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Mejbel, Basim Ghalib
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Enhanced Dynamic Control of Quadcopter PMSMs Using an ILQR-PCC System for Improved Stability and Reduced Torque Ripples Saleh, Ziyaad H.; Mejbel, Basim Ghalib; Radhi, Ahmed Dheyaa; Hashim, Abdulghafor Mohammed; Taha, Taha A.; Gökşenli, Nurettin; Hussain, Abadal-Salam T.; Sekhar, Ravi
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23159

Abstract

Quadcopter technology has developed fast because it’s flexibility and capacity for high maneuvers. What makes PMSM suitable for Quadcopter is their high power to weight ratio, reliability and efficiency. These motors allow the operation of torque and speed control which are important for stability and maneuverability in the flight of the aircraft. Nevertheless, certain and smooth flight caused by regulation of PMSM speed and current is necessary for stable and maneuverable movement. This work presents a new control strategy connecting the ILQR control to govern the speed while the PCC profit the dynamic response and control torque ripples. A comparison is made on the performance of the ILQR-PCC system with nominal Proportional-Integral (PI) control and ILQR.  From the results it is evident that the ILQR-PCC system is far superior to both the PI ILQR controller in regards to the dynamic response, the disturbances rejection capacity as well as reducing the current signal distortions hence reducing the torque ripples. Its working was evidenced in a nonlinear LQR-controlled quadcopter to track the reference accurately and to have minimum distortion in current regulation. The presented work improves the control systems of quadcopters: it introduces a reliable method that improves stability and increases the performance of the quadcopter; therefore, this paper contributes to the existing knowledge.
Enhanced Total Harmonic Distortion Optimization in Cascaded H-Bridge Multilevel Inverters Using the Dwarf Mongoose Optimization Algorithm Salih, Sinan Q.; Mejbel, Basim Ghalib; Ahmad, B. A.; Taha, Taha A.; Bektaş, Yasin; Aldabbagh, Mohammed M; Hussain, Abadal-Salam T.; Hashim, Abdulghafor Mohammed; Radhi, Ahmed Dheyaa
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23548

Abstract

Total harmonic distortion (THD) is one of the most essential parameters that define the operational efficiency and power quality in electrical systems applied to solutions like cascaded H-bridge multilevel inverters (CHB-MLI). The reduction of THD is crucial due to the fact that improving the system’s power quality and minimizing the losses are key for performance improvement. The purpose of this work is to introduce a new DMO-based approach to optimize the THD of the output voltage in a three-phase nine-level CHB-MLI. The proposed DMO algorithm was also subjected to intense comparison with two benchmark optimization techniques, namely Genetic Algorithm and Particle Swarm Optimization with regards to three parameters, namely convergence rate, stability, and optimization accuracy. A series of MATLAB simulations were run to afford the evaluation of each algorithm under a modulation index of between 0.1 and 1.0. The outcome of the experiment amply proves that in comparison with THD minimization for the given OP, the DMO algorithm was significantly superior to both RSA-based GA and PSO algorithms in their ability to yield higher accuracy while requiring lesser computational time. Consequently, this work could expand the application of the DMO algorithm as a reliable and effective means of enhancing THD in CHB-MLIs as well as advancing the overall quality of power systems in different electrical power networks.
Enhanced Dynamic Control of Quadcopter PMSMs Using an ILQR-PCC System for Improved Stability and Reduced Torque Ripples Saleh, Ziyaad H.; Mejbel, Basim Ghalib; Radhi, Ahmed Dheyaa; Hashim, Abdulghafor Mohammed; Taha, Taha A.; Gökşenli, Nurettin; Hussain, Abadal-Salam T.; Sekhar, Ravi
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23159

Abstract

Quadcopter technology has developed fast because it’s flexibility and capacity for high maneuvers. What makes PMSM suitable for Quadcopter is their high power to weight ratio, reliability and efficiency. These motors allow the operation of torque and speed control which are important for stability and maneuverability in the flight of the aircraft. Nevertheless, certain and smooth flight caused by regulation of PMSM speed and current is necessary for stable and maneuverable movement. This work presents a new control strategy connecting the ILQR control to govern the speed while the PCC profit the dynamic response and control torque ripples. A comparison is made on the performance of the ILQR-PCC system with nominal Proportional-Integral (PI) control and ILQR.  From the results it is evident that the ILQR-PCC system is far superior to both the PI & ILQR controller in regards to the dynamic response, the disturbances rejection capacity as well as reducing the current signal distortions hence reducing the torque ripples. Its working was evidenced in a nonlinear LQR-controlled quadcopter to track the reference accurately and to have minimum distortion in current regulation. The presented work improves the control systems of quadcopters: it introduces a reliable method that improves stability and increases the performance of the quadcopter; therefore, this paper contributes to the existing knowledge.
Enhanced Total Harmonic Distortion Optimization in Cascaded H-Bridge Multilevel Inverters Using the Dwarf Mongoose Optimization Algorithm Salih, Sinan Q.; Mejbel, Basim Ghalib; Ahmad, B. A.; Taha, Taha A.; Bektaş, Yasin; Aldabbagh, Mohammed M; Hussain, Abadal-Salam T.; Hashim, Abdulghafor Mohammed; Veena, B. S.
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23548

Abstract

Total harmonic distortion (THD) is one of the most essential parameters that define the operational efficiency and power quality in electrical systems applied to solutions like cascaded H-bridge multilevel inverters (CHB-MLI). The reduction of THD is crucial due to the fact that improving the system’s power quality and minimizing the losses are key for performance improvement. The purpose of this work is to introduce a new DMO-based approach to optimize the THD of the output voltage in a three-phase nine-level CHB-MLI. The proposed DMO algorithm was also subjected to intense comparison with two benchmark optimization techniques, namely Genetic Algorithm and Particle Swarm Optimization with regards to three parameters, namely convergence rate, stability, and optimization accuracy. A series of MATLAB simulations were run to afford the evaluation of each algorithm under a modulation index of between 0.1 and 1.0. The outcome of the experiment amply proves that in comparison with THD minimization for the given OP, the DMO algorithm was significantly superior to both RSA-based GA and PSO algorithms in their ability to yield higher accuracy while requiring lesser computational time. Consequently, this work could expand the application of the DMO algorithm as a reliable and effective means of enhancing THD in CHB-MLIs as well as advancing the overall quality of power systems in different electrical power networks.
Co-Authors Ahmad, B. A. Aldabbagh, Mohammed M BEKTAS, YASIN Gökşenli, Nurettin Hashim, Abdulghafor Mohammed Hussain, Abadal-Salam T. Radhi, Ahmed Dheyaa Saleh, Ziyaad H. Salih, Sinan Q. Sekhar, Ravi Taha, Taha A. Veena, B. S.