ISSN 2229-6972 (Online) ISSN 2347-7237 (Print)
Journal of Control & Instrumentation (JoCI)
September–December 2016
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It is my privilege to present the print version of the [Volume 7 Issue 3] of our Journal of Control & Instrumentation, 2016. The intension of JoCI is to create an atmosphere that stimulates vision, research and growth in the area of Control & Instrumentation. Timely publication, honest communication, comprehensive editing and trust with authors and readers have been the hallmark of our journals. STM Journals provide a platform for scholarly research articles to be published in journals of international standards. STM journals strive to publish quality paper in record time, making it a leader in service and business offerings. The aim and scope of STM Journals is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high level learning, teaching and research in all the Science, Technology and Medical domains. Finally, I express my sincere gratitude to our Editorial/ Reviewer board, Authors and publication team for their continued support and invaluable contributions and suggestions in the form of authoring writeups/reviewing and providing constructive comments for the advancement of the journals. With regards to their due continuous support and co-operation, we have been able to publish quality Research/Reviews findings for our customers base. I hope you will enjoy reading this issue and we welcome your feedback on any aspect of the Journal.
Dr. Archana Mehrotra Managing Director STM Journals
Journal of Control & Instrumentation
Contents
1. Virtual Instrumentation System for 3D Tilt Estimation of Moving Object using MEMS Multi-Sensor Fusion Ramswaroop Yadav, Roop Pahuja
1
2. Design and Implementation of Phase Shift Full Bridge DC-DC Converter for Photovoltaic Application Shamkumar B. Chavan, Mahesh S. Chavan
21
3. Energy Management of a Solar Powered Electric Vehicle with Multiple-Energy Storage via Optimized Fuzzy Controller Saeed Khoobi Arani, Sayyed Hossein Edjtahed, Abolfazl Halvaei Niasar
28
4. Implementation of Closed Loop Control of Flow in Air Blower System Using PLC and SCADA Hiren Patel, Mihir Raval
39
5. Stabilizing Internal Damping in Hydrodynamic Bearings using Elegant Control Strategies S.J. Siva Abhishek, Niranjan Kumar Gupta, Abhro Mukherjee, Satyabrata Das
44
Journal of Control & Instrumentation
ISSN: 2229-6972(online), ISSN: 2347-7237(print) Volume 7, Issue 3 www.stmjournals.com
Virtual Instrumentation System for 3D Tilt Estimation of Moving Object using MEMS Multi-Sensor Fusion Ramswaroop Yadav, Roop Pahuja* Department of Instrumentation and Control Engineering, Dr. B.R. Ambedkar National Institute of Technology, Jalandhar, Punjab, India Abstract
This paper considers the problem of 3D tilt estimation of moving object and development of virtual instrumentation (VI) based system prototype with motion-user interface using six degree of freedom data from MEMS accelerometer and gyroscope. To overcome the inherent limitations of both the sensors and minimize accelerometer noise error and gyroscope drift error, the sensor signals are fused using established Kalman filter and newer, simple and equally efficient complementary filter. The raw data from the sensors is acquired using embedded controller and online analysed on the dedicated virtual instrument using data fusion algorithms. The estimated tilt angles along X, Y, Z axis caused by roll, pitch or yaw motion of the object are graphically plotted and more interactively displayed on the virtual model of 3D aerial object. Also, comparative study of complementary filter and Kalman filter is considered along with the brief overview of the complex and wide-ranging subject of multisensor data fusion. Keywords: MEMS accelerometer, gyroscope, tilt angle, data fusion, virtual motion, interface, virtual instrumentation
INTRODUCTION
In the case of dynamic systems, pedestrian or aerial moving vehicles such as ships, submarines, aircraft, guided missiles, such as mini aerial vehicle or unmanned aerial vehicle (UAV), etc., accurate sensing of position, motion and orientation of moving object is required for further control and analysis tasks [1, 2]. This is generally done using on-board inertial navigation system (INS) that is specialized computing system with integrated MEMS (micro-electromechanical system) sensors to provide navigation information about the object in motion, precisely with use of data fusion methods [1]. In this work, virtual instrumentation (VI) based inertial navigation system with graphical motion-user interface for reliable three dimensional tilt estimation of a dynamic system using data fusion of MEMS (micro-electromechanical) inertial sensors has been developed and tested. Virtual instrumentation is a technology that uses general purpose computers, data acquisition devices and graphical programming language to programme the functions and features of the instrument with
soft panel to operate the instrument [3]. It is widely used to create custom defined solutions for variety of measurements, signal processing and control applications that are flexible and easily expandable to suit future needs [4]. BACKGROUND To address the complex and wide-ranging subject of multi-sensor data fusion, especially for a new reader in this area, a brief overview about the technology describing the definition, classification, methods and techniques and application areas, is presented in this section. Also, related current research work in the area of use of data fusion for navigation is discussed in detail. According to the work group of the joint directors of laboratories (JDL), data fusion is a multilevel process that deals with the automatic detection, estimation, association, correlation, and combination of data from several sources for quality improvement [5]. Multi-sensor data fusion as the term is described in literature, refers to combining of sensory data or data derived from sensory data from disparate homogeneous or heterogeneous sources such
JoCI (2016) 1-20 Š STM Journals 2016. All Rights Reserved
Page 1
