Reza Ezuan Samin

PID implementation of heating tank in mini automation plant using Programmable Logic Controller (PLC)

This paper presents the implementation of PID controller using Programmable Logic Controller (PLC) in heating tank of mini automation plant. PID controller is implemented by using ladder diagram in PLC OMRON CJIM-CPU12. A temperature control unit CJ1W-TC001 is also used where the temperature control unit is a special I/O unit that receives inputs directly from thermocouple, to perform PID control. Desired temperature or set point (SP) is set by the user using the Human Machine Interface (HMI) and the controller within the PLC will try to maintain the current temperature base on the set point temperature set by the user. Temperature control is very difficult to be implemented by using ordinary control techniques; hence the purpose of this research is to implement PID controller design using programmable logic controller (PLC) in order to control the time to heat up a particular solution to a desired temperature efficiently without scarifying the stability of the system. A complete analysis using different kind of PID parameters is presented in terms of system response. Performance of the controller is examined in terms of settling time, rise time and percent overshoot. Finally, a comparative assessment of the PID controller on the system performance is presented and discussed.

Comparison of Optimal and Intelligent Sway Control for a Lab-Scale Rotary Crane System

This paper presents investigations of sway feedback control approaches for a rotary crane system with disturbance effect in the dynamic system. Linear Quadratic Regulator (LQR) controller and Proportional-Derivative (PD)-type Fuzzy Logic controller are the techniques used in this investigation to actively control the sway of rotary crane system. A lab-scale rotary crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of sway suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Implementation of input shaping in hybrid control schemes of a lab-scaled rotary crane system

This paper presents investigations into the implementation of input shaping techniques in hybrid control schemes of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) control is developed for horizontal angle position control of rotary crane. This is then extended to incorporate input shaping techniques for anti-swaying control of the system. The positive and modified Specified Negative Amplitude (SNA) input shaping with different derivative orders respectively were designed based on the properties of the system. Implementation results of the response of the rotary crane with the controllers are presented in time and frequency domains. The performances of input shaping in hybrid control schemes are examined in terms of level of input tracking capability, swing angle reduction, and time response specifications. Finally a comparative assessment of the control techniques is discussed and presented.

Robust input shaping for anti-sway control of rotary crane

This paper presents investigations into the development of robust input shaping control schemes for anti-swaying control of a rotary crane system. A nonlinear rotary crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped square-pulse torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and modified specified negative amplitude (SNA) input shapers with the derivative effects respectively are designed based on the properties of the system. Simulation results of the response of the rotary crane system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Moreover, the robustness of the feed-forward control schemes is discussed. Finally, a comparative assessment of the proposed control techniques is presented and discussed.

Input Shaping Techniques for Anti-sway Control of a 3-DOF Rotary Crane System

This paper presents development of input shaping for anti-sway control of a 3 degree-of-freedom (3-DOF) rotary crane system. A nonlinear equation of motion in a state space form obtained using Euler-Lagrange technique is considered for the cranes tower in order to control and reduce the sway angle during the rotation. An unshaped square-pulse current input is implemented to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. Positive and modified Specified Negative Amplitude (SNA) input shapers with the derivative effects are designed based on the properties of the system. Simulation results of the response of the rotary crane system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Moreover, the robustness of the feed-forward control schemes is discussed. Finally, a comparative assessment of the proposed control techniques is presented and discussed.

Comparative assessment of anti-sway control strategy for tower crane system

Tower crane is also known as rotary crane and widely used in constructions due to limited human capability to carry the various types of load at the construction site. In general crane is used for the purpose of loading and unloading heavy material from one place to another. However, in order to transfer the material in minimum time from one location to another, swaying of the payload will occur. Hence, this research presents the investigation of tower crane system which mainly focusing on the swaying angle of the payload by implementing conventional and intelligent controllers. Its mathematical modeling is developed using the Newton’s Second Law and simulation is done within the MATLAB/Simulink environment. Simulation results are presented in cart trajectory capability and payload sway angle reduction. A comparative assessment between conventional controller and intelligent controller for the tower crane system are presented and discussed. Furthermore, the effect of various rope length and payload mass o...

Trajectory Control and Sway Suppression of a Rotary Crane System

This paper presents investigations into the development of hybrid control schemes for input tracking and anti-swaying control of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) control is developed for horizontal angle position control of rotary crane. This is then extended to incorporate input shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are designed based on the properties of the system. Implementation results of the response of the rotary crane with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of the level of input tracking capability, swing angle reduction, and time response specifications in comparison to PD control. Finally a comparative assessment of the control techniques is discussed and presented.

A Hybrid Controller for Control of a 3-DOF Rotary Crane System

This paper presents the development of a hybrid input shaping for anti-sway control of a three degree-of freedom (3-DOF) rotary crane system. A nonlinear equation of motion in a state space form obtained using Euler-Lagrange technique is considered for the cranes tower in order to control and reduce the sway angle during the rotation. To study the effectiveness of the controllers, initially a Linear Quadratic Regulator (LQR) control is developed for the tower rotation angle of the rotary crane. This controller is then extended to incorporate input shaping techniques for antiswaying control of the system for different payload. Input shaping with different derivative orders was designed based on the properties of the system. Implementation results of the response of the rotary crane with the controllers are presented in time and frequency domains. The performances of input shaping in hybrid control schemes are examined in terms of level of input tracking capability, swing angle reduction, and time response specifications. Finally, a comparative assessment of the proposed control techniques is presented and discussed.

Implementation of motor speed control using PID control in programmable logic controller

This paper presents the implementation of motor speed control using Proportional Integral Derrivative (PID) controller using Programmable Logic Controller (PLC). Proportional Integral Derrivative (PID) controller is the technique used to actively control the speed of the motor. An AC motor is used in the research together with the PLC, encoder and Proface touch screen. The model of the PLC that has been used in this project is OMRON CJIG-CPU42P where this PLC has a build in loop control that can be made the ladder diagram quite simple using function block in CX-process tools. A complete experimental analysis of the technique in terms of system response is presented. Comparative assessment of the impact of Proportional, Integral and Derivative in the controller on the system performance is presented and discussed.

Forecasting sunspot numbers with Feedforward Neural Networks (FNN) using ‘Sunspot Neural Forecaster’ system

This paper presents the investigations of forecasting performance of different type of Feedforward Neural Networks (FNN) in forecasting the sunspot numbers. Feedforward Neural Network will be used in this investigation by using different learning algorithms, sunspot data models and FNN transfer functions. Simulations are done using Matlab 7 where customized Graphic User Interface (GUI) called ‘Sunspot Neural Forecaster’ have been developed for analysis. A complete analysis for different learning algorithms, sunspot data models and FNN transfer functions are examined in terms of Mean Square Error (MSE) and correlation analysis. Finally, the best optimized FNN parameters will be used to forecast the sunspot numbers.