Print ISSN: 1681-6900

Online ISSN: 2412-0758

Keywords : Position control

Tuning of a PID Controller by Bacterial Foraging Algorithm for Position Control of DC Servo Motor

Manal H. Jasim

Engineering and Technology Journal, 2018, Volume 36, Issue 3A, Pages 287-294
DOI: 10.30684/etj.36.3A.7

Controlling the position of Direct Current servo motor is the first aim of this paper, by Bacterial Foraging Algorithm (BFA), the best Proportional – Integral - Derivative (PID) controller parameters were obtained through Mat-Lab application, including the simulation and modeling of Direct Current servo motor, BFA controller and conventional PID Controller as benchmark to the performance of BFA. Proportional – Integral - Derivative controller is a closed loop system, the error made by the Direct Current motor was corrected and determine the correct position to the desired point were controlled By integrating the Proportional – Integral - Derivative controller. Kp, Ki and Kd parameters was tuned to the find best values, which make the Direct Current Motor reached quickly the accurate position without any mistake.

Modeling and Force-Position Controller Design of Rehabilitation Robot for Human Arm Movements

Mohammed Y. Hassan; Zeyad A. Karam

Engineering and Technology Journal, 2014, Volume 32, Issue 8, Pages 2079-2095

Physical disabilities such as full or partial loss of function in the shoulder, elbow or wrist is a common impairment in the elderly, and can also be a secondary effect due to strokes, trauma, sports injuries, and occupational injuries. Rehabilitation programs are the main method to promote functional recovery in these subjects.
This work focuses on designing and nonlinear modeling of 3DOF non-wearable rehabilitation robot for rehabilitee the upper limbs in human body. The structure of this robot will eliminate singularity problem by depending on articulated configuration through adding shoulder offset to the robot base. The nonlinear modeling of a rehabilitation robot including kinematic and dynamic models is done for three degrees of freedom, with the effect of friction term in robot actuator.
Three Intelligent Force-Position controllers, PD-like Fuzzy logic controllers are designed for position control and P controllers for force control, for moving the shoulder and elbow joints of the rehabilitation robot at desired trajectories. These controllers were tuned in order to make the robot end effecter tracking the desired medical trajectories in a specific time with minimum overshoot, minimum settling time and minimum steady state error. Each controller is tested by applying different trajectories with the application of external disturbances on the robot body.
A comparison between the proposed intelligent controllers and conventional PD Force-Position controllers shows superior of the intelligent type of controller to make the end effecter follow the desired trajectory compared with the use of conventional controllers.

Design a Position Control of the Blade Pitch Angle for Variable Speed Wind Turbine Generators

Roshen T. Ahmed

Engineering and Technology Journal, 2009, Volume 27, Issue 13, Pages 2474-2488

Variable speed wind turbine generators are more powerful than constant
speed turbines. However the unstable wind speed causes the variable speed machine to have variable voltage and frequency. The quality of power can be improved if a suitable control technique is used
in the system, the fluctuating wind generator output needs to be controlled, for this reason one needs to study the dynamic characteristics of the combined wind generator system. Better control design can be designed for more dynamic performance. Blade pitch control of the fan is discussed here in this research by using rotary
potentiometers for position control and some tests is done in control laboratory as a simulation of the position control.

Effect of Dual Reinforcement on Wear Resistance by Aluminum Compacts Reinforce by SiC, Al2O3

Mohammed Moanes Ezzaldean Ali; Hanan A. R. Akkar; A. K. M. AL-Shaikhli; Ali K. Shayyish; Muhsin J. Jweeg; Wisam Auday Hussain; Mohammed T. Hussein; Mohammad A. Al-Neami; Farah S. Al-Jabary; Jafar M. Hassan; Ali H. Tarrad; Mohammed N. Abdullah; Ahmed T. Mahdi; Eyad K. Sayhood; Husain M. Husain; Nidaa F. Hassan; Rehab F. Hassan; Akbas E. Ali; Assim H Yousif; Kassim K Abbas; Aqeel M Jary; Shakir A. Salih; Ali T. Jasim; Ammar A. Ali; Hosham Salim; JafarM. Daif; Ali H. Al Aboodi; Ammar S. Dawood; Sarmad A. Abbas; Salah Mahdi Saleh; Roshen T. Ahmed; Aseel B. Al-Zubaidi; Mohammed Y. Hassan; Majid A. Oleiwi; Shaimaa Mahmood Mahdy; Husain M. Husain; Mohammed J. Hamood; Shaima; a Tariq Sakin

Engineering and Technology Journal, 2009, Volume 27, Issue 13, Pages 423-429

The producing composite materials of dual reinforcement in which the matrix material is aluminum reinforced with two types of ceramic particles : which are Alumina (50μm


composite materials; wear test ; Al2O3; SiC: Al