DOAJ (DOAJ: Directory of Open Access Journals), Dec 1, 2016
This paper focuses on design of AUV control system to control depth and pitch. Complexity and hig... more This paper focuses on design of AUV control system to control depth and pitch. Complexity and highly coupled dynamics, time-variance, and difficulty in hydrodynamic modeling and simulation, complicates the AUV modeling process and the design of proper and acceptable controller. A PD (Proportional-Derivative) controller, control the vehicle pitch and an outer P loop controller with state feedback will control the depth. The kinematic and dynamic equations will be extracted using various conditions such as the relative speed along the axis X (u), the speed along the axis Z (w), Pitch rate, forward position relative to the ground (x), depth (z), and the Pitch angle (Ɵ). Then we linearize the equations of motion of the AUV by choosing a suitable set of operating conditions. For effective control of the motion of AUVs, we need to design controllers based on the AUV's dynamic model. Through the control of propeller and fin's deflection, we can achieve the control system of AUVs. The simulation results indicate that developed control system is stable, competent, and efficient enough to control the AUV in tracking the two channels of heading and depth with stabilized speed.
Optimal path planning is required for unmanned surface vehicle (USV) operation. This paper propos... more Optimal path planning is required for unmanned surface vehicle (USV) operation. This paper proposes two new path planning methods based on ant colony algorithm considering variables such as minimum energy consumption, lowest collision probability with fixed and moving obstacles and the least travelling time. These two methods are called ant colony optimization local search (ACOLS) Out Teta and ACOLS Curve Path. In the ACOLS Out Teta, path is optimized using a new pheromone updating method based on distance with obstacles. In the ACOLS Curve Path method, an innovative way is presented to eliminate curvatures of the path, which reduces the robot’s maneuverability, decreasing the path length, energy consumption and travel time. In this paper, collision probability variable is used, providing the ability to present methods for providing an optimal path by paying a reasonable fee. Their performance is compared with each other, and with ACO and PSO.
Информационный издательский учебно-научный центр Стратегия будущего, 2021
The mobile robotic arm is a complex system with the features of the interaction between the arm a... more The mobile robotic arm is a complex system with the features of the interaction between the arm and the moving body of the robot, the holonomic and non-holonomic constraints, the multivariate and nonlinear dynamics. Its control is subject to external disturbances, parametric uncertainties, and unmodified dynamics. Although the robot's stimuli work in the joint space, the robot's final executor is controlled in the workspace. That is why, in designing a robotic arm control system in the workplace, the Jacobine matrix is adopted to transform the joint space into the workspace. Mobile robots and automated controlled machines can be used for a mixture of purposes, such as material transportation, servicing in nuclear environments, military environments, and more. In modern years, comprehensive studies have been conducted to control these robots. Since the creation of the robot for different fields was proposed, we have been dealing with the matter of routing and especially intelligent routing. Routing implies finding the optimal route from the starting point to reaching the end, without colliding fixed and moving obstacles along the way. In this essay, we review and apply fuzzy control applications in robotics.
Optimal path planning is required for unmanned surface vehicle (USV) operation. This paper propos... more Optimal path planning is required for unmanned surface vehicle (USV) operation. This paper proposes two new path planning methods based on ant colony algorithm considering variables such as minimum energy consumption, lowest collision probability with fixed and moving obstacles and the least travelling time. These two methods are called ant colony optimization local search (ACOLS) Out Teta and ACOLS Curve Path. In the ACOLS Out Teta, path is optimized using a new pheromone updating method based on distance with obstacles. In the ACOLS Curve Path method, an innovative way is presented to eliminate curvatures of the path, which reduces the robot’s maneuverability, decreasing the path length, energy consumption and travel time. In this paper, collision probability variable is used, providing the ability to present methods for providing an optimal path by paying a reasonable fee. Their performance is compared with each other, and with ACO and PSO.
