INTERNATIONAL CONFERENCE AUTOMATICS'2018

1 - 3 June 2018


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Session Bioelectrical engineering

An alternative biocatalyst-based method for electrical energy conservation

B. Kirov1, V. Galabov2
1 TU-Sofia, FA/ANP
2 TU-Sofia ANP/FA

 

The presented work describes an alternative method for conservation of electrical energy as reduced forms of carbon, namely methane and other more oxidized de-rivatives. The conservation process is biocatalytic and is performed in modified mi-crobial fuel cells (MFC’s). In the latter the cathode provides the electrical energy for the process. However, organics from wastewater are also utilized as a source of en-ergy for the process. The latter consists in the reduction of inorganic carbon (car-bon dioxide) in the presence of the biocatalyst. In this paper we present some exper-imental results with regard to energy consumption, energy-to-organics conversion efficiency and level of organic load removal from wastewater utilized in the process.

Session Bioelectrical engineering

Изследване на PIN – диоди като детектори на импулсно рентгеново лъчение

N. Serafimov1, V. Galabov2
1 TU-Sofia FaGIOPM
2 TU Sofia

 

Целта на проведените в рамките на настоящата работа изследвания е да се анализират различни методи за измерване, контрол и обработка на дозиметрични и лъчезащитни параметри на рентгенови уредби със специално приложение. С помощта на различни по вид PIN – диоди беше проведено измерване на дозата и мощността на дозата на специализирана рентгенова уредба. След анализ на получените резултати, същите бяха сравнени с такива, получени от аналогични измервания, проведени с други видове детектори (йонизационни камери, SiLi – детектори, термолуминисцентни детектори TLD и др.). Крайните резултати могат да бъдат използувани за последваща калибровка на съответните рентгенови уредби.

Session Bioelectrical engineering

MODELING TIME OF COAGULATION ON COWS MILK BY USING EFFECTS OF DIFFERENT CONCENTRATION OF ENZYMES


  1. KARACHIVIEV
    TU - SOFIA

 

The possibility of modeling the biosensor measuring process for analyzing the parameters characterizing the coagulation ability of milk is analyzed in connection with the achievement of possibilities for overcoming technological weaknesses in the measurement and achievement of equal accuracy in all indicators. The aim of this study is to determine the possibility of modeling the cow's milk coagulation rate by using enzymes of different concentration. The coagulation rate was found in 420 assayed cows' milk samples. Four enzymes were tested with 4 concentrations each and one control group with standard chimosin recommended by the manufacturer. The analyzes were made using a Polo Trade - Computerize Renneting Meter biosensor. The analysis of the results was carried out using the SYSTAT statistical package. Significant differences in the rate of coagulation rate using different types of chymosin and the control group were found.

 

 

Session Electrical drives and machine automation

EXTENSION OF PROGRAMMING POSSIBILITIES FOR PROGRAMMABLE LOGICAL DEVICES THROUGH MATLAB

 

Vladimir Hristov, Marin Zhilevski

TU-SOFIA

 

Abstract:  In the present article are shown the possibilities of expanding the programming of CPLD and FPGA programmable logical devices by adding the Xilinx System Generator library to Matlab's Simulink. The structure and algorithm of the different types of simulations that can be performed in Simulink using the Xilinx System Generator are presented. The work presents the advantages of using this type of programming and concrete examples are presented, demonstrating their functionality and efficiency.

Session Electrical drives and machine automation

MANAGEMENT OF A VENTILATION SYSTEM with minimal CONCENTRATION OF CO IN GUARANTEE AREAS WITH AIR DUCT RESISTANCE BALANCE IN REAL TIME.

 

Hristo Stoyanov, Docho Tsankov ,Todor Ionkov

TU-SOFIA

Abstract: In the work is presented and implemented approach for control of ventilation system for maintenance of safe concentration of CO contained in the air environment in closed underground parking areas on demand. The solution is based on a programmable logical controller and SCADA workstation is executed. There are logical block diagrams and control algorithms. Graphic screens with real time system status are developed and established.

