PSO optimized reduced order PID Controller design
Directory of Open Access Journals (Sweden)
Yogendra Kumar Soni
2013-03-01
Full Text Available A novel algorithm is proposed to obtain a reduced model for stable linear time invariant continuous system. A PSO PID controller is designed for the reduced order model to meet the desired performance specifications by using PSO Optimization method. This controller is designed with the reduced order model and closed loop response is observed .The parameters of the controller are tuned to obtain a response with desired performance specifications .The results satisfy our design criteria .The same PID controller parameter is applied to original higher order system and the closed loop response is observed for to stabilize system.
PID control system analysis and design
Li, Y.; Ang, K.H.; Chong, G.C.Y.
2006-01-01
With its three-term functionality offering treatment of both transient and steady-state responses, proportional-integral-derivative (PID) control provides a generic and efficient solution to realworld control problems. The wide application of PID control has stimulated and sustained research and development to "get the best out of PID", and "the search is on to find the next key technology or methodology for PID tuning". This article presents remedies for problems involving the...
PID control system analysis, design, and technology
Ang, K.H.; Chong, G.C.Y.; Li, Y.
2005-01-01
Designing and tuning a proportional-integral-derivative (PID) controller appears to be conceptually intuitive, but can be hard in practice, if multiple (and often conflicting) objectives such as short transient and high stability are to be achieved. Usually, initial designs obtained by all means need to be adjusted repeatedly through computer simulations until the closed-loop system performs or compromises as desired. This stimulates the development of "intelligent" tools...
PID control new identification and design methods
Johnson, Michael A
2006-01-01
Demand for this book will be generated by the widespread use of PID in industry and because of the modern need for simple control systems to control a wider range of complex industrial processes and systems.
Design of aerospace control systems using fractional PID controller
Directory of Open Access Journals (Sweden)
Magdy A.S. Aboelela
2012-07-01
Full Text Available The goal is to control the trajectory of the flight path of six degree of freedom flying body model using fractional PID. The design of fractional PID controller for the six degree of freedom flying body is described. The parameters of fractional PID controller are optimized by particle swarm optimization (PSO method. In the optimization process, various objective functions were considered and investigated to reflect both improved dynamics of the missile system and reduced chattering in the control signal of the controller.
Design of Robust PID Controllers with Constrained Control Signal Activity
Garpinger, Olof
2009-01-01
This thesis presents a new method for design of PI and PID controllers with the level of control signal activity taken into consideration. The main reason why the D-part is often disabled in industrial control loops is because it leads to control signal sensitivity of measurement noise. A frequently varying control signal with too high amplitude will very likely lead to actuator wear and tear. For this reason it is extremely important for any PID design method to take this into account. ...
Design of Tracking of Moving Target Using PID Controller
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Ajeet Singh
2014-09-01
Full Text Available The Line-of-Sight stabilization and tracking control based on gyro stabilized platform is required to isolate Line of sight from the movement and vibration of carrier and ensure pointing and tracking for target in electro-optical tracking system. This work describes the design of a high performance controller for an electro-mechanical target tracking system with an optical sensor for sighting. The control law has been obtained using a linear model of the electro mechanical system. The modelling of the system has been carried out using the experimental frequency response data. In the present work, PID controller is used to design the line-of-sight stabilization and tracking system. The conventional PID controller has been incorporated to regulate the speed of the platform and moving object. The PID controller has been tuned using Ziegler Nichols method and optimized by using simplex pattern search Genetic Algorithm method. The performance of the optimized PID controller has been compared with the PID controller. The proposed controller has been tested by incorporated non-linearity into the system. Simulation results tested with conventional PID controller and optimized PID controller. It is observed that optimized PID controller provided better result
The design of PID control for container CT inspection system
International Nuclear Information System (INIS)
This paper introduces briefly the principles of container CT inspection system, and illustrates the composing of the PID control subsystem. It also introduces the control algorithm of PID controller and the method of adjusting PID parameters in detail. It is proved that the rapid response and the high accuracy of locating can be met by using PID controller with appropriate PID parameters. (authors)
On PID Controller Design Using Knowledge Based Fuzzy System
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Jana Nowakova
2012-01-01
Full Text Available The designing of PID controllers is a frequently discussed problem. Many of design methods have been developed, classic (analytical tuning methods, optimization methods etc. or not so common fuzzy knowledge based methods which are designed to achieve good setpoint following, corresponding time response etc. In this case, the new way of designing PID controller parameters is created where the above mentioned knowledge system based on relations of Ziegler-Nichols design methods is used, more precisely the combination of the both Ziegler-Nichols methods. The proof of efficiency of a proposed method and a numerical experiment is presented.
Design of a PID Controller for a PCR Micro Reactor
Dinca, M. P.; Gheorghe, M.; Galvin, P.
2009-01-01
Proportional-integral-derivative (PID) controllers are widely used in process control, and consequently they are described in most of the textbooks on automatic control. However, rather than presenting the overall design process, the examples given in such textbooks are intended to illuminate specific focused aspects of selection, tuning and…
Design of a PID Controller for a PCR Micro Reactor
Dinca, M. P.; Gheorghe, M.; Galvin, P.
2009-01-01
Proportional-integral-derivative (PID) controllers are widely used in process control, and consequently they are described in most of the textbooks on automatic control. However, rather than presenting the overall design process, the examples given in such textbooks are intended to illuminate specific focused aspects of selection, tuning andâ€¦
Genetic Design of Neural PID plus Feed Forward Controllers
Naim Ajlouni; Sadeq Al-Hamouz
2004-01-01
Evolutionary techniques are proposed in a new and novel paradigm to solve the problem of designing a robust neural PID plus feed forward controller for a plant with prescribed plant parameter uncertainties. The evolutionary scheme used, involves generating two separate populations, one representing the controller and the other the plant. The controller population is then evolved against a fixed population of plants representing the uncertainty space, such that the controller can control all t...
Genetic Design of Neural PID plus Feed Forward Controllers
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Naim Ajlouni
2004-01-01
Full Text Available Evolutionary techniques are proposed in a new and novel paradigm to solve the problem of designing a robust neural PID plus feed forward controller for a plant with prescribed plant parameter uncertainties. The evolutionary scheme used, involves generating two separate populations, one representing the controller and the other the plant. The controller population is then evolved against a fixed population of plants representing the uncertainty space, such that the controller can control all these plants effectively. A cost function involving time-domain performance is then deployed, subject to a frequency domain stability constraint. The resulting paradigm results in a robust controller design with excellent time-domain performance. This evolutionary approach is illustrated by evolving a neural PID plus feed forward controller for a linear plant, which has a set of prescribed uncertainties.
A General Method for Designing Fractional Order PID Controller
Marzieh Safaei; Saeed Hosseinia; Mojtaba Hosseini Toodeshki
2013-01-01
The idea of using fractional order calculus in control became apparent when this kind of calculus was accepted as a powerful tool in many applications. This resulted in a new generation of PID controller called fractional order PID Controller, named as Controller. controller is more flexible and provides a better response with larger stability region as compared with standard PID controller. This paper presents a simple and reliable method for finding the family of controllers. The required...
A CASE STUDY ON DESIGN AND EVALUATION OF MODIFIED ADAPTIVE FUZZY PID CONTROLLER
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Dr.Pankaj Rai
2012-01-01
Full Text Available Most of process control systems are based on PID controllers, because of their remarkable effectiveness, simplicity and robustness, As PID controller design theory and practical procedures are well developed, it is necessary to pay attention on fuzzy logic controller design and its applications in combinations with PID controllers. There is also necessity to develop adaptive fuzzy PID Controllers, which can automatically retune itself to match the current process characteristics. In particular, focus of the work presented here is mainly on two problems: replacing an operator’s control of PID regulators with fuzzy PID controller and to develop a structure for self tuning Fuzzy PID Controller and to develop a structure for self tuning fuzzy PID as modified PID adaptive Fuzzy Controller.
Optimal Pid Controller Design Using Adaptive Vurpso Algorithm
Zirkohi, Majid Moradi
2015-04-01
The purpose of this paper is to improve theVelocity Update Relaxation Particle Swarm Optimization algorithm (VURPSO). The improved algorithm is called Adaptive VURPSO (AVURPSO) algorithm. Then, an optimal design of a Proportional-Integral-Derivative (PID) controller is obtained using the AVURPSO algorithm. An adaptive momentum factor is used to regulate a trade-off between the global and the local exploration abilities in the proposed algorithm. This operation helps the system to reach the optimal solution quickly and saves the computation time. Comparisons on the optimal PID controller design confirm the superiority of AVURPSO algorithm to the optimization algorithms mentioned in this paper namely the VURPSO algorithm, the Ant Colony algorithm, and the conventional approach. Comparisons on the speed of convergence confirm that the proposed algorithm has a faster convergence in a less computation time to yield a global optimum value. The proposed AVURPSO can be used in the diverse areas of optimization problems such as industrial planning, resource allocation, scheduling, decision making, pattern recognition and machine learning. The proposed AVURPSO algorithm is efficiently used to design an optimal PID controller.
Design and optimization of fuzzy-PID controller for the nuclear reactor power control
International Nuclear Information System (INIS)
This paper introduces a fuzzy proportional-integral-derivative (fuzzy-PID) control strategy, and applies it to the nuclear reactor power control system. At the fuzzy-PID control strategy, the fuzzy logic controller (FLC) is exploited to extend the finite sets of PID gains to the possible combinations of PID gains in stable region and the genetic algorithm to improve the 'extending' precision through quadratic optimization for the membership function (MF) of the FLC. Thus the FLC tunes the gains of PID controller to adapt the model changing with the power. The fuzzy-PID has been designed and simulated to control the reactor power. The simulation results show the favorable performance of the fuzzy-PID controller.
A CASE STUDY ON DESIGN AND EVALUATION OF MODIFIED ADAPTIVE FUZZY PID CONTROLLER
Dr.Pankaj Rai; Durgesh Nandan
2012-01-01
Most of process control systems are based on PID controllers, because of their remarkable effectiveness, simplicity and robustness, As PID controller design theory and practical procedures are well developed, it is necessary to pay attention on fuzzy logic controller design and its applications in combinations with PID controllers. There is also necessity to develop adaptive fuzzy PID Controllers, which can automatically retune itself to match the current process characteristics. In...
Directory of Open Access Journals (Sweden)
Sivananaithaperumal Sudalaiandi
2014-06-01
Full Text Available This paper presents an automatic tuning of multivariable Fractional-Order Proportional, Integral and Derivative controller (FO-PID parameters using Covariance Matrix Adaptation Evolution Strategy (CMAES algorithm. Decoupled multivariable FO-PI and FO-PID controller structures are considered. Oustaloup integer order approximation is used for the fractional integrals and derivatives. For validation, two Multi-Input Multi- Output (MIMO distillation columns described byWood and Berry and Ogunnaike and Ray are considered for the design of multivariable FO-PID controller. Optimal FO-PID controller is designed by minimizing Integral Absolute Error (IAE as objective function. The results of previously reported PI/PID controller are considered for comparison purposes. Simulation results reveal that the performance of FOPI and FO-PID controller is better than integer order PI/PID controller in terms of IAE. Also, CMAES algorithm is suitable for the design of FO-PI / FO-PID controller.
Direct Drive Electro-hydraulic Servo Control System Design with Self-Tuning Fuzzy PID Controller
Wang Yeqin
2013-01-01
According to the nonlinear and time-varying uncertainty characteristics of direct drive electro-hydraulic servo control system, a self-tuning fuzzy PID control method with speed change integral and differential ahead optimizing operator is put forward by combining fuzzy inference and traditional PID control in this paper.The rule of fuzzy logic is designed, the membership function of the fuzzy subsets is determined and lookup table method is used to correcte the PID parameters in real-time. F...
Simulated Annealing optimized PID Controller design using ISE, IAE, IATE and MSE error criteria
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Yogendra Kumar Soni , Rajesh Bhatt
2013-07-01
Full Text Available A PID controller is designed using ISE, IAE, ITAE and MSE error criteria for stable linear time invariant continuous system. A Simulated Annealing PID controller is designed for the plant to meet the desired performance specifications by using SA optimization method. PID controller gain parameters Kp,Ki,Kd are designed and applied to the PID controller system .The PID controller closed loop response is observed for ISE, IAE, IATE and MSE error criteria. A comparison of system performance observed for all four criteria.
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Hora?iu ?tefan Grif
2011-06-01
Full Text Available The paper describes the implementation and the tuning of a digital PID controller used in a daylight control application. Due to the fact that the process is unknown, an experimental method, Ziegler-Nichols, for the tuning of the PID controller was used. The obtained PID parameters do not offer a good behavior of the ALCS. To improve the performances of the ALCS, supplementary tuning of the PID parameters, via step response analysis, was made. The step response acquiring and analysis may have an expensive time cost. To avoid the time cost the present paper offers an algorithm which guide the designer to chose, in a slight manner, not only a set but a set family of the PID parameters for which the ALCS has a good behavior. Also, the algorithm presents the way how the ALCS user can set his desired ALCS speed reaction to the daylight variations.
Design New Intelligent PID like Fuzzy Backstepping Controller
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Arzhang Khajeh
2014-02-01
Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy backstepping Controller is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a PI-like controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each link, this controller is work based on manipulator dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear robot manipulator’s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
A General Method for Designing Fractional Order PID Controller
Directory of Open Access Journals (Sweden)
Marzieh Safaei
2013-01-01
Full Text Available The idea of using fractional order calculus in control became apparent when this kind of calculus was accepted as a powerful tool in many applications. This resulted in a new generation of PID controller called fractional order PID Controller, named as Controller. controller is more flexible and provides a better response with larger stability region as compared with standard PID controller. This paper presents a simple and reliable method for finding the family of controllers. The required calculations are done in frequency domain based on frequency response of the system and the stability region is specified in the parameters space. This method can be used for time-delay systems and, more generally, for any system with no transfer function.
Design of Fuzzy PID controller to control DC motor with zero overshoot
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Meenakshi Chourasiya
2014-10-01
Full Text Available Most of the real time operation based physical system, digital PID is used in field such as servo-motor/dc motor/temperature control system, robotics, power electronics etc. need to interface with high speed constraints, higher density PLD’s such as FPGA used to integrate several logics on single IC. There are some limitations in it to overcome these limitations Fuzzy logic is introduced with PID and Fuzzy PID is formed. This paper explains experimental design of Fuzzy PID controller. We aimed to make controller power efficient, more compact, and zero overshoot. MATLAB is used to design PID controller to calculate and plot the time response of the control system and Simulink to generate a set of coefficients.
PID controller design for trailer suspension based on linear model
Kushairi, S.; Omar, A. R.; Schmidt, R.; Isa, A. A. Mat; Hudha, K.; Azizan, M. A.
2015-05-01
A quarter of an active trailer suspension system having the characteristics of a double wishbone type was modeled as a complex multi-body dynamic system in MSC.ADAMS. Due to the complexity of the model, a linearized version is considered in this paper. A model reduction technique is applied to the linear model, resulting in a reduced-order model. Based on this simplified model, a Proportional-Integral-Derivative (PID) controller was designed in MATLAB/Simulink environment; primarily to reduce excessive roll motions and thus improving the ride comfort. Simulation results show that the output signal closely imitates the input signal in multiple cases - demonstrating the effectiveness of the controller.
Design Control And Modeling Of Three Phase Bldc Motor Applications Using Pid
S.SATHISH KUMAR, DR.R.MEENAKUMARI, P.RAVIKUMAR, A.ANICKS SALAMON, L.ANBARASU
2013-01-01
Abstract:The research paper is to develop a complete model of the BLDC motor and to design controller for its position control. PID controllers used for many control problems because of its simple structure, implementation. In practical, we often do not get the optimum performance with the conventionally tuned PID controllers. The efficiency of this method is compared with that of traditional method. I predict results showed that PID control tuned by GA somewhat efficient closed loop response...
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Endra Joelianto
2009-11-01
Full Text Available The well known PID controller has inherent limitations in fulfilling simultaneously the conflicting control design objectives. Parameters of the tuned PID controller should trade off the requirement of tracking set-point performances, disturbance rejection and stability robustness. Combination of hybrid reference control (HRC with PID controller results in the transient response performances can be independently achieved without deteriorating the disturbance rejection properties and the stability robustness requirement. This paper proposes a fuzzy based HRC where the membership functions of the fuzzy logic system are obtained by using a substractive clustering technique. The proposed method guarantees the transient response performances satisfaction while preserving the stability robustness of the closed loop system controlled by the PID controller with effective and systematic procedures in designing the fuzzy hybrid reference control system.
Adaptive robust PID controller design based on a sliding mode for uncertain chaotic systems
International Nuclear Information System (INIS)
A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, K p, K i, and K d, are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Duffing-Holmes chaotic system is used as an illustrative to show the effectiveness of the proposed robust adaptive PID controller
Fuzzy Auto-adjust PID Controller Design of Brushless DC Motor
Yuanxi, Wang; Yali, Yu; Guosheng, Zhang; Xiaoliang, Sheng
Using conventional PID control method, to guarantee the rapidity and small overshoot dynamic and static performance of the BLDCM (brushless DC motor) system is out of the question. The control method to combine fuzzy control with PID control was fit the multivariable strong coupling nonlinear characteristic of BLDCM system. Matlab/Simulink simulation model had been built. The result of computer simulation shows that, compared with the conventional PID controller, the dynamic and static performance of fuzzy auto-adjust PID controller are put forward to optimize. The research work of this paper has profound significance for high precision controller design.
CAS algorithm-based optimum design of PID controller in AVR system
International Nuclear Information System (INIS)
This paper presents a novel design method for determining the optimal PID controller parameters of an automatic voltage regulator (AVR) system using the chaotic ant swarm (CAS) algorithm. In the tuning process of parameters, the CAS algorithm is iterated to give the optimal parameters of the PID controller based on the fitness theory, where the position vector of each ant in the CAS algorithm corresponds to the parameter vector of the PID controller. The proposed CAS-PID controllers can ensure better control system performance with respect to the reference input in comparison with GA-PID controllers. Numerical simulations are provided to verify the effectiveness and feasibility of PID controller based on CAS algorithm.
Scientific Electronic Library Online (English)
Leonardo F., Lozano-Valencia; Luis F., Rodríguez-García; Dídier, Giraldo-Buitrago.
