Article Per Year (5 Year)
p-Index From 2021 - 2026
0.444
P-Index
This Author published in this journals
All Journal International Journal of Electrical and Computer Engineering Buletin Ilmiah Sarjana Teknik Elektro
Ahmed Alkamachi
University of Baghdad
Computer Science & IT Electrical & Electronics Engineering

Published : 2 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 2 Documents
Search

 1 
A self-balancing platform on a mobile car Bushra Amer Tawfeeq; Maher Yahya Salloom; Ahmed Alkamachi
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i6.pp5911-5922

Abstract

In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, and industry. In this paper, the physical prototype of a proposed self-balancing platform that described the self-balancing attitude in the (X-axis, Y-axis, or biaxial) under the influence of road disturbance has been introduced. In the physical prototype, the inertial measurement unit (IMU) sensor will sense the disturbance in (X-axis, Y-axis, and biaxial). With the determined error, the corresponding electronic circuit, DC servo motors, and the Arduino software, the platform overcame the tilt angle(disturbance). Optimization of the proportional-integral-derivative (PID) controllers’ coefficients by the genetic algorithm method effectively affected the performance of the platform, as the platform system is stable and the platform was able to compensate for the tilt angle in (X-axis, Y-axis, and both axes) and overcome the error in a time that does not exceed four seconds. Therefore, a proposed self-balancing platform’s physical prototype has a high balancing accuracy and meets operational requirements despite the platform’s simple design.
Robust Speed Control of Permanent Magnet DC Motors Using an Arctic Puffin Optimized PI Controller and Nonlinear Disturbance Observer Ahmed Alkamachi
Buletin Ilmiah Sarjana Teknik Elektro Vol. 8 No. 3 (2026): June
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v8i3.15723

Abstract

Permanent magnet DC (PMDC) motors are widely used in many devices, such as in robotics, medical equipment, and industrial machinery, because they are small and easy to control. However, their operation can be affected by external disturbances such as load fluctuations. Conventional Proportional Integral (PI) controllers, although simple, are not sufficiently robust against such disturbances. This study proposes a novel control scheme for improving PMDC motor performance. It combines a simple PI controller with a Nonlinear Disturbance Observer (NDOB). A key advantage of the NDOB is its enhancement of robustness via actively estimating and compensating lumped disturbances. This makes the system more robust to disturbances and modelling errors while maintaining simplicity of structure and use. The controller parameters (PI gains and the NDOB low pass filter cutoff frequency) have been optimized using a custom algorithm called Arctic Puffin Optimization (APO) that ensure global optimal selection of the tuned parameters. The proposed combined weighted cost function allowed for the best balance between response speed, disturbance rejection, and control effort. The new controller has been tested in MATLAB/Simulink and compared with standard PI controllers. Under step load disturbance, the proposed controller achieves an 88.6% reduction in ITAE compared to conventional PI control. In the presence of sinusoidal load disturbance, the ITAE is further reduced by 94.9%, demonstrating strong disturbance rejection capability. Moreover, under parameter uncertainties, the settling time is improved by 36.8%, while the ITAE is reduced by 56.8%. The results demonstrate improved robustness and faster transient response compared to standard PI control making the proposed controller a superior solution for many applications such as robotic actuators and industrial positioning systems.
Co-Authors Bushra Amer Tawfeeq Maher Yahya Salloom