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Research Studio for Testing Control Algorithms of Mobile Robots

Sebastian Dudzik Piotr Szeląg Janusz Baran
International Journal of Electronics and Telecommunications | 2020 | vol. 66 | No 4 | 759-768 | DOI: 10.24425/ijet.2020.134038
Keywords mobile robots UAV MATLAB Simulink QDrone
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Abstract

In recent years, a significant development of technologies related to the control and communication of mobile robots, including Unmanned Aerial Vehicles, has been noticeable. Developing these technologies requires having the necessary hardware and software to enable prototyping and simulation of control algorithms in laboratory conditions. The article presents the Laboratory of Intelligent Mobile Robots equipped with the latest solutions. The laboratory equipment consists of four quadcopter drones (QDrone) and two wheeled robots (QBot), equipped with rich sensor sets, a ground control station with Matlab-Simulink software, OptiTRACK object tracking system, and the necessary infrastructure for communication and security. The paper presents the results of measurements from sensors of robots monitoring various quantities during work. The measurements concerned, among others, the quantities of robots registered by IMU sensors of the tested robots (i.e., accelerometers, magnetometers, gyroscopes and others).

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Authors and Affiliations

Sebastian Dudzik
Piotr Szeląg
Janusz Baran

Simulation for Motion of Platform During Truck Changing in Trucklift Slope Hoisting System in Open Pit Mines Using ADAMS and Matlab/Simulink

Tok Hyong Han Kwang Hyok Kim Un Chol Han Kwang Myong Li
Archives of Mining Sciences | 2021 | vol. 66 | No 3 | 393-406 | DOI: 10.24425/ams.2021.138596
Keywords ADAMS MATLAB/Simulink Platform Truck changing Open-pit mine Trucklift slope hoisting system
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Abstract

This paper focused on a study concerned with the motion of platforms at loading stations during truck changing in Trucklift slope hoisting system built in Jaeryong open-pit iron mine, DPR of Korea. The motion of platform in Trucklift slope hoisting system produces undesirable effect on truck changing. To analyze the motion of platform during truck changing, we built the dynamic model in ADAMS environment and control system in MATLAB/Simulink. Simulation results indicate that the normal truck changing can be realized without arresters at loading stations by a reasonable structural design of platforms and loading stations.
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Bibliography

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Authors and Affiliations

Tok Hyong Han
1
ORCID: ORCID
Kwang Hyok Kim
1
ORCID: ORCID
Un Chol Han
2
ORCID: ORCID
Kwang Myong Li
2
ORCID: ORCID
  1. Kim Chaek University of Technology, Faculty of Mining Engineering, Pyongyang, Democratic People’s Republic of Korea
  2. Kim Chaek University of Technology, School of Science and Engineering, Pyongyang, Democratic People’s Republic of Korea

Modelling and simulation of sinusoidal pulse width modulation controller for solar photovoltaic inverter to minimize the switching losses and improving the system efficiency

Sivaraj Panneerselvam Karunanithi Kandasamy Chandrasekar Perumal
Archives of Electrical Engineering | 2022 | vol. 71 | No 3 | 615-626 | DOI: 10.24425/aee.2022.141674
Keywords efficiency IGBT MOSFET PV inverter MATLAB/Simulink SPWM controller switching loss
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Abstract

With the extinction of fossil fuels and high increase in power demand, the necessity for renewable energy power generation has increased globally. Solar PV is one such renewable energy power generation, widely used these days in the power sector. The inverters used for power conversion suffer from power losses in the switching elements. This paper aims at the detailed analysis on switching losses in these inverters and also aims at increasing the efficiency of the inverter by reducing losses. Losses in these power electronic switches vary with their types. In this analysis the most widely used semiconductor switches like the insulated gate bipolar transistor (IGBT) and metal oxide semiconductor field effect transistor (MOSFET) are compared. Also using the sinusoidal pulse width modulation (SPWM) technique, improves the system efficiency considerably. Two SPWM-based singlephase inverters with the IGBT and MOSFET are designed and simulated in a MATLAB Simulink environment. The voltage drop and, thereby, the power loss across the switches are compared and analysed. The proposed technique shows that the SPWM inverter with the IGBT has lower power loss than the SPWM inverter with the MOSFET.
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Authors and Affiliations

Sivaraj Panneerselvam
1
ORCID: ORCID
Karunanithi Kandasamy
1
ORCID: ORCID
Chandrasekar Perumal
1
ORCID: ORCID
  1. Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology, Chennai, Tamil Nadu, India

The real-time simulator using MATLAB/Simulink software for closed-loop coordination protection devices testing

Adam Smolarczyk Sebastian Łapczyński Michał Szulborski Łukasz Kolimas Łukasz Kozarek
Bulletin of the Polish Academy of Sciences Technical Sciences | 2021 | 69 | 4 | e137413 | DOI: 10.24425/bpasts.2021.137413
Keywords real-time simulator distance protections protection relays testing closed-loop testing MATLAB/Simulink
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Abstract

