Department of Modeling and Design Engineering Systems
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Browsing Department of Modeling and Design Engineering Systems by Subject "mechatronics engineering"
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Item A NEW APPROACH FOR SELF-CALIBRATING CAMERAS(2022-02-16) Gurel, Cahit; TORA, Hakan; GÜNEŞ, AhmetCamera is one of the most important sensors in robotic applications. Calibrated ca meras provide more information than the uncalibrated ones. Intrinsic parameters of a camera can deteriorate due to mechanical and thermal changes in environment. There fore self-calibration is required for robotic operations. Since self-calibration does not require any known template objects in the process, it is more flexible and extract ing a few fixed points between calibration images is enough for self-calibration. We propose a new method for simpler and more accurate self-calibration method by in corporating some of the extrinsic parameters of camera along with some assumptions which are true for present day cameras. Moreover, we have included a basic point de tection, tracking and association approach for the task. Proposed method is tested and compared with another self calibration method using synthetic data, a mobile robot with a camera in V-REP simulation environment and physical implementation with articulated robot arm. The results indicate the effectiveness of the new approach with respect to other self-calibration approaches for planer motion of the camera.Item A NEW INCREMENTAL AXIAL FLUX PERMANENT MAGNET SYNCHRONOUS GENERATOR GENERATING ENERGY BASED ON MAGNITUDE OF EXTERNAL TORQUE(2022-02-25) Mohammed, Esmail; İrfanoḡlu, Bülent; Nazlıbilek, SedatNowadays the global warming phenomenon is growing mainly due to conventional energy production and increasing energy demand. Renewable energy sources such as; the wind, sun, sea, and rivers produce green energy to reduce this adverse phenomenon and contributes to the energy production. Recently, alternative energy sources for generating electric power has become popular. Several types of machinery is used to generate electrical energy. The majority of these systems use gearboxes to regulate the generated power. However, the gearboxes attached to the wind turbine through the generator have some disadvantages. They require periodic maintenance and suffer from frequent disorders. They may cause some loss of energy due to friction in metal parts resulting in poor efficiency. Furthermore they are not reliable machines, and they are heavy. It is difficult to carry out their maintenance periodically. In this study, three phase multi stages axial flux permanent magnet coreless generator has been designed, modelled, analysed, and controlled to avoid these disadvantages. The goal was to design and control the generator that would utilize a direct connection without a gearbox. The electronic controller is aimed at replacing the bulky gearbox. This has several advantages such as it provides energy at low wind speeds, results in decrease in the system size, and the weight is also reduced. In addition to these advantages the system efficiency and reliability is increased.Item CONTROL MULTIVARIABLE SYSTEM USING A FULL DECOUPLED ACTIVE DISTRUBANCE REJECTION CONTROLLER(2022-02-16) Askir, Alyaseh Nagi M; İrfanoḡlu, Bülent; Nazlıbilek, SedatThe research presented in this thesis concern a new application for the linear and nonlinear Active Disturbance Rejection Control (LADRC, NLADRC) strategies, in which the control of the non-linear quadruple-tank system (QTS) in its minimum phase mode. It is a nonlinear multi-input-multi-output (MIMO) system utilize as a platform to verify the effectiveness of the nonlinear multivariable control strategies. Firstly, the structure of the quadruple-tank process has arranged in terms of hierarchy, a nonlinear mathematical model was used that properly represented the dynamic behaviour of the process. Then, the linear active disturbance rejection control (LADRC) strategy is proposed to control the quadruple-tank process (QTP). The control law of the LADRC technique has designed through the combination between linear state feedback (LSF) controller and the linear extended state observer (LESO) which plays an important role in the estimate of the overall disturbances and compensation of model uncertainty, to be subsequently rejected by the control law. The control loop of the quadruple-tank system (QTS) is usually vulnerable to the issues of the system uncertainties and external disturbances that affect the stabilization of the process negatively. Therefore, the non-linear active disturbance rejection control strategy is also designed for a quadruple-tank system to increase system robustness. The state feedback controller that is the sliding mode controller has combined with nonlinear extended state observer (NLESO). For the purpose increasing the accuracy of the estimation process, the nonlinear integrated optimal control function has included in the structure of the nonlinear active disturbance rejection controller (NLADRC). Finally, In order to assess the performance of the suggested control schemes, the proposed methods are compared with a nonlinear feedback linearization with proportional (NLFL-P) controller. It is worth mentioning that the controllers have carried out straightforwardly on the non-linear differential equations of the quadruple-tank process (QTP) in Matlab®Simulink® environment. The simulation results have shown that despite the presence of the parameters' uncertainties as well as external disturbances, however, the proposed NLADRC technique in this thesis possessed a high degree of efficiency to achieve the main objective of the control process which is, keeping up of the liquid level within bottom tanks of the quadruple-tank system at desired operating points compared to the other strategies.Item DESIGN OF ROBUST POWER SYSTEM STABILIZER FOR SINGLE MACHINE