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Because the winding resistance of small power transformer is far bigger than the inductance of winding, it is difficult to obtain the leakage inductance parameters of small power transformer winding accurately by traditional experimental methods. In order to solve the above problems, this paper proposes a method of obtaining leakage inductance by applying step voltage, establishes the T-type equivalent circuit model of transformer, carries out the measurement experiment of leakage inductance, and carries out Simulink simulation with the parameters obtained by applying step voltage. The results show that the simulation results are in good agreement with the experimental results, which verifies the validity of the method.Because the winding resistance of small power transformer is far bigger than the inductance of winding, it is difficult to obtain the leakage inductance parameters of small power transformer winding accurately by traditional experimental methods. In order to solve the above problems, this paper proposes a method of obtaining leakage inductance by applying step voltage, establishes the T-type equivalent circuit model of transformer, carries out the measurement experiment of leakage inductance, and carries out Simulink simulation with the parameters obtained by applying step voltage. The results show that the simulation results are in good agreement with the experimental results, which verifies the validity of the method.

The aim of the paper is to present a regulation and control model of the two link manipulator end effector position. Attention is paid to kinematic and dynamic analysis of the manipulator. Then the simulation model with a control algorithm of its end effector position is proposed. MSC Adams Control Toolkit is used for computer simulation. Finally the results of the simulation are presented in graphical form. An example of a robot model that will be the objective of the solution in the paper consists of two members. The industrial robot can be considered as an open chain mechanism consisting of rigid links and joints. The movable arms are mounted on a solid base ensuring its stability in operation. A working tool, in our case a basket, is fixedly connected to the movable upper arm. Our aim is to describe the movement of the basket of the end member. The control of the position of the end member was performed by the MSC Adams program, which offers the possibility to build a control system and also the possibility of using regulator. In this case a proportional regulator with Kp gain is used. The stability of the basket is eliminated by the control circuit by applying a balancing torque that allows the basket to stabilize during movement. For the control system a feedback control circuit is provided. The regulator controls the equalization torque to keep the basket in a horizontal position during arm rotation. The aim was also to obtain results from the manipulation of the robot’s end effector and to prove the ability and functionality of the designed balancing torque controller. The course of the current and desired angle while moving by trajectory is displayed graphically.The aim of the paper is to present a regulation and control model of the two link manipulator end effector position. Attention is paid to kinematic and dynamic analysis of the manipulator. Then the simulation model with a control algorithm of its end effector position is proposed. MSC Adams Control Toolkit is used for computer simulation. Finally the results of the simulation are presented in graphical form. An example of a robot model that will be the objective of the solution in the paper consists of two members. The industrial robot can be considered as an open chain mechanism consisting of rigid links and joints. The movable arms are mounted on a solid base ensuring its stability in operation. A working tool, in our case a basket, is fixedly connected to the movable upper arm. Our aim is to describe the movement of the basket of the end member. The control of the position of the end member was performed by the MSC Adams program, which offers the possibility to build a control system and also the possi...

High speed vehicle as a vibration system, resonance generated in flight may be harmful to high speed vehicles. It is possible to solve the resonance problem by acquiring the natural frequency of the high-speed aircraft and then taking some measures to avoid the natural frequency of the high speed vehicle. Therefore, In this paper, the modal test of the high speed vehicle was carried out by using the running hammer method and the PolyMAX modal parameter identification method. Firstly, the total frequency response function, coherence function of the high speed vehicle are obtained by the running hammer stimulation test, and through the modal assurance criterion (MAC) to determine the accuracy of the estimated parameters. Secondly, the first three order frequencies, the pole steady state diagram of the high speed vehicles is obtained by the PolyMAX modal parameter identification method. At last, the natural frequency of the vibration system was accurately obtained by the running hammer method.High speed vehicle as a vibration system, resonance generated in flight may be harmful to high speed vehicles. It is possible to solve the resonance problem by acquiring the natural frequency of the high-speed aircraft and then taking some measures to avoid the natural frequency of the high speed vehicle. Therefore, In this paper, the modal test of the high speed vehicle was carried out by using the running hammer method and the PolyMAX modal parameter identification method. Firstly, the total frequency response function, coherence function of the high speed vehicle are obtained by the running hammer stimulation test, and through the modal assurance criterion (MAC) to determine the accuracy of the estimated parameters. Secondly, the first three order frequencies, the pole steady state diagram of the high speed vehicles is obtained by the PolyMAX modal parameter identification method. At last, the natural frequency of the vibration system was accurately obtained by the running hammer method.