2012-06-01
Full Text Available En este artículo se presenta el diseño y la implementación de un controlador PID autosintonizado. La metodología propuesta utiliza el método de mínimos cuadrados con reinicio de covarianza y el diseño por reubicación de polos para el cálculo de los parámetros del controlador. El diseño propuesto se [...] implementa en sistemas estables e inestables simulados en un computador análogo COMDYNA GP-6, y se presenta una comparación del desempeño del controlador autosintonizado y un controlador PID clásico en términos del error medio cuadrático. Los resultados obtenidos muestran que los controladores de parámetros adaptativos tienen una mejor respuesta que los controladores de parámetros fijos frente a variaciones de parámetros que puedan afectar las condiciones del sistema. Abstract in english In this paper the design and the implementation of a self-tuning PID controller is presented. The proposed methodology uses a least squares method with covariance resetting and a pole placement design for the calculation of controller parameters. The proposed design is implemented on stable and unst [...] able systems simulated in a COMDYNA GP-6 analog computer, and a comparison of the performance of the self-tuning controller and a classic PID controller is presented in terms of root mean square error. The obtained results show that controllers of adaptive parameters have a better response than controllers of fixed parameters with respect to parameter variations that may affect the conditions of the system.
PID controller design and tuning in networked control systems
Eriksson, Lasse
2008-01-01
Networked control systems (NCS) are distributed real-time computing and control systems with sensors, actuators and controllers that communicate over a shared medium. The distributed nature of NCS and issues related to the shared communication medium pose significant challenges for control design, as the control system no longer follows the rules of classical control theory. The main problems that are not well covered by the traditional control theory are varying time-delays due to communicat...
International Nuclear Information System (INIS)
A robust PID controller design method was proposed, which was based on PID structured weight function optimization method with linear matrix inequality techniques. By combining static H? loop shaping controller synthesis, a robust systematic PID iterative optimization method was given. A PID main controller of steam generator water level control system was designed by using this method. Simulation results show that the control system designed by the given method is of good robust stability and robust performance, and its synthetic control quality is better than the method of full order weight optimization (or PID structured weight optimization mentioned by this paper) combined with normal H? controller synthesis. (authors)
A design method of compensators for multi-variable control system with PID controllers 'CHARLY'
International Nuclear Information System (INIS)
A systematic design method of compensators for a multi-variable control system having usual PID controllers in its loops is presented in this paper. The method itself is able: to determine the main manipulating variable corresponding to each controlled variable with a sensitivity analysis in the frequency domain. to tune PID controllers sufficiently to realize adequate control actions with a searching technique of minimum values of cost functionals. to design compensators improving the control preformance and to simulate a total system for confirming the designed compensators. In the phase of compensator design, the state variable feed-back gain is obtained by means of the OPTIMAL REGULATOR THEORY for the composite system of plant and PID controllers. The transfer function type compensators the configurations of which were previously given are, then, designed to approximate the frequency responces of the above mentioned state feed-back system. An example is illustrated for convenience. (author)
Design of Adaptive Fuzzy PID Controller for Speed control of BLDC Motor
R. Kandiban; R. Arulmozhiyal
2012-01-01
Brushless DC motors (BLDCM) are widely used for many industrial applications because of their high efficiency, high torque and low volume. This paper proposed an improved Adaptive Fuzzy PID controller to control speed of BLDCM. This paper provides an overview of performance conventional PID controller, Fuzzy PID controller and Adaptive Fuzzy PID controller. It is difficult to tune the parameters and get satisfied control characteristics by using normal conventional PID controller. As the Adap...
Direct Drive Electro-hydraulic Servo Control System Design with Self-Tuning Fuzzy PID Controller
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Wang Yeqin
2013-06-01
Full Text Available According to the nonlinear and time-varying uncertainty characteristics of direct drive electro-hydraulic servo control system, a self-tuning fuzzy PID control method with speed change integral and differential ahead optimizing operator is put forward by combining fuzzy inference and traditional PID control in this paper.The rule of fuzzy logic is designed, the membership function of the fuzzy subsets is determined and lookup table method is used to correcte the PID parameters in real-time. Finally the simulation is conducted with the typical input signal, such as tracking step, sine etc. The simulation results show that?the self-tuning fuzzy PID control system can effectively improve the dynamic characteristic when the system is out of the range of the operating point compared with the traditional PID control system, there is obvious improvement in the indexes of rapidity, stability and accuracy, and fuzzy self-tuning PID Control is more robust, and more suitable for direct drive electro-hydraulic servo system.
Tuning of Fuzzy PID Controllers
DEFF Research Database (Denmark)
Jantzen, Jan
1998-01-01
Since fuzzy controllers are nonlinear, it is more difficult to set the controller gains compared to proportional-integral-derivative (PID) controllers. This research paper proposes a design procedure and a tuning procedure that carries tuning rules from the PID domain over to fuzzy single......-loop controllers. The idea is to start with a tuned, conventional PID controller, replace it with an equivalent linear fuzzy controller, make the fuzzy controller nonlinear, and eventually fine-tune the nonlinear fuzzy controller. This is relevant whenever a PID controller is possible or already implemented....
Fliess, Michel; Join, Cédric
2008-01-01
Intelligent PID controllers, or i-PID controllers, are PID controllers where the unknown parts of the plant, which might be highly nonlinear and/or time-varying, are taken into account without any modeling procedure. Our main tool is an online numerical differentiator, which is based on easily implementable fast estimation and identification techniques. Several numerical experiments demonstrate the efficiency of our method when compared to more classic PID regulators.
Hora?iu ?tefan Grif
2011-01-01
The paper describes the implementation and the tuning of a digital PID controller used in a daylight control application. Due to the fact that the process is unknown, an experimental method, Ziegler-Nichols, for the tuning of the PID controller was used. The obtained PID parameters do not offer a good behavior of the ALCS. To improve the performances of the ALCS, supplementary tuning of the PID parameters, via step response analysis, was made. The step response acquiring and analysis may have...
Design Control And Modeling Of Three Phase Bldc Motor Applications Using Pid
Directory of Open Access Journals (Sweden)
S.SATHISH KUMAR, DR.R.MEENAKUMARI, P.RAVIKUMAR.AP, V.KRISHNAVENI, K.KIRUTHIKA
2013-08-01
Full Text Available Abstract:The research paper is to develop a complete model of the BLDC motor and to design controller for its position control. PID controllers used for many control problems because of its simple structure, implementation. In practical, we often do not get the optimum performance with the conventionally tuned PID controllers. The efficiency of this method is compared with that of traditional method. I predict results showed that PID control tuned by GA somewhat efficient closed loop response for position control of BLDC motor. The modeling, control and simulation of the BLDC motor have been done using the software.
Design of fuzzy PID controller for high temperature pebble bed reactor
International Nuclear Information System (INIS)
Control system is most important characteristic to be considered to control spontaneous fission reaction in the design of the nuclear reactor. Recently fuzzy based control systems have been designed and applied as control system for nuclear plants. This article emphasize on controlling the power of the high temperature pebble bed reactor (HTPBR) with the design of Fuzzy proportional integral derivative (PID) controller. A simplified reactor model with point kinetics equation and reactor heat balance equation is used. The reactivity feedback arising from power coefficient of reactivity and Xenon poisoning is also considered. The reactor is operated at various power levels by using fuzzy PID controller. The fuzzy logic eliminates the necessity of the tuning the gains of PID controller each time by extending the finite sets of the PID controller gains
Design of fuzzy PID controller for high temperature pebble bed reactor
Energy Technology Data Exchange (ETDEWEB)
Badgujar, Kushal D.; Satpute, Satchidanand R.; Revankara, Shripad T.; Lee, John C.; Kim, Moo Hwan [POSTECH, Pohang (Korea, Republic of)
2012-10-15
Control system is most important characteristic to be considered to control spontaneous fission reaction in the design of the nuclear reactor. Recently fuzzy based control systems have been designed and applied as control system for nuclear plants. This article emphasize on controlling the power of the high temperature pebble bed reactor (HTPBR) with the design of Fuzzy proportional integral derivative (PID) controller. A simplified reactor model with point kinetics equation and reactor heat balance equation is used. The reactivity feedback arising from power coefficient of reactivity and Xenon poisoning is also considered. The reactor is operated at various power levels by using fuzzy PID controller. The fuzzy logic eliminates the necessity of the tuning the gains of PID controller each time by extending the finite sets of the PID controller gains.
Design Of PID Controlled Power System Stabilizer For Stability Studies Using Genetic Algorithm
NITHIN. N; SACHINTYAGI; Ashwani Kumar Chandel
2014-01-01
This paper presents the design of a PID controlled Power System Stabilizer (PSS) for stabilization of power systems. Both controllers have been designed for a single machine infinite bus system as well as for a two area interconnected thermal-thermal power system. The controller parameters of both PID and PSS are tuned using genetic algorithm. Simulation results are presented to show the effectiveness of the controllers in stabilizing the power system oscillations.
Design Of PID Controlled Power System Stabilizer For Stability Studies Using Genetic Algorithm
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NITHIN. N
2014-09-01
Full Text Available This paper presents the design of a PID controlled Power System Stabilizer (PSS for stabilization of power systems. Both controllers have been designed for a single machine infinite bus system as well as for a two area interconnected thermal-thermal power system. The controller parameters of both PID and PSS are tuned using genetic algorithm. Simulation results are presented to show the effectiveness of the controllers in stabilizing the power system oscillations.
Research Trends for PID Controllers
Antonio Visioli
2012-01-01
This paper analyses the most significant issues that have been recently been addressed by researchers in the field of Proportional-Integral-Derivative (PID) controllers. In particular, the most recent techniques proposed for tuning and designing PID-based control structures are briefly reviewed, together with methods for assessing their performance. Finally, fractional-order and event-based PID controllers are presented among the most significant developments in the field.
Research Trends for PID Controllers
Directory of Open Access Journals (Sweden)
Antonio Visioli
2012-01-01
Full Text Available This paper analyses the most significant issues that have been recently been addressed by researchers in the field of Proportional-Integral-Derivative (PID controllers. In particular, the most recent techniques proposed for tuning and designing PID-based control structures are briefly reviewed, together with methods for assessing their performance. Finally, fractional-order and event-based PID controllers are presented among the most significant developments in the field.
Design of Adaptive Fuzzy PID Controller for Speed control of BLDC Motor
Directory of Open Access Journals (Sweden)
R. Kandiban
2012-03-01
Full Text Available Brushless DC motors (BLDCM are widely used for many industrial applications because of their high efficiency, high torque and low volume. This paper proposed an improved Adaptive Fuzzy PID controller to control speed of BLDCM. This paper provides an overview of performance conventional PID controller, Fuzzy PID controller and Adaptive Fuzzy PID controller. It is difficult to tune the parameters and get satisfied control characteristics by using normal conventional PID controller. As the Adaptive Fuzzy has the ability to satisfied control characteristics and it is easy for computing. The experimental results verify that a Adaptive Fuzzy PID controller has better control performance than the both Fuzzy PID controller and conventional PID controller. The modeling, control and simulation of the BLDC motor have been done using the software package MATLAB/SIMULINK.
Yasir Khudhair Abbas
2012-01-01
In this paper, an intelligent tracking control system of both single- and double-axis Piezoelectric Micropositioner stage is designed using Genetic Algorithms (GAs) method for the optimal Proportional-Integral-Derivative (PID) controller tuning parameters. The (GA)-based PID control design approach is a methodology to tune a (PID) controller in an optimal control sense with respect to specified objective function. By using the (GA)-based PID control approach, the high-performance trajectory t...
Optimal PID control design for synchronization of delayed discrete chaotic systems
International Nuclear Information System (INIS)
This paper is concerned with the design of a proportional-integral-derivative (PID) controller for synchronization of delayed discrete chaotic models. The evolutionary programming algorithm (EPA) has been considered as a useful technique for finding global optimization solutions for certain complicated functions in recent years. Therefore, in this paper, we attempt to use the EP algorithm in PID control design for deriving optimal or near optimal PID control gains such that a performance index between the master and slave chaotic systems is minimized. A numerical result exemplifies the synchronization procedure
Chakraborty, Mithun; Maiti, Deepyaman; Konar, Amit
2008-01-01
The Proportional-Integral-Derivative Controller is widely used in industries for process control applications. Fractional-order PID controllers are known to outperform their integer-order counterparts. In this paper, we propose a new technique of fractional-order PID controller synthesis based on peak overshoot and rise-time specifications. Our approach is to construct an objective function, the optimization of which yields a possible solution to the design problem. This objective function is...
Comparison of tuning methods for design of PID controller as an A VR
International Nuclear Information System (INIS)
The primary means of generator reactive power control is the generator-excitation Control, using Automatic Voltage Regulator (A VR). The role of A VR is to hold the terminal voltage magnitude of Synchronous generator at a specified level. This paper presents the design of a proportional integral-derivative (PID) controller as an A VR. The PID controller has been tuned by various tuning methods. From all methods, PID parameters are computed through various techniques i.e. Process-reaction curve, Closed-loop system, open-loop system gain margin and phase-margin specifications. From these methods, it has been found that Zhaung- Atherton method and Ho, Hang and Cao method are much superior to the conventional Ziegler-Nichols rules. The performance of the controller has been evaluated through Simulation Studies in MATLAB environment. It has been demonstrated that the PID controller, tuned with the said methods, yields highly satisfactory closed-loop performance. (author)
Md. Selim Hasan; A.S.M. Shariar Kabir Khan; S.M. Shibbir Alam; Mehedi Hasan Pavel
2011-01-01
The objective of this thesis is to investigate and find a solution by designing the intelligent controller for controlling water level system, such as neural network. The controller also can be specifically run under the circumstance of system disturbances. To achieve these objectives, a prototype of water level control system has been built and implementations of both PID and neural network control algorithms are performed. In PID control, Ziegler Nichols tuning method is used to...
Modeling for Optimal PID Design
Garpinger, Olof; Hägglund, Tore
2014-01-01
Even though PID controllers have been around for a long time, few industrial controllers use derivative action and the remaining PI controllers are often designed with formula-based tuning rules rather than through computer-based optimization. This paper will delve into some of the reasons behind these choices and show potential benefits of instead using software-based PID tuning. Three commonly used tuning rules are compared to software tuning with respect to performance and robustness over ...
Visioli, Antonio
2006-01-01
Proportional-integral-derivative (PID) controllers are the most adopted controllers in industrial settings because of the advantageous cost/benefit ratio they are able to provide. Despite their long history and the know-how gained from years of experience, the availability of microprocessors and software tools and the increasing demand for higher product quality at reduced cost have stimulated researchers to devise new methodologies to improve their performance and make them easier to use.Practical PID Control covers important issues that arise when a PID controller is to be applied in practic
Design of PID Controller for Non Square MIMO System
Thirunavukkarasu, I.; George, V. I.; Priya, S. Shanmuga; Vardhan, Yash
2011-12-01
Most of the processes in real time industries are multi input multi output (MIMO) in nature. Normally RGA method is used to decouple the interference between the process loops. The decouplers can be easily designed for the stable processes with dead time. As a special case we will also obtain the mathematical model of certain systems as a non-square system with unstable/integrating process. Designing the controller for such processes is being a challenging one. As a case study, we have made an attempt to design the controller for the rotary inverted pendulum, whose mathematical model is resulted as a Non-Square MIMO integrating process.
Design of PID controller as an AVR in frequency-domain
International Nuclear Information System (INIS)
The primary means of generator reactive-power control is the generator-excitation control, using Automatic Voltage Regulator (AVR). The role of AVR is to hold the terminal-voltage of Synchronous generator at a specified level. This paper presents the design of a proportional integral- derivative (PID) controller to work as an A VR. The PID controller has been tuned by HO-HANG-CAO method. In this method, pm parameters are computed from the gain-margin and phase-margin specifications. This method has been found much superior to the conventional Ziegler- Nichols rules. The performance of the controller has been evaluated through Simulation Studies in MATLAB environment. It has been demonstrated that the PID controller, tuned with the said method, yields highly satisfactory closed loop performance. (author)
Design a PID Controller for Suspension System by Back Propagation Neural Network
Heidari, M.; Homaei, H.
2013-01-01
This paper presents a neural network for designing of a PID controller for suspension system. The suspension system, designed as a quarter model, is used to simplify the problem to one-dimensional spring-damper system. In this paper, back propagation neural network (BPN) has been used for determining the gain parameters of a PID controller for suspension system of automotive. The BPN method is found to be the most accurate and quick. The best results were obtained by the BPN by Levenberg-Marq...
Design and Robustness Analysis of a PID Based Sliding Mode Controller for a dc-dc Converter
D.M.Mary Synthia Regis Prabha; S.Pushpa Kumar; G.Glan Devadhas
2012-01-01
This study deals with the design and analysis of a dc-dc converter operating in continuous conduction mode with Proportional-Integral-Derivative control and PID based Sliding Mode Control (SMC). A small signal model is developed using Switching Flow Graph (SFG) from which the control coefficients for the PID controller is selected. PID based SMC uses a control law which constrains the weighted sum of the voltage error, its derivatives and the integral of the voltage error to zero. The equival...
Design of a Fractional Order PID Controller Using Particle Swarm Optimization Technique
Maiti, Deepyaman; Konar, Amit
2008-01-01
Particle Swarm Optimization technique offers optimal or suboptimal solution to multidimensional rough objective functions. In this paper, this optimization technique is used for designing fractional order PID controllers that give better performance than their integer order counterparts. Controller synthesis is based on required peak overshoot and rise time specifications. The characteristic equation is minimized to obtain an optimum set of controller parameters. Results show that this design method can effectively tune the parameters of the fractional order controller.
Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor
Directory of Open Access Journals (Sweden)
Mohammad shamsodini
2014-05-01
Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy Computed Torque Controller with application to spherical motor is presented in this research. The popularity of PID Fuzzy Computed Torque Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and acceptable trajectory follow disturbance to control of spherical motor. However computed torque controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor’s dynamic equation. This research is used to reduce or eliminate the computed torque controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
Design of PID Controller for Maglev System Based on an Improved PSO with Mixed Inertia Weight
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Rongrong Song
2014-06-01
Full Text Available A Maglev system was modeled by the exact feedback linearization to achieve two same linear subsystems. The proportional-integral-differential controllers (PID based on particle swarm optimization (PSO algorithm with four different inertia weights were then used to regulate both linear subsystems. These different inertia weights were Fixed Inertia Weight (FIW, Linear Descend Inertia Weight (LIW, Linear Differential Descend Inertia Weight (LDW, and mixed inertia weight (FIWâ€“LIW-LDW. On the other hand, the parameters Â of the PSO-PID controllers via mixed inertia weight (FIWâ€“LIW-LDW were optimized, the parameter values Â in the electromagnet 1 and electromagnet 2 were both 0.4. Simulation results demonstrate that the control performance and robustness of PSO-PID based on mixed inertia weight (FIWâ€“LIW-LDW was superior to that of three PSO-PID controllers based on single inertia weights. For electromagnet 1, the overshoot of PSO-PID controller with mixed inertia weight reduced 3.36% than that of PSO-PID controller with FIW, 5.81% than that of PSO-PID controller with LIW, and 6.34% than that of PSO-PID controller with LDW; for electromagnet 2, the overshoot of PSO-PID controller with mixed inertia weight reduced 1.07% than that of PSO-PID controller with FIW, 12.56% than that of PSO-PID controller with LIW, 7.97% than that of PSO-PID controller with LDW; the adjusting time of PSO-PID controller with mixed inertia weight reduced 0.395s than that of PSO-PID controller with FIW, 34.1s than that of PSO-PID controller with LIW, and 33.494s than that of PSO-PID controller with LDW
Design of a Fractional Order PID Controller Using Particle Swarm Optimization Technique
Maiti, Deepyaman; Biswas, Sagnik; Konar, Amit
2008-01-01
Particle Swarm Optimization technique offers optimal or suboptimal solution to multidimensional rough objective functions. In this paper, this optimization technique is used for designing fractional order PID controllers that give better performance than their integer order counterparts. Controller synthesis is based on required peak overshoot and rise time specifications. The characteristic equation is minimized to obtain an optimum set of controller parameters. Results show that this design...
A fast PID controller Design for Modern PLC for Process Control Application
International Nuclear Information System (INIS)
PID is the most widely used control scheme in the process industry. Pill controllers are utilized for the control of such varied parameters as pressure, flow, temperature, etc. One characteristic of these parameters is that they posses slow dynamics. Most of the available digital controllers can manipulate only a single parameter- multiple controllers are required for control of more than one parameter. The Fast PID Controller for Modem PLC (Programmable Logic Controller) developed by the authors, provides control of several parameters at a time (through a single Pill control element), enhanced programmability including variable sampling period, parameter monitoring and data storage, which may be easily implemented in a PLC. (author)
Designing a Robust and Adaptive PID Controller for Gas Turbine Connected to the Generator
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Mohsen Khalilpour
2013-02-01
Full Text Available Gas turbines are increasingly spread throughout the world to provide mechanical and electrical power in consumer and industrial sections. To ensure an accurate control process temperature of gas turbine with no extortionary operator involvement, a proper controller is required. Load frequency control of gas turbine is also regulates the power flow between different areas while holding the frequency constant. The main idea in this study is to assemble these 2 controllers in a unit work; the area of robust control has grown to be one of the wealthy in terms of algorithms, design techniques, analytical tools and modifications. Several books and papers already exist on the topics of parameter estimation and adaptive control. In The proposed approach, a robust and evolutionary based Proportional, Integral, Derivative (PID is utilized to control frequency-response and a robust evolutionary based Proportional, Integral (PI is utilized to control temperature. The evolutionary algorithm is used to make an optimal Proportional-Integral-Derivative (PID controller Tuning parameters. The new robust PID controller is compared with a normal classic controller (Ziegler-Nichols designed by the method.
Directory of Open Access Journals (Sweden)
Yasir Khudhair Abbas
2012-01-01
Full Text Available In this paper, an intelligent tracking control system of both single- and double-axis Piezoelectric Micropositioner stage is designed using Genetic Algorithms (GAs method for the optimal Proportional-Integral-Derivative (PID controller tuning parameters. The (GA-based PID control design approach is a methodology to tune a (PID controller in an optimal control sense with respect to specified objective function. By using the (GA-based PID control approach, the high-performance trajectory tracking responses of the Piezoelectric Micropositioner stage can be obtained. The (GA code was built and the simulation results were obtained using MATLAB environment. The Piezoelectric Micropositioner simulation model with the (GA-based PID control is illustrated to show the validity of the proposed control method for practical applications, such as scanning microscopy.
Design a Novel SISO Off-line Tuning of Modified PID Fuzzy Sliding Mode Controller
Ali Shahcheraghi; Farzin Piltan; Masoud Mokhtar; Omid Avatefipour; Alireza Khalilian
2014-01-01
The Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (FSMC) is the most widely used control strategy in the Industry (control of robotic arm). The popularity of PID FSMC controllers can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID FSMC controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers...
Analytical Design of PID Decoupling Control for TITO Processes with Time Delays
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Zengrong Hu
2011-06-01
Full Text Available Based on unit feedback closed-loop control structure, a simple analytical design method of decoupling controller matrix is proposed in terms of idea of coupling matrix for two-input-two-output (TITO processes with time delays in chemical and industrial practice. By means of powerful robustness of two degree-of-freedom PID Desired Dynamic Equation (DDE method, PID decoupling controller is analytically designed. And the Monte-Carlo stochastic experiment is introduced to analyze performance robustness of the controller. The most important merit of the proposed method is that for the nominal system the output of each channel can be decoupled entirely. Moreover, the decoupling matrix is simple and easily realized. Finally, illustrative simulation examples are included to demonstrate the remarkable superiority of the proposed method.
Robust Gain-Scheduled PID Controller Design For Uncertain LPV Systems
Veselý, Vojtech; Ilka, Adrian
2015-01-01
A novel methodology is proposed for robust gain-scheduled PID controller design for uncertain LPV systems. The proposed design procedure is based on the parameter-dependent quadratic stability approach. A new uncertain LPV system model has been introduced in this paper. To access the performance quality the approach of a parameter varying guaranteed cost is used which allowed to reach for different working points desired performance. Numerical examples show the benefit of the proposed method.
Design of a Neural Network Based Self-Tuning Fuzzy PID Controller
Energy Technology Data Exchange (ETDEWEB)
Im, J. H.; Lee, C. G. [Chonbok National University, Chonju (Korea)
2001-01-01
This paper describes a neural network based fuzzy PID control scheme. The PID controller is being widely used in industrial applications. However, it is difficult to determine the appropriate PID gains in nonlinear systems and systems with long time delay and so on. In this paper, we re-analyzed the fuzzy controller as conventional PID controller structure, and proposed a neural network based self tuning fuzzy PID controller of which output gains were adjusted automatically. The tuning parameters of the proposed controller were determined on the basis of the conventional PID controller parameters tuning methods. Then they were adjusted by using proposed neural network learning algorithm. Proposed controller was simple in structure and computational burden was small so that on-line adaptation was easy to apply to. The experiment on the magnetic levitation system, which is known to be heavily nonlinear, showed the proposed controller's excellent performance. (author). 10 refs., 22 figs., 3 tabs.
PID Controller with Operational Amplifier
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Cristian Paul Chioncel
2009-01-01
Full Text Available The paper presents a PID controller made with LM741 operational amplifier that implement the PID controllers laws and allow for a widerange of applications of in the field of automatic control of technicalprocesses and systems.
IMC-PID-fractional-order-filter controllers design for integer order systems.
Maâmar, Bettayeb; Rachid, Mansouri
2014-09-01
One of the reasons of the great success of standard PID controllers is the presence of simple tuning rules, of the automatic tuning feature and of tables that simplify significantly their design. For the fractional order case, some tuning rules have been proposed in the literature. However, they are not general because they are valid only for some model cases. In this paper, a new approach is investigated. The fractional property is not especially imposed by the controller structure but by the closed loop reference model. The resulting controller is fractional but it has a very interesting structure for its implementation. Indeed, the controller can be decomposed into two transfer functions: an integer transfer function which is generally an integer PID controller and a simple fractional filter. PMID:24957276
Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor
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Farzin Matin
2014-04-01
Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy Sliding Mode Controller (SMC with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing especially in nonlinear and uncertain systems. Proportional Integral Derivative methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions, we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and good trajectory follow disturbance to control of spherical motor. However Sliding Mode Controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor’s dynamic equation which caused to challenge in uncertain system. This research is used to reduce or eliminate the Sliding Mode Controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
Directory of Open Access Journals (Sweden)
Md. Selim Hasan
2011-04-01
Full Text Available The objective of this thesis is to investigate and find a solution by designing the intelligent controller for controlling water level system, such as neural network. The controller also can be specifically run under the circumstance of system disturbances. To achieve these objectives, a prototype of water level control system has been built and implementations of both PID and neural network control algorithms are performed. In PID control, Ziegler Nichols tuning method is used to control the system. In neural network control, the approach of Model Reference Adaptive Neural Network (ANN Control based on the back propagation algorithm is applied on training the system. Both control algorithms are developed to embed into a standalone DSP-based micro-controller and their performances are compared.
Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor
Farzin Matin; Farzin Piltan; Hamid Cheraghi; Nasim Sobhani; Maryam Rahmani
2014-01-01
The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for...
A Design of a PID Self-Tuning Controller Using LabVIEW
Tariq M. Younes; Mohammad A.K. Alia; Shibel Al Subah
2011-01-01
In this paper a trial has been made to design a simple self-tuning LabVIEW-based PID controller. The controller uses an open-loop relay test, calculates the tuned parameters in an open loop mode of operation before it updates controller parameters and runs the process as a closed-loop system. The controller reacts on a persistent offset error value as a result of load disturbance or a set point change. Practical results show that such a controller may be recommended to control a variety of in...
PID-Structured controller design for interval systems : Application to Piezoelectric Microactuator.
Khadraoui, Sofiane; Rakotondrabe, Micky; Lutz, Philippe
2011-01-01
This paper addresses the modeling and robust PID controller design for piezoelectric mi- crosystems. Piezoelectric cantilevers, used as microac- tuators in micromanipulation and microassembly con- texts, are particularly concerned. Due to their small sizes, these systems are very sensitive to environment (temperature, vibration, etc.) and to usury during functioning. Their behaviors often change because of the parameters variation. For that, linear modeling with uncertainty has been used to a...
International Nuclear Information System (INIS)
The Horizontal Test Stand (HTS) SRF Cavity and Cryomodule 1 (CM1) of eight 9-cell, 1.3GHz SRF cavities are operating at Fermilab. For the cryogenic control system, how to hold liquid level constant in the cryostat by regulation of its Joule-Thompson JT-valve is very important after cryostat cool down to 2.0 K. The 72-cell cryostat liquid level response generally takes a long time delay after regulating its JT-valve; therefore, typical PID control loop should result in some cryostat parameter oscillations. This paper presents a type of PID parameter self-optimal and Time-Delay control method used to reduce cryogenic system parameters oscillation.
On-line self-learning PID controller design of SSSC using self-recurrent wavelet neural networks
Ganjefar, Soheil; Alizadeh, Mojtaba
2013-01-01
Conventionally, FACTS devices employ a proportional-integral (PI) controller as a supplementary controller. However, the conventional PI controller has many disadvantages. The present paper aims to propose an on-line self-learning PI-derivative (PID) controller design of a static synchronous series compensator for power system stability enhancement and to overcome the PI controller problems. Unlike the PI controllers, the proposed PID controller has a local nature because of its pow...
International Nuclear Information System (INIS)
In order to make the design process for power control system of experimental nuclear reactor optimal, objective and analytical, an analytical design process which contains the model linearization, model reduction, theoretical design of PID controllers is discussed. This method is applied to the design of the power control system of an experimental nuclear reactor, the numerical simulation results prove that the design process is practical, and the control performance is satisfactory
Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor
Mohammad shamsodini; Farzin Piltan; Saman Rahbar; Ehsan Pooladi; Hossein Davarpanah
2014-01-01
The minimum rule base Proportional Integral Derivative (PID) Fuzzy Computed Torque Controller with application to spherical motor is presented in this research. The popularity of PID Fuzzy Computed Torque Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. I...
International Nuclear Information System (INIS)
The paper deals with the development and application of a new simple empirical approach to the design of robust PID controllers for technological processes in industrial practice. The main advantage of the proposed approach is the possibility to specify the required performance before the design algorithm implementation. Identification of characteristic data of the black-box type plant with varying parameters is carried out using the sine wave excitation signal, thus allowing to design the controller without necessarily knowing the mathematical model of the plant. The proposed approach has been verified on a real-world physical process. (authors)
Directory of Open Access Journals (Sweden)
Md. Selim Hasan
2011-05-01
Full Text Available The objective of this thesis is to investigate and find a solution by designing the intelligentcontroller for controlling water level system, such as neural network. The controller also can bespecifically run under the circumstance of system disturbances. To achieve these objectives, a prototypeof water level control system has been built and implementations of both PID and neural network controlalgorithms are performed. In PID control, Ziegler Nichols tuning method is used to control the system.In neural network control, the approach of Model Reference Adaptive Neural Network (ANN Controlbased on the back propagation algorithm is applied on training the system. Both control algorithms aredeveloped to embed into a standalone DSP-based micro-controller and their performances arecompared.
Developments in PID Controllers: Literature Survey
Directory of Open Access Journals (Sweden)
H. B. Patel
2012-10-01
Full Text Available Most of the process plants controlled by PID controllers have similar dynamics. It has found possible to set satisfactory controlled parameters from less plant information than a complete mathematical model. PID control has been an active research topic for many years. In this paper literature review of several useful PID type controller design techniques have been presented. It is observed that, performance using model order reduction technique is effective.
PID control in Damavand Tokamak
International Nuclear Information System (INIS)
Plasma position control is one of the most important issues in the design and pe ration of Tokamaks. Since Tokamak is essentially an electric system that consists of supplies, windings, plasma, and eddy currents, a mathematical model that shows the effects of the above components on the plasma position, has been used for simulation purposes. In this paper, design and operation of a PID controller based on this model is presented
Multiobjective Optimization Design of a Fractional Order PID Controller for a Gun Control System
Qiang Gao; Jilin Chen; Li Wang; Shiqing Xu; Yuanlong Hou
2013-01-01
Motion control of gun barrels is an ongoing topic for the development of gun control equipments possessing excellent performances. In this paper, a typical fractional order PID control strategy is employed for the gun control system. To obtain optimal parameters of the controller, a multiobjective optimization scheme is developed from the loop-shaping perspective. To solve the specified nonlinear optimization problem, a novel Pareto optimal solution based multiobjective differential evolution...
Das, Saptarshi; Pan, Indranil; Halder, Kaushik; Das, Shantanu; Gupta, Amitava
2013-01-01
The continuous and discrete time Linear Quadratic Regulator (LQR) theory has been used in this paper for the design of optimal analog and discrete PID controllers respectively. The PID controller gains are formulated as the optimal state-feedback gains, corresponding to the standard quadratic cost function involving the state variables and the controller effort. A real coded Genetic Algorithm (GA) has been used next to optimally find out the weighting matrices, associated with the respective ...
Meysam Gheisarnezhad; Hamed Mojallali
2015-01-01
Fractional-order PID (FOPID) controller is a generalization of standard PID controller using fractional calculus. Compared with the Standard PID controller, two adjustable variables “differential order” and “integral order” are added to the PID controller.Three tank system is a nonlinear multivariable process that is a good prototype of chemical industrial processes. Cuckoo Optimization Algorithm (COA), that was recently introduced has shown its good performance in optimization problems. In ...
Design a Novel SISO Off-line Tuning of Modified PID Fuzzy Sliding Mode Controller
Directory of Open Access Journals (Sweden)
Ali Shahcheraghi
2014-01-01
Full Text Available The Proportional Integral Derivative (PID Fuzzy Sliding Mode Controller (FSMC is the most widely used control strategy in the Industry (control of robotic arm. The popularity of PID FSMC controllers can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID FSMC controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. Biologically inspired evolutionary strategies have gained importance over other strategies because of their consistent performance over wide range of process models and their flexibility. This paper analyses the modified PID FSMC controllers based on minimum rule base for flexible robot manipulator system and test the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
PID Controllers Design Applied to Positioning of Ball on the Stewart Platform
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Koszewnik Andrzej
2014-12-01
Full Text Available The paper presents the design and practical implementation of PID controllers for a Stewart platform. The platform uses a resistance touch panel as a sensor and servo motors as actuators. The complete control system stabilizing the ball on the platform is realized with the Arduino microcontroller and the Matlab/Simulink software. Two processes required to acquire measurement signals from the touch panel in two perpendicular directions X and Y, are discussed. The first process includes the calibration of the touch panel, and the second process - the filtering of measurement signals with the low pass Butterworth filter. The obtained signals are used to design the algorithm of the ball stabilization by decoupling the global system into two local subsystems. The algorithm is implemented in a soft real time system. The parameters of both PID controllers (PIDx and PIDy are tuned by the trial-error method and implemented in the microcontroller. Finally, the complete control system is tested at the laboratory stand.
Automatic PID Control Loops Design for Performance Improvement of Cryogenic Turboexpander
Joshi, D. M.; Patel, H. K.; Shah, D. K.
2015-04-01
Cryogenics field involves temperature below 123 K which is much less than ambient temperature. In addition, many industrially important physical processes—from fulfilling the needs of National Thermonuclear Fusion programs, superconducting magnets to treatment of cutting tools and preservation of blood cells, require extreme low temperature. The low temperature required for liquefaction of common gases can be obtained by several processes. Liquefaction is the process of cooling or refrigerating a gas to a temperature below its critical temperature so that liquid can be formed at some suitable pressure which is below the critical pressure. Helium liquefier is used for the liquefaction process of helium gas. In general, the Helium Refrigerator/Liquefier (HRL) needs turboexpander as expansion machine to produce cooling effect which is further used for the production of liquid helium. Turboexpanders, a high speed device that is supported on gas bearings, are the most critical component in many helium refrigeration systems. A very minor fault in the operation and manufacturing or impurities in the helium gas can destroy the turboexpander. However, since the performance of expanders is dependent on a number of operating parameters and the relations between them are quite complex, the instrumentation and control system design for turboexpander needs special attention. The inefficiency of manual control leads to the need of designing automatic control loops for turboexpander. Proper design and implementation of the control loops plays an important role in the successful operation of the cryogenic turboexpander. The PID control loops has to be implemented with accurate interlocks and logic to enhance the performance of the cryogenic turboexpander. For different normal and off-normal operations, speeds will be different and hence a proper control method for critical rotational speed avoidance is must. This paper presents the design of PID control loops needed for the efficient performance of cryogenic turboexpander (Radial Inflow type) to ensure that the control systems meet the technical conditions and constraints more accurately and ensure the equipment safety.