Journal of Control & Instrumentation
ISSN: 2229-6972(online), ISSN: 2347-7237(print) Volume 7, Issue 3 www.stmjournals.com
Design and Implementation of Phase Shift Full Bridge DC-DC Converter for Photovoltaic Application 1
2
Shamkumar B. Chavan1,*, Mahesh S. Chavan2
Department of Technology, Shivaji University, Kolhapur, Maharashtra, India Department of Electronics Engineering, KIT’s College of Engineering and Technology, Kolhapur, Maharashtra, India
Abstract
Soft switched converters offer merits like lowered switching losses, reduced size of magnetic devices, lowered converter size, etc. Therefore, it is preferred topology in converter’s design. It also allows use of higher switching frequency. This research work focuses on development of 1 kW prototype of phase shift full bridge DC-DC converter for photovoltaic application. This paper discusses component selection criteria, magnetic component design criteria, hardware and software design issues. Simulation results and experimental results performed on 1 kW prototype are presented. Keywords: Phase shift full bridge DC-DC converter, soft switched full bridge converter, phase shift converter PV application
INTRODUCTION
Full bridge DC-DC converters are widely used in medium to large power applications. Hard and soft switching schemes are used in converters to operate power devices. Nowadays trend is to use renewable energy sources for power generation. Photovoltaic modules are in use for power generation in which several types of converters are being experimented. Many researchers have worked on development of different converters for different power ratings. Work of few researchers is discussed here. Liu et al. implemented full bridge converter with current doubler scheme in which ZVS switching scheme is applied [1]. Here, minimum efficiency of 88% is obtained. Shin et al. proposed new technique to avoid circulating energy in ZVS-PSFB converter, which is based on series boost capacitor [2]. Here, output voltage regulation is achieved by varying voltage across capacitor with frequency. Ortiz et al. implemented FBDCDC converter for 11 kW application, here, component selection and design criteria are discussed [3]. Fans are used for cooling and efficiency of 97% is obtained. Yang et al. presented novel
PSFB converter topology in which ZVS is achieved by auxiliary inductor and transformer having finite magnetization inductance [4]. Improvement in efficiency is observed for the prototype developed in this work. Chao et al. developed full bridge converter based on phase shift control for ozone generation application [5]. In this, two power switches and one capacitor are added to obtain ZVS/ZCS schemes. PI algorithm is implemented using TMS320F28335 controller. Chen et al. presented novel switching control method for reduction of losses in conventional PSFB converters [6]. Kim et al. developed converter in which unipolar PWM technique and resonant circuit is used to minimize losses and for efficiency improvement [7]. Chavan et al. designed hard switched FBDCDC converter for PV application [8]. Tsukiyama et al. designed a PS-FBDCDC converter of 5 kW power with secondary side resonance and having higher efficiency for photovoltaic application [9]. Dudrik et al. designed soft switched PWM technique based FBDCDC converter for high power application [10]. Zhao et al. developed an efficient phase shift FBDCDC converter for
JoCI (2016) 21-27 © STM Journals 2016. All Rights Reserved
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Journal of Control & Instrumentation
ISSN: 2229-6972(online), ISSN: 2347-7237(print) Volume 7, Issue 3 www.stmjournals.com
Energy Management of a Solar Powered Electric Vehicle with Multiple-Energy Storage via Optimized Fuzzy Controller Saeed Khoobi Arani*, Sayyed Hossein Edjtahed, Abolfazl Halvaei Niasar Department of Electrical and Computer Engineering, University of Kashan, Kashan, Iran Abstract
The optimum energy management is the main challenge of powered electric vehicles (EVs) with multiple energy storage systems. The solar powered EVs are enabled with multiple energy sources and storages, and so, achieving the optimum energy management schedule is a complicated optimization problem. This paper develops an optimized fuzzy controller using genetic algorithm (GA) for energy management of solar powered EV equipped with photovoltaic cells as well as two power banks including battery and super-capacitor. Design of fuzzy controllers relies too much on the expert experience and non-optimal design may lead to sub-optimal performance. To overcome this complexity, genetic algorithm (GA) is employed to optimally determine fuzzy rules and membership functions. The proposed approach is modelled in ADVISOR software. Standard driving cycle is used to simulate the proposed approach. Simulation results demonstrate the decrease on consumed power by the proposed optimal GA-Fuzzy controller in comparison with the standard fuzzy controller. Keywords: Electric vehicle (EV), energy management, fuzzy controller, genetic algorithm (GA), solar, ADVISOR
INTRODUCTION
The management and control to run the transportation system has become more necessary due to the increasing fuel consumption in recent years. Traditionally, fossil fuels were the major energy resources for transportation system. However, price uncertainties, political issues of oil provider countries and environmental problems of fossil fuels resulted in a need to find other energy resources [1–3]. The transportation system as one of the major energy sectors is changing the internal combustion engines. Electric vehicles as one of the best possible option have been developed in the last decade and new development in battery and storage devices, charge and discharge infrastructures has led to relatively high penetration of these vehicles [4, 5]. According to above mentioned issues, optimum design of EVs is an important task. Optimal modeling and simulation of EVs leads to energy consumption and cost minimization. There are lots of simulation software to model and simulate the EVs in which ADVISOR seems to be more accurate.