In this paper, an altitude control system is designed to increase the positioning accuracy of a mini-UAV on the z-axis of the inertial system and to improve conventional altitude control systems relying only on GPS, barometer or laser sensors which may have significant errors in certain flight conditions. The main objective of the mini-UAV is to monitor and detect a Corona Discharge that usually occurs on high voltage powerlines which implies a very good infrastructure in terms of on-board equipment because of the danger which occur when UAV flies quite close to the powerlines and into an intense electromagnetic field. To design the altitude controller for the longitudinal dynamics a control structure method, based on successively closed loops with different types of classic controllers was used. We concluded that the command structures with speed constraint was necessary to implement a speed device that automatically maintains a constant speed. Thus, the speed device is trying to maintain a constant speed using the throttle control. After modelling the longitudinal dynamics, numerical simulations were performed in MATLAB, Simulink and the obtained results confirmed a good performance of the proposed control strategy flight altitude control based on the automated speed device.In this paper, an altitude control system is designed to increase the positioning accuracy of a mini-UAV on the z-axis of the inertial system and to improve conventional altitude control systems relying only on GPS, barometer or laser sensors which may have significant errors in certain flight conditions. The main objective of the mini-UAV is to monitor and detect a Corona Discharge that usually occurs on high voltage powerlines which implies a very good infrastructure in terms of on-board equipment because of the danger which occur when UAV flies quite close to the powerlines and into an intense electromagnetic field. To design the altitude controller for the longitudinal dynamics a control structure method, based on successively closed loops with different types of classic controllers was used. We concluded that the command structures with speed constraint was necessary to implement a speed device that automatically maintains a constant speed. Thus, the speed device is trying to maintain a constant spee...

The paper optimizes the original spacing policy when adopting VTH (Variable Time Headway), proposes to introduce the road curve curvature K to the spacing policy to cope with following the wrong vehicle or failing to follow the vehicle owing to the radar limitation of curve in ACC system. By utilizing MATLAB/Simulink, automobile longitudinal dynamics model is established. At last, the paper sets up such three common cases as the vehicle ahead runs at a uniform velocity, an accelerated velocity and hits the brake suddenly, simulates these cases on the curve with different curvature, analyzes the curve spacing policy in the perspective of safety and vehicle following efficiency and draws the conclusion whether the optimization scheme is effective or not.

The paper considers the relationship between the parameters of the vibration arising in rotating machinery during operation and the shaft speed. The goal of this paper is to determine the dependence of the vibration parameters on the shaft speed for solving applied engineering problems. To properly evaluate the technical condition of bearing assemblies, we should take into account the pattern of the rotating machinery vibration parameters-shaft speed relationship, which will allow creating new diagnostic features, the totality of which will ensure an increased reliability of diagnosis. We took the check for a correlation between the factor and resultative feature parameters as the correlation analysis method. A high pair linear correlation between the diagnostic features (acceleration, velocity, displacement) and the shaft speed was determined on the basis of the check for correlation between the vibration parameters and the shaft speed, and also the linear correlation coefficients can be used to solve th...