INFINITE BUS SYSTEM USING MODERN CONTROL APPROACHES(2022-02-15) Ali, Issa Yousf Said; İrfanoğlu, Bülent; Nazlıbilek, SedatDue to the rapid growing demand for electricity, power systems nowadays have become operating nearer to their stability limits which cause a lot of instability problems and could potentially result in serious technical challenges. Since the Conventional Power System Stabilizer (CPSS) is the most commonly used controller in power systems, many techniques have been proposed in the last few years aimed to improve the performance of conventional power system stabilizer using some intelligent optimization algorithms such as Genetic Algorithm, Fuzzy Logic, Particle Swarm and others. However, although local optimization can be achieved to a satisfactory degree by setting the stabilizer parameters in optimal way, the robustness of the stabilizer is still in doubt and it may not guarantee good performance when the operating point changes or some unexpected disturbance occurs. This dissertation presents an application of two types of modern robust control strategies on power system in order to improve system dynamic stability. Those two control strategies are Active Disturbance Rejection Control (ADRC), and Feedback Error Learning Control (FEL). The first proposed controller which is ADRC algorithm has an advantage that makes the power system more robust against wide range of troublesome disturbances that commonly encountered in such systems. The most important feature of ADRC approach is that it requires little information from the plant model forasmuch ‘under certain circumstances’ the relative order of open loop transfer function information is quite sufficient to design a robust controller. The second is FEL controller which employs the Artificial Neural Network (ANN) technology in framework of feedback error learning control strategy to enhance dynamic stability of the system. The nature of structural configuration of FEL controller, which combines a conventional power system stabilizer and a neural network, makes it powerful controller includes the well-known advantages of CPSS with the additional features of artificial neural networks like adaptation and nonlinearity. The proposed ADRC and FEL controllers have been developed in this study for a power system consists of Synchronous Machine connected to an Infinite Bus (SMIB) through external reactance under small disturbance. The effectiveness of both ADRC and FEL have been verified by comparing both of them with an optimally tuned conventional power system stabilizer. Moreover, the comparison has been done between the proposed ADRC and FEL control strategies under wide range of operating conditions. All tests and case studies have been conducted under Matlab Simulink environment. The simulation results showed that the proposed control schemes ensured high performance and system stability with presence of different types of loading conditions especially at some critical operating points where the conventional stabilizer had failed.Item DEVELOPMENT OF A COLLABORATIVE DELIVERY SYSTEM WITH UNMANNED AERIAL VEHICLES AND DELIVERY TRUCKS(2022-02-24) Aboharba, Salah; Arıkan, Kutluk Bilge; Turan, MehmetThis thesis studies the new application for an unmanned aerial vehicle in the delivery system. Considering a problem of the limited flight time of UAV due to the small battery package that challenges the distribution of the goods directly from the main warehouse difficult, therefore, a collaborative delivery system with UAVs and delivery trucks is proposed. This research focuses on the optimization of the routing problems where a delivery truck is utilized as the base for the UAV when it performs a delivery task. First, the mathematical formulation is developed, with two stages, namely the UAV power consumption model and integer linear programming model, followed by the problem being solved with the K-means algorithm (to partition customers into groups and find the best location for the delivery truck) and with an ant colony optimization algorithm and nearest neighbor algorithm to tackle the routing problem for the UAV for each group. All the algorithms are implemented in MATLAB to find the location of the delivery truck, to minimize the distance traveled and minimize delivery time taking into account the power consumption of UAVs. Finally, comparisons between this system and truck usage is presented. The results show that the delivery time in the collaborative delivery system is reduced compared with truck only usage. Moreover, the issue of limited flight time is solved by applying this system. In addition, a method is developed to weight between the highest demand and shortest distance for the UAV to select a path at minimum power consumption when the demand of the customers is not equal. This method is enforced in nearest neighbor algorithm and ant colony optimization algorithm and the results show that nearest neighbor algorithm is more efficient then ant colony optimization algorithm.Item FRACTIONAL MODELING OF OSCILLATING DYNAMIC SYSTEMS(2015-06-25) AGİLA, Adel; İRFANOĞLU, Bülent; EİD, RajehIn recent years, a special attention is given to model fractional dynamical systems. These systems include fractional oscillating dynamical systems. Many methods are used to model the fractional oscillating dynamical systems. The responses of some systems are obtained by means of fractional calculus and calculus of variations. In this thesis, fractional representations based on fractional calculus, calculus of variations are classified into two types: The first type is the fractional Euler-Lagrange equations representations of free oscil lating fractional systems. The fractional representation appears in the coefficients of damping terms of variable coefficient second order homogeneous differential equa tions. In the second type, the differential operators are subjected to fractional orders. The considered case studies are models