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Publication Date

Tue Jun 30 2015

Journal Name

Al-khwarizmi Engineering Journal

Volume

11

Issue Number

3

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Integral Sliding Mode Control Design for Electronic Throttle Valve System

Electronic throttle valve

Nonlinear spring model

Integral sliding mode control

Non-smooth model.

Shibly Ahmed

Alaq Sabah

Mustafa H.

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Abstract

One of the major components in an automobile engine is the throttle valve part. It is used to keep up with emissions and fuel efficiency low. Design a control system to the throttle valve is newly common requirement trend in automotive technology. The non-smoothness nonlinearity in throttle valve model are due to the friction model and the nonlinear spring, the uncertainty in system parameters and non-satisfying the matching condition are the main obstacles when designing a throttle plate controller.

In this work, the theory of the Integral Sliding Mode Control (ISMC) is utilized to design a robust controller for the Electronic Throttle Valve (ETV) system. From the first instant, the electronic throttle valve dynamics is represented by the nominal system model, this model is not affected by system parameters uncertainty and the non-smooth nonlinearities. This is a consequence of applying the integral sliding mode control. The ISMC consists of two part; the first is the nominal control which is used to control the nominal system, while the second is a discontinuous part which is used to eliminate the effects of the parameters uncertainty and the non-smooth nonlinearities from system model. These features for the ISMC are proved mathematically and demonstrated numerically via seven numerical simulations and for different desired trajectories. The simulation results clarify that for different system parameters, the ETV behaves as a nominal system. This enables to freely and precisely select the system response characteristics and the time required for the throttle angle to reach the desired value. Moreover the ability to deal with the chattering problem is demonstrated through the worked simulation tests, where the chattering is eliminated via approximating the signum function by arc tan function.

Keywords: Electronic throttle valve, Nonlinear spring model, Integral sliding mode control, Non-smooth model.

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Publication Date

Mon Jan 06 2025

Journal Name

Journal Of Studies And Researches Of Sport Education

The effect of using the educational bag on the level of learning some offensive skills with the epee weapon

The effect of using the educational bag on the level of learning some offensive skills with the epee weaponDr. Lamia Hassan Al-Diwan

D. Fatima Abdel-Maliki

Dr. Kholoud Laith Abdel Karim2005 Technical and technological development has been increasing day after day and has included all areas of life

including the educational process

which has benefited from technologies such as (computer

video

and pictorial models) in introducing them as tools to aid the learning process. Educational packages have proven their effectiveness in education as they prepare learners with different areas of experience. Sensory audio-visual

through which the learner acquires different educational experiences through interaction

practice

participation

and communication with the data of the surrounding environment through the diversity of knowledge sources that suit his inclinations and needs. The research aimed to prepare an educational bag to teach some offensive skills in the epee weapon. And to find out the effect of using the proposed educational bag on the level of learning some offensive skills in the epee weapon. We hypothesized that the proposed educational package has a positive impact on the level of learning some offensive skills with the epee weapon. There were statistically significant differences in testing the level of learning some offensive skills with the epee weapon between the post-tests of the experimental and control groups

and in favor of the experimental group. The researchers used the experimental method to suit the nature of solving the research problem

and the research sample was chosen intentionally from the girls’ fencing club players (beginners) in the governorate. Basra for the year 2005. The number of players was (16)

which represented the entire study population. The experiment was conducted in the sports hall of the South Oil Sports Club in Basra. We concluded that the educational package has a positive impact on the level of learning some offensive skills in the epee weapon. There were statistically significant differences in the learning level test for some offensive skills in the epee weapon between the experimental group and the control group in the post-tests and in favor of the experimental group. We recommended the necessity of using the proposed educational curriculum to learn some offensive skills in the epee weapon in fencing lessons or in sports clubs. Adopting modern techniques in training

teaching or teaching fencing skills and searching for new methods. Conducting similar studies on other skills or different samples.Keywords: educational bag

offensive skills with an epee weapon

fencing game. Teaching methods. Basra Girl Sports ClubLamya Hassan Aldewan [email protected] of Basra - College of Education and Sports Scienceshttps://orcid.org/0000-0003-0377-6915 Keywords educational bag

offensive skills with an epee weapon

fencing game. Teaching methods. Basra Girl Sports Club

‏Lamyaa

Fatima

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Publication Date

Sat Sep 01 2018

Journal Name

Polyhedron

Novel dichloro (bis {2-[1-(4-methylphenyl)-1H-1, 2, 3-triazol-4-yl-κN3] pyridine-κN}) metal (II) coordination compounds of seven transition metals (Mn, Fe, Co, Ni, Cu, Zn and Cd)

The 1

3-dipolar cycloaddition “click” reaction between an azide and an alkyne to give a 1

2

3-triazole was reported by Huisgen in 1961 [1]. In 2002 the Copper(I)-catalyzed Azide-Alkyne Cycloaddition (CuAAC) to prepare a 1

2

3-triazole was reported [2]

[3]. The existence of relatively basic nitrogen atoms in the 1

2

3-triazole rings

and the possibility of introducing additional donor groups in the substituents (Fig. 1)

made the CuAAC “click” reaction an attractive method to prepare differently substituted 1

2

3-triazoles. These compounds have been used as ligands to coordinate to various metal ions that display a range of applications such as in electrochemical and photochemical studies

in supramolecular chemistry

magnetism

metal-ion sensing and catalysis [4]. The reasons for the success of the “click” reaction

is that it is easy to carry out and is widely applicable. It is not affected by a variety of functional groups

and can be carried out with a variety of Cu(I) catalysts and solvents

including aqueous conditions. The Cu(I) catalysts overcome the high activation energy barrier of the non-catalyzed Huisgen reaction by changing the mechanism of the reaction. A large variety of copper catalysts can be used for the CuAAC reaction

on condition that the maximum concentration of Cu(I) species is generated during the reaction. The pre-catalyst can be a Cu(II) salt (usually CuSO4) together with a reducing agent (often sodium ascorbate) or a Cu(I) compound in the presence of a base or amine ligand and a reducing agent to prevent oxidation to Cu(II). Some strong oxidising cupric salts or complexes such as Cu(OAc)2 also work. The solvent is very flexible from organic to aqueous

with the most commonly used combination water + an alcohol (t-BuOH

MeOH or EtOH). The key role of the solvent or solvent mixture is to solubilize the substrates and Cu(I) catalyst in order to ensure rapid reactions. Such aqueous conditions are very useful for biochemical conjugations

as well as for organic syntheses. We recently reported on the synthesis of a series of differently substituted 1

2

3-triazole chromophores

the substituted 2-(1-phenyl-1H-1

2

3-triazol-4-yl)pyridine ligands [5]

see Fig. 2 middle

with substituents R = H (L1)

CH3 (L2)

OCH3 (L3)

COOH

F

Cl

CN

CF3

O(CH2)3CH3 and N(CH3)2. These versatile ligands were found to coordinate to various first row transition metals

such as manganese

cobalt and nickel [6]. Here we extend the series to include more first row transition metal(II) coordination compounds

iron

copper and zinc

as well as a second row transition metal(II) coordination compound

cadmium

containing the 2-(1-(4-methyl-phenyl)-1H-1

2

3-triazol-1-yl)pyridine chromophore (Fig. 2 right with R = CH3). This series of seven novel coordination compounds is the first series of pyridyl-triazole based transition metal coordination compounds where seven different transition metals are coordinated to the same 1

2

3-triazole chromophore

namely 2-(1-(4-methyl-phenyl)-1H-1

2

3-triazol-1-yl)pyridine.

Kinaan M

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