Session Electrical drives and machine automation

Microprocessory REALISATION OF ANGULAR POSITION ESTIMATOR AS A SEGMENT OF SYSTEM FOR SENSORLESS VELOCITY CONTROL of permanent magnet synchronous machines

 

Kamen Hristov

TU-SOFIA

 

Abstract: In this work is made a software realization of estimator of angular position of the rotor of system for sensorless control of synchronous machines with permanent magnets, experimentally are reviewed its capabilities for working under load and no load and there are shown experimental data of the estimation error. The research work is made on the development system TMDS1MTRPFCKIT.

Session Electrical drives and machine automation

Sliding mode contol for DC electric drive

R. Voliansky, N. Volianska, A. Sadovoi, Y. Sokhina
Dniprovsk State Technical University

 

The paper deals with the construction of multi-loop control system of DC electric drive. Suggested system is robust, invariant to parametric and coordinate disturbance, and asymptotically stable due to using first order sliding mode control algorithms. Contrary to well-known sliding mode algorithms we propose to use a sliding mode for both goals. At first, we offer to transform dynamic of control object into Brunovsky form by using sliding mode controller. Such transformation allows us to construct a robust and invariant closed loop control system and to form dynamic of the control object. Then, we suggest using sliding mode controller for control of the transformed object. Such approach permits to construct a precise and an asymptotically stable control system. We use the proposed approach for construction current and speed controllers for DC electric drive and proving of our method's benefits by simulation of the constructed system.

Session Industrial engineering and automation

Robust Controller Design using Quantitative Feedback Theory (QFT)

 

Alexander Panteleev, Vessela Karlova-Sergieva

TU-SOFIA

 

Abstract: Robust controller synthesis is of great practical interest. In this paper an efficient method has been proposed for synthesis of controller for a tank level system. Resulting controller is designed through QFT methodology.

Session Industrial engineering and automation

BUILDING A LOW-COST TRAINING-RESEARCH PLATFORM FOR MOBILE COMMUNICATION

 

Alexander Marinchev

TU-SOFIA

 

Abstract: This work presents the construction of educational and research platform for mobile communication using widely available tools. The purpose of such a platform is to show students interested in mobile communications the basic components and principles of building mobile communication devices. The developed device is purely educational and has no commercial focus.

Session Industrial engineering and automation

FRSCTIONAL GSC

 

Emil Nikolov

TU-SOFIA

 

Abstract: This paper examined the possibility of application of the fractional gain scheduling control systems. In this work are proposed: structural configuration of -control systems, analytical methods and algorithms of their analytical synthesis. For numerical example are designed -control systems and presented the results of the analysis of their performance.  

Session Industrial engineering and automation

DISCRETIZATION OF ABSORBERS OF COMPLETE ORDER

 

Boris Grasiani, Nina Nikolova

TU-SOFIA

 

Abstract: In the work is proposed analytical description of complete absorber absorbing the impact of disturbance in control systems. It has proposed the discretization of complete order absorber. Their timing and frequency characteristics are examined.

Session Industrial engineering and automation

All Jordan derivations in a triangle – part 1

I. Trendafilov1, D. Vladeva2
1 TU-Sofia
2 LTU

 

The aim of this paper is to prove that the Jordan multiplication with an arbitrary element of a triangle is a derivation.

Session Industrial engineering and automation

All Jordan derivations in a triangle – part 2

I. Trendafilov1, D. Vladeva2
1 TU-Sofia
2 LTU

 

The aim of this paper is to prove that the Jordan multiplication with an arbitrary element of a triangle is a derivation.

Session Industrial engineering and automation

Fractal properties of time series: comparative analysis of different Hurst exponent estimation methods.

I. Dountcheva
TU-Sofia

 

The aim of this work is to compare the statistical properties of the Hurst exponent estimates obtained by different methods using computer generated fractal time series and measured cumulative precipitation time series for seven Bulgarian locations. The methods examined are: re-scaled range analysis (R/S), regression on the periodogram (RP), average wavelet coefficients (AWC) and detrended fluctuation analysis (DFA).

