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All Journal Buletin Ilmiah Sarjana Teknik Elektro Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems Journal of Fuzzy Systems and Control (JFSC)
Salam Waley Shneen
Huazhong University of science and Technology
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Mechanical Engineering

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Journal : International Journal of Robotics and Control Systems

 1 
Design and Implementation of Voltage Source Inverter Using Sinusoidal Pulse Width Modulation Technique to Drive A Single-Phase Induction Motor Shneen, Salam Waley; Abdullah, Zainab B.; Dakheel, Hashmia S.
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i3.1541

Abstract

A study is underway under the title, Design and implementation of voltage source inverter using sinusoidal pulse width modulation technique to drive a single-phase induction motor. The objectives of the study can be achieved by building a simulation model for a single-phase full-wave inverter consisting of four IGBT transistors. The inverter converts a direct voltage of 220 volts from the power source connected to the inverter input to an alternating voltage of 220 volts RMS. A 10-ohm resistive load is fed to the inverter output. In the first test, a square wave is generated as a result of operating the inverter in the first mode, as a result of activating two electronic switches that give the value of the voltage wave to the load, while the second mode gives the negative voltage with an interval of ten milliseconds for each mode, i.e., at a frequency of 50 Hz for twenty milliseconds for the square wave generated at the inverter output. The other model uses sinusoidal pulse width modulation technique to remove harmonics and control the inverter output by opening and closing electronic switches, which leads to removing some harmonics. The third model depends on adding a filter to obtain the basic wave and get rid of the rest of the harmonics, which results in generating a sine wave. After obtaining an inverter model that converts 220 volts direct voltage to 220 volts alternating voltage RMS as a first stage, the second stage is to feed a single-phase induction motor and operate it under test conditions that include a no-load condition, i.e., zero torque, a constant load condition, i.e., 1 Newton-meter torque, and finally a variable load condition, which is similar to many applications such as a fan, pump, etc. From the simulation results, we can say that the system is effective in operating the induction motor at the specified speed (1430 rpm) after providing the specified electrical quantities, a frequency of 50 Hz, and a voltage of 220 volts alternating voltage RMS.
Simulation and Modeling with Designing for the Proportional, Integral and Derivative Control of Industrial Robotic Arm by Using MATLAB/Simulink Shneen, Salam Waley; Juhi, Hasan H.; Najim, Hiba Ali
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i4.1581

Abstract

This study aims to develop a control system for a robot arm, designed to perform precise movements along a predefined path, suitable for various industrial applications. The robot arm's movements are driven by three electric motors, each responsible for controlling a joint, enabling the arm to follow the required path accurately. To manage the complexity of multiple motors and dynamic movement requirements, an automated control system has been developed, tailored to meet the specific demands of the proposed task. A highly efficient, reliable, and safe control system design is being developed and simulated to evaluate its effectiveness in executing the required path. A simulation model is being constructed to assess the system's ability to follow the prescribed path, its responsiveness to disturbances and transient conditions, and the overall accuracy of the arm's movements. Simulation results will be analyzed to determine the system's performance across various scenarios, evaluating its adaptability to the work environment and its ability to achieve tasks with high accuracy, thereby enhancing system effectiveness.
Performance Enhancement of DC Motor Drive Systems Using Genetic Algorithm-Optimized PID Controller for Improved Transient Response and Stability Aziz, Ghada Adel; Abdullah, Fatin Nabeel; Shneen, Salam Waley
International Journal of Robotics and Control Systems Vol 5, No 1 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i1.1602