Because of the low maintenance and robustness induction motors have many applications in the indu... more Because of the low maintenance and robustness induction motors have many applications in the industries. The speed control of induction motor is more important to achieve maximum torque and efficiency. Direct Field Oriented Control to control the speed is discussed in this paper. Soft computing technique – Fuzzy logic is applied in this paper for the speed control of induction motor to achieve maximum torque with minimum loss. The fuzzy logic controller is implemented using the Field Oriented Control technique as it provides better control of motor torque with high dynamic performance. The motor model is designed and membership functions are chosen according to the parameters of the motor model. The simulated design is tested using various tool boxes in MATLAB. Introduction AC Induction motors are being applied today to a wider range of applications requiring variable speed. Generally, variable speed drives for Induction Motor (IM) require both wide operating range of speed and fast torque response, regardless of load variations. This leads to more advanced control methods to meet the real demand. The conventional control methods have the following difficulties [Chitra, 2006] 1. It depends on the accuracy of the mathematical model of the systems 2. The expected performance is not met due to the load disturbance, motor saturation and thermal variations 3. Classical linear control shows good performance only at one operating speed 4. The coefficients must be chosen properly for acceptable results, whereas choosing the proper coefficient with varying parameters like set point is very difficult to implement conventional control, the model of the controlled system must be known. The usual method of computation of mathematical model of a system is difficult. When there are system parameter variations or environmental disturbance, the behavior of the system is not satisfactory. Usually classical control is used in electrical motor drives. The classical controller designed for high performance increases the complexity of the design and hence the cost. Advanced control based on artificial intelligence technique is called intelligent control. Every system with artificial intelligence is called self-organizing system. On the 80 th decade the
This paper focuses on design of AUV control system to control depth and pitch. Complexity and hig... more This paper focuses on design of AUV control system to control depth and pitch. Complexity and highly coupled dynamics, time-variance, and difficulty in hydrodynamic modeling and simulation, complicates the AUV modeling process and the design of proper and acceptable controller. A PD (Proportional-Derivative) controller, control the vehicle pitch and an outer P loop controller with state feedback will control the depth. The kinematic and dynamic equations will be extracted using various conditions such as the relative speed along the axis X (u), the speed along the axis Z (w), Pitch rate, forward position relative to the ground (x), depth (z), and the Pitch angle (Ɵ). Then we linearize the equations of motion of the AUV by choosing a suitable set of operating conditions. For effective control of the motion of AUVs, we need to design controllers based on the AUV's dynamic model. Through the control of propeller and fin's deflection, we can achieve the control system of AUVs. The simulation results indicate that developed control system is stable, competent, and efficient enough to control the AUV in tracking the two channels of heading and depth with stabilized speed.
DOAJ (DOAJ: Directory of Open Access Journals), Dec 1, 2016
This paper focuses on design of AUV control system to control depth and pitch. Complexity and hig... more This paper focuses on design of AUV control system to control depth and pitch. Complexity and highly coupled dynamics, time-variance, and difficulty in hydrodynamic modeling and simulation, complicates the AUV modeling process and the design of proper and acceptable controller. A PD (Proportional-Derivative) controller, control the vehicle pitch and an outer P loop controller with state feedback will control the depth. The kinematic and dynamic equations will be extracted using various conditions such as the relative speed along the axis X (u), the speed along the axis Z (w), Pitch rate, forward position relative to the ground (x), depth (z), and the Pitch angle (Ɵ). Then we linearize the equations of motion of the AUV by choosing a suitable set of operating conditions. For effective control of the motion of AUVs, we need to design controllers based on the AUV's dynamic model. Through the control of propeller and fin's deflection, we can achieve the control system of AUVs. The simulation results indicate that developed control system is stable, competent, and efficient enough to control the AUV in tracking the two channels of heading and depth with stabilized speed.
Optimal path planning is required for unmanned surface vehicle (USV) operation. This paper propos... more Optimal path planning is required for unmanned surface vehicle (USV) operation. This paper proposes two new path planning methods based on ant colony algorithm considering variables such as minimum energy consumption, lowest collision probability with fixed and moving obstacles and the least travelling time. These two methods are called ant colony optimization local search (ACOLS) Out Teta and ACOLS Curve Path. In the ACOLS Out Teta, path is optimized using a new pheromone updating method based on distance with obstacles. In the ACOLS Curve Path method, an innovative way is presented to eliminate curvatures of the path, which reduces the robot’s maneuverability, decreasing the path length, energy consumption and travel time. In this paper, collision probability variable is used, providing the ability to present methods for providing an optimal path by paying a reasonable fee. Their performance is compared with each other, and with ACO and PSO.
Информационный издательский учебно-научный центр Стратегия будущего, 2021
The mobile robotic arm is a complex system with the features of the interaction between the arm a... more The mobile robotic arm is a complex system with the features of the interaction between the arm and the moving body of the robot, the holonomic and non-holonomic constraints, the multivariate and nonlinear dynamics. Its control is subject to external disturbances, parametric uncertainties, and unmodified dynamics. Although the robot's stimuli work in the joint space, the robot's final executor is controlled in the workspace. That is why, in designing a robotic arm control system in the workplace, the Jacobine matrix is adopted to transform the joint space into the workspace. Mobile robots and automated controlled machines can be used for a mixture of purposes, such as material transportation, servicing in nuclear environments, military environments, and more. In modern years, comprehensive studies have been conducted to control these robots. Since the creation of the robot for different fields was proposed, we have been dealing with the matter of routing and especially intelligent routing. Routing implies finding the optimal route from the starting point to reaching the end, without colliding fixed and moving obstacles along the way. In this essay, we review and apply fuzzy control applications in robotics.
