Multi-Level Control System for an Intelligent Robot that is Part of a Group

The article is devoted to the application of a group of robotic complexes for military purposes. The current state of control systems of single robotic complexes does not allow solving all the tasks assigned to the robot. The analysis of methods of controlling a group of robots in combat conditions is carried out. The necessity of using a multi-level control system for an intelligent combat robot is justified. A multi-level control system for an intelligent robot is proposed. Such a system assumes the possibility of controlling the robot in one of four modes: remote, supervisory, autonomous and group. Moreover, each robot, depending on the external conditions and its condition, can be in any control mode. The application of the technique is shown by the example of the movement of a group of robots with an interval along the front. The problem of the movement of slave robots behind the leader is considered. When forming the robot control algorithm, the method of finite automata was used. The algorithm controls the movement of the RTK in various operating modes: group control mode and autonomous movement mode. In the group control mode, the task is implemented: movement for the leader. For the state of "Movement in formation", an algorithm for forming the trajectory of the movement of guided robots was implemented. An algorithm for approximating the Bezier curve was used. It allows you to build a trajectory for the slave robot. On the basis of the obtained trajectory, the angular and linear velocity were calculated. In the autonomous control mode, two tasks are solved: moving to a given point and avoiding obstacles. Vector Field Histogram was used as an algorithm for detouring an obstacle, which determines the direction of movement without obstacles. The state of "Movement to a given point" is based on Pure Pursuit as a simple and reliable algorithm for solving such problems. A computer model of the movement of a group of robots was developed. The model is implemented in the MATLAB program using the Simulink and Mobile Robotics Simulation Toolbox libraries. Several different variants of the movement of the RTK group are modeled, which differ from each other in the initial location of the robots and the position of obstacles. The conducted computer simulation showed the efficiency and effectiveness of the proposed method of RTC control.

Self-Tuning PID-Genetic Algorithm Controller for Steam Drum Boiler Water Level Control System

A control system with uncertainty or unpredictable disturbance needs more effort to be controlled. A conventional PID Controller is the most popular method used in industries. It was tuned and adjusted by the designer, and it has fixed parameters during operation. However, the disturbance effect causes the desired system performance unreachable. By using a self-tuning controller, the problem should be tackled. In this paper, the PID-Genetic Algorithm (PID-GA) controller was proposed and tested with the steam drum water level control system of a steam power plant. Variation in power load causes noisy water level characteristics and should be maintained at + 0.4 meters from the setpoint to prevent the power plant trip. From the simulation, PID-GA can reduce disturbance of the minimum, nominal, and maximum load with perturbation peaks 0.18 m, 0.22 m, and 0.26 m respectively.Keywords: genetic algorithm, NWL, PID-GA, steam drum, steam power plant.

Interactive Water Level Control System Simulator Based on OMRON CX-Programmer and CX-Designer

Abstract— Programmable Logic Controller (PLC) is an essential component in industrial automation where it acts as the backbone of the system. In line with Industrial Revolution (IR) 4.0, most industrial and manufacturing sectors move towards automation systems. Preparing university students about automation and PLC fundamental knowledge and skill is crucial before graduation, where the preoccupied knowledge will enhance graduate employability. Fulfilling this task, universities have to prepare the necessary equipment in the laboratory for teaching and learning purposes. The problem arises when certain universities with budget constraints cannot purchase the equipment for the PLC embedded system as huge costs have to be borne by universities. Thus, an alternative approach has to be taken where the main objective of this paper is to develop an interactive water level control system simulator as a substitution of the expensive automation PLC embedded system for teaching and learning purposes. OMRON software, namely CX-Programmer and CX-Designer used to design and develop an interactive water level control system simulator. In addition, the interactive water level control will be embedded with a PLC component that replicates the actual automation system laboratory equipment. Moreover, universities with a limited budget can utilize the tool for teaching and learning purposes of the PLC and automation system, which is the main contribution of this paper. Keywords—Water Level Control System, Programmable Logic Controller, Simulator, CX-Programmer, CX-Designer.

Development of a Robust Scrubber Level Controller

Gas-liquid scrubbers rely on level control systems (generally consisting of a level indicator, a level controller, and a pneumatic control valve for liquid release) to maintain an appropriate liquid level within the vessel. Scrubbers are often upstream of turbomachinery and failures at the scrubber can cause liquid ingestion or downtime. In natural gas service, these control systems are subject to harsh environments due to the influx of liquid slugs, high-velocity gases, corrosive fluids, vibrations, and a chaotic gas-liquid interface. In these severe conditions, level control system failures are commonplace and lead to safety and environmental hazards, equipment damage, and lost production. A need exists to augment or replace the typical liquid level control system with an alternative solution that is cost-effective, robust, and can operate reliably in the harsh natural gas environment. A project investigated failures related to scrubber level control systems, identified improvements to these systems, developed a prototype level controller, and tested the prototype controller and a variety of commercially available controllers at various conditions that emulated certain field conditions. The results of these tests gave insight into what type of controller may be best suited to the tested conditions and what controller options should be pursued further.