Abstract

Some systems require mechanical power, which can be used in many applications, including rotating vehicle wheels, pulling elevators, and moving robot limbs, etc. Mechanical or kinetic energy can be produced and generated from electrical machines, which can be represented by an electric motor, which is a machine that operates on electrical energy, i.e. input energy, and produces mechanical energy, i.e. output energy. One of the most common and widely used motors is the DC motor, which has features that make it a matter of interest to researchers, producing and manufacturing companies to develop and improve its performance. The motor is characterized by flexibility, low cost, durability, and the ability to control the speed and position of the rotating member using traditional, expert and intelligent control systems to achieve appropriate performance according to the field of application. In linear systems, traditional systems (Proportional-Integral-Derivative Controller (PID) have succeeded, while their performance is weak and unacceptable in nonlinear systems. Therefore, expert and intelligent control systems are relied upon to improve the performance of electric motors. It is proposed to implement and operate an electric motor control system using the genetic algorithm to verify its effectiveness in improving performance compared to the traditional one (PID). The genetic algorithm was chosen to address the optimization challenges because it is commonly used in artificial intelligence applications in various fields that are suitable for real time. Therefore, this study presented improving the performance of the traditional controller using the genetic algorithm. Through comparison, the possibility of improving the system performance with changing operating conditions was verified by adjusting the parameters of the traditional controller. The simulation was performed using Matlab, and the DC motor specifications included a rated voltage of 32.4 V, a rated current of 2 A, a rated speed of 536 rad/s, and a power of 54 watts. The conventional controller is responsible for the basic feedback control, while the GA-PID controller optimizes the control parameters to improve the system performance.
Design of a PID Speed Controller for BLDC Motor with Cascaded Boost Converter for High-Efficiency Industrial Applications Al-Dabbagh, Zainab Ameer; Shneen, Salam Waley
International Journal of Robotics and Control Systems Vol 5, No 1 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i1.1601

Abstract

Achieving high voltage and efficiency in brushless direct current (BLDC) motor applications is challenging, particularly in industrial settings where precise speed control is essential. This study addresses this issue by designing a cascaded boost converter with a Proportional–integral–derivative (PID) speed controller. The cascaded boost converter is first simulated in an open-loop circuit using MATLAB/SIMULINK, followed by integrating the BLDC motor and adding a PID controller to achieve precise speed control. The PID controller achieved a steady-state speed of 1500 rad/s with an input voltage of 15 volts, resulting in an output voltage of over 50 volts. The efficiency of the system was improved by 87.87% compared to traditional methods. While the PID controller effectively controls the motor speed, it may consume more power and require more complex tuning in certain operating conditions. The proposed system is suitable for high-voltage industrial applications, such as electric vehicle drives and renewable energy systems, where precise speed control and high efficiency are critical.  The PID controller is user-friendly and easy to implement, making it suitable for various industrial applications. The system was tested under varying load conditions and input voltages to ensure robust performance and reliability. Future work will optimize the PID controller for real-time applications and integrate advanced control strategies to enhance system performance. A cascaded boost converter is a type of DC-DC converter that boosts the input voltage to a higher level, while a PID controller is a control loop feedback mechanism widely used for precise control of dynamic systems.
Reduction of Large Scale Linear Dynamic MIMO Systems Using Adaptive Network Based Fuzzy Inference System Oudah, Manal Kadhim; Shneen, Salam Waley; Aessa, Suad Ali
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1684

Abstract

Large Scale Multiple Input Multiple Output (MIMO) technology is a promising technology in wireless communications, and it is already at the heart of many wireless standards. MIMO technologies provide significant performance improvements in terms of data transfer rate and reduction the interference. However, MIMO techniques face large-scale linear dynamic problems such as system stability and it will be possible to overcome this problem by tuning the proportional integral derivative (PID) in continuous systems. The aim of this paper is to design an efficient model for MIMO based on Adaptive Neural Inference System (ANFIS) controller and compare it with a traditional PID controller. and evaluated by objective function as integral time absolute error (ITAE). ANFIS is used to train fuzzy logic systems according to the hybrid learning algorithm. The training involves the fuzzy logic parameters through simulating the validation data to represent a model to know the correctness and effectiveness of the system. It is optimizes the system performance in real time, however, to avoid potential problems such as easy local optimality. In the proposed approach stability is guaranteed as the initial steady-state scheme. ITAE is combined with ANFIS to minimize the steady-state transient time responses between the high-order initial pattern and unit amplitude response. The proposed ANFIS self-tuning controller is evaluated by comparing with the conventional PID. MATLAB simulink is used to illustrate the results and demonstrate the possibility of adopting ANFIS controller. The simulation results showed that the performance of ANFIS controller is better than the PID controller in terms of settling time, undershoot and overshoot time.
Improving TCP/AQM Network Stability Using BBO-Tuned FLC Nadhim, Rasha F.; Oudah, Manal Kadhim; Aziz, Ghada Adel; Shneen, Salam Waley
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1761