Sivananaithaperumal Sudalaiandi; Baskar Subramanian
2014-01-01
This paper presents an automatic tuning of multivariable Fractional-Order Proportional, Integral and Derivative controller (FO-PID) parameters using Covariance Matrix Adaptation Evolution Strategy (CMAES) algorithm. Decoupled multivariable FO-PI and FO-PID controller structures are considered. Oustaloup integer order approximation is used for the fractional integrals and derivatives. For validation, two Multi-Input Multi- Output (MIMO) distillation columns described byWood and Berry and Ogunn...
GA-optimized feedforward-PID tracking control for a rugged electrohydraulic system design.
Sarkar, B K; Mandal, P; Saha, R; Mookherjee, S; Sanyal, D
2013-11-01
Rugged electrohydraulic systems are preferred for remote and harsh applications. Despite the low bandwidth, large deadband and flow nonlinearities in proportional valves valve and highly nonlinear friction in industry-grade cylinders that comprise rugged systems, their maintenance are much easier than very sophisticated and delicate servocontrol and servocylinder systems. With the target of making the easily maintainable system to perform comparably to a servosystem, a feedforward control has been designed here for compensating the nonlinearities. A PID feedback of the piston displacement has been employed in tandem for absorbing the unmodeled effects. All the controller parameters have been optimized by a real-coded genetic algorithm. The agreement between the achieved real-time responses for step and sinusoidal demands with those achieved by modern servosystems clearly establishes the acceptability of the controller design. PMID:23910093
Design High Efficiency-Minimum Rule Base PID Like Fuzzy Computed Torque Controller
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Alireza Khalilian
2014-06-01
Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy Computed Torque Controller is presented in this research. The popularity of PID Fuzzy Computed Torque Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Computed Torque Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a PI controller to have the minimum rule base. However computed torque controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each link, this controller is work based on manipulator dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear robot manipulator’s dynamic equation. This research is used to reduce or eliminate the computed torque controller problem based on minimum rule base fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
Design High-Efficiency Intelligent PID like Fuzzy Backstepping Controller for Three Dimension Motor
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Mahsa Piltan
2014-08-01
Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy backstepping Controller for three dimensions spherical motor is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PI-like controller and a PD-like fuzzy controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each dimension, this controller is work based on spherical motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear three dimension spherical motor’s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
Designing robust Mixed H /H PID Controllers based Intelligent Genetic Algorithm
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Ramzy S. Ali Al-Waily
2011-06-01
Full Text Available - It's not easy to implement the mixed / optimal controller for high order system, since in the conventional mixed / optimal feedback the order of the controller is much than that of the plant. This difficulty had been solved by using the structured specified PID controller. The merit of PID controllers comes from its simple structure, and can meets the industry processes. Also it have some kind of robustness. Even that it's hard to PID to cope the complex control problems such as the uncertainty and the disturbance effects. The present ideas suggests combining some of model control theories with the PID controller to achieve the complicated control problems. One of these ideas is presented in this paper by tuning the PID parameters to achieve the mixed / optimal performance by using Intelligent Genetic Algorithm (IGA. A simple modification is added to IGA in this paper to speed up the optimization search process. Two MIMO example are used during investigation in this paper. Each one of them has different control problem.
Designing an Energy Storage System Fuzzy PID Controller for Microgrid Islanded Operation
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Jin-Hong Jeon
2011-09-01
Full Text Available Recently, interest in microgrids, which are composed of distributed generation (DG, distributed storage (DS, and loads, has been growing as a potentially effective clean energy system to mitigate against climate change. The microgrid is operated in the grid-connected mode and the islanded mode according to the conditions of the upstream power grid. The role of the energy storage system (ESS is especially important to maintain constant the frequency and voltage of an islanded microgrid. For this reason, various approaches for ESS control have been put forth. In this paper, a fuzzy PID controller is proposed to improve the frequency control performance of the ESS. This fuzzy PID controller consists of a fuzzy logic controller and a conventional PI controller, connected in series. The fuzzy logic controller has two input signals, and then the output signal of the fuzzy logic controller is the input signal of the conventional PI controller. For comparison of control performance, gains of each PI controller and fuzzy PID controller are tuned by the particle swam optimization (PSO algorithm. In the simulation study, the control performance of the fuzzy PID was also tested under various operating conditions using the PSCAD/EMTDC simulation platform.
Optimal PID Controller Design Based on PSO-RBFNN for Wind Turbine Systems
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Jau-Woei Perng
2014-01-01
Full Text Available A strategy was proposed to determine the optimal operating point for the proportional-integral-derivative (PID controller of a wind turbine, and identify the stability regions in the parameter space. The proposed approach combined particle swarm optimization (PSO and radial basis function neural network (RBFNN algorithms. These intelligent algorithms are artificial learning mechanisms that can determine the optimal operating points, and were used to generate the function representing the most favorable operating parameters from each parameter of for the stability region of the PID controller. A graphical method was used to determine the 2D or 3D vision boundaries of the PID-type controller space in closed-loop wind turbine systems. The proposed techniques were demonstrated using simulations of a drive train model without time delay and a pitch control model with time delay. Finally, the 3D stability boundaries were determined the proposed graphical approach with and without time delay systems.
Design of an iterative auto-tuning algorithm for a fuzzy PID controller
Saeed, Bakhtiar I.; Mehrdadi, B.
2012-05-01
Since the first application of fuzzy logic in the field of control engineering, it has been extensively employed in controlling a wide range of applications. The human knowledge on controlling complex and non-linear processes can be incorporated into a controller in the form of linguistic terms. However, with the lack of analytical design study it is becoming more difficult to auto-tune controller parameters. Fuzzy logic controller has several parameters that can be adjusted, such as: membership functions, rule-base and scaling gains. Furthermore, it is not always easy to find the relation between the type of membership functions or rule-base and the controller performance. This study proposes a new systematic auto-tuning algorithm to fine tune fuzzy logic controller gains. A fuzzy PID controller is proposed and applied to several second order systems. The relationship between the closed-loop response and the controller parameters is analysed to devise an auto-tuning method. The results show that the proposed method is highly effective and produces zero overshoot with enhanced transient response. In addition, the robustness of the controller is investigated in the case of parameter changes and the results show a satisfactory performance.
Design of an iterative auto-tuning algorithm for a fuzzy PID controller
International Nuclear Information System (INIS)
Since the first application of fuzzy logic in the field of control engineering, it has been extensively employed in controlling a wide range of applications. The human knowledge on controlling complex and non-linear processes can be incorporated into a controller in the form of linguistic terms. However, with the lack of analytical design study it is becoming more difficult to auto-tune controller parameters. Fuzzy logic controller has several parameters that can be adjusted, such as: membership functions, rule-base and scaling gains. Furthermore, it is not always easy to find the relation between the type of membership functions or rule-base and the controller performance. This study proposes a new systematic auto-tuning algorithm to fine tune fuzzy logic controller gains. A fuzzy PID controller is proposed and applied to several second order systems. The relationship between the closed-loop response and the controller parameters is analysed to devise an auto-tuning method. The results show that the proposed method is highly effective and produces zero overshoot with enhanced transient response. In addition, the robustness of the controller is investigated in the case of parameter changes and the results show a satisfactory performance.
Adjustment of PID control parameters
David Di Ruscio
1992-01-01
Methods are presented for the adjustment of PID control parameters, so that the loop transfer function, the sensitivity transfer function or the complementary sensitivity transfer function is tuned to a prescribed amplitude and phase.
Multiobjective optimization design of a fractional order PID controller for a gun control system.
Gao, Qiang; Chen, Jilin; Wang, Li; Xu, Shiqing; Hou, Yuanlong
2013-01-01
Motion control of gun barrels is an ongoing topic for the development of gun control equipments possessing excellent performances. In this paper, a typical fractional order PID control strategy is employed for the gun control system. To obtain optimal parameters of the controller, a multiobjective optimization scheme is developed from the loop-shaping perspective. To solve the specified nonlinear optimization problem, a novel Pareto optimal solution based multiobjective differential evolution algorithm is proposed. To enhance the convergent rate of the optimization process, an opposition based learning method is embedded in the chaotic population initialization process. To enhance the robustness of the algorithm for different problems, an adapting scheme of the mutation operation is further employed. With assistance of the evolutionary algorithm, the optimal solution for the specified problem is selected. The numerical simulation results show that the control system can rapidly follow the demand signal with high accuracy and high robustness, demonstrating the efficiency of the proposed controller parameter tuning method. PMID:23766721
Design and Stability Analysis of Fuzzy Switched PID Controller for Ship Track-Keeping
Baozhu Jia; Hui Cao; Jie Ma
2012-01-01
The fuzzy switched PID controller which combines fuzzy PD and conventional PI controller is proposed for ship track-keeping autopilot In this paper. By using rudder angle, the whole voyage is divided into two operating regimes which named transient operating regime and steady operating regime respectively. The fuzzy PD controller is employed in transient operating regime for increasing response, reducing overshoot and shorting transition time. And conventional PI controller is used to improve...
Li, Mingjie; Zhou, Ping; Zhao, Zhicheng; Zhang, Jinggang
2016-03-01
Recently, fractional order (FO) processes with dead-time have attracted more and more attention of many researchers in control field, but FO-PID controllers design techniques available for the FO processes with dead-time suffer from lack of direct systematic approaches. In this paper, a simple design and parameters tuning approach of two-degree-of-freedom (2-DOF) FO-PID controller based on internal model control (IMC) is proposed for FO processes with dead-time, conventional one-degree-of-freedom control exhibited the shortcoming of coupling of robustness and dynamic response performance. 2-DOF control can overcome the above weakness which means it realizes decoupling of robustness and dynamic performance from each other. The adjustable parameter ?2 of FO-PID controller is directly related to the robustness of closed-loop system, and the analytical expression is given between the maximum sensitivity specification Ms and parameters ?2. In addition, according to the dynamic performance requirement of the practical system, the parameters ?1 can also be selected easily. By approximating the dead-time term of the process model with the first-order Padé or Taylor series, the expressions for 2-DOF FO-PID controller parameters are derived for three classes of FO processes with dead-time. Moreover, compared with other methods, the proposed method is simple and easy to implement. Finally, the simulation results are given to illustrate the effectiveness of this method. PMID:26753617
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Maitraye Sen
2014-05-01
Full Text Available In this work, a hybrid MPC (model predictive control-PID (proportional-integral-derivative control system has been designed for the continuous purification and processing framework of active pharmaceutical ingredients (APIs. The specific unit operations associated with the purification and processing of API have been developed from first-principles and connected in a continuous framework in the form of a flowsheet model. These integrated unit operations are highly interactive along with the presence of process delays. Therefore, a hybrid MPC-PID is a promising alternative to achieve the desired control loop performance as mandated by the regulatory authorities. The integrated flowsheet model has been simulated in gPROMSTM (Process System Enterprise, London, UK. This flowsheet model has been linearized in order to design the control scheme. The ability to track the set point and reject disturbances has been evaluated. A comparative study between the performance of the hybrid MPC-PID and a PID-only control scheme has been presented. The results show that an enhanced control loop performance can be obtained under the hybrid control scheme and demonstrate that such a scheme has high potential in improving the efficiency of pharmaceutical manufacturing operations.
Analysis of Fuzzy PID and Immune PID Controller for Three Tank Liquid Level Control
Sharad Kumar Tiwari; Gagandeep Kaur
2011-01-01
In industrial control systems the liquid level iscarrying its significance as the control action for level control intanks containing different chemicals or mixtures is essential forfurther control linking set points. The three level control modelsare considered in our work. The conventional control algorithm isdifficult to reach required control quality with more strictrestriction on overshoot. Design a parameter self-tuningPID-controller based on fuzzy control, which can adjustPID-parameter...
Design a PID Controller of BLDC Motor by Using Hybrid Genetic-Immune
Mohammed Obaid Ali; S. P. Koh; K. H. Chong; Asmaa Salih Hamoodi
2011-01-01
In this paper hybridization between two optimization methods that are Genetic Algorithm (GA) and Artificial Immune System (AIS) is presented for determining the optimal proportional-integral derivative (PID) controller parameters, for speed control of a linear brushless DC motor. The brushless DC motor is modeled in Simulink and the Hybrid GA-AIS algorithm is implemented in MATLAB. The capability of overcoming the shortcomings of individual algorithms without losing their advantages makes the...
A GA-based PID active queue management control design for TCP/IP networks
International Nuclear Information System (INIS)
In this paper, a genetic algorithm-based (GA-based) proportional-integral-derivative (PID) controller as an active queue manager for Internet routers is proposed to reduce packet loss and improve network utilization in TCP/IP networks. Based on the window-based nonlinear dynamics, the TCP network was modeled as a time-delayed system with a saturated input due to the limitations of packet-dropping probability and the effects of propagation delays in TCP networks. An improved genetic algorithm is employed to derive optimal or near optimal PID control gains such that a performance index of integrated-absolute error (IAE) in terms of the error between the router queue length and the desired queue length is minimized. The performance of the proposed control scheme was evaluated in various network scenarios via a series of numerical simulations. The simulation results confirm that the proposed scheme outperforms other AQM schemes
A GA-based PID active queue management control design for TCP/IP networks
Kuo, H.-H.; Chen, C.-K.; Yan, J.-J.; Liao, T.-L.
2008-02-01
In this paper, a genetic algorithm-based (GA-based) proportional-integral-derivative (PID) controller as an active queue manager for Internet routers is proposed to reduce packet loss and improve network utilization in TCP/IP networks. Based on the window-based nonlinear dynamics, the TCP network was modeled as a time-delayed system with a saturated input due to the limitations of packet-dropping probability and the effects of propagation delays in TCP networks. An improved genetic algorithm is employed to derive optimal or near optimal PID control gains such that a performance index of integrated-absolute error (IAE) in terms of the error between the router queue length and the desired queue length is minimized. The performance of the proposed control scheme was evaluated in various network scenarios via a series of numerical simulations. The simulation results confirm that the proposed scheme outperforms other AQM schemes.
Experimental results on the design for the APS PID global orbit control system
International Nuclear Information System (INIS)
The Advanced Photon Source third generation synchrotrons light source needs a stabilized particle beam position to produce high brightness and low emittance radiation. Global orbit correction control is introduced and is utilized to satisfy the demanding needs of the accelerator. This paper presents the experimental results for determining an effective and optimal controller to meet the global orbit correction requirements. These requirements include frequency/time domain demands consisting of vibrational noise attenuation, limiting of controller gains for stability and improving the system time response. Experiments were conducted with a digital signal processor implementing various PID sets to make comparisons between simulations and experiments. Measurements at these PID sets supported the results of software simulation
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Meysam Gheisarnezhad
2015-01-01
Full Text Available Fractional-order PID (FOPID controller is a generalization of standard PID controller using fractional calculus. Compared with the Standard PID controller, two adjustable variables “differential order” and “integral order” are added to the PID controller.Three tank system is a nonlinear multivariable process that is a good prototype of chemical industrial processes. Cuckoo Optimization Algorithm (COA, that was recently introduced has shown its good performance in optimization problems. In this study, Improved Cuckoo Optimization Algorithm (ICOA has been presented. The aim of the paper is to compare different controllers tuned with a Improved Cuckoo Optimization Algorithm (ICOA for Three Tank System. In order to compare the performance of the optimized FOPID controller with other controllers, Genetic Algorithm(GA, Particle swarm optimization (PSO, Cuckoo Optimization Algorithm (COA and Imperialist Competitive Algorithm (ICA.
Design of PID Controller for Maglev System Based on an Improved PSO with Mixed Inertia Weight
Rongrong Song; Zili Chen
2014-01-01
A Maglev system was modeled by the exact feedback linearization to achieve two same linear subsystems. The proportional-integral-differential controllers (PID) based on particle swarm optimization (PSO) algorithm with four different inertia weights were then used to regulate both linear subsystems. These different inertia weights were Fixed Inertia Weight (FIW), Linear Descend Inertia Weight (LIW), Linear Differential Descend Inertia Weight (LDW), and mixed inertia weight (FIW–LIW-LDW)....
Application of Proposed Improved Relay Tuning for Design of Optimum PID Control of SOPTD Model
S.A. Misal; V.S. Sathe
2012-01-01
The coupled tank liquid level control system approximated by the second order plus time delay (SOPTD) model was considered and the proposed improved relay tuning method was applied to calculate the corrected ultimate gain (Ku). It was found that the error in calculation of ultimate gain by proposed methods has been reduced considerably than that of conventional method. The corrected Ku was used to estimate optimum PID parameters by Ziegler Nichols method. The closed loop response was obtained...
Du Baojiang; Guo Jingmin; Ji Changqin; Wei Xiong; Sun Anbo
2012-01-01
The performance of the voltage regulating control system will have a direct impact on the power supply quality of vehicle generator. Therefore this paper researches a design of voltage regulating control device of improved PID algorithm for the vehicle alternating current (AC) generator based on DSP. According to the analysis of the operation and the voltage regulating principle of the vehicle AC generator, using the TMS320LF240 DSP as controlling chip, the optimized AD signals conditioning c...
Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller
Muzaffer Metin; Rahmi Guclu
2014-01-01
In this study, vertical rail vehicle vibrations are controlled by the use of conventional PID and parameters which are adaptive to PID controllers. A parameters adaptive PID controller is designed to improve the passenger comfort by intuitional usage of this method that renews the parameters online and sensitively under variable track inputs. Sinusoidal vertical rail misalignment and measured real rail irregularity are considered as two different disruptive effects of the system. Active vibra...
