Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
2
2010
9
1
Using Directional Enlargement of Domain of Attraction to Increase Critical Clearing Time of Nonlinear Systems
1
10
FA
Reihaneh
Kardehi Moghaddam
rkardehi_moghaddam@yahoo.com
Naser
Pariz
n-pariz@ferdowsi.um.ac.ir
Hasan
Modir Shanechi
shanechi@iit.edu
Ali
Vahidian Kamyad
kamyad@math.um.ac.ir
In this work we use directional enlargement of domain of attraction to increase critical clearing time of nonlinear systems. To find the optimal control parameters, we use measure theory which converts the enlargement problem to a linear programming problem. At first step we find the critical directions of system, along them the system instability happens. Â After that we find optimal controlling parameters to extend domain of attraction along directions of interest. The efficiency of the proposed method is verified in simulation part for increasing critical clearing time of a power system with four machines.
DA enlargement, measure theory, optimization, increasing critical clearing time, power systems
http://joc.kntu.ac.ir/article-1-131-en.html
http://joc.kntu.ac.ir/article-1-131-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
2
2010
9
1
PI Guidance Law Design using Circle Criterio
11
19
FA
Iman
Mohammad Zaman
mohammadzaman@modares.ac.ir
Hamid Reza
Momeni
momeni_h@modares.ac.ir
In this paper, a PI guidance law is proposed to nullify the LOS rate. Stability of the guidance dynamics including autopilot and seeker dynamics is analyzed by employing circle criterion. Stability conditions give an analytical bound for the time of the flight up to which stability can be assured. The stability bound of the new guidance law is less conservatism than PN guidance law. Also, this approach can be used as a tool for Guidance, Autopilot and seeker parameters design. Simulation results show the effectiveness and robustness of the proposed guidance law against maneuvering target as compared to PN.
PI Guidance, Circle criterion, Autopilot Dynamic.
http://joc.kntu.ac.ir/article-1-133-en.html
http://joc.kntu.ac.ir/article-1-133-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
2
2010
9
1
Safe Grasping and Manipulation of Delicate Object by a Two Fingers Dexterous Hand
20
35
FA
Habib
Ahmadi
habibahmadif@gmail.com
Jafar
Sedigh
mjsadigh@cc.iut.ac.ir
Safe grasping and handling delicate object with fingertips need a sophisticated control algorithm capable of position and force control in one direction. Most of position-force control algorithms proposed so far divide the work space of manipulators into two subspace and control position in one subspace and force in the other one. Meanwhile, for safe grasping purpose we should apply force at minimum necessary level which itself is not a known quantity during motion, so the desired value of normal force is not known forehand. This paper propose a new position-force algorithm and employ that to accomplish pinching and moving delicate object with two multi-link fingers. Performance issues and parameters robustness with respect to friction coefficient is also addressed. Several numerical examples are provided to show versatility of the proposed method.
Safe Grasping, Multi-phase Friction, Dexterous Hand, Fine Manipulation and Controller.
http://joc.kntu.ac.ir/article-1-134-en.html
http://joc.kntu.ac.ir/article-1-134-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
2
2010
9
1
Nonlinear Modeling of a Hydraulic Actuator Considering Saturations in Amplitude and Rate Commands
36
43
FA
Pouria
Sarhadi
pouria.sarhadi@gmail.com
Nemat Ollah
Ghahramani
ghahramani@aut.ac.ir
Reza
Miryousefi Aval
miryousefi.reza@gmail.com
In this paper, nonlinear model of a hydraulic actuator considering amplitude and rate saturations is identified. First actuator model with a first order transfer function and nonlinear functions of saturation with unknown parameters are taken in account, then by defining two suitable destination functions and numerically optimization of them, unknown parameters are estimated. Introduced model appropriately has described the nonlinear behavior of the actuator and has higher accuracy due to conventional linear models. Comparison between nonlinear simulation results using new model and the experimental tests, show the fidelity of this model. This model has large applications in flying systems autopilot designing, also it could be used as the costly real actuators in simulation laboratory.
