Browsing by Author "Lambe M. Adesina"

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    A Direct Optimal Control of the Jebba Hydropower Station
    (Institute of Electrical and Electronics Engineering (IEEE), 2019-09-01) Olalekan Ogunbiyi; Cornelius T. Thomas; Benjamin J. Olufeagba; Ibrahim S. Madugu; Busayo H. Adebiyi; Lambe M. Adesina
    The optimal power generation from the Jebba hydroelectric power station is subject to the reservoir operating head, weather-related factors, units’ availability and system dynamics. In this paper, a computer control system is designed to ensure safe operation and maximize power generation. The controller is an optimal controller, which determines the amount of inflow required to regulate the reservoir operating head. The control law is an optimal control procedure developed around the steepest descent and conjugate gradient algorithm. The algorithms determine the control signal and state trajectories for minimization of a performance index defined for the regulation of the reservoir operating head. The results show that the two techniques are feasible in estimating an optimal inflow needed to move the reservoir operating head from any level to the nominal head. The two techniques were compared under different operating conditions of the hydropower system, the conjugate gradient algorithm performs better in terms of computational time. The control algorithm is recommended for use in the realization of a computer control system for the station.
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    Development of Embedded Control for a Repetitive Pick and Placed Robotic Arm
    (FUOYE Ado-Ekiti, Nigeria, 2023-06-01) Olalekan Ogunbiyi; Taiwo O. Idowu; Lambe M. Adesina
    Manual execution of tasks is usually strenuous and exhaustive, some tasks may be repetitive in nature such that it requires full concentration. Nowadays, the integration of robotics into commercial and industrial activities to perform repetitive, dangerous, and difficult is becoming a norm. This work focuses on the implementation of a robotic arm. The robotic arm was designed to have six degrees of freedom. The control circuit includes an embedded Atmega328P microcontroller interfaced with servomotors and other glue electronic components such as sensors and buttons. The system is structured and programmed to operate automatically, performing a repetitive routine. The rotation and orientation of the device were tuned by sending required pulse width modulation (PMW) signals to different servomotors, such that they rotate as desired. The system employs six potentiometers in varying the duty cycle generated by the microcontroller. The system is structured such that three servomotors manipulate the motion of the body, the shoulder, the arm elbow, and the base. Manipulations of the end effector were also carried out by another three servomotors, each one controlling the gripper pitch, the movement of gripper spin, and that of the gripper itself. The constructed robotic arm gives a good response when tested for repetitive picking of objects. A similar acceptable performance was repeated in the autonomous lifting and dropping of objects items.
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    Numerical Approximation of Indirect Optimal Control of Jebba Hydroelectric Power Plant
    (Asian research publishing network, 2021-01-01) Olalekan Ogunbiyi; Muheeb O. Ahmed; Lambe M. Adesina; Benjamin J. Olufeagba
    There has been unending research on the utilization of hydropower resources in Nigeria with several models proposed for an optimal generation. Of great importance among these models are those that are useful in system management and controller design. This paper presents an optimal control problem that is formulated around a system model for the regulation of reservoir operating head at Jebba hydroelectric power plant. It also presents a means of solving a two-point boundary value problem resulting from an optimality equation. A conjugate gradient algorithm was adopted as an iterative numerical technique for the approximation of the optimal inflow required to ensure that the operating head follows a predefined trajectory. The result shows the feasibility of the control algorithm, its independence on the initial guess for the control, and a relative error of 0.2% between the setpoint and the computed terminal operating head. The solution provides a means of optimal power generation on the cascaded Kainji-Jebba hydropower stations and recommended in the realization of the physical controller.