Optimal path planning is required for unmanned surface vehicle (USV) operation. This paper propos... more Optimal path planning is required for unmanned surface vehicle (USV) operation. This paper proposes two new path planning methods based on ant colony algorithm considering variables such as minimum energy consumption, lowest collision probability with fixed and moving obstacles and the least travelling time. These two methods are called ant colony optimization local search (ACOLS) Out Teta and ACOLS Curve Path. In the ACOLS Out Teta, path is optimized using a new pheromone updating method based on distance with obstacles. In the ACOLS Curve Path method, an innovative way is presented to eliminate curvatures of the path, which reduces the robot’s maneuverability, decreasing the path length, energy consumption and travel time. In this paper, collision probability variable is used, providing the ability to present methods for providing an optimal path by paying a reasonable fee. Their performance is compared with each other, and with ACO and PSO.
Because of the low maintenance and robustness induction motors have many applications in the indu... more Because of the low maintenance and robustness induction motors have many applications in the industries. The speed control of induction motor is more important to achieve maximum torque and efficiency. Direct Field Oriented Control to control the speed is discussed in this paper. Soft computing technique – Fuzzy logic is applied in this paper for the speed control of induction motor to achieve maximum torque with minimum loss. The fuzzy logic controller is implemented using the Field Oriented Control technique as it provides better control of motor torque with high dynamic performance. The motor model is designed and membership functions are chosen according to the parameters of the motor model. The simulated design is tested using various tool boxes in MATLAB. Introduction AC Induction motors are being applied today to a wider range of applications requiring variable speed. Generally, variable speed drives for Induction Motor (IM) require both wide operating range of speed and fast torque response, regardless of load variations. This leads to more advanced control methods to meet the real demand. The conventional control methods have the following difficulties [Chitra, 2006] 1. It depends on the accuracy of the mathematical model of the systems 2. The expected performance is not met due to the load disturbance, motor saturation and thermal variations 3. Classical linear control shows good performance only at one operating speed 4. The coefficients must be chosen properly for acceptable results, whereas choosing the proper coefficient with varying parameters like set point is very difficult to implement conventional control, the model of the controlled system must be known. The usual method of computation of mathematical model of a system is difficult. When there are system parameter variations or environmental disturbance, the behavior of the system is not satisfactory. Usually classical control is used in electrical motor drives. The classical controller designed for high performance increases the complexity of the design and hence the cost. Advanced control based on artificial intelligence technique is called intelligent control. Every system with artificial intelligence is called self-organizing system. On the 80 th decade the
This paper focuses on design of AUV control system to control depth and pitch. Complexity and hig... more This paper focuses on design of AUV control system to control depth and pitch. Complexity and highly coupled dynamics, time-variance, and difficulty in hydrodynamic modeling and simulation, complicates the AUV modeling process and the design of proper and acceptable controller. A PD (Proportional-Derivative) controller, control the vehicle pitch and an outer P loop controller with state feedback will control the depth. The kinematic and dynamic equations will be extracted using various conditions such as the relative speed along the axis X (u), the speed along the axis Z (w), Pitch rate, forward position relative to the ground (x), depth (z), and the Pitch angle (Ɵ). Then we linearize the equations of motion of the AUV by choosing a suitable set of operating conditions. For effective control of the motion of AUVs, we need to design controllers based on the AUV's dynamic model. Through the control of propeller and fin's deflection, we can achieve the control system of AUVs. The simulation results indicate that developed control system is stable, competent, and efficient enough to control the AUV in tracking the two channels of heading and depth with stabilized speed.
Uploads
Papers by Soroush Vahid
methods based on ant colony algorithm considering variables such as minimum energy consumption, lowest collision probability with fixed and moving obstacles and the least travelling time. These two methods are called ant colony optimization
local search (ACOLS) Out Teta and ACOLS Curve Path. In the ACOLS Out Teta, path is optimized using a new pheromone
updating method based on distance with obstacles. In the ACOLS Curve Path method, an innovative way is presented to
eliminate curvatures of the path, which reduces the robot’s maneuverability, decreasing the path length, energy consumption
and travel time. In this paper, collision probability variable is used, providing the ability to present methods for providing an
optimal path by paying a reasonable fee. Their performance is compared with each other, and with ACO and PSO.
methods based on ant colony algorithm considering variables such as minimum energy consumption, lowest collision probability with fixed and moving obstacles and the least travelling time. These two methods are called ant colony optimization
local search (ACOLS) Out Teta and ACOLS Curve Path. In the ACOLS Out Teta, path is optimized using a new pheromone
updating method based on distance with obstacles. In the ACOLS Curve Path method, an innovative way is presented to
eliminate curvatures of the path, which reduces the robot’s maneuverability, decreasing the path length, energy consumption
and travel time. In this paper, collision probability variable is used, providing the ability to present methods for providing an
optimal path by paying a reasonable fee. Their performance is compared with each other, and with ACO and PSO.