This paper presents the design of 5 V to 20 V DC switching regulator for power supply module. A voltage multiplier which consists of cascaded diode-capacitor combination is used in order to obtain a high voltage power supply. Due to power loss that has occurred in a stray of component arrangement, the proposed design employs a pulse width modulation (PWM) controller circuit with an inclusion of a capacitor, diode, and inductor components. The input supply of 5 V DC to LT1618 controller circuit has produced 20.35 V based from simulation results. Meanwhile, the measurement results of 19.36 V are obtained and the feedback signal is required for the purpose of stabilizing the output. The proposed design can reduce the components as well as the PCB size, thus minimizing the overall cost of making a switching regulator for power supply module.This paper presents the design of 5 V to 20 V DC switching regulator for power supply module. A voltage multiplier which consists of cascaded diode-capacitor combination is used in order to obtain a high voltage power supply. Due to power loss that has occurred in a stray of component arrangement, the proposed design employs a pulse width modulation (PWM) controller circuit with an inclusion of a capacitor, diode, and inductor components. The input supply of 5 V DC to LT1618 controller circuit has produced 20.35 V based from simulation results. Meanwhile, the measurement results of 19.36 V are obtained and the feedback signal is required for the purpose of stabilizing the output. The proposed design can reduce the components as well as the PCB size, thus minimizing the overall cost of making a switching regulator for power supply module.

The omnidirectional drive is the method of achieving the holonomic motion, which allows the system to move in any direction without changing the orientation of the vehicle and achieving the zero radii of rotation. The proposed transmission system enables the vehicle to achieve holonomic motion using Omni wheels in a single drive. This paper presents the development of the transmission system for achieving omnidirectional motion by using mecanum wheels. The system uses four mecanum wheels to achieve the movement in all directions, including sideways, and zero radii of rotation.

In this paper is presented a concept of IMPI (Intelligent Mission Planning Interface) which besides the basic functions of any GCS also is presented an obstacle collision avoidance function without human intervention. IMPI is based on three main functions: mission post-flight analysis, mission planning, real time monitoring and autopilot calibration and static obstacle collision avoidance. Therefore, the obstacle avoidance problem is perceived as a Mixed Integer Linear Programming (MILP) based on a Receding Horizon approach. This implies to consider the time division of the overall mission flight duration into intermediate, fixed or variable time slots, for which UAV states are measured and control input commands are derived. For this was used a quadcopter having on board a proprietary autopilot and on which we performed MATLAB simulations that reveals the fact that the obstacle collision avoidance was assured, making us consider moving to the next stage, namely practical implementation.

Parametric design is a design concept emphasized by Pro/E. Parameters are the core concept of parametric design. In a model, parameters are embodied in the form of "size". The prominent point of parametric design is that it is convenient to modify the design intent by changing the parameters so as to modify the design intent. Relational expression is another important content in parametric design, which reflects the relationship between parameters. This paper will focus on parametric design of hinge four bar mechanism. The main content is to design planar four bar linkage according to the function relationship between two connecting rods to realize the angular position. Functional mechanism design refers to the requirement of feeding motion law between the active part and the follower of planar linkage mechanism. Finally, the result of the design of the mechanism is verified by simulation.

In the paper the authors propose a method of bilateral control for space robotic manipulators construction with large delays in transmissions of control signals from the Earth to the local space manipulator’s control system.

The paper presents theoretical studies on the operation of linear hydraulic drive by changing the ratio of the compression time (forward stroke) and the suction time (backward stroke). The influence of the drive operating mode on the working cycle efficiency is assessed.

Harmonic drives are widely used in aerospace and industrial robots. Flexibility, friction and parameter uncertainty will result in transmission performance degradation. In this paper, an adaptive back-stepping method with friction compensation is proposed to improve the tracking performance of the harmonic drive system. The nonlinear friction is described by LuGre model and compensated with a friction observer, and the uncertainty of model parameters is resolved by adaptive parameter estimation method. By using Lyapunov stability theory, it is proved that all the errors of the closed-loop system are uniformly ultimately bounded. Simulations illustrate the effectiveness of our friction compensation method.

In this article different brushless dc motor controlling techniques are presented. The aim of the paper is to show the most adequate algorithm to control a brushless motor at low speeds and high torques. Trapezoidal, sinusoidal and space vector techniques are described as well as various ways of finding the rotor’s position, based on which proper commutations are given. Further on a custom controller is described. It bases on SVPWM technique that gave the best results during the simulation process. Two structures of SVPWM control loop with and without current feedback are illustrated and described. Communication between the regulator and master control board is featured as well as controller’s currents and rotor’s position feedback.