Application of Proposed Improved Relay Tuning for Design of Optimum PID Control of SOPTD Model
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S.A. Misal
2012-10-01
Full Text Available The coupled tank liquid level control system approximated by the second order plus time delay (SOPTD model was considered and the proposed improved relay tuning method was applied to calculate the corrected ultimate gain (Ku. It was found that the error in calculation of ultimate gain by proposed methods has been reduced considerably than that of conventional method. The corrected Ku was used to estimate optimum PID parameters by Ziegler Nichols method. The closed loop response was obtained using optimum values of PID parameters and compared with that of conventional method. It was found that the Integral Time Absolute Error (ITAE has been decreased and robustness has been increased by proposed method I & II as compared to that of conventional method. Hence the proposed improved relay tuning method gives better performance
Pan, Indranil; Das, Saptarshi
2013-01-01
A fractional order (FO) PID or FOPID controller is designed for an Automatic Voltage Regulator (AVR) system with the consideration of contradictory performance objectives. An improved evolutionary Non-dominated Sorting Genetic Algorithm (NSGA-II), augmented with a chaotic Henon map is used for the multi-objective optimization based design procedure. The Henon map as the random number generator outperforms the original NSGA-II algorithm and its Logistic map assisted version for obtaining a bet...
Maitraye Sen; Ravendra Singh; Rohit Ramachandran
2014-01-01
In this work, a hybrid MPC (model predictive control)-PID (proportional-integral-derivative) control system has been designed for the continuous purification and processing framework of active pharmaceutical ingredients (APIs). The specific unit operations associated with the purification and processing of API have been developed from first-principles and connected in a continuous framework in the form of a flowsheet model. These integrated unit operations are highly interactive along with th...
Implementation of PID and Fuzzy PID controllers for Temperature control in CSTR
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S. Srinivasulu Raju
2013-05-01
Full Text Available Continuous Stirred Tank Reactor (CSTR is an important subject in chemical process and offering a diverse range of researches in the area of the chemical and control engineering. Various control approaches have been applied on CSTR to control its parameters. This paper gives the demonstration about the temperature control of CSTR reactor using a fuzzy PID controller to meet the desired temperature in presence of set point changes. The parameters of PID controller can be calculated by conducting Relay feedback on process. Fuzzy logic is one of the most successful applications of fuzzy set in which the variables are linguistic rather than numeric. The development of an effective methodology for the design of such control systems undoubtedly requires the synthesis of many concepts from artificial intelligence. The most commonly used controller in the industry field is the PID controller. Fuzzy logic controller (FLC provides an alternative to PID controller, especially when the available system models are inexact or unavailable. A FLC is based on a set of control rules (fuzzy rules among linguistic variables. CSTR system is a typical chemical reactor system with complex non-linear dynamic characteristics. The fuzzy PID control algorithm is designed for the flow process station to improve the control performance better than the conventional PID controller. PID controller works well only if the mathematical model of the system could be computed. Hence it is difficult to implement PID control for variable as well as complicated systems. The proposed method can be used to realize data process and advanced control to improve the quality of the control. The simulation is carried out and the simulation results present the flexibility of the CSTR temperature control.
Khulood A. Dagher; Ahmed S. Al-Araji
2013-01-01
A particle swarm optimization algorithm and neural network like self-tuning PID controller for CSTR system is presented. The scheme of the discrete-time PID control structure is based on neural network and tuned the parameters of the PID controller by using a particle swarm optimization PSO technique as a simple and fast training algorithm. The proposed method has advantage that it is not necessary to use a combined structure of identification and decision because it used PSO. Simulation resu...
The Parrot UAV Controlled by PID Controllers
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Koszewnik Andrzej
2014-08-01
Full Text Available The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered directions.
A mathematical explanation via "intelligent" PID controllers of the strange ubiquity of PIDs
Novel, Brigitte D'Andrea; Join, Cédric; Mounier, Hugues; Steux, Bruno
2010-01-01
The ubiquity of PID controllers in the industry has remained mysterious until now. We provide here a mathematical explanation of this strange phenomenon by comparing their sampling with the the one of "intelligent" PID controllers, which were recently introduced. Some computer simulations nevertheless confirm the superiority of the new intelligent feedback design.
An optimized MIMO PID controller
Hinrik Ingi Hinriksson 1981
2010-01-01
A method to optimize the zero locations for a PID controller for SISO systems to achive optimized tracking of a reference system has already been derived. In this thesis this method is expanded to work for MIMO systems. This is done by minimizing the difference between the impulse or the step response of the controlled system and the chosen reference system. The optimized zero locations can be found for the controller and the best tracking possible is a achived.
Robust PID design based on static H? loop-shaping method for steam generator water level control
International Nuclear Information System (INIS)
The problem for control of steam generator water level is complex because its complicated shrink and parameters of its model vary with operation conditions. Static H? loop shaping is used to design the robust PID controller for the steam generator. Simulation results show that the control efficiency of this scheme is better than that of the other three H? loop shaping based methods, and the derived controller has good reference tracking capability, distribution rejection ability and acceptable control performance at different operation points. (authors)
Back stepping-Based-PID-Controller Designed for an Artificial Pancreas model
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ShaimaMahmou Mahdi
2011-01-01
Full Text Available Artificial pancreas is simulated to handle Type I diabetic patients under intensive care by automatically controlling the insulin infusion rate. A Backstepping technique is used to apply the effect of PID controller to blood glucose level since there is no direct relation between insulin infusion (the manipulated variable and glucose level in Bergman?s system model subjected to an oral glucose tolerance test by applying a meal translated into a disturbance. Backstepping technique is usually recommended to stabilize and control the states of Bergman's class of nonlinear systems. The results showed a very satisfactory behavior of glucose deviation to a sudden rise represented by the meal that increase the blood glucose
PID control design for chaotic synchronization using a tribes optimization approach
International Nuclear Information System (INIS)
Recently, the investigation of synchronization and control problems for discrete chaotic systems has stimulated a wide range of research activity including both theoretical studies and practical applications. This paper deals with the tuning of a proportional-integral-derivative (PID) controller using a modified Tribes optimization algorithm based on truncated chaotic Zaslavskii map (MTribes) for synchronization of two identical discrete chaotic systems subject the different initial conditions. The Tribes algorithm is inspired by the social behavior of bird flocking and is also an optimization adaptive procedure that does not require sociometric or swarm size parameter tuning. Numerical simulations are given to show the effectiveness of the proposed synchronization method. In addition, some comparisons of the MTribes optimization algorithm with other continuous optimization methods, including classical Tribes algorithm and particle swarm optimization approaches, are presented.
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Azita Yazdanpanah
2014-04-01
Full Text Available Continuum robot manipulators are optimized to meet best trajectory requirements. Closed loop control is a key technology that is used to optimize the system output process to achieve this goal. In order to conduct research in the area of closed loop control, a control oriented cycle-to-cycle continuum robot model, containing dynamic model information for each individual continuum robot manipulator, is a necessity. In this research, the continuum robot manipulator is modeled according to information between joint variable and torque, which is represented by the nonlinear dynamic equation. After that, a multi-input-multi-output baseline computed torque control scheme is used to simultaneously control the torque load of system to regulate the joint variables to desired levels. One of the most important challenge in control theory is on-line tuning therefore fuzzy supervised optimization is used to tune the modified baseline and computed torque control coefficient. The performance of the modified baseline computed torque controller is compared with that of a baseline proportional, integral, and derivative (PID controller.
Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID
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Pan Zhao
2012-07-01
Full Text Available The autonomous vehicle is a mobile robot integrating multi?sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree?of?freedom dynamic model is developed to formulate the path?tracking problem in state space format. For controlling the instantaneous path error, traditional controllers have difficulty in guaranteeing performance and stability over a wide range of parameter changes and disturbances. Therefore, a newly developed adaptive?PID controller will be used. By using this approach the flexibility of the vehicle control system will be increased and achieving great advantages. Throughout, we provide examples and results from Intelligent Pioneer and the autonomous vehicle using this approach competed in the 2010 and 2011 Future Challenge of China. Intelligent Pioneer finished all of the competition programmes and won first position in 2010 and third position in 2011.
Computer simulation system of neural PID control on nuclear reactor
International Nuclear Information System (INIS)
Neural network proportional integral differential (PID) controller on nuclear reactor is designed, and the control process is simulated by computer. The simulation result show that neutral network PID controller can automatically adjust its parameter to ideal state, and good control result can be gotten in reactor control process
Poultry House Temperature Control Using Fuzzy-PID Controller
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Aborisade David O
2014-05-01
Full Text Available Temperature control of poultry house within thermal neutral zone of poultry birds is essential in order to reduce their mortality and increase production. The most advanced method to control the highly complex and nonlinear behaviour of the poultry house temperature, is fuzzy logic. On the other hand, PID controllers are used in most of poultry house due to its functional and structural simplicity. This paper presents a method of controlling the poultry house temperature by the combined action of both Fuzzy and PID controllers. In the design, fuzzy controller uses the structure of two inputs and three outputs. Deviation e and deviation rate ? are the inputs of the system. These are translated into a fuzzy form, fuzzy processed according to IF…THEN rules to arrive at a single outcome value and then defuzzified to get accurate values of which are used to auto-tune PID controller to control the poultry house temperature. The performances of the Fuzzy-PID based poultry house temperature control scheme during hot weather are compared with the classical PID controller. The results show that the Fuzzy-PID scheme is able to control the poultry house temperature more effectively in terms of both the steady-state error and the settling time than that of PID controller.
International Nuclear Information System (INIS)
Highlights: • Multi-objective optimization based fractional order controller is designed for HTRS. • NSGAII is improved by iterative chaotic map with infinite collapses (ICMIC) operator. • ISE and ITSE are as chosen as objective functions in tuning parameters of HTRS. • FOPID controller outperforms the PID controller under various running conditions. • Trade-off between speed of reference tracking and damping of oscillation are shown. - Abstract: Fractional-order PID (FOPID) controller is a generalization of traditional PID controller using fractional calculus. Compared to the traditional PID controller, in FOPID controller, the order of derivative portion and integral portion is not integer, which provides more flexibility in achieving control objectives. Design stage of such an FOPID controller consists of determining five parameters, i.e. proportional, integral and derivative gains {Kp, Ki, Kd}, and extra integration and differentiation orders {?,?}, which has a large difference comparing with the conventional PID tuning rules, thus a suitable optimization algorithm is essential to the parameters tuning of FOPID controller. This paper focuses on the design of the FOPID controller using chaotic non-dominated sorting genetic algorithm II (NSGAII) for hydraulic turbine regulating system (HTRS). The parameters chosen of the FOPID controller is formulated as a multi-objective optimization problem, in which the objective functions are composed by the integral of the squared error (ISE) and integral of the time multiplied squared error (ITSE). The chaotic NSGAII algorithm, which is an incorporation of chaotic behaviors into NSGAII, is used as the optimizer to search true Pareto-front of the FOPID controller and designers can implement each of them based on objective functions priority. The designed chaotic NSGAII based FOPID controller procedure is applied to a HTRS system. A comparison study between the optimum integer order PID controller and optimum fractional order PID controller is presented in the paper. The simulation and some experimental results validate the superiority of the fractional order controllers over the integer controllers
PID control for enhanced fuel temperature response
International Nuclear Information System (INIS)
Simulation technology now provides the ability to design, test, and implement advanced control algorithms without the need for traditional writing and debugging of computer programs. The National Science Foundation and Electric Power Research Institute jointly sponsor a program for the experimental development of power reactor control using this simulation technology. A proportional-integral-derivative (PID) controller to enhance the temperature response of a reactor has been identified using a high-level block diagram system model and sophisticated simulation technology
PID Control Effectiveness for Surface Reactor Concepts
International Nuclear Information System (INIS)
Control of space and surface fission reactors should be kept as simple as possible, because of the need for high reliability and the difficulty to diagnose and adapt to control system failures. Fortunately, compact, fast-spectrum, externally controlled reactors are very simple in operation. In fact, for some applications it may be possible to design low-power surface reactors without the need for any reactor control after startup; however, a simple proportional, integral, derivative (PID) controller can allow a higher performance concept and add more flexibility to system operation. This paper investigates the effectiveness of a PID control scheme for several anticipated transients that a surface reactor might experience. To perform these analyses, the surface reactor transient code FRINK was modified to simulate control drum movements based on bulk coolant temperature
PID Control Effectiveness for Surface Reactor Concepts
Dixon, David D.; Marsh, Christopher L.; Poston, David I.
2007-01-01
Control of space and surface fission reactors should be kept as simple as possible, because of the need for high reliability and the difficulty to diagnose and adapt to control system failures. Fortunately, compact, fast-spectrum, externally controlled reactors are very simple in operation. In fact, for some applications it may be possible to design low-power surface reactors without the need for any reactor control after startup; however, a simple proportional, integral, derivative (PID) controller can allow a higher performance concept and add more flexibility to system operation. This paper investigates the effectiveness of a PID control scheme for several anticipated transients that a surface reactor might experience. To perform these analyses, the surface reactor transient code FRINK was modified to simulate control drum movements based on bulk coolant temperature.
Directory of Open Access Journals (Sweden)
Khulood A. Dagher
2013-12-01
Full Text Available A particle swarm optimization algorithm and neural network like self-tuning PID controller for CSTR system is presented. The scheme of the discrete-time PID control structure is based on neural network and tuned the parameters of the PID controller by using a particle swarm optimization PSO technique as a simple and fast training algorithm. The proposed method has advantage that it is not necessary to use a combined structure of identification and decision because it used PSO. Simulation results show the effectiveness of the proposed adaptive PID neural control algorithm in terms of minimum tracking error and smoothness control signal obtained for non-linear dynamical CSTR system.
PID control with robust disturbance feedback control
DEFF Research Database (Denmark)
Kawai, Fukiko; Vinther, Kasper; Andersen, Palle; Bendtsen, Jan Dimon
Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC. A...... performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...
APPLICATION OF NONLINEAR PID CONTROLLER IN SUPERCONDUCTING MAGNETIC ENERGY STORAGE
PENG, Xiaotao; CHENG, Shijie
2011-01-01
As a new control strategy, Nonlinear PID(NLPID) controller has been introduced in the power system successfully. The controller is free of planting model foundation in the design procedure and realized simply. In this paper, a nonlinear PID controller used for superconducting magnetic energy storage (SMES) unit connected to a power system is proposed. Purpose of designing such controller is to improve the stability of the power system in a relatively wide operation range. The design procedure...
Robust and Gain-Scheduled PID Controller Design for Condensing Boilers by Linear Programming
de Oliveira, Vinicius; Karimi, Alireza
2012-01-01
This paper addresses the water temperature control in condensing domestic boilers. The main challenge of this process under the controller design perspective is the fact that the dynamics of condensing boilers are strongly affected by the demanded water flow rate. Two approaches are presented in this paper. First, a robust PI controller is designed that stabilizes and achieves good performance for closed-loop system for a wide range of the water flow rate. Then, it is shown that if the water ...
PID Fuzzy Logic Controller System for DC Motor Speed Control
Directory of Open Access Journals (Sweden)
H. Samsul Bachri M.
2004-04-01
Full Text Available A good controller system must have resilience to disturbance and must be able to response quickly and accurately. Problem usually appears when PID controller system was built sensitively hence the system’s respon to the disturbance will yield big overshot/undershot then the possibility of oscillation to be happened is excelsior. When the controller system was built insensitively, the overshot/undershot will be small but the recovery time will be longer. Hybrid controller system could overcome those problems by combining PID control system with fuzzy logic. The main control of this system is PID controller while the fuzzy logic acts to reduce an overshot/undershot and a recovery time. The fuzzy logic controller is designed with two input error and delta error and one output of the motor speed. The output of fuzzy logic controller should be only half of the PID controller for limiting entirely fuzzy output. This hybrid system design has a better respon time controller system than PID controller without fuzzy logic.
D. RAMA REDDY; Dr. M.SAILAJA
2012-01-01
This paper describes the stability regions of PID (Proportional +Integral+ Derivative) and a new PID with series leading correction (SLC) for Networked control system with time delay. The new PID controller has a tuning parameter ‘?’. The relation between ?, KP, KI and KD is derived. The effect of plant parameters on stabilityregion of PID controllers and SLC-PID controllers in first-order and second-order systems with time delay are also studied. Finally, an open-loop zero was inserted into ...
Directory of Open Access Journals (Sweden)
Bikash Dey
2014-01-01
Full Text Available This paper present three different control strategies based on PI Control, PID control and Two degree of freedom PID control for Continuous Stirred Tank Reactor (CSTR.CSTR which offers a diverse range of application in the field of chemical engineering as well as in the control engineering and is an attractive research area for process control researchers. Our objective is to control the temperature of CSTR in presence of the set point. MATLAB SIMULINK software is used for model design and simulation
Intelligent PID Controller on Soft Computing
Honghua Xu; Xiaoqiang Di; Huamin Yang; Guangcai Cui
2012-01-01
The PID control algorithm is used for the control of almost all loops in the process industries, and is also the basis for many advanced control algorithms and strategies. For complex systems, controller’s structure and parameters need to rely on experience and on line tuning to determine. Application of soft computing techniques can realize self-tuning of controller parameters. In this paper, the author applies fuzzy system, neural network technique and genetic algorithm to PID control...
Multivariable PID Controller For Robotic Manipulator
Seraji, Homayoun; Tarokh, Mahmoud
1990-01-01
Gains updated during operation to cope with changes in characteristics and loads. Conceptual multivariable controller for robotic manipulator includes proportional/derivative (PD) controller in inner feedback loop, and proportional/integral/derivative (PID) controller in outer feedback loop. PD controller places poles of transfer function (in Laplace-transform space) of control system for linearized mathematical model of dynamics of robot. PID controller tracks trajectory and decouples input and output.
HIERARCHICAL FUZZY PID CONTROLLER USING GRANULAR COMPUTING FOR INVERTED PENDULUM
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POTTEM SAI THARUN, M.J. NIGAM
2013-07-01
Full Text Available The inverted pendulum (IP is among the most difficult systems to control in the field of control engineering. The process is non linear and unstable. The objective of this paper is to balance the pendulum vertically on a motor driven wagon by the use of hierarchical fuzzy PID controller. The hierarchical fuzzy PID controller divides the control system into multiple granular levels and adopts different control strategies in different granularities. We use different fuzzy controls forcoarse adjustment in the coarse granularity and adopt classical PID as fine control in the fine granularity. Then we design asupervisor which is a fuzzy controller to switch between the different fuzzy controllers and PID control smoothly
A Novel Evolutionary Tuning Method for Fractional Order PID Controller
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Subhransu Padhee
2011-07-01
Full Text Available PID controller is a well known controller which is used in most control applications. Around 90% control applications use PID controller as the controlling element. The tuning of PID controller is mostly done using Zeigler-Nichols tuning method. But there are some inherent drawbacks of Ziegler-Nichols based tuning. For the optimal tuning of controller, the tuned values have to be changed using computer simulation to meet the process needs. In PID controller the derivative and the integral order are in integer. Fractional order PID (FOPID is a special kind of PID controller whose derivative and integral order are fractional rather than integer. The key challenge of designing FOPID controller is to determine the two key parameters ? (integral order and µ (derivative order apart from the usual tuning parameters of PID using different tuning methods. Both ? and µ are in fraction which increases the robustness of the system and gives an optimal control. This paper proposes a novel tuning method for tuning ? and µ of FOPID using genetic algorithms.