Abstract

One of the modern technologies used to improve the performance of various systems, including communications networks and the Internet, is the technology based on biogeography (BBO) that many researchers in the field of automation and control have shed light on. Fuzzy logic is one of the expert systems that has dealt with its use in control systems by many researchers within different applications. The current work has shed light on the mechanism of using The Biogeography Based-Optimization (BBO) technique for adjusting FLC parameters is called (BBO-FLC). The simulation was performed using Matlab program and the researchers adopted the technique as part of the stability of TCP network. The performance of the techniques used in the optimization process can be identified by comparing the results of each case, such as the proposed technique, with other types represented by the traditional control type Proportional–integral–derivative controller (PID). The possibility of using modern and intelligent optimization techniques for the optimal controller is tested using a tuning process for the parameters of the fuzzy type expert controller with the help of the biogeography-based optimization (BBO) technique. The contributions of the research are to verify the possibility of improving the performance by comparing the behavior of the system for the proposed test and simulation cases by obtaining the prescribed level and without exceeding the permissible values.
Study and Analysis of PWM with DC-DC Converter for Inverting Buck-Boost Inverter Topology Gaber, Rajaa Khalaf; Shneen, Salam Waley; Jiaad, Suaad Makki
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1823

Abstract

The simulation aims to study and analyze the effect of the duty cycle on the output voltage and signal reflection. This type of simulation is important for many practical applications of inverter boost converters, such as renewable energy systems or portable electronics. A voltage converter is being developed to generate a negative voltage output, i.e., it has the ability to invert the output signal. The converter's input is connected to a DC voltage source, and is intended to generate a higher or lower voltage, depending on the application requirements, while maintaining the inverting output signal. This converter is used in many fields, most notably those powered by batteries, such as portable devices, where the required voltage varies depending on the load. Converters regulate and provide a stable and suitable voltage for the batteries. A study and analysis of these converters will address these challenges by building and designing a simulation model to generate a voltage suitable for covering the load or charging the batteries, operating efficiently and reliably under various operating conditions. Its effectiveness can be verified through proposed tests covering operating conditions suitable for real-time operation. The first contribution is to verify the possibility of changing the converter output signal to the same value as the converter output voltage during the pulse generator duty cycle (50%). The second contribution is to verify the possibility of increasing the value of the converter output voltage in the pulse generator duty cycle (70%) or decreasing the value of the converter output voltage in the pulse generator duty cycle (20%). The results demonstrated the effectiveness of the proposed model and the possibility of changing the output voltage value with changing the output signal.
Study and Analysis of Adaptive PI Control for Pitch Angle on Wind Turbine System Ibrahim, Luay G.; Shneen, Salam Waley
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1850

Abstract

In the current work, a study is proposed using the engineering program MATLAB through computer tests of a simulation model for modifying the tilt angle in wind turbines, with a study of the effect of changing the angle of the wind turbine on the mechanical energy resulting from changing wind speed. Variable wind speeds reduce turbine efficiency; pitch control mitigates this. A PI-based pitch controller adjusts blade angles to maintain optimal ?.20 kW model achieved 15% higher power output at variable speeds. ? (tip-speed ratio) and Cp, ? the ratio of blade tip speed to wind speed, determines turbine efficiency. Unlike prior fixed-speed models, our variable-speed design adapts to turbulent winds via real-time pitch adjustment. This approach aids in stabilizing grid integration for renewable energy systems. While pitch control improves turbine efficiency, existing studies lack real-time adaptive strategies for variable wind speeds. our work optimizes pitch angles dynamically using MATLAB simulations. We propose a data-driven pitch control model for 5 kW and 20 kW turbines, validated under turbulent wind conditions. This study aims to maximize power output by correlating pitch angle (?) and tip-speed ratio (?) via MATLAB simulations. As a research contribution, the turbine characteristic curve is examined, as changes occur with changes in lambda, and the Cp Max is obtained at the optimal lambda. Assuming that beta is chosen from the curves to determine how it changes and its effect on operation at a given Cp, a given lambda is determined from the curve. Torque can be recognized as the first variable, both mathematically and physically. A change in torque affects speed, and thus affects lambda. Since there is a relationship between turbine speed and wind speed with lambda, turbine speed also depends on mechanical speed. The aim of the study is to design and build a simulation model using a mathematical representation of a wind turbine to study the effect of tilt angle control on handling changes in wind speed. The research contributions include the design of two models: one with a capacity of 5 kW and the other with a capacity of 20 kW. The first model uses a constant speed, while the second uses a variable wind speed. To stabilize the output at rated power, the turbine is angled. Using the wind turbine simulation model and some proposed tests, we can determine the behavior of the system as speed changes.
Performance Enhancement of BLDC Motor Drive Systems Using Fuzzy Logic Control and PID Controller for Improved Transient Response and Stability Abdullah, Zainab B.; Shneen, Salam Waley; Dakheel, Hashmia Sharad
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1882