Recently, due to the importance of EVs there has been an augmented interest in energy and power management and control field. A control strategy to reduce the energy consumption in super capacitor and fuel cell based EVs have been developed by Azib et al. and Thounthong et al. [6, 7]. Moreover, fuel consumption optimization has been modelled by Jiang et al. and Azib et al. for super capacitor and fuel cell based EVs [8, 9]. The developed method by Jiang et al. has also been examined on real EVs [8]. Azib et al. discussed that the super capacitor’s duty is to supply electric power in case of high power consumption of EV, especially in acceleration mode [9]. Adaptive control method for EVs with parallel pattern has been studied by Chasse et al.; the developed strategy in this article has been adapted with a driving schematic [10]. Azib et al. has modelled an EV system with just one convertor [11], while Dawei Gao et al. has used a fuzzy logic for optimum design of energy consumption in EVs [12].
JoCI (2016) 28-38 © STM Journals 2016. All Rights Reserved
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Journal of Control & Instrumentation
ISSN: 2229-6972(online), ISSN: 2347-7237(print) Volume 7, Issue 3 www.stmjournals.com
Implementation of Closed Loop Control of Flow in Air Blower System Using PLC and SCADA Hiren Patel1,*, Mihir Raval2
1
Department of Electrical Engineering, S. V. National Institute of Technology, Surat, Gujarat, India 2 Department of Electrical Engineering, NITECH Automation, Surat, Gujarat, India
Abstract
The intention of this paper is to design and implement the closed loop control of air flow rate in the air blower system. Desired value of flow rate is provide from the SCADA (Supervisory Control and Data Acquisition) and actual value of flow rate is measured through the flow sensor. Based on the difference between actual and desired value of flow rate, PLC (Programmable Logic Controller) increases or decreases the speed of three phase induction motor through VVVFD (Variable Voltage Variable Frequency Drive) to maintain the flow rate. Obtained results clearly indicate that desired value of flow rate is achieved nicely even under the influence of external disturbance. Keywords: Programmable Logic Controller (PLC), SCADA, VVVFD, Proportional Integral and Derivative controller (PID)
INTRODUCTION
In many industries and in the fields of production practice, the accurate control of flow is very important especially in pharmaceutical, petroleum, metallurgy, chemical, building materials, food, machinery, petroleum and other industries. For the last few decades, Programmable Logic Controller (PLC) has been widely accepted in industries to control various quantities [1, 2]. In an automated system, PLC controller is usually the central part of a process control system. With execution of a program stored in program memory, PLC continuously monitors status of the system through signals from input devices. Based on the logic implemented in the program, PLC determines which actions need to be executed with output instruments. PLC has several known advantages including, flexibility, reliability, low power consumption and ease of expandability [3, 4]. Its flexible configuration will provide users with software tools to quickly build industrial automatic control system. SCADA stands for Supervisory Control and Data Acquisition, which offers graphical visual representation of process parameters even from the remote places through computers. SCADA creates the possibility of controlling as well as monitoring of process parameters through GUI interface. PLC can communicate with SCADA through various modes of communications. In
literature, authors have reported control of varies quantities through PLC and SCADA, for example supervisory control of electrical transmission line was discussed in [5] and dynamic flow controller was discussed in [6]. Temperature control system using fuzzy logic was proposed in [7] and constant pressure irrigation pump was implemented in [8]. But the results are not available for the closed loop control of air flow rate with PLC, SCADA and VVVFD for the air blower system. Hence, here we have implemented the closed loop control of air flow rate through PLC, SCADA and VVVFD.
