The paper deals with comparing electricity power consumption of various control algorithms by simulating differential mobile robot motion control in a vineyard row. In field of autonomous mobile robotics, the quality of control is a crucial aspect. Besides the precision of control, the energy consumption for motion is becoming an increasingly demanding characteristic of a controller due to the increasing costs of fossil fuels and electricity. A simulation model of a differential drive mobile robot motion in a vineyard row was created, including robot dynamics for evaluating motion consumption, and there were implemented commonly used PID, Fuzzy, and LQ control algorithms, the task of which was to navigate the robot through the centre of vineyard row section by measuring distances from trellises on both robot sides. The comparison was carried out using Matlab software and the best results in terms of both power consumption and control accuracy were achieved by LQI controller. The designed model for navigating the robot through the vineyard row centre and optimized controllers were implemented in a real robot and tested under real conditions.
The techniques and methods for maintaining continuous electrical power to petroleum and chemical facilities from two or more utilityfeeders by an Automated Bus Transfer Logic Controller Relay system are discussed. The purpose of this relay system is to reduce transients, torsional forces, inrush currents, and motor stress while maintaining continuous motor operation when the primary utility source experiences an interruption and the operating facility transfers the motor load to an alternative source of electrical supply. The relay system performs the necessary logic for power supply bus transfers in two directions by automatically selecting from either the Fast, In-Phase or Residual Voltage methods.The controller continuously monitors the alternative source, the load bus and the normal source. The economic considerations of maintaining continuity of production during power supply interruptions using a transfer logic controller to supervise bus transfers may be significant.The engineering studies, application considerations, motor control design requirements, installation and operation of the automated bus transfer controller for a chemical facility are presented and discussed.The present bus transfer methods are reviewed. The effectiveness of these methods using typical buses is discussed. The influence of bus voltage and phase angle characteristics during bus transfer for determining the best transfer technique is also analyzed.
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