Power factor regulator technology has recently drawn attention to the consumer and to power generation company in order for consumers to use electricity efficiently. Controlling of power factor for efficient usage can reduce the production of power in fulfilment demands hence reducing the greenhouse effect. This paper presents the design method of power factor controller for household usage. There are several methods to improve the power factor. The power factor controller used by this method is by using capacitors. Total harmonic distortion also has become a major problem for the reliability of the electrical appliances and techniques to control it will be discussed.

This paper establishes a neural network model that can predict LED lifetime. The ideal factor, luminous flux, light quantum number and fluorescence efficiency are taken as input variables of neural network, whose output variable is the life of the LED. Through the repeated training of the experimental sample, the hidden layer number, the hidden layer unit number and the transfer function of the neural network are determined, and the life prediction model function is established. Predicting the LED life only need once measurement of the LED through the model function, which can predict different types of LED life on the same time. Respectively, the model can precisely predict LED life under the using current of 60mA and 40mA. The accuracy of the life prediction model under aging current can reach more than 85%.

This paper presents the simulation of three-phase induction motor drives using Indirect Field Oriented Control (IFOC) in PSIM environment. The asynchronous machine is well known about natural limitations fact of highly nonlinearity and complexity of motor model. In order to resolve these problems, the IFOC is applied to control the instantaneous electrical quantities such as torque and flux component. As FOC is controlling the stator current that represented by a vector, the torque component is aligned with d coordinate while the flux component is aligned with q coordinate. There are five levels of the incremental system are gradually built up to verify and testing the software module in the system. Indeed, all of system build levels are verified and successfully tested in PSIM environment. Moreover, the corresponding system of five build levels are simulated in PSIM environment which is user-friendly for simulation studies in order to explore the performance of speed responses based on IFOC algorithm for three-phase induction motor drives.

In the study there are introduced several control methods that maximize average velocity of the vibratory robot subject to several constraints. The robot is presented by a rigid box with a pendulum inside it. It can move forwards and backwards and there is a Coulomb friction between the box and the surface. In the paper it is not only shown the difference and advantages of proposed control laws but there is also done a comparison between efforts done by the motor that provides rotation of the pendulum for different control methods.

An Attitude Heading Reference System (AHRS) provides 3D orientation of an aircraft (roll, pitch, and yaw) with instantaneous position and also heading information. For implementation of a low cost AHRS system Micro-electrical-Mechanical system (MEMS) based sensors are used such as accelerometer, gyroscope, and magnetometer. Accelerometers suffer from errors caused by external accelerations that sums to gravity and make accelerometers based rotation inaccurate. Gyroscopes can remove such errors but create drifting problems. So for getting the precise data additionally two very common and well known filters Complementary and Kalman are introduced to the system. In this paper a comparison of system performance using these two filters is shown separately so that one would be able to select filter with better performance for his/her system.

The paper deals with an aircraft single-jet engine’s control system, based on a fuel flow controller. Considering the engine as controlled object and its thrust the most important operation effect, from the multitude of engine’s parameters only its rotational speed n is measurable and proportional to its thrust, so engine’s speed has become the most important controlled parameter. Engine’s control system is based on fuel injection Qi dosage, while the output is engine’s speed n. Based on embedded system’s main parts’ mathematical models, the author has described the system by its block diagram with transfer functions; furthermore, some Simulink-Matlab simulations are performed, concerning embedded system quality (its output parameters time behavior) and, meanwhile, some conclusions concerning engine’s parameters mutual influences are revealed. Quantitative determinations are based on author’s previous research results and contributions, as well as on existing models (taken from technical literature). The method can be extended for any multi-spool engine, single- or twin-jet.

