Design of Fuzzy Logic Controller for predictive tracking following between two mobiles / K. Belmekki in COST, N° 11 ([01/07/2012])

Public ISBD [article]  in COST > N° 11 [01/07/2012] . - p. 01 Titre : Design of Fuzzy Logic Controller for predictive tracking following between two mobiles Type de document : texte imprimé Auteurs : K. Belmekki, Auteur ; S. Slamnia, Auteur Année de publication : 2012 Article en page(s) : p. 01 Langues : Anglais Mots-clés : Mobile robot  dynamic model  acceleration profile  proportional navigation  fuzzy control  target follow up  aiming vector. Résumé : The problem ofthe follow-up oftarget is always up to date, considering which it was little treated in mobile robotics. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. To solve this problem, we apply the proportional navigation allowing the control of the following robot on a point ofthe moving target by prediction ofthe appointment point. The parameters of the dynamic model allow adjusting the robot translational and rotational behaviors separately, The model takes into account the robot kinematics and dynamic constraints, making the velocities and accelerations bounded and compatible with those the robot can perform. The main contribution of the paper is to use the model itself as a motion controller: under soft hypothesis on the velocities and accelerations. The other contribution is to use a fuzzy controller who it consists of computing the acceleration profile that minimizes motion time or energy and satisfies system dynamics and actuator limits. An interesting point of course fuzzy control system is that it is easy to implement a system that deals with many situations without defining any analytical control model, but simply by representing relationships between inputs and outputs in an if-then manner and constructing a knowledge base, Preliminary simulation the results are presented to demonstrate the usefulness ofthe proposed modeling and fuzzy control techniques [article] Design of Fuzzy Logic Controller for predictive tracking following between two mobiles [texte imprimé] / K. Belmekki, Auteur ; S. Slamnia, Auteur . - 2012 . - p. 01. Langues : Anglais in COST > N° 11 [01/07/2012] . - p. 01 Mots-clés : Mobile robot  dynamic model  acceleration profile  proportional navigation  fuzzy control  target follow up  aiming vector. Résumé : The problem ofthe follow-up oftarget is always up to date, considering which it was little treated in mobile robotics. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. To solve this problem, we apply the proportional navigation allowing the control of the following robot on a point ofthe moving target by prediction ofthe appointment point. The parameters of the dynamic model allow adjusting the robot translational and rotational behaviors separately, The model takes into account the robot kinematics and dynamic constraints, making the velocities and accelerations bounded and compatible with those the robot can perform. The main contribution of the paper is to use the model itself as a motion controller: under soft hypothesis on the velocities and accelerations. The other contribution is to use a fuzzy controller who it consists of computing the acceleration profile that minimizes motion time or energy and satisfies system dynamics and actuator limits. An interesting point of course fuzzy control system is that it is easy to implement a system that deals with many situations without defining any analytical control model, but simply by representing relationships between inputs and outputs in an if-then manner and constructing a knowledge base, Preliminary simulation the results are presented to demonstrate the usefulness ofthe proposed modeling and fuzzy control techniques

Multilevel Neutral Point Double Clamping Converter for PM Synchronous motors drive / S. Stamnin in COST, N° 11 ([01/07/2012])

Public ISBD [article]  in COST > N° 11 [01/07/2012] . - p. 39 Titre : Multilevel Neutral Point Double Clamping Converter for PM Synchronous motors drive Type de document : texte imprimé Auteurs : S. Stamnin, Auteur ; K. Belmekki, Auteur ; S. Belmehdi, Auteur ; D. Slamnia, Auteur Année de publication : 2012 Article en page(s) : p. 39 Langues : Anglais Mots-clés : NPC inverter  clamping bridge  rectifier multilevel  PWM strategy  regulation  enslavement Résumé : The aim of this paper is to give a solution to unbatance problem of the input DC voltages of nine-level NPC-VSI used in high voltage and great power applications [1]. For that, one two-level PWM current rectifier-nine-level NPC VSI-PMSM cascade is presented. In the first part, we develop a knowledge model of nine-level NPC VSI and offers a space vector modulation of this converter . In the first case the input DC voltages of the multilevel inverter are assumed constant and equals, After that, we propose to study a new high voltage cascade two-level PWM current rectifier-nine-level NPC VSI-PMSM. This study shows particularly the problem of the stability of the DC voltages of the inverterl. Then, we propose a solution to the problem by employee closed loop regulation using classic PI regulator mode, We add 2 Clamping bridge to stabilize the eight DC input voltages of nine-level NPC VSI. [article] Multilevel Neutral Point Double Clamping Converter for PM Synchronous motors drive [texte imprimé] / S. Stamnin, Auteur ; K. Belmekki, Auteur ; S. Belmehdi, Auteur ; D. Slamnia, Auteur . - 2012 . - p. 39. Langues : Anglais in COST > N° 11 [01/07/2012] . - p. 39 Mots-clés : NPC inverter  clamping bridge  rectifier multilevel  PWM strategy  regulation  enslavement Résumé : The aim of this paper is to give a solution to unbatance problem of the input DC voltages of nine-level NPC-VSI used in high voltage and great power applications [1]. For that, one two-level PWM current rectifier-nine-level NPC VSI-PMSM cascade is presented. In the first part, we develop a knowledge model of nine-level NPC VSI and offers a space vector modulation of this converter . In the first case the input DC voltages of the multilevel inverter are assumed constant and equals, After that, we propose to study a new high voltage cascade two-level PWM current rectifier-nine-level NPC VSI-PMSM. This study shows particularly the problem of the stability of the DC voltages of the inverterl. Then, we propose a solution to the problem by employee closed loop regulation using classic PI regulator mode, We add 2 Clamping bridge to stabilize the eight DC input voltages of nine-level NPC VSI.

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