PID control with robust disturbance feedback control
DEFF Research Database (Denmark)
Kawai, Fukiko; Vinther, Kasper
2015-01-01
Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC. A multiplicative uncertainty model is used to represent mismatch between a nominal model and the actual plant, and expressions for robust stability, nominal and robust performance are derived. We propose a simple grid-based search algorithm that can be used to find DFC gains to achieve robust stability and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when compared with an H-infinity controller.
Directory of Open Access Journals (Sweden)
Hualong Xie
2015-04-01
Full Text Available A biped robot with heterogeneous legs (BRHL is proposed to provide an ideal test-bed for intelligent bionic legs (IBL. To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of freedom of a knee joint driven by PAM is analyzed. A control simulation of an artificial leg based on PID control algorithm is carried out and the simulation results indicate that the artificial leg can simulate precisely a normal human walking gait.
International Nuclear Information System (INIS)
In any of the control applications, controller design is the most important part. There are different types of controller architectures available in control literature. In this research work, various low order plus dead time transfer function models of industrial boiler and heat exchanger are considered. A PI/PID controller is used to control various processes that involve boiler and heat exchanger. This comprise of controlling of parameters such as temperature, pressure, flow and level. The technique used for designing the controller is known as Internal Model Control. The designed controller has to give optimal control results irrespective of undesired situation like plant and equipment saturation. So the performance and stability is tested and verified for Linear Time Invariant Systems. (author)
Robust PID Controller for a Pneumatic Actuator
Skarpetis Michael G.; Koumboulis Fotis N.; Panagiotakis George; Kouvakas Nikolaos D.
2016-01-01
In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provi...
PID controller simulator software for DC motor of gamma scanning
International Nuclear Information System (INIS)
Mostly PID controller (Proportional-Integral-Derivative) has been used in industry. For certain applications, it can be used as a Proportional (P) model only, or as a Proportional-Integral (PI) model. The aim of this paper is to design a PID controller simulator software for DC motor which is used in gamma scanning system. A DC motor is described as a plant of SISO (Single Input Single Output) which is used for pulling down the load (detector + casing) and gamma radiation source (Co-60 + container) by using sling cable. A DC motor consist of an armature and a rotor, the equivalent circuit of DC motor is shown in a transfer function equation between output parameter (angular speed DC motor) and input parameter (voltage of DC motor). Methods used for the process of PID controller design is to arrange the PID controller parameter (Kc, Ti, Td) so that there are more PID controller transfer function model which are able to control angular speed of DC motor in stable condition, as design criteria requirement is needed. Design criteria requirement for control system are the settling time < 3 second, overshoot < 5%, rise time = 0.25 second, steady state gain = 1 and peak time < 3 second with step response reference 1 rad/second. The result of simulation gives several models of PID controller in function transfer equation which is similar with design criteria requirement in a equation of function transfer of order 2 for numerator and order 1 for denominator. (author)
Improving the pneumatic control valve performance using a PID controller
Heidari, Mohammad; Homaei, Hadi
2014-01-01
Pneumatic control valves are still the most used in process industries due to their low cost and simplicity. This paper presents a design procedure of a PID controller for a pneumatic control valve. For comparison, P and PI controllers are also utilized for the control valve. The bond graph method is used to model the control valve, in order to compare the response characteristics of the valve. Simulation results are found for three controllers of the valve. The integral time absolute error c...
Directory of Open Access Journals (Sweden)
Arezou Geramipour
2013-04-01
Full Text Available This paper emphasizes on a method for designing digital PID controller based on Field Programmable Gate Array (FPGA device for regulating blood glucose level of type-I diabetic patients. The controller is tuned using Bergman Minimal model as a diabetic patient model in MATLAB and Simulink environment. The PID parameters are tuned using a genetic algorithm (GA. Because the speed of control systems has influence on their performance and stability, Field Programmable Gate Array (FPGA device is considered. A Simulink to FPGA flow is applied to the structure of PID controller with Xilinx blocks in Simulink. The results of blood glucose of two diabetic patient models using different quantization in bits are simulated. The results show that unsuitable number of bits cause hypoglycemia and increasing the peak of blood glucose in diabetic patients. System Generator and Integrated Software Environment (ISE are used for creating Bitstream file that can be downloaded into FPGA device. The results show that implementation of PID controller on FPGA using System Generator is compact and high speed and causes the designer can evaluate and implement different designs simply.
Tuning of PID load frequency controller for power systems
International Nuclear Information System (INIS)
PID tuning of load frequency controllers for power systems is discussed in this paper. The tuning method is based on a two-degree-of-freedom internal model control (IMC) design method, and the performance of the resulting PID controller is related to two tuning parameters thus detuning is easy when necessary. Then an anti-GRC scheme is proposed to overcome the generation rate constraints. Finally, the method is extended to two-area cases.
A Practical Application of IMC-PID Controller in Unmanned Vehicle
Qin Gang; Song Le; Hu Ling
2013-01-01
In allusion to unmanned vehicle steering control of the brushless DC motor control system, traditional PID controller parameter adjustment complex, weak ability to adapt to the environment and other issues, on the basis of the analysis of internal model control and classical PID control internal corresponding relationship, comprehensive its advantages, The design uses a brushless DC motor in the steering control system for unmanned vehicles based on the internal model PID controller ( IMC-PID...
Linear Programming for Optimum PID Controller Tuning
Edimar J. Oliveira; Leonardo M. Honorio; Alexandre H. Anzai; Tamara X. Soares
2014-01-01
This work presents a new methodology based on Linear Programming (LP) to tune Proportional-Integral-Derivative (PID) control parameters. From a specification of a desired output time domain of the plant, a linear optimization system is proposed to adjust the PID controller leading the output signal to stable operation condition with minimum oscillations. The constraint set used in the optimization process is defined by using numerical integration approach. The generated...
Intelligent PID Controller on Soft Computing
Directory of Open Access Journals (Sweden)
Honghua Xu
2012-10-01
Full Text Available The PID control algorithm is used for the control of almost all loops in the process industries, and is also the basis for many advanced control algorithms and strategies. For complex systems, controller’s structure and parameters need to rely on experience and on line tuning to determine. Application of soft computing techniques can realize self-tuning of controller parameters. In this paper, the author applies fuzzy system, neural network technique and genetic algorithm to PID controller in order to achieve intelligent adjustment the controlled variables. Simulation results show that the application of soft computing techniques in the controller has better control quality.
Scientific Electronic Library Online (English)
Leonardo, Solaque Guzmán; Cristhian Andrey, Cristancho Cardozo; Camilo Andrés, Gil Cárdenas.
2014-01-01
Full Text Available El presente artículo tiene por objeto mostrar una estructura de dos grados de libertad, concebida y diseñada para aproximarse a la experimentación de leyes de control de sistemas tipo helicópteros de cuatro hélices (Quad-Rotor - Unmanned Aerial Vehicle). Se realizó el modelado y control para dicha p [...] lataforma. Dos tipos de control se abarcaron: uno basado en técnicas lineales tipo PID, que hace uso de la linealización por series de Taylor; y el otro basado en técnicas de control difuso. Se deja una plataforma abierta y, mediante la incursión en software-hardware in loop, se habilita para experimentar otras teorías de control. Abstract in english This article is intended to show a structure of two degrees of freedom and two techniques of control. This system was conceived and designed in order to test different system control strategies able to command four-propeller-like helicopters (Quad-Rotor - Unmanned Aerial Vehicle). This platform was [...] modeled and controlled. Two control techniques were included: a linear technique PID-like control that makes use of the Taylor series linearization, and another technique based on fuzzy control. This work leaves an open platform and, through the software-hardware in loop approach, this platform is enabled to develop and test of other control theories.
Tuning Of PID Controller Of Inverted Pendulum Using Genetic Algorithm
Kunal Chakraborty; Rabi Ranjan Mukherjee; Suvobratra Mukherjee
2013-01-01
This paper presents different types of mathematical modelling of Inverted Pendulum and also a Proportional-Intregal-Derative (PID) controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error has been optimized (minimized) by using Genetic algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. Also a tuning mechanism is done by genetic algorithm f...
Neural PID Control Strategy for Networked Process Control
Jianhua Zhang; Junghui Chen
2013-01-01
A new method with a two-layer hierarchy is presented based on a neural proportional-integral-derivative (PID) iterative learning method over the communication network for the closed-loop automatic tuning of a PID controller. It can enhance the performance of the well-known simple PID feedback control loop in the local field when real networked process control applied to systems with uncertain factors, such as external disturbance or randomly delayed measurements. The proposed PID iterative le...
Fuzzy PID Position Control Approach in Computer Numerical Control Machine Tool
Guoyong Zhao; Yong Shen; Youlin Wang
2013-01-01
The traditional PID control approach is often adopted in CNC machine tool position controller. The approach is simple and easy to implement, but can’t achieve rapid adjustment and less overshoot at the same time. Consequently, on the basis of analyzing fuzzy control theory and design method, the CNC machine tool fuzzy PID position control approach is developed in the paper. The approach makes full use of the advantages of fuzzy control and PID control. The experiment results show that i...
Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID
Pan Zhao; Jiajia Chen; Yan Song; Xiang Tao; Tiejuan Xu; Tao Mei
2012-01-01
The autonomous vehicle is a mobile robot integrating multi?sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree?of?freedom dynamic model is developed to formulate the path?tracking problem in state space format. For...
Modeling, Design and Implement of Steering Fuzzy PID Control System for DORIS Robot
Directory of Open Access Journals (Sweden)
Khaled Sailan
2014-01-01
Full Text Available This paper presents research in steering control techniques for an automated all-terrain vehicle (ATV. According to steering wheel angle and Gas or Break Pedal, the proposed fuzzy inference logic can provide needed assist to the left and right motor position which controls the position of build-in proportional valve. Position valve increase or decrease the fluid velocity which increase or decrease the hydraulic motor speed and vehicle speed .different speed for left and right motor cause turn left or right. Under experts’ knowledge of fuzzy control, the electro-Hydraulic power steering system can satisfy smooth turning left or right. Modeling and Experimental results demonstrate that the proposed method is reasonable and feasible.
MIMO nonlinear PID predictive controller
Feng, W; O'Reilly, J.; Ballance, D J
2002-01-01
A class of nonlinear generalised predictive controllers (NGPC) is derived for multi-input multi-output (MIMO) nonlinear systems with offset or steady-state response error. The MIMO composite controller consists of an optimal NGPC and a nonlinear disturbance observer. The design of the nonlinear disturbance observer to estimate the offset is particularly simple, as is the associated proof of overall nonlinear closed-loop system stability. Moreover, the transient error response of the disturban...
Wind turbine pitch control using ICPSO-PID algorithm
DEFF Research Database (Denmark)
Xu, Chang; Tian, Qiangqiang
2013-01-01
For the traditional simplified first-order pitch-control system model, it is difficult to describe a real dynamic characteristic of a variable pitch action system, thus a complete high order mathematical model has to be developed for the pitch control of wind turbine generation (WTG). In the paper, a pitch controller was designed based on power and wind speed and by considering the inertia and delay characteristics of a pitch-control system to achieve a constant power output when a wind speed was beyond the rated one. A novel ICPSO-PID control algorithm was proposed based on a combination of improved cooperative particle swarm optimization (ICPSO) and PID, subsequently, it was used to tune the pitch controller parameters; thus the difficulty in PID tuning was removed when a wind speed was above the rated speed. It was indicated that the proposed optimization algorithm can tune the pitch controller parameters quickly; and the feed-forward controller for wind speed can improve dynamics of a pitch-control system; additionally the power controller can allow a wind turbine to have a constant power output as a wind speed is over the rated one. Compared with a conventional PID, the controller with ICPSO-PID algorithm has a smaller overshoot, a shorter tuning time and better robustness. The design method proposed in the paper can be applied in a practical electro-hydraulic pitch control system for WTG.
A Real Time IMC Tuned PID Controller for DC Motor
M. Saranya; Asst.Prof.D.PAMELA
2012-01-01
This paper presents a Internal Model Control(IMC) tuned PID controller method for the DC motor for robust operation.IMC is a process model approach to design the PID controller parameter to obtain the optimal setpoint tracking and load disturbance rejection.This method of control which is based on the accurate model of the process,leads to the design of a control system that is stable and robust.The results of the IMC tuning method when compared with the Ziegler Nichols (ZN) closed loop tunin...
Fractional order PID controller for load frequency control
International Nuclear Information System (INIS)
Highlights: • The manuscript shows the design of FOPID controller for the load frequency control. • Performance of FOPID is given for non-reheated, reheated and hydro turbine. • Performance of FOPID is compared to IMC-PID and reduced order IMC-PID design scheme. • Performance of FOPID is better than the existing techniques. - Abstract: Load frequency control (LFC) plays a very important role in providing quality power both in the case of isolated as well as interconnected power systems. In order to maintain good quality power supply, the LFC should possess robustness toward the parametric uncertainty of the system and good disturbance rejection capability. The fractional order controller has the properties such as, eliminating steady state error, robustness toward plant gain variations and also good disturbance rejection. This makes the fractional order PID (FOPID) controller quite suitable for the LFC. Therefore, in this paper a FOPID is designed for single area LFC for all three types of turbines i.e., non-reheated, reheated and hydro turbines. It is observed that the FOPID controller shows better robustness toward ±50% parametric uncertainty and disturbance rejection capability than the existing techniques. Finally, the optimization of controller parameters and robustness evaluation of the control technique is done on the basis of the integral error criterion
Scientific Electronic Library Online (English)
ERNESTO, GRANADO; WILLIAM, COLMENARES; OMAR, PÉREZ.
Full Text Available Este trabajo presenta el diseño de un controlador PID multivariable robusto, el cual garantiza la estabilidad a lazo cerrado de sistemas lineales sujetos a incertidumbre poliédrica. El algoritmo se basa en una Metodología Iterativa de Desigualdades Lineales Matriciales (ILMI). Los resultados obtenid [...] os también pueden ser usados para calcular un controlador estático estabilizante de realimentación de la salida. La técnica de diseño es ilustrada mediante ejemplos numéricos. Abstract in english This paper presents the design of a robust multivariable PID controller, which guarantees the stability of the closed loop linear systems subjected to polytopic uncertainty. The algorithm is based on an Iterative Linear Matrix Inequality (ILMI) approach. The obtained results may also be used to comp [...] ute a static output feedback stabilizing controller. The design technique is illustrated with numerical examples.
Directory of Open Access Journals (Sweden)
D. RAMA REDDY
2012-07-01
Full Text Available This paper describes the stability regions of PID (Proportional +Integral+ Derivative and a new PID with series leading correction (SLC for Networked control system with time delay. The new PID controller has a tuning parameter â€˜Î²â€™. The relation between Î², KP, KI and KD is derived. The effect of plant parameters on stabilityregion of PID controllers and SLC-PID controllers in first-order and second-order systems with time delay are also studied. Finally, an open-loop zero was inserted into the plant-unstable second order system with time delay so that the stability regions of PID and SLC-PID controllers get effectively enlarged. The total system isimplemented using MATLAB/Simulink.
A Real Time IMC Tuned PID Controller for DC Motor
Directory of Open Access Journals (Sweden)
M.SARANYA
2012-04-01
Full Text Available This paper presents a Internal Model Control(IMC tuned PID controller method for the DC motor for robust operation.IMC is a process model approach to design the PID controller parameter to obtain the optimal setpoint tracking and load disturbance rejection.This method of control which is based on the accurate model of the process,leads to the design of a control system that is stable and robust.The results of the IMC tuning method when compared with the Ziegler Nichols (ZN closed loop tuning provides a commendable improvement in the overshoot,rise time and settling time of the system.Simulated results in LabVIEW and Matlab using the PID and IMC are presented and also the same has been implemented and tested for a 12volt DC motor.
Seltzer, S. M.
1976-01-01
The problem discussed is to design a digital controller for a typical satellite. The controlled plant is considered to be a rigid body acting in a plane. The controller is assumed to be a digital computer which, when combined with the proposed control algorithm, can be represented as a sampled-data system. The objective is to present a design strategy and technique for selecting numerical values for the control gains (assuming position, integral, and derivative feedback) and the sample rate. The technique is based on the parameter plane method and requires that the system be amenable to z-transform analysis.
ANFIS-PID Control FES-Supported Sit-to-Stand in Paraplegics: (Simulation Study)
Rufaida Hussain; Rasha Massoud; Moustafa Al-Mawaldi
2014-01-01
Adaptive Neuro-fuzzy Inference System (ANFIS) controller was designed to control knee joint during sit to stand movement through electrical stimuli to quadriceps muscles. The developed ANFIS works as an inverse model to the system (functional electrical stimulation (FES)-induced quadriceps-lower leg system), while there is a proportional-integral-derivative (PID) controller in the feedback control. They were designated as ANFIS-PID controller. To evaluate the ANFIS-PID controller, two control...
A Novel Evolutionary Tuning Method for Fractional Order PID Controller
Subhransu Padhee; Abhinav Gautam; Yaduvir Singh; Gagandeep Kaur
2011-01-01
PID controller is a well known controller which is used in most control applications. Around 90% control applications use PID controller as the controlling element. The tuning of PID controller is mostly done using Zeigler-Nichols tuning method. But there are some inherent drawbacks of Ziegler-Nichols based tuning. For the optimal tuning of controller, the tuned values have to be changed using computer simulation to meet the process needs. In PID controller the derivative and the integral or...