Session Industrial engineering and automation

Improved algorithm for generating motion profiles for PLC-based positioning applications

S. Enev
Technical University - Sofia

 

Тhe paper proposes an improvement of the motion profile generating algorithm proposed in an earlier paper of the author, so that the residual distance to target, the existence of which represents the main drawback of the algorithm in its original form, is eliminated. The proposed modification consists in an additional scheme for planning corrections during the decelerating phase of the movement, based on parameters of the trajectory realized in the accelerating phase.

Session Industrial engineering and automation

Automated text preprocessing for text analysis

M. Marinov
TU-Sofia

 

The amount of written knowledge in the world is increasing exponentially. However, automated systems, intended to help people maintain this knowledge base, are still too few in number and rudimentary. This paper outlines an algorithm, which aims to tackle several issues common to all natural language processing cases. The focus is on reducing word ambiguity, which is caused by: - combining words into compound words; - different word forms used for grammatical reasons; - spelling mistakes people make when writing. There is also a proposal for a way of mitigating other issues, such as: - use of more than one language in a document, specifically Bulgarian and English. - different ways to combine the same words into sentences with the same meaning. - determining word meaning depending on context.

Session Industrial engineering and automation

DESIGN OF AUTOMATIC DATA PROCESSING SYSTEM FOR

ENGINEERING-PSYCHOLOGICAL RESEARCH PART 1

 

Kiril Borisov, Desislava Stoitseva-Delicheva

TU-SOFIA

 

Abstract: All engineering-psychological studies and their results’ interpretation and statistical analysis are difficult and extremely time-consuming. That makes development of automatic data systems an effective procedure. The paper is focused on the design of such a system, its capabilities for planning different social, psychological or engineering-psychological research, its user profiles’ limitations and the implemented results analysis including statistical data processing.

Session Industrial engineering and automation

PLANNING ENGINEERING-PSYCHOLOGICAL RESEARCH USING AUTOMATIC DATA PROCESSING SYSTEM

 

Kiril Borisov, Desislava Stoitseva-Delicheva

TU-SOFIA

 

Abstract: All engineering-psychological studies and their results’ interpretation and statistical analysis are difficult and extremely time-consuming. That makes development of automatic data systems an effective procedure. The paper is focused on the basic concept of a distant engineering-psychological studies and automatic statistical data evaluation system. The accent is on planning of consumer’s engineering-psychological studies, requirements when choosing standartised psychological questionaires and designing user-defiened questionaires.

Session Robotics systems

NEW CONCEPTUAL VERSION OF SPECIALIZED MOBILE ROBOT FOR THE FORCED RELOCATION OF AUTOMOBILES

 

  Nikola Cenov    Ivan Avramov    Georgi Aleksandrov

TU-SOFIA

Abstract: The report is devoted to a new conceptual version of a specialized high-maneuver mobile robot, suitable for forcibly lifting and moving cars in car parks and garages with limited workspaces. The new conceptual version introduces conceptual design solutions with innovative content of an adjustable four-wheeled "omni-mobile", with the robotized platform fitted with a pneumatic lifting handle.

Session Control systems engineering

Improvement of Padé Method for Order Reduction of the High Order System Model

R. Gerov, Z. Jovanović
Department of Control Systems, Faculty of Electronic Engineering, University of Nis

 

In this paper, we propose a new method for reduction of the high order system model, which is based on improving the Padé transfer function model with reduc-tion techniques into the second order time delay system model. Time and frequency characteristics of the approximation model received in the proposed way have been compared with the characteristics of the approximation models received through reduction with Padé Approximations, Routh Approximations, Suboptimal Reduc-tion and Skogestad “half rule” Reduction Techniques.

Session Control systems engineering

Diophantine equations and inequalities with prime numbers

S. Dimitrov
Tu-Sofia

 

This paper presents a brief survey of the basic diophantine equations and inequalities with prime numbers, solved by methods of analytic number theory.