given by second order homogeneous and non homogeneous three-term fractional order differential equations with fractional damp ing terms. The two types are combined to produce extended fractional Euler-Lagrange equations models. In these models the differential operators are subjected to fractional orders in the damping term of the system. Additionally, the time varying coefficients of the damping terms contain a fractional integral order. A hybrid method is introduced to obtain the responses of fractional oscillating sys tems. These systems are modeled by means of second order homogeneous three-term fractional order differential equations with fractional damping terms. The responses are compared with Wright function based solutions.Item MODELING AND CONTROL OF OIL WELL DRILLING TOWER(2022-01-24) NOBAHAR SADEGHI NAM, Amir; ÖZBEK, Mehmet Efe; Arıkan, Kutluk BilgeOil well drilling towers have different operating modes during a real operation, like drilling, tripping, and reaming. Each mode involves certain external disturbances and uncertainties. In this study, the main equipment of the drilling rig is mathematically modeled, and the dynamics of the vertical and rotational motions of drill string and drill bit are derived. The optimum values of the rate of penetration as an economic parameter in drilling process, and weight on bit are extracted, then the speed profile, to derive proper equations for the acceleration, and deceleration rates, while hoisting and lowering, is extracted. Using by the nonlinear model for the modes of the operation, robust and or adaptive control systems are designed. These control strategies include five types of controllers; Cascaded PID, Active Disturbance Rejection Controller, Loop Shaping, Feedback Error Learning, and Sliding Mode Controller. The study presents the design process of these controllers, and evaluates the performances of the proposed control systems to track the reference signal, and reject the uncertain forces including the parametric uncertainties and the external disturbances. This comparison is based on the mathematical performance measures and energy consumption. Based on the realistic conditions or constraints in the field and the optimum values, some architectures are presented to control the weight on bit during drilling process. Finally, the subject of autonomous drilling is reviewed by managing the rate of penetration, in four modes, as ROP mode, WOB mode, Delta P mode, and Torque mode. The measuring and or predicting of the bottom-hole-assembly variables is surveyed and introduced. The torsional modelling of the drill string is fulfilled by dividing its length to some equal sections, then, using the ADRC controller in both vertical and rotational motions, some proper observers to predict the bit rotational speed, rock stiffness and torque on bit, in real-time are designed and presented. The stick-slip vibrations is studied to model and control. The manipulation of the weight on bit, and the increasing of the damping in the BHA, are two solutions proposed to active mitigation of these kind of vibrations. Using these two strategies, the stick phase, stick-slip transient, and the slip phase of the bit are derived and analyzed in some case studies. The practical performance evaluation of the designed Cascade PID, Active Disturbance Rejection, Loop Shaping, Feedback Error Learning and Sliding Mode controllers during the tripping and drilling operations, their practical comparison, and improve the physical rig performance are studied. This purpose is realized by designing and constructing of an experimental drilling setup. The prototype setup is modeled mathematically, and then proper linear and nonlinear models are derived by system identification. The behavior of the controllers and their stabilities are studied during the tripping operation, by loading and unloading a disturbance weight. The effect of input shaping on the system behavior is analyzed consequently. On the other hand, to study the behavior of the controllers during the drilling operation, a driller is added to the prototype setup. Finally, the behavior of two designed architectures in ROP and WOB modes of the autonomous drilling are studied and analyzed practically.Item OPTIMAL DESIGN OF THE ROBOTIC EXOSKELETON FOR HAND REHABILITATION(2022-02-15) GOL MOHAMMADZADEH, Mohammad Hassan; ERTAN, Hulusi Bülent; ARIKAN, Kutluk BilgeThis thesis is a part of the research project which aims to design and implement a robotic hand rehabilitation system. The disabilities caused by the cerebral vascular accidents are hemiplegic. Therefore, the system is designed to make the impaired hand be driven by the exoskeleton. This system consists of a robotic hand exoskeleton which is synchronized with the visual stimulus software and the monitoring system for the activity of the mirror neuron system. Focus of this thesis is on optimizing the exoskeleton mechanism using a multi-objective cost function in terms of the forward and backward transmission angles and the desired kinematics. Mathematical models based on the multibody dynamics approach are used for the design and simulation purposes. In addition, the quasi-static models are utilized. The passive torques in the joints of the human finger are modeled with the ordinary and fractional order mathematical terms. In the simulations, both the integer and the fractional order passive torques are implemented. The fractional order model is mainly used to represent the anomaly due to the spasticity. Two control strategies, namely the Proportional-Integral-Derivative (PID) and Feedback Error Learning (FEL) types are designed and evaluated with simulations to control the exoskeleton system during the pinching motion. It is shown that the adaptive controller, FEL, copes with the fractional order passive torques better than the PID controller. It is shown that the inverse and direct quasi-static models are used to estimate the passive torques.