Modeling Of Pid Controller Based Smps Using Fpga
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SHUBHANGI V.PATIL
2013-02-01
Full Text Available This paper presents a proportional integral derivative (PID controller model for buck converter topology of switch mode power supply (SMPS. PID controller in terms of the settling time while exhibiting a greater degree of robustness regarding disturbance rejection represented by severe changes in static and dynamic loads. The controller is used to change the duty cycle of the converter and thereby, the voltage is regulated. The buck converter, P, PI and PID controller are modeled and are evaluated by computer simulations. It has been found that the transient performance and steady state performance is improved using PID controller. SMPS design can produce very compact and lightweight supplies. Power conversion efficiencies of SMPS are 70 & 80 %. Implementation of SMPS by using FPGA, it gives the better performance and faster transient response. Improves the steady state performance and transient response by using PID controller, it is possible to design stable, efficient and ruggedized SMPS which has faster transient response for dynamically switching loads.In SMPS the switching action means the series regulator element is either on or off and therefore little energy is dissipated as heat and very high efficiency levels can be achieved. As a result of the high efficiency and low levels of heat dissipation, the switch mode power supplies can be made more compact. Switch mode power supply technology can be sued to provide high efficiency voltage conversions in voltage step up or boost applications or step down buck applications
Wind turbine pitch control using ICPSO-PID algorithm
DEFF Research Database (Denmark)
Xu, Chang; Tian, Qiangqiang; Shen, Wen Zhong; Zhen, Yuan; Liu, Deyou; Zhang, Ming
2013-01-01
For the traditional simplified first-order pitch-control system model, it is difficult to describe a real dynamic characteristic of a variable pitch action system, thus a complete high order mathematical model has to be developed for the pitch control of wind turbine generation (WTG). In the paper......, a pitch controller was designed based on power and wind speed and by considering the inertia and delay characteristics of a pitch-control system to achieve a constant power output when a wind speed was beyond the rated one. A novel ICPSO-PID control algorithm was proposed based on a combination of...... improved cooperative particle swarm optimization (ICPSO) and PID, subsequently, it was used to tune the pitch controller parameters; thus the difficulty in PID tuning was removed when a wind speed was above the rated speed. It was indicated that the proposed optimization algorithm can tune the pitch...
Variable-order fuzzy fractional PID controller.
Liu, Lu; Pan, Feng; Xue, Dingyu
2015-03-01
In this paper, a new tuning method of variable-order fractional fuzzy PID controller (VOFFLC) is proposed for a class of fractional-order and integer-order control plants. Fuzzy logic control (FLC) could easily deal with parameter variations of control system, but the fractional-order parameters are unable to change through this way and it has confined the effectiveness of FLC. Therefore, an attempt is made in this paper to allow all the five parameters of fractional-order PID controller vary along with the transformation of system structure as the outputs of FLC, and the influence of fractional orders ? and ? on control systems has been investigated to make the fuzzy rules for VOFFLC. Four simulation results of different plants are shown to verify the availability of the proposed control strategy. PMID:25440947
A Practical Application of IMC-PID Controller in Unmanned Vehicle
Directory of Open Access Journals (Sweden)
Qin Gang
2013-06-01
Full Text Available In allusion to unmanned vehicle steering control of the brushless DC motor control system, traditional PID controller parameter adjustment complex, weak ability to adapt to the environment and other issues, on the basis of the analysis of internal model control and classical PID control internal corresponding relationship, comprehensive its advantages, The design uses a brushless DC motor in the steering control system for unmanned vehicles based on the internal model PID controller ( IMC-PID for speed. Based on the build object theoretical model, online simulation controller show that, for the design objects, based on the internal model PID controller whether the system step response or disturbance tracking control effect can reach the classic PID control requirements, also reduces the complexity and randomness of the design parameters.
Directory of Open Access Journals (Sweden)
Farzin Piltan
2011-10-01
Full Text Available In this study, an on-line tunable gain model free PID-like fuzzy controller (GTFLC is designed for three degrees of freedom (3DOF robot manipulator to rich the best performance. Fuzzy logic controller is studied because of its model free and high performance. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection. The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however non linear classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear non classical robust controller that can used in uncertainty nonlinear systems, are fuzzy logic controller. This paper is focuses on applied mathematical tunable gain method in robust non classical method to reduce the fuzzy logic controller limitations. Therefore on-line tunable PID like fuzzy logic controller will be presented in this paper.
Directory of Open Access Journals (Sweden)
Farzin Piltan, N. Sulaiman, Arash Zargari, Mohammad Keshavarz & Ali Badri
2011-10-01
Full Text Available In this study, an on-line tunable gain model free PID-like fuzzy controller (GTFLC is designed forthree degrees of freedom (3DOF robot manipulator to rich the best performance. Fuzzy logiccontroller is studied because of its model free and high performance. Today, robot manipulatorsare used in unknown and unstructured environment and caused to provide sophisticated systems,therefore strong mathematical tools are used in new control methodologies to design adaptivenonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory,disturbance rejection. The strategies of control robot manipulator are classified into two maingroups: classical and non-classical methods, however non linear classical theories have beenapplied successfully in many applications, but they also have some limitation. One of the mostimportant nonlinear non classical robust controller that can used in uncertainty nonlinear systems,are fuzzy logic controller. This paper is focuses on applied mathematical tunable gain method inrobust non classical method to reduce the fuzzy logic controller limitations. Therefore on-linetunable PID like fuzzy logic controller will be presented in this paper.
Setpoint Weighted PID Controller for the Electromechanical Actuator in Spacecraft
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R. Sumathi
2014-05-01
Full Text Available An intelligent control system for the rocket engine during electromechanical stage is designed and scrutinized in this paper. The rocket is the only vehicle that lift-offs the spacecraft in the space. But, the motion of the rocket can be influenced by internal and external disturbances. Furthermore, the rocket is a multi-input and multi-output nonlinear system whose dynamics are unstable and poorly understood. So the orientation of the spacecraft in precise position is so critical. Hence, attitude control of the rocket is a big challenge with real time. To make the rocket stable against the influences, this paper has examined the control technology such as linear quadratic regulator theory and setpoint weighted proportional integral derivative controller based on the two degree of freedom mathematical model. The transient behaviour of the LQR controller is not smooth and takes more time to settle in the defined position. Specific to the deficiencies of LQR, a setpoint weighted PID controller is proposed to improve the setpoint response. In conclusion, this paper compares the performance analysis of linear quadratic regulator and setpoint weighted PID controller. The simulation results indicate that the setpoint weighted PID controller has a remarkable improvement in terms of overshoot and settling time besides reducing steady state error. The proposed setpoint weighted PID controller enhances the system performance and produces enormous stability to the rocket engine.
ROBUST INTERNAL MODEL CONTROL STRATEGY BASED PID CONTROLLER FOR BLDCM
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A.PURNA CHANDRA RAO
2010-11-01
Full Text Available All the closed loop control system requires the controller for improvement of transient response of the error signal. Though the tuning of PID controller in real time is bit difficult and moreover it lacks the disturbance rejection capability. This paper presents a tuning of PID parameters based on internal model strategy. The advantageous of the proposed control strategy is well described in the paper. To test the validity of the proposed control, it is implemented in brushless dc motor drive. The mathematical model of brushless dc motor (BLDC is presented for control design. In addition the robustness of the control strategy is discussed. The proposed control strategy possesses good transient responses and good load disturbance response. In addition, the proposed control strategy possesses good tracking ability. To test the effectiveness of the proposed strategy, the BLDC is represented in transfer function model and later implemented in test system. The results are presented to validate the proposed control strategy for BLDC drive.
ROBUST INTERNAL MODEL CONTROL STRATEGY BASED PID CONTROLLER FOR BLDCM
A.PURNA CHANDRA RAO; Y. P. OBULESU,; CH.SAI BABU
2010-01-01
All the closed loop control system requires the controller for improvement of transient response of the error signal. Though the tuning of PID controller in real time is bit difficult and moreover it lacks the disturbance rejection capability. This paper presents a tuning of PID parameters based on internal model strategy. The advantageous of the proposed control strategy is well described in the paper. To test the validity of the proposed control, it is implemented in brushless dc motor driv...
The Fuzzy-PID compound control system for the HTR-10
International Nuclear Information System (INIS)
The mathematical model of the 10 MW high temperature gas-cooled test reactor (HTR-10) is developed, and described with transfer functions. The Fuzzy-PID compound control tactic is adopted to design the control system. The numerical simulation deals with the decrease of the nuclear power from 100% to 30% in 15 minutes. Furthermore, the simulation results are compared with those of independent PID control and independent fuzzy control, respectively. The comparison shows: when the nuclear power changes, with the Fuzzy-PID compound control, the outlet helium temperature follows its rated value. It is proved that the Fuzzy-PID compound control has better dynamic behavior and better steady precision
Tuning of PID Controller for A Linear Brushless DC Motor using Swarm Intelligence Technique
Pooja Sharma; Rajeev Gupta
2014-01-01
An Optimal Design of PID Controller is proposed in this paper. The Methodology of PSO Algorithm is utilized to search the optimal parameters of Proportional Integral Derivative (PID) Controller for BLDC Motor. PSO is an Evolutionary Optimization Technique. A Linear Brushless DC Motors are known for higher efficiency and lower maintenance. The Brushless DC Motor is modeled in Simulink & tuning of PID controller using PSO is implemented in MATLAB. This Method was more efficient ...
Tuning of PID Controller for A Linear Brushless DC Motor using Swarm Intelligence Technique
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Pooja Sharma,
2014-05-01
Full Text Available An Optimal Design of PID Controller is proposed in this paper. The Methodology of PSO Algorithm is utilized to search the optimal parameters of Proportional Integral Derivative (PID Controller for BLDC Motor. PSO is an Evolutionary Optimization Technique. A Linear Brushless DC Motors are known for higher efficiency and lower maintenance. The Brushless DC Motor is modeled in Simulink & tuning of PID controller using PSO is implemented in MATLAB. This Method was more efficient for Step Response Characteristics.
Xu, Zhipeng; Wei, Jun; Li, Jianwei; Zhou, Qianting
2010-11-01
An image spectrometer of a spatial remote sensing satellite requires shortwave band range from 2.1?m to 3?m which is one of the most important bands in remote sensing. We designed an infrared sub-system of the image spectrometer using a homemade 640x1 InGaAs shortwave infrared sensor working on FPA system which requires high uniformity and low level of dark current. The working temperature should be -15+/-0.2 Degree Celsius. This paper studies the model of noise for focal plane array (FPA) system, investigated the relationship with temperature and dark current noise, and adopts Incremental PID algorithm to generate PWM wave in order to control the temperature of the sensor. There are four modules compose of the FPGA module design. All of the modules are coded by VHDL and implemented in FPGA device APA300. Experiment shows the intelligent temperature control system succeeds in controlling the temperature of the sensor.
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Fatemeh Masoudnia
2013-11-01
Full Text Available In this paper three optimum approaches to design PID controller for a Gryphon Robot are presented. The three applied approaches are Artificial Bee Colony, Shuffled Frog Leaping algorithms and nero-fuzzy system. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot, settling time and rise time of step response. An Objective function of these indexes is defined and minimized applying Shuffled Frog Leaping (SFL algorithm, Artificial Bee Colony (ABC algorithm and Nero-Fuzzy System (FNN. After optimization of the objective function, the optimal parameters for the PID controller are adjusted. Simulation results show that FNN has a remarkable effect on decreasing the amount of settling time and rise-time and eliminating of steady-state error while the SFL algorithm performs better on steady-state error and the ABC algorithm is better on decreasing of overshoot. In steady state manner, all of the methods react robustly to the disturbance, but FNN shows more stability in transient response.
Tuning Of PID Controller Of Inverted Pendulum Using Genetic Algorithm
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Kunal Chakraborty
2013-03-01
Full Text Available This paper presents different types of mathematical modelling of Inverted Pendulum and also a Proportional-Intregal-Derative (PID controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error has been optimized (minimized by using Genetic algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. Also a tuning mechanism is done by genetic algorithm for optimizing different gains of controller parameter. Also here different performance indeces are calculated in MATLAB environment. This paper addresses to demonstrate the capability of genetic algorithm’s to solve complex and constraint optimization problems via utilizing GA’s as a general purpose optimizing tool to solve different control system design problems.
C Agees Kumar; N.Kesavan Nair
2010-01-01
PID controller is widely used for main steam temperature control of boiler unit in thermal power plant. To avoid the drawback of current PID design methods, this paper presents a new design method for multi-objective PID controller to synthetically consider system requirement in reliability and robustness. Adaptive weighted PSO (AWPSO) technique is applied to the parameter optimization design. The optimization problem considered is highly nonlinear, complex, with multiple objectives and const...
Benxian Xiao; Jun Xiao; Rongbao Chen; Yanhong Li
2014-01-01
Proposed the PID controller parameters tuning method based-on New Luus-Jaakola (NLJ) algorithm and satisfaction idea. According to the different requirements of each performance index, designed the satisfaction function with fuzzy constraint attributes, and then determined the comprehensive satisfaction function for PID tuning by NLJ algorithm. Provided the steps of PID controller parameters tuning based on the NLJ algorithm and satisfaction, and applied this tuning method to the cascade cont...
Simulation and Tuning of PID Controllers using Evolutionary Algorithms
K.R.S. Narayanan; T. Jayanthi; T.Lakshmi Priyanka; S.A.V. Satya Murty
2012-01-01
The Proportional Integral Derivative (PID) controller is the most widely used control strategy in the Industry. The popularity of PID controllers can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. Biologically inspired evolutionary strateg...
Series pid pitch controller of large wind turbines generator
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MiciÄ‡ Aleksandar D.
2015-01-01
Full Text Available For this stable process with oscillatory dynamics, characterized with small damping ratio and dominant transport delay, design of the series PID pitch controller is based on the model obtained from the open-loop process step response, filtered with the second-order Butterworth filter Fbw. Performance of the series PID pitch controller, with the filter Fbw, is analyzed by simulations of the set-point and input/output disturbance responses, including simulations with a colored noise added to the control variable. Excellent performance/robustness tradeoff is obtained, compared to the recently proposed PI pitch controllers and to the modified internal model pitch controller, developed here, which has a natural mechanism to compensate effect of dominant transport delay. [Projekat Ministarstva nauke Republike Srbije, br. III 47016
Hualong Xie; Keli Chen; Yuying Yang; Fei Li
2015-01-01
A biped robot with heterogeneous legs (BRHL) is proposed to provide an ideal test-bed for intelligent bionic legs (IBL). To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM) is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of freedom of a knee joint driven by PAM is analyzed. A control simulation of an artificial leg based on PI...
PID Control in the Third Millennium Lessons Learned and New Approaches
Visioli, Antonio
2012-01-01
The early 21st century has seen a renewed interest in research in the widely-adopted proportional-integral-derivative (PID) controllers. PID Control in the Third Millennium provides an overview of the advances made as a result. Featuring: · new approaches for controller tuning; · control structures and configurations for more efficient control; · practical issues in PID implementation; and · non-standard approaches to PID including fractional-order, event-based, nonlinear, data-driven and predictive control; the nearly twenty chapters provide a state-of-the-art resumé of PID controller theory, design and realization. Each chapter has specialist authorship and ideas clearly characterized from both academic and industrial viewpoints. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series o...
Youxin Luo; Xiaoyi Che; Zhaoguo Chen
2012-01-01
PID control is used widely in hydraulic servo control system. The PID control parameters are very important to performance of hydraulic servo control system and how to find rapidly the optimum values of PID control parameters is very difficult problem. Based on Matlab/simulink software and taking the IATE standards of the optimization design as objective function, a global search optimization method, called Artificial Bee Colony Optimization Algorithm was applied for the o...
Predictive PID Control Based on GPC Control of Inverted Pendulum
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Safa Bouhajar
2014-05-01
Full Text Available Having regard to the large application of the inverted pendulum in robotic system, this study is interested in controlling this process with two strategies of controls. The first proposed control is the state feedback with an observer based on the Generalized Predictive Control (GPC algorithm. In the second proposed control we used the characteristic of predictive control GPC to improve the performance of the classical PID controller. The obtained results have been discussed and compared; the simulation results obtained by the predictive PID control are mentioned.
Fuzzy PID Position Control Approach in Computer Numerical Control Machine Tool
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Guoyong Zhao
2013-03-01
Full Text Available The traditional PID control approach is often adopted in CNC machine tool position controller. The approach is simple and easy to implement, but can’t achieve rapid adjustment and less overshoot at the same time. Consequently, on the basis of analyzing fuzzy control theory and design method, the CNC machine tool fuzzy PID position control approach is developed in the paper. The approach makes full use of the advantages of fuzzy control and PID control. The experiment results show that in contrast to traditional PID position controller, the developed approach can achieve better rapidity, shorter adjust time and satisfied overshoot. It is much significant to high-precision CNC machining.
Scientific Electronic Library Online (English)
José Danilo, Rairán-Antolines; Cindy Estéfany, Guerrero-Cifuentes; Jaime Alfredo, Mateus-Pineda.
2010-01-01
Full Text Available Neste artigo compara-se o desempenho de dois controladores -o proporcional integral derivativo (PID) e o difuso- sobre uma plataforma comercial, utilizada normalmente em aeromodelismo, o servomotor Futaba S3004. Antes de realizar a identificação sobre o motor, modificam-se o circuito de controle, a [...] etapa de potência e o sensor. Posteriormente utiliza-se o método do lugar das raízes para sintonizar o PID no controle da posição angular. As simulações e o controle realizam-se desde Simulink de MATLAB®, no qual se usa também uma placa de aquisição de dados, a PCI 6024E. No final do documento analisam-se os resultados e observa-se que o controlador PID tem o melhor comportamento, mas o do controlador difuso é comparável. Abstract in spanish En este artículo se compara el desempeño de dos controladores -el proporcional integral derivativo (PID) y el difuso- sobre una plataforma comercial, utilizada normalmente en aeromodelismo, el servomotor Futaba S3004. Antes de realizar la identificación sobre el motor, se modifican el circuito de co [...] ntrol, la etapa de potencia y el sensor. Enseguida se utiliza el método del lugar de las raíces para sintonizar el PID en el control de la posición angular. Las simulaciones y el control se realizan desde Simulink de MATLAB®, en lo cual se usa además una tarjeta de adquisición de datos, la PCI 6024E. Al final del documento se analizan los resultados y se observa que si bien el controlador PID tiene el mejor comportamiento, el del controlador difuso es comparable. Abstract in english The performance of PID and fuzzy controllers is compared in a commercial device normally used in model airplanes: the S3004 Futaba Servo. The controller circuit, the power amplifier and the sensor are modified, and then the motor is observed. Next, a root-locus method is used to tune a PID for angul [...] ar position control. Simulations and control are made in Matlab's Simulink, and also a data acquisition card (PCI 6024E) is used. Results are analyzed at the end of the document: although the PID controller works better, the fuzzy controller shows a similar performance.