Session Control systems engineering

QUALITY ASSURANCE ANALYSIS OF A PERFUSION PUMP EMBEDDED CONTROLLER

Vesselin Gueorguiev, Ivan Evg. Ivanov, Borislav Ivanov

TU-SOFIA

Abstract: Control of biofluids circulation using extracorporeal apparata needs to solve the problem of modelling highly non-linear process which parameters can change up to 10 times in a procedure time. This builds hurdles in the process of controller synthesis. All these results to multidimensional problems in controller design.  The paper presents elements of quality analysis for software solutions and software-hardware co-design and implementation and human-induced problems and limitations.

Session Control systems engineering

State impulse response computation for linear time varying systems

K. Perev
TU - Sofia

 

Abstract: The paper considers the problem of state impulse response computation and approximation. The general theory of linear time varying systems is shortly presented and the role of the transient matrix for solving the linear state equation is shown . The basic properties of the transient matrix are considered and the basic approaches for its computation are presented. An algorithm for computation of the transient matrix is proposed, which is based on the integration of the state equation by the method of Runge – Kutta. The role of the adjoint system is shown and the two basic impulse characteristics, namely the normal and the adjoint state impulse responses are presented. It is shown how these characteristics can be approximated in terms of the Legendre orthogonal series. A numerical example, demonstrating the implementation of the algorithms, is also presented and the error of approximation is computed.

Session Control systems engineering

LQG/LTR Power Control of Wind Generator

T. Slavov1, T. Puleva2
1 Technical University of Sofia
2 Techical University of Sofia

 

In this paper investigations concerning LQG (Linear Quadratic Gaussian) approach for power control of wind turbine generator combined with the methodology LTR (Loop Transfer Recovery) are presented. Two-mass drive train model is considered. Тhe linear model with parametric uncertainty is obtained. This model describes the plant dynamics in whole working range. Based on uncertain model the robustness analysis of the control system based on LQR controller is performed. The results show that the designed LQR controller provides robust stability and robust performance of the control system. These results are compared with the corresponding ones obtained by LQG and LQG/LTR methodologies when part of the states are estimated by Kalman filter. Simulation results show the control system performance in “maximum power extraction” regime when the wind speed varies in a large range.

DESIGN OF ROBUST EMBEDDED SYSTEMS WITH MATLAB®  AND Simulink®

 

Petko Petkov, Tsonyo Slavov, Jordan Kralev

TU-SOFIA

 

Abstract: I In this paper, the stages of robust embedded control systems design by the aid of MATLAB/Simulink program system are considered. The methods used and the particularities of system modelling, design of various types of controllers and code generation are discussed Results of the design and implementation of real control systems are given.

Session Control systems engineering

MULTIVARIABLE QUADRATIC COST CONTROL OF

ELECTROHYDRAULIC STEERING SYSTEM

 

Alexander Mitov, Tsonyo Slavov, Jordan Kralev, Ilcho Angelov

TU-SOFIA

Abstract: In the paper is presented an approach for design of multivariable control system for electrohudraulic steering device. It is based on identification of a multivariate model, quadratic cost functional and state estimatation. Experimentation is conveyed on laboratory test-bench which is composed of hydraulic cylinder, microcontroller and hydraulic transmission.

Session Control systems engineering

Embedded system for angular rate control on brushless motor with Arduino®  controller

Jordan Kralev, Sherif Sherif

TU-SOFIA

 

Abstract: Experimental work is conveyed on laboratory test-bench for angular rate control of brushless motor with the help of power module and Arduino microcontroller. For plant identification we use sinusoidal input voltages with increasing frequency and by estimation of gain and phase delay for each frequency we obtain the non-parametric frequency responses. Based on first order approximation of the frequency response we design a discrete PI regulator with the root locus method.

Session Control systems engineering

CONTROL OF TIME VARYING PLANTS IN MATLAB/SIMULINK

Е. Гарипов1, t. slavov2, В. Кънчев1
1 ТУ-София
2 TU-Sofia

 

Two adaptive control algortihms of time-varying plants are presented in this paper. The first uses a conventional recursive prediction error estimator (RPEE) with Kalman filter adaptation mechanism. The second modifies RPEE in order to provide constant value of covariance matrix trace. The system control is performed by adaptive Dahlin controller. The plant parameters variations are realized by Monte Carlo simulation. The results of good quality are got after adaptive control systems research works based on the developed algorithms in MATLAB/SIMULINK environment.