Abstract

Currently, systems generally need control units, which requires designing them to analyze the behavior of the system when there are suitable characteristics of the motor according to the required application. The electric motor is very important in many applications and is widely used because of the high-efficiency mechanical power, small sizes, and relatively high torques that these electrical machines have. Improving the performance of systems requires control units, which are of the types of traditional PID, expert Fuzzy, and intelligent control systems. Two systems were proposed, a system that relies on a traditional control unit and a system that relies on fuzzy logic to improve and raise the efficiency of performance and handle system fluctuations resulting from disturbances and different operating conditions. Simulation tests were conducted using MATLAB. The effectiveness of the proposed controllers is evaluated through measurement criteria including efficiency improvements, torque ripple reduction, or settling time. Simulation results for both the closed-loop system using the conventional controller and the expert controller showed that the improvement in system performance can be determined according to criteria that include response speed as well as the overshoot and undershoot rates. Specifically, the settling time using the conventional controller was 3.05 msec. The rise time using the conventional controller was 205.406 msec, while using the expert controller it was 205.406 msec. The overshoot rate (%) using the conventional controller was 18.452%, while using the expert controller it was 6.989%. The undershoot rate using the conventional controller was 6.633%, while using the expert controller it was 1.987%.
Design and Implementation of Proportional-Integral Controller for Single Phase Stand-Alone Inverter with an LC-Filter Kareem, Tamarah; Shneen, Salam Waley; Al-Abbasi, Mohammed
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1876

Abstract

Obtaining a sine wave from a DC source using an inverter and a filter is a challenge that requires a suitable design to meet load requirements as operating conditions change. This work aims to develop a suitable design for an LC-type pass-through filter and a suitable design for a conventional controller. A simulation model for the implementation and operation of a single-phase standalone inverter is being developed and designed using Matlab. In this work, the researchers demonstrate the behavior of a simulated system using a single-phase inverter model connected to a 400 V DC power supply. An LC-type filter is also connected to the inverter and the load. Tests are conducted to determine the system's behavior under various conditions. The researchers are interested in changing operating conditions, and the problem of load variations, on the one hand, and transients and the system's return to a steady state, on the other. The researchers propose one method for overcoming system fluctuations using a conventional controller (PI controller). Tests can cover identifying system behavior, and from there, using the controller, an appropriate reference voltage can be set to supply the load. The proposed model consists of a power supply, four IGBT transistor switches to build a single-phase bridge inverter, a filter with an inductor (4.06e-3H) and a capacitor (6.23e-6F), as well as a reference voltage of 200V and 300V, and a load of 55? and 100?. A suitable conventional microcontroller (PIC) is also designed. The feasibility of providing a sine wave with the proposed reference voltage has been verified, proving the feasibility of the model and its potential for future use. Matlab was used to conduct simulation tests of the proposed model, and high performance, accuracy, and quality were obtained at a level suitable for real-time applications.
Co-Authors Abd, Mohammed Kdair Abd, Mohommed Kdair Abdullah, Fatin Nabeel Abdullah, Zainab B Abdullah, Zainab B. Abood, Layla H. Aessa, Suad Ali Al-Abbasi, Mohammed Al-Dabbagh, Zainab Ameer AL-Khafaji, Mohanned M. H. Ali, Ekbal Hussain Ali, Moaz H. Alkhasraji, Jafaar M. Daif Aziz, Ghada Adel Dahloos, Jaber. O. Dakheel, Hashmia S Dakheel, Hashmia S. Dakheel, Hashmia Sharad Eissa, Suad Ali Gaber, Rajaa Khalaf Gitaffa, Sabah A. Hafad, Sanaa A. Hanfesh, Abduljabbar O. Hmood, Abdalkalaq F. Hussin, Shemaa A. Ibrahim, Luay G. Jawad, Qusay A. Jiaad, Suaad Makki Juhi, Hasan H. Kareem, Tamarah Mahdi, Raghad R. Mutlag, Ashraf Abdualateef Nadhim, Rasha F. Najim, Hiba Ali Oleiwi, Fadhil Mahmood Omran, Salman Hussien Oudah, Manal Kadhim Salman, Hayder Mahmood Shuraiji, Ahlam Luaibi Sulttan, Mohammed Q.