Nonlinear Modelling, Saturation, Actuator, Autopilot.
http://joc.kntu.ac.ir/article-1-137-en.html
http://joc.kntu.ac.ir/article-1-137-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
2
2010
9
1
Analysis of Collusive Behavior of Generation Companies in Power Market using Game Theory
44
54
FA
Mohammad Azim
Armin
az.armin@Gmail.com
Habib
Rajabi Mashhadi
h_mashhadi@um.ac.ir
Mohammadreza
Lotalipour
lotfalipour@Eco.um.ac.ir
Power Market, due to unique characteristics of power system, can not be considered as a competitive market. It is much more like an oligopoly market where small numbers of Generation Companies (GenCos) compete to supply the market demand. It became more obvious in 1990s and 2001 as some major crisis hit power markets around the globe. In such a situation, the ability of market participants could raise prices over the competitive level. On the other hand, there is also possible GenCos collude and as a result the market prices rise. The ability of raising the price in collusion is highly dependent on price elasticity of demand. In this paper, at first several reported recent research works related to the collusive behavior in the power market are reviewed. Then, an analytic model based on game theory is proposed to analyze the behavior of participants in competitive and collusive market states. Using the proposed model on a simple system, variation of the market price in both competitive & collusive states are investigated and effects of price elasticity on equilibrium point in a collusive state are studied. Furthermore, the numerical results obtained from the proposed collusion model and a monopolistic model of the market, are compared and the differences are interpreted.
Game Theory, Nash Equilibrium, Power Market, Oligopoly, Collusion, Monopoly
http://joc.kntu.ac.ir/article-1-135-en.html
http://joc.kntu.ac.ir/article-1-135-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
2
2010
9
1
Time Delay MIMO System Control Using Dominant Gain Compensator
55
65
FA
Mansoureh
Esmaeli
m.esmaeli@nipc.net
Mansour
Shirvani
shirvani.m@iust.ac.ir
A new method is presented in this paper to improve the performance of time delay Multiple-Input Multiple-Output systems. The method uses a specific compensator for each of the control loops by which the non-minimum phase characteristic of the open loop functiond changes to minimum phase. When using the proposed added compensator for robustness of the system it is sufficient that compensater becomes dominant gain with respect to the upper norm of the uncertainty of the process. The proposed method is applicable easily in a convetional feedback control loop.
MIMO Systems, Time Delay, Robustness, Dominant Gain Concept.
http://joc.kntu.ac.ir/article-1-132-en.html
http://joc.kntu.ac.ir/article-1-132-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
2
2010
9
1
Nonlinear Modeling and PID Control System Design for a Typical Drum Steam Generator
66
79
FA
Mahdi
Alvandi
malvandi@mech.sharif.ir
Abbas
Fadaee
abbasfadaee@yahoo.com
In this paper, nonlinear modeling and control of a typical drum steam generator are studied. At first, dynamics equations governing the steam generator are derived using physical principles and parameters. In fact, it is intended to combine some models presented in existing literature in order to construct a stronger model, which is to be based only on physical parameters, of steam generator dynamics. Next, these equations are simulated using numerical methods and open-loop responses of the steam generator system, which is inherently unstable, are obtained and investigated. Furthermore, considering boiler-follow mode as the main control mode, two PID controllers are designed using Zieglerâ€“Nichols tuning rules. The Controllers are individually applied to the main steam pressure and the drum water level loops. During design process, the interaction between the steam pressure and the water level is well investigated and explained. This model can be used in researches and studies on the steam generator dynamics optimization and also on the different modern control theories applications.
Nonlinear modeling, steam generator, steam pressure, drum water level, PID control
http://joc.kntu.ac.ir/article-1-136-en.html
http://joc.kntu.ac.ir/article-1-136-en.pdf