Session Control systems engineering

Adaptive Control and Implementation for the Quadruple Tank System

M. Hristov
-

 

In this paper an adaptive control algorithm for MIMO plant is investigated. The control strategy consists of LQR controller with PI Kalman filter. The control algorithm is based on a linear parameter varying model, gain scheduling approach with recursive solving of the Riccati equation and is designed for quadruple tank system water level control with variable dynamics. A real time simulation of nonlinear plant model is developed by FPGA I/O module. Industrial PLC and HMI panel are used for system implementation. Experimental results concerning control system performance are shown.

Session Control systems engineering

Embedded Control of Water Level in Tank Physical Model

T. Slavov1, J. Kralev1, V. Kanchev2
1 Technical University
2 Technical University Sofia

 

The problem of fluid level control in a tank is widely known in different branches of industry. It is most common in the food and the chemical industry. The aim of this study is to present developed embedded system for water level control in a physical model of a tank. The water level is regulated by a pump, which changes the flow rate through the inlet valve. The control algorithm is embedded in STM 32F407 Discovery microcontroller, which generates a control signal via DAC. This voltage signal is used to control the pump rotational speed.

Session Control systems engineering

Some Regularities on the FOREX Market with an Application for Auto Trading Robots

A. Hotmar
Technical University

 

The article is focused on regularities, objectively existing on the FOREX market that can be used as a base for essential improvement of the results for automatic trade with bot programs. The commented regularity are result of numerous direct and general conclusions. Objective reasons for the existence of some regularities are mentioned.

Session Control systems engineering

Independent design of PID control for three dimensional object

B. Rakov
Technical University of Sofia

 

Most of the industrial systems are multivariable by nature. Often this kind of systems are controlled by multiloop PID controllers in a decentralized scheme. The current work shows reasonably simple engineering approach for auto-tuning with minimal information about the process.

Session Control systems engineering

Experimental Control System for Laboratory Bench “Multi Input and Multi Output (MIMO) Control System”

B. Rakov, G. Ruzhekov
TU-Sofia

 

The laboratory bench “Multi Input and Multi Output (MIMO) Control System” consists of two parts – a thermal object and a control system. The thermal object consists of 4 thermally connected modules (three with a heater and one with a cooler), which is a MIMO object - 4 inputs and 4 outputs. Objects with similar characteristics are spread in the industry.

Session Theoretical electrical engineering

TRANSIENT AND STEADY STATES ANALYSIS IN LINEAR ELECTRICAL CIRCUTS USING DUHAMEL’S INTEGRAL WHEN THE ENERGY SOURCES ARE WITH ARBITRARY FORM

 

Simona Petrakieva

TU-SOFIA

 

Abstract: In the paper, the Duhamel’s integral for determining the analytical expressions for currents and voltages during the transient and steady states in linear electrical circuits, is applied. Method is compared with other approaches for solving this problem. It is discussed its advantages and disadvantages. Main advantage of this technique consist in the fact that by the integral it can be obtain the analitical expression for the arbitrary quantity (current or voltage, rarely potential) when the energy sources (voltage or current sources) vary in the time as piece-continuous arbitrary  functions. Disadvantages of Duhamel’s integral consists in the big numbers of calculations during the process of determining analytical expressions of the studied quantities and unavailability of physical interpretation of them during the solution. The applicability of the considered method is illustrated on the real example.

Session Theoretical electrical engineering

Modelling and Analysis of Hybrid Power Station

A. Cherevnkov, A. Yanev, T. Chervenkova
Technical University of Sofia

 

The power station with renewable generating sources is considered. It consist of Photovoltaic plant and Wind-generator. A model of hybrid power station in MATLAB is created. Simulations of the operation of the power plant have been carried out in different modes. The performance of hybrid power station is analysed. The harmonic composition of the generated AC voltage with an industrial frequency is investigated.

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