Robotic manipulators on a moving base are used in many industrial and transportation applications. In this study, the modelling of a RRP SCARA‐type serial manipulator on a moving base is presented. A Lagrange‐Euler approach is used to obtain the complete dynamic model of the moving‐base manipulator. Hence, the dynamic model of the manipulator and the mobile base are expressed separately. In addition, Virtual Instrumentation (VI) is developed for kinematics, dynamics simulation and animation of the manipulator combined with the moving‐base system. Using the designed VI in LabView, the relationship between frequency of disturbances of the moving base and joint torques is investigated. The obtained results are presented in graphs
In today's energy systems, many equipment operates with Direct Current (DC) voltage. However, it is not always possible to obtain the voltage level required for the operation of these equipment from standard power supplies. For this reason, DC-DC converters are used to achieve the desired voltage values for equipment with different DC voltage levels. These converters are divided into three general categories, named Buck, Boost and Buck-Boost. The most preferred converter is the Cuk converter with low output ripple voltage, which can operate in both buck and boost modes. In this study, a detailed analysis of the Cuk converter, which is frequently used in Photovoltaic (PV) Panels was performed and different control methods of the output voltage were proposed. While performing this analysis, the dynamic model of the Cuk converter was created in which, Proportional-Integral (PI) and Fuzzy Logic (FL) are used to control the output voltage of the Cuk converter. The performances of both controllers were compared with respect to performance parameters such as steady state error, settling time and rise time. When the results obtained were evaluated as a whole, it was observed that FLC achieved the desired reference with less rise and settling time. In this study, modeling and controller applications of Cuk converter are realized by using MATLAB / SIMULINK program.
Nowadays, direct current (DC) voltage is required for the operation of the machines used in many industrial applications. DC voltage generating photovoltaic (PV) panels or other DC voltage generators need to be converted from the voltage level produced by the DC voltage levels required for the operation of the machines. The conversion of a DC voltage to a different DC voltage is performed by DC-DC converters. The most commonly used DC-DC converters in the literature are buck, boost, buck-boost, CUK and SEPIC converter. In this study, different control methods are used in order to reach the desired voltage level of the output voltage of the equivalent series resistance and ideal SEPIC converter in continuous current mode. Conventional Proportional-Integral (PI) and Sliding Mode Control (SMC) methods are used to ensure that the converter reaches the desired voltage level. PI controller parameter values are calculated according to trial and error method. In order to compare the performances of the controller used in the case ideal and equivalent series resistance cases, the controller parameters are taken the same. SMC is shown to perform better in ideal and equivalent series resistance SEPIC converter compared to the traditional PI controller from simulation results. Besides, modeling and controller applications of SEPIC converter are realized by using MATLAB / SIMULINK program.
Before any electrical system is used in industrial applications, its behavior under different operating conditions must be studied. A mathematical model must be constructed beforehand in order to observe the behavior of the system under different conditions. Modeling of three-phase asynchronous motors with an electromechanical converter is very difficult due to the time varying current and voltage. While performing dynamic analysis of such motors, a common reference system must be determined. The most commonly used methods to facilitate the analysis of three-phase induction motors are Clarke-Park transforms. In this study, a visual interface has been prepared to ease the teaching of Clarke-Park transforms. The users are moved from the 3-phase ( , , ) axis to the reference 2 phase ( , ) axis through the interface and to the ( , ) axis with the angle at the magnitudes defined in the ( , ) axis system. With the interface prepared, users can change the voltage, frequency and angle values and graphically observe their effect on Clarke and Park transforms. In addition, the conversion from 2-phase axis to 3-phase axis is made with inverse Clarke and Park transforms. Mathematical modeling of the transform and the interface were made using LabVIEW.
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