IMPLEMENTATION OF AIR BLOWER SYSTEM
Consider the air blower system as shown in the Figure 1. It consists of the air blower, which is operated by three phase induction motor. This air blower blow the air in the connected pipe, on which flow meter and other sensors are mounted as shown in the Figure 1. Flow rate of air can be easily varied by varying the speed of the three phase induction motor. The speed of induction motor is directly proportional to the supply frequency and no. of poles of motor
JoCI (2016) 39-43 Š STM Journals 2016. All Rights Reserved
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Journal of Control & Instrumentation
ISSN: 2229-6972(online), ISSN: 2347-7237(print) Volume 7, Issue 3 www.stmjournals.com
Stabilizing Internal Damping in Hydrodynamic Bearings using Elegant Control Strategies 1
S.J. Siva Abhishek1,*, Niranjan Kumar Gupta1, Abhro Mukherjee2, Satyabrata Das2
Department of Electronics Engineering, Indian Institute of Technology (Indian School of Mines), Dhanbad, Jharkhand, India 2 Department of Electronics and Instrumentation Engineering, National Institute of Science and Technology, Berhampur, Odisha, India
Abstract
The implementation of elegant control strategies to stabilize the internal damping problem in hydrodynamic bearing has been proposed in this paper. This implementation deals or gives an advantage of good stability of hydrodynamic bearing, even at critical or threshold speeds where an unstable whirl occurs leading to instability assisted greatly by this internal damping factor. Related stability graphs have been plotted using MATLAB 2013 and models have been designed using SIMULINK. Keywords: Modelling, internal damping, force coefficients, stiffness coefficients, control law, whirl orbital response
INTRODUCTION
Internal damping is a bit of complex phenomenon where the system dynamics are difficult to describe. This internal damping causes instability in hydrodynamic bearings due to effect of anti-symmetric forces, which are of non-potential nature. It is quite a difficult task to design compensators to control this instability for short journal bearings due to complexities in dynamics and difficulty in implementation of actuators in fixed reference. Lots of control strategies were used earlier like sliding mode controllers, robust controllers but due to complexity in dynamics and random nature of instability, the control algorithms have gone complicated and issues got aroused on their practical implementation. So, in this paper we deal with designing a simple elegant controller which can be easily implemented [1–5].
DYNAMICS Velocity Components đ?‘‰đ?‘“ = đ?‘‰đ?‘&#x; + đ?œ”đ?‘Ľđ?‘&#x; đ?‘‰đ?‘“ = đ?‘‰đ?‘&#x; + đ?œ”đ?‘˜ đ?‘Ľ (đ?‘Ľđ?‘– + đ?‘Śđ?‘—)
(1) (2) (3)
đ?‘‰đ?‘“ = đ?‘‰đ?‘&#x; + đ?œ”đ?‘Śđ?‘– − đ?œ”đ?‘Ľđ?‘— đ?‘‰đ?‘Ľđ?‘“ đ?‘‰đ?‘Ľđ?‘&#x; 0 đ?œ” = đ?‘‰ + đ?‘‰đ?‘Śđ?‘“ −đ?œ” 0 đ?‘Śđ?‘&#x; Displacement Components đ?‘‹đ?‘“ đ?‘‹đ?‘&#x; 0 −đ?œ” = + đ?œ” 0 đ?‘Œđ?‘&#x; đ?‘Œđ?‘“
đ?‘Ľ đ?‘Ś đ?‘‹ đ?‘Œ
đ?‘‹đ?‘“ đ??šđ?‘Ľ 0 đ??šđ?‘Ś = đ?‘…đ?‘– đ?‘Œđ?‘“ + đ?œ”đ?‘…đ?‘–
−đ?œ”đ?‘…đ?‘– đ?‘‹ 0 đ?‘Œ
(6)
Let us consider the circulating component of force vector which is 2nd term of the previous equation: đ??šđ?‘Ľ 0 −đ?œ”đ?‘…đ?‘– đ?‘‹ (7) đ??šđ?‘Ś = đ?œ”đ?‘…đ?‘– 0 đ?‘Œ In vector notation, đ??šĚ…đ?‘? = −đ?œ”đ?‘…đ?‘– đ?‘Śđ?‘– + đ?œ”đ?‘…đ?‘– đ?‘Ľđ?‘—
(8)
Where, i, j are unit vectors in x, y directions. Special feature of this force is it cannot be derived from any potential forces, which implies: đ??šĚ…đ?‘? ≠−∇∅ (9) for any ∅(đ?‘Ľ, đ?‘Ś). This is proved by fact that it has non vanishing curl, ∇đ?‘Ľđ??šĚ…đ?‘? = 2đ?œ”đ?‘…đ?‘– đ?‘˜ ≠0 (10) The overall equation of motion will be,
(4)
(5)
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Journal of Control & Instrumentation (JoCI)
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