleştiren UDC5000 dijital kontrolörü devre dışı bırakılacaktır. Sisteme bir PC bağlanacak, bulanık kontrolör yazılım ile gerçekleştirilecektir. Tasarlanan bulanık kontrolörün girişleri , seviye ve seviye değişimi olarak seçilecektir. Kontrolör çıkışı ile oransal valfin konumu değiştirilecek, sıvı seviyesi istenen değerde sabit tutulacaktır. Son olarak seviye ünitesine uygulanan Bulanık Mantık kontrol yöntemi diğer kontrol yöntemleriyle karşılaştırılacaktır. Endüstri işletmelerin teknik eleman ihtiyacını karşılayan teknik ve endüstri meslek liselerine öğretmen yetiştiren Teknik Eğitim Fakültesi'nde uygulamalı eğitimin önemi çok büyüktür Uygulamalarda kullanılan deney setlerinin endüstridekilerine uygun olması yetişen teknik öğretmenin dolayısıyla teknik elemanın kalitesini arttıracak ve endüstride karşılaşabileceği sorunları en aza indirgeyecektir. Bu çalışma ile GUNT RT512 SEVİYE ÜNİTESİ ne Bulanık Kontrol kontrolör sistemi ilave edilerek, öğrencilerin sistem üzerinde yer alan PID ve ON-OFF kontrol yöntemlerinin yanısıra, Bulanık kontrol yöntemini de uygulama imkanı bulacaklar ve değişik kontrolör davranışlarını aynı sistem üzerinde inceleyebilecektir.ABSTRACTIn this study, the GUNT RT512 LEVEL UNIT which is in the laboratory of Electronics and Computer Education Department of Tecnical Education Faculty in Marmara University will be controlled by using Fuzzy Logic. The liquid level system are used widely in ındustry. Those systems are usually controlled by PID (Proportional Integral Derivative) or On-Off control methods. Over-shot and steady-state errors occur usually in such systems controlled by using that methods. These errors affect the sensitivity of the system. It is aimed to overcome this problems by using Fuzzy Logic in this study. GUNT RT 512 LEVEL UNIT is similar to systems used in industrial aplication. The equipments are exactly the same in ındustry. Our system consists of a proportional valf which energy input is pneumatic and control ınput is 4-20 mA current, a liquid tank , a liquid tube, a pump that drived by a single-phase motor, an output valf, a pressure transducer (2-6 bar / 4-20mA) and UDC5000 digital controller (PID and On-Off). Fuzzy Controller will be used in the system instead of UDC5000. The Fuzzy Controller Software will be applied to system using a PC. The inputs of the designed Fuzzy Controller are level and level change. The position of the proportional valf will be adjusted according to the controller's output. Then liquid level will be kept constant at desired level. And finally, Fuzzy Logic Control Method will be compared to conventional controlling methods.Application is very important in Techical Education Faculties which graduates lots of teachers for Technical High Schools. Experiment Units in Lab are similar to real ones used in Industry. Then, teacher's knowledge and experience will be improved. At the same time the problems in real life can be minimized. In this study,The students will be able to examine both PID and On-Off Control and Fuzzy Control Method on the system and to see different control method's responces on the same system.Anahtar Kelimeler: Bulanık Mantık, Sıvı seviye,Bulanık Kontrolör, Fuzzy Logic, Liquid Level, Fuzzy Controlle

Exoskeleton design and adaptive compliance control for hand rehabilitation

An adaptive robotic system has been developed to be used for hand rehabilitation. Previously developed exoskeletons are either very complex in terms of mechanism, hardware and software, or simple but have limited functionality only for a specific rehabilitation task. Some of these studies use simple position controllers considering only to improve the trajectory tracking performance of the exoskeleton which is inadequate in terms of safety and health of the patient. Some of them focus only on either passive or active rehabilitation, but not both together. Some others use EMG signals to assist the patient, but this time active rehabilitation is impossible unless different designs and control strategies are not developed. The proposed mechanical structure is extremely simple. The middle and the proximal phalanxes are used as a link of consecutively connected two 4-bar mechanisms, respectively. The PIP and MCP joints are actuated by a single electro mechanical cylinder to produce complex flexion and extension movements. It is simpler than similar ones from aspect with the mechanical structure and the biodynamic fit of the hand, making it practicable in terms of production and personal usage. Simple design lets to implement adaptive compliance controller for all active and passive rehabilitation tasks, instead of developing complex and different strategies for different rehabilitation tasks. Furthermore, using the Luenberger observer for unmeasured velocity state variable, an on-line estimation method is used to estimate the dynamic parameters of the system. This makes possible to estimate the force exerted by the patient as well, without a force sensor

Wireless Hand Rehabilitation System (WHRS)

Loss of motor skills in hand due to several reasons affects daily life in a negative way. Treatment or rehabilitation must be applied in order to reactivate motor skills. Different systems were developed in the rehabilitation process by benefiting telerehabilitation-based or with external skeleton manipulator. An internet connection is required for telerehabilitation-based systems and a physical therapist must carry out the rehabilitation process for systems with external skeleton manipulator. This shall increase the work load of physical therapist. In this study, it is aimed to decrease the work load of physical therapist and develop a hand rehabilitation system with easier and more flexible usage. With this purpose, a system that consists of three units communicate with each other wirelessly and which could be used even without a physical therapistLoss of motor skills in hand due to several reasons affects daily life in a negative way. Treatment or rehabilitation must be applied in order to reactivate motor skills. Different systems were developed in the rehabilitation process by benefiting telerehabilitation-based or with external skeleton manipulator. An internet connection is required for telerehabilitation-based systems and a physical therapist must carry out the rehabilitation process for systems with external skeleton manipulator. This shall increase the work load of physical therapist. In this study, it is aimed to decrease the work load of physical therapist and develop a hand rehabilitation system with easier and more flexible usage. With this purpose, a system that consists of three units communicate with each other wirelessly and which could be used even without a physical therapis