Linac4 is a 160 MeV H− linear accelerator part of the upgrade of the LHC injector chain. Its cesiated surface H− source is designed to provide a beam intensity of 40-50mA. It is operated with periodical Cs-injection at typically 30 days intervals [1] and this implies that the beam parameters will slowly evolve during operation.Autopilot is a control software package extending CERN developed Inspector framework. The aim of Autopilot is to automatize the mandatory optimization and cesiation processes and to derive performance indicators, thus keeping human intervention minimal.Autopilot has been developed by capitalizing on the experience from manually operating the source. It comprises various algorithms running in real-time, which have been devised to: • Optimize the ion source performance by regulation of H2 injection, RF power and frequency. • Describe the performance of the source with performance indicators, which can be easily understood by operators. • Identify failures, try to recover the nominal operation and send warning in case of deviation from nominal operation. • Make the performance indicators remotely available through Web pages. Autopilot is at the same level of hierarchy as an operator, in the CERN infrastructure. This allows the combination of all ion source devices, providing the required flexibility. Autopilot is executed in a dedicated server, ensuring unique and centralized control, yet allowing multiple operators to interact at runtime, always coordinating between them. Autopilot aims at flexibility, adaptability, portability and scalability, and can be extended to other components of CERN’s accelerators. In this paper, a detailed description of the Autopilot algorithms is presented, along with first results of operating the Linac4 H− Ion Source with Autopilot.

The paper deals with a fuel mass flow rate controller with indirect action for aircraft jet engines. The author has identified fuel controller’s main parts and its operation mode, then, based on these observations, one has determined motion equations of each main part, which have built system’s non-linear mathematical model. In order to realize a better study this model was linearised (using the finite differences method) and then adimensionalized. Based on this new form of the mathematical model, after applying Laplace transformation, the embedded system (controller+engine) was described by the block diagram with transfer functions. Some Simulink-Matlab simulations were performed, concerning system’s time behavior for step input, which lead to some useful conclusions and extension possibilities.

This paper presents Volterra model of silicon controlled rectifier (SCR). As the SCR circuit nonlinearities appear due to transistors, we used the classical mathematical model, namely, Ebers-Moll model together with perturbation theory to obtain closed form Volterra expressions between input and output of SCR. The derived equations can be used as a model in SIMULINK for designing, analysis and development of new integrated circuits in advance before the formation of chips. The closed form expressions can also be used for circuit parameter estimation purpose. The derived equations are useful as a model in SIMULINK software, as this software provides direct access to circuit parameters.

This paper presents design and fabrication of a 1-DOF (degree-of-freedom) drive mode and 2-DOF sense mode micro-gyroscope. It is an inherently robust structure and offers a high sense frequency bandwidth. The proposed design utilizes resonance of the1-DOF drive mode oscillator and employs dynamic amplification concept in sense modes to increase the sensitivity while maintaining robustness. The 2-DOF in the sense direction renders the device immune to process imperfections and environmental effects. The design is simulated using FEA software (CoventorWare®). The device is designed considering process compatibility with SU-8 based UV-LIGA process, which is an economical fabrication technique. The complete fabrication process is presented along with SEM images of the fabricated device. The device has 9 µm thick Nickel as the key structural layer with an overall reduced key structure size of 2.2 mm by 2.1 mm.

This paper proposes the LQ‐Servo controller for AQM (Active Queue Management) routers. The proposed controller structure is made by taking a traditional servo mechanism based on Linear Quadratic approach and by augmenting a new state variable to the feed forward loop. Since the controller structure is consists of a standard optimal feedback regulator and a feed forward controller, it is able to enhance the usefulness of resources and to reduce unnecessary memory reservations such as RAM (Random Access Memory) or SMA (Shared Memory Area) on ordinary router systems, respectively.

In this paper, we analyze and compare four image‐based visual servoing control laws. Three of them are classical while a new one is proposed. This new control law is based on a behavior controller to adjust the movement of the camera. It can also be used to switch between the classical methods. An analytical study of all control schemes when translational motion along and rotational motion around the optical axis is also presented. Finally, simulation and experimental results show that the new control law with a behavior controller has a wider range of success than the other control schemes and can be used to avoid local minima and singularities.