This paper aims to discuss the behavior of the proprietary real-time simulator (RTS) during testing the coordination of distance relay protections in power engineering. During the construction process of the simulator, the mapping of various dynamic phenomena occurring in the modeled part of the power system was considered. The main advantage to the solution is a lower cost of construction while maintaining high values of essential parameters, based on the generally available software environment (MATLAB/Simulink). The obtained results are discussed in detail. This paper is important from the point of view of the cost-effectiveness of design procedures, especially in power systems exploitation and when avoiding faults that result from the selection of protection relay devices, electrical devices, system operations, and optimization of operating conditions. The manuscript thoroughly discusses the hardware configuration and sample results, so that the presented real-time simulator can be reproduced by another researcher.
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Bibliography

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  2.  P.G. McLaren, R. Kuffel, R. Wierckx, J. Giesbrecht, and L. Arendt, “A real time digital simulator for testing relays”, IEEE Trans. Power Deliv., vol. 7, no. 1, pp. 207–213, 1992.
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  7.  L.A. Montoya and D. Montenegro, “Adaptive Protection Testbed Using Real time and Hardware-in-the-Loop Simulation”, IEEE International Conference PowerTech., 2013, Grenoble, France, 2013, pp. 20‒24.
  8.  M. Krakowski and Ł. Nogal, “Testing power system protections utilizing hardware-in-the-loop simulations on real-time Linux”, Bull. Pol. Acad. Sci. Tech. Sci., vol. 68, no. 5, pp. 1099‒1105, 2020.
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Authors and Affiliations

Adam Smolarczyk
1
ORCID: ORCID
Sebastian Łapczyński
1
ORCID: ORCID
Michał Szulborski
1
ORCID: ORCID
Łukasz Kolimas
1
ORCID: ORCID
Łukasz Kozarek
2
ORCID: ORCID
  1. Warsaw University of Technology, Faculty of Electrical Engineering, Electrical Power Engineering Institute, 00-662 Warsaw, Poland
  2. ILF Consulting Engineers Polska Sp. z o.o., ul. Osmańska 12, 02-823 Warsaw, Poland

Improved Matlab/Simulink model of dual three-phase fractional slot and concentrated winding PM motor for EV applied brushless DC drive

Ihor Shchur Damian Mazur Olekcandr Makarchuk Ihor Bilyakovskyy Valentyn Turkovskyi Bogdan Kwiatkowski Dawid Kalandyk
Archives of Control Sciences | 2022 | vol. 32 | No 4 | 677-707 | DOI: 10.24425/acs.2022.143667
Keywords electric vehicle (EV) dual three-phase (DTP) motor BLDC drive fractional slot concentrated winding PM motor FEM modeling self and mutual differential inductances Matlab/Simulink model
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Abstract

The development of electric vehicles (EV) necessitates the search for new solutions for configuring powertrain systems to increase reliability and efficiency. The modularity of power supplies, converters, and electrical machines is one such solution. Among modular electric machines, dual three-phase (DTP) motors are the most common in high-power drives. To simplify low and medium power drives for EVs based on DTP PM motor, it is proposed to use a BLDC drive and machine of the simplest design – with concentrated windings and surface mounted PMs on the rotor. To study and create such drives, an improved mathematical model of DTP PM machine was developed in this work. It is based on the results of 2D FEM modeling of the magnetic field. According to the developed method, the dependences of the self and mutual inductances between all phase windings from the angle of rotor position and loads of different motor modulus were determined. Based on these inductances, the circuit computer model of DTP PM machine was created in the Matlab/Simulink. It has a high simulation speed and a high level of adequacy, which is confirmed by experimental studies with a mock-up sample of the electric drive system.
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Authors and Affiliations

Ihor Shchur
1
Damian Mazur
2
ORCID: ORCID
Olekcandr Makarchuk
1 3
Ihor Bilyakovskyy
1
Valentyn Turkovskyi
1
Bogdan Kwiatkowski
4
ORCID: ORCID
Dawid Kalandyk
5
  1. Department of Electric Mechatronics and Computer-Controlled Electromechanical Systems, Lviv Polytechnic National University, Lviv 79013, Ukraine
  2. Department of Electrical Engineering and Fundamentals of Computer Science, Rzeszow University of Technology, Rzeszow 35-959, Poland
  3. Faculty of Electrical Engineering, Czestochowa University of Technology, Czestochowa 42-200, Poland
  4. Department of Electrical Engineering and Fundamentals of ComputerScience, Rzeszow University of Technology, Rzeszow 35-959, Poland
  5. Doctoral School of Engineering and Technical Sciences at the Rzeszow University of Technology, Rzeszów 35-959, Poland

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