Experimental simulation system of fuzzy PID control on nuclear reactor
International Nuclear Information System (INIS)
A set of experimental simulation system is constructed to simulate the nuclear reactor, study of fuzzy PID control on nuclear reactor is done on this simulation system, and control result show that when reactor load change and coolant temperature's change can be soon restrained by using fuzzy PID controller, and precision of steady state is high, so good control result can be gotten
Fractional order PID controller for improvement of PMSM speed control in aerospace applications
International Nuclear Information System (INIS)
Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear
Fractional order PID controller for improvement of PMSM speed control in aerospace applications
Energy Technology Data Exchange (ETDEWEB)
Saraji, Ali Motalebi [Young Researchers and Elite Club, AliAbad Katoul Branch, Islamic Azad University, AliAbad Katoul (Iran, Islamic Republic of); Ghanbari, Mahmood [Department of Electrical Engineering, AliAbad Katoul Branch, Islamic Azad University, AliAbad Katoul (Iran, Islamic Republic of)
2014-12-10
Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear.
Fractional order PID controller for improvement of PMSM speed control in aerospace applications
Saraji, Ali Motalebi; Ghanbari, Mahmood
2014-12-01
Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear.
International Nuclear Information System (INIS)
Highlights: ? We extend the concept of co-operation and co-evolution in some PSO variants. ? We use developed co-operative PSOs in multivariable PID controller design/tuning. ? We find that co-operative PSOs converge faster and give high quality solutions. ? Dividing the search space among swarms improves search efficiency. ? The proposed methods allow the practitioner for heterogeneous problem formulation. - Abstract: In this paper, multivariable PID controller design based on cooperative and coevolving multiple swarms is demonstrated. A simplified multi-variable MIMO process model of a ball mill pulverizing system with steady state decoupler is considered. In order to formulate computational models of cooperative and coevolving multiple swarms three different algorithms like real coded PSO, discrete binary PSO (DBPSO) and probability based discrete binary PSO (PBPSO) are employed. Simulations are carried out on three composite functions simultaneously considering multiple objectives. The cooperative and coevolving multiple swarms based results are compared with the results obtained through single swarm based methods like real coded particle swarm optimization (PSO), discrete binary PSO (DBPSO), and probability based discrete binary PSO (PBPSO) algorithms. The cooperative and coevolving swarms based techniques outperform the real coded PSO, PBPSO, and the standard discrete binary PSO (DBPSO) algorithm in escaping from local optima. Furthermore, statistical analysis of the simulation results is performed to calculate the comparative reliability of various techniques. All of the techniques employed are suitable for controller tuning, however, the multiple cooperative and coevolving swarms based results are considerably better in terms of mean fitness, variance of fitness, and success rate in finding a feasible solution in comparison to those obtained using single swarm based methods.
PID and predictive control of electrical drives and power converters using MATLAB/Simulink
Wang, Liuping; Yoo, Dae; Gan, Lu; Ng, Ki
2015-01-01
A timely introduction to current research on PID and predictive control by one of the leading authors on the subject PID and Predictive Control of Electric Drives and Power Supplies using MATLAB/Simulink examines the classical control system strategies, such as PID control, feed-forward control and cascade control, which are widely used in current practice.Â The authors share their experiences in actual design and implementation of the control systems on laboratory test-beds, taking the reader from the fundamentals through to more sophisticated design and analysis.Â Â Â The book contains secti
Control of an industrial process using PID control blocks in automation controller
Van Dessel, Michel; Jacobs, Marc
2011-01-01
Many continuous industrial processes can be controlled using programmable automation controllers for digital implementation of classical PID control. For this type of applications, a PID control block has been developed for use in the programming environment PCWorkx. In the lecture two types of PID control of tank level are discussed: single point control and cascade control. The single point control uses a single PID controller to regulate tank level using a single measurement for feedbac...
Self tuning fuzzy PID type load and frequency controller
International Nuclear Information System (INIS)
In this paper, a self tuning fuzzy PID type controller is proposed for solving the load frequency control (LFC) problem. The fuzzy PID type controller is constructed as a set of control rules, and the control signal is directly deduced from the knowledge base and the fuzzy inference. Moreover, there exists a self tuning mechanism that adjusts the input scaling factor corresponding to the derivative coefficient and the output scaling factor corresponding to the integral coefficient of the PID type fuzzy logic controller in an on-line manner. The self tuning mechanism depends on the peak observer idea, and this idea is modified and adapted to the LFC problem. A two area interconnected system is assumed for demonstrations. The proposed self tuning fuzzy PID type controller has been compared with the fuzzy PID type controller without a self tuning mechanism and the conventional integral controller through some performance indices
Soft Real-Time PID Control on a VME Computer
Karayan, Vahag; Sander, Stanley; Cageao, Richard
2007-01-01
microPID (uPID) is a computer program for real-time proportional + integral + derivative (PID) control of a translation stage in a Fourier-transform ultraviolet spectrometer. microPID implements a PID control loop over a position profile at sampling rate of 8 kHz (sampling period 125microseconds). The software runs in a strippeddown Linux operating system on a VersaModule Eurocard (VME) computer operating in real-time priority queue using an embedded controller, a 16-bit digital-to-analog converter (D/A) board, and a laser-positioning board (LPB). microPID consists of three main parts: (1) VME device-driver routines, (2) software that administers a custom protocol for serial communication with a control computer, and (3) a loop section that obtains the current position from an LPB-driver routine, calculates the ideal position from the profile, and calculates a new voltage command by use of an embedded PID routine all within each sampling period. The voltage command is sent to the D/A board to control the stage. microPID uses special kernel headers to obtain microsecond timing resolution. Inasmuch as microPID implements a single-threaded process and all other processes are disabled, the Linux operating system acts as a soft real-time system.
Ankit Rastogi,; Pratibha Tiwari
2013-01-01
PID controller is the most widely used controller in industry for control applications due to its simple structure and easy parameter adjusting.But increase in complexity of control systems has introduced many modified PID controllers.The recent advancement in fractional order calculus has introduced fractional order PID controller and it has recieved a great attention for researchers.Fractional order PID (FOPID) controller is an advancement of conventional PID controller in which the derivat...
Research on digital PID control algorithm for HPCT
International Nuclear Information System (INIS)
Digital PID applied in high-precision HPCT (High-precision current transducer) based on Digital Signal Processor (DSP) TMS320F2812 and special D/A converter was researched. By using increment style PID Control algorithm, the stability and precision of high-precision HPCT output voltage is improved. On basis of deeply analysing incremental digital PID, the scheme model of HPCT is proposed, the feasibility simulation using Matlab is given. Practical hardware circuit verified the incremental PID has closed-loop control process in tracking HPCT output voltage. (authors)
Energy Technology Data Exchange (ETDEWEB)
Jacob, D. [Institut Universitaire de Technologie, 86 - Poitiers (France)
2004-09-15
The proportional integral derived function (PID) control is certainly not the most efficient but it is the most widely control used in regulation systems. The implementation of a PID regulator does not offer all adjustment possibilities of modern methods and it is in general impossible to make open-loop tests to identify the regulated system. This paper presents two concrete applications of PID control systems: one for a temperature regulation and the other for the servo-control of a mechanical system driven by a brush-less motor. The adjustment is performed using the classical momentum and frequency methods: 1 - PID control; 2 - efficiencies obtained in close loop configuration; 3 - principle of the experimental adjustment method of PID systems; 4 - experimental identification in close-loop configuration; 5 - calculation principle of a PID corrector; 6 - PID control for a class 0 system; 7 - calculation of a PID corrector for a class 1 system; 8 - PID position regulation of a brush-less motor; 9 - remarks about the numerical calculation of the control; 10 - summary of the models presented. (J.S.)
Automatic Tuning of PID Controller for a 1-D Levitation System Using a Genetic Algorithm
DEFF Research Database (Denmark)
Yang, Zhenyu; Pedersen, Gerulf K.m.
The automatic PID control design for a onedimensional magnetic levitation system is investigated. The PID controller is automatically tuned using the non-dominated sorting genetic algorithm (NSGA-II) based on a nonlinear system model. The developed controller is digitally implemented and tested....... The preliminary simulation and test results show a bright potential to use artificial intelligence methods for supporting the control design for complicated nonlinear and open-loop unstable systems....
Predictive PID Control Based on GPC Control of Inverted Pendulum
Safa Bouhajar; Nahla Khraief; Elyes Maherzi; Mongi Besbes; Safya Belghith
2014-01-01
Having regard to the large application of the inverted pendulum in robotic system, this study is interested in controlling this process with two strategies of controls. The first proposed control is the state feedback with an observer based on the Generalized Predictive Control (GPC) algorithm. In the second proposed control we used the characteristic of predictive control GPC to improve the performance of the classical PID controller. The obtained results have been discussed and compared; th...
ANFIS-PID Controller for Arm Rehabilitation Device
Directory of Open Access Journals (Sweden)
M.H.Jali
2015-10-01
Full Text Available In this paper, the arm rehabilitation device controller based on fuzzy logic techniques is presented. Patients who has post-stroke may lose control of their upper limb. If they are treated with functional rehabilitation training, the patients can rehabilitate their motion functions and working abilities. These rehabilitation devices are used to recover the movement of arm after stroke. Many controllers had been used for the rehabilitation device and one of them is ANFIS-PID controller where Adaptive Neuro-Fuzzy Inference System (ANFIS technique is the combination of fuzzy logic and neural network system. The objectives of this project are to develop arm rehabilitation device controller based on the ANFIS-PID technique. The development of ANFIS is purposely as an inverse model to the system and proportional-integral- erivative (PID controller as a feedback control. EMG model is integrated to the control system as reference where Artificial Neural Network (ANN is used to model the EMG to position relationship. Simulation is conducted using MATLAB to validate the system performance that is integrated with EMG model. Then the performance is compared between ANFIS-PID controller and PID alone controller. ANFISâ€“PID controller reduced more tracking error compared to PID controller and demonstrates better results when disturbance is applied to the control system.
HIERARCHICAL FUZZY PID CONTROLLER USING GRANULAR COMPUTING FOR INVERTED PENDULUM
POTTEM SAI THARUN, M.J. NIGAM
2013-01-01
The inverted pendulum (IP) is among the most difficult systems to control in the field of control engineering. The process is non linear and unstable. The objective of this paper is to balance the pendulum vertically on a motor driven wagon by the use of hierarchical fuzzy PID controller. The hierarchical fuzzy PID controller divides the control system into multiple granular levels and adopts different control strategies in different granularities. We use different fuzzy controls forcoarse ad...
Directory of Open Access Journals (Sweden)
Benxian Xiao
2014-06-01
Full Text Available Proposed the PID controller parameters tuning method based-on New Luus-Jaakola (NLJ algorithm and satisfaction idea. According to the different requirements of each performance index, designed the satisfaction function with fuzzy constraint attributes, and then determined the comprehensive satisfaction function for PID tuning by NLJ algorithm. Provided the steps of PID controller parameters tuning based on the NLJ algorithm and satisfaction, and applied this tuning method to the cascade control system of superheated steam temperature for Power Station Boiler. Finally the simulation and experiment results have shown the proposed method has good dynamic and static control performances for this complicated superheated steam temperature control system.
PID feedback control of monochromator thermal stabilization
International Nuclear Information System (INIS)
The desire for increasingly smaller X-ray beams for macromolecular crystallography experiments also stimulates the need for improvements in beam stability. There are numerous sources of instability, which influence beam quality on the micron-size scale. Typically, the most problematic source is thermal drift within the double crystal monochromators. In addition to using liquid nitrogen to indirectly cool both the first and second crystals, GM/CA-CAT previously used a combination of flowing water at constant temperature and copper braiding to stabilize the mechanics, mounts, and the Compton scatter shielding. However, the copper braids inefficiently stabilized the temperature of components that were distant from the water lines. Additionally, vibrations in the water lines propagated throughout the vibrationally dampened monochromator, thereby introducing both positional and intensity instabilities in the transmitted X-ray beam. To address these problems, heating pads were placed directly onto the temperature-sensitive components, with output controlled by a PID-feedback loop. As a result, there is negligible temperature change in the first crystal radiation shielding over the entire range of operational heat loads. Additionally, the angular drift in the second crystal induced by temperature changes in other components is dramatically decreased.
Improving Structural Limitations of Pid Controller For Unstable Processes
E.E. Ezema; I.I. Eneh
2014-01-01
PID controllers have structural limitations which make it impossible for a good closed-loop performance to be achieved. A step response with high overshoot and oscillations always results. In controlling processes with resonances, integrators and unstable transfer functions, the PI-PD controller provides a satisfactory closed-loop performance. In this paper, a simple approach to extracting parameters of a PI-PD controller from parameters of the conventional PID controller is p...
Application of PEM Fuel Cell for Stand-alone Based on an Fuzzy PID Control
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S.M. Rakhtala
2015-09-01
Full Text Available Fuel cell (FC systems are appropriate candidates as alternative energy sources for use in stand-alone applications. Due to the typical power profile of a stand-alone consisting of transients is not suitable for the use of a sole FC system. This paper presents the control of the fuel cell for stand-alone application based on fuzzy PID (FPID controller. The aim of the paper is to achieve the control of the fuel cell for stand-alone by designing a suitable power conditioning unit that consists of the two stages of DC/DC converter and DC/AC inverter. A PID controller to be used for the voltage control of the designed boost converter is proposed and compared with a classical PID controller for performance validation. Furthermore, an analysis of double loop fuzzy PID controller for a single phase inverter is done.
The Advantages of PID Fuzzy Controllers Over The Conventional Types
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Abdullah I. Al-Odienat
2008-01-01
Full Text Available Fuzzy logic controllers (FLC's have the following advantages over the conventional controllers: they are cheaper to develop, they cover a wider range of operating conditions, and they are more readily customizable in natural language terms. A self-organizing fuzzy controller can automatically refine an initial approximate set of fuzzy rules. Application of PI-type fuzzy controller increases the quality factor. In this paper, the voltage raising type-pulse controller is considered. Two types of fuzzy controllers used for the control of boost converter are investigated; the simulation results confirm the above mentioned advantages. In order to prove the dynamic characteristics of the PID fuzzy controller being fast and robust, simulation studies using PSIM program are carried out and compared to the results of the conventional loop gain design method for which MATLAB program is used.
Nonlinear PID Controller with Neural Network based Compensator
Energy Technology Data Exchange (ETDEWEB)
Lee, Chang Goo [Chonbuk National University (Korea)
2000-05-01
In this paper, we present an nonlinear PID controller with neural network based compensator which consists of a conventional PID controller that controls the linear components and a neuro-compensator that controls the output errors and nonlinear components. This controller is based on the Harris's concept where he explained that the adaptive controller consists of the PID control term and the disturbance compensating term. The resulting controller's architecture is also found to be very similar to that of Wang's controller. This controller adds a self-tuning ability to the existing PID controller without replacing it by compensating the output errors through the neuro-compensator. Various simulations and comparative studies have proven that the proposed nonlinear PID controller produces superior results to other existing PID controllers. When applied to an actual magnetic levitation system which is known to be very nonlinear, it has also produced an excellent results. (author). 12 refs., 21 figs.
Fliess, Michel
2009-01-01
We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite straightforward, even with highly nonlinear and/or time-varying systems. Our main tool is a newly developed numerical differentiation. Differential algebra provides the theoretical framework. Our approach is validated by several numerical experiments.
PID control for chaotic synchronization using particle swarm optimization
International Nuclear Information System (INIS)
In this paper, we attempt to use the proportional-integral-derivative (PID) controller to achieve the chaos synchronization for delayed discrete chaotic systems. Three PID control gains can be optimally determined by means of using a novel optimization algorithm, called the particle swarm optimization (PSO). The algorithm is motivated from the organism behavior of fish schooling and bird flocking, and involves the social psychology principles in socio-cognition human agents and evolutionary computations. It has a good numerical convergence for solving optimization problem. To show the validity of the PSO-based PID control for chaos synchronization, several cases with different initial populations are considered and some simulation results are shown.
Interval type-2 fuzzy PID controller for uncertain nonlinear inverted pendulum system.
El-Bardini, Mohammad; El-Nagar, Ahmad M
2014-05-01
In this paper, the interval type-2 fuzzy proportional-integral-derivative controller (IT2F-PID) is proposed for controlling an inverted pendulum on a cart system with an uncertain model. The proposed controller is designed using a new method of type-reduction that we have proposed, which is called the simplified type-reduction method. The proposed IT2F-PID controller is able to handle the effect of structure uncertainties due to the structure of the interval type-2 fuzzy logic system (IT2-FLS). The results of the proposed IT2F-PID controller using a new method of type-reduction are compared with the other proposed IT2F-PID controller using the uncertainty bound method and the type-1 fuzzy PID controller (T1F-PID). The simulation and practical results show that the performance of the proposed controller is significantly improved compared with the T1F-PID controller. PMID:24661774
Energy Analysis of Pid Controlled Heat Pump Dryer
Ilhan CEYLAN
2009-01-01
In this experimental study, a heat pump dryer was designed and manufactured, in which drying air temperature was controlled PID. Manufactured heat pump dryer was tested in drying kiwi, avocado and banana from among tropical fruits and energy and exergy analyses were made. Drying air temperature changed between 40 oC - 40.2 oC while drying the tropical fruits. Before the drying process in heat pump dryer, initial moisture contents were determined as 4.31 g water / g dry matter for kiwi, 1.51 g...
A new adaptive configuration of PID type fuzzy logic controller.
Fereidouni, Alireza; Masoum, Mohammad A S; Moghbel, Moayed
2015-05-01
In this paper, an adaptive configuration for PID type fuzzy logic controller (FLC) is proposed to improve the performances of both conventional PID (C-PID) controller and conventional PID type FLC (C-PID-FLC). The proposed configuration is called adaptive because its output scaling factors (SFs) are dynamically tuned while the controller is functioning. The initial values of SFs are calculated based on its well-tuned counterpart while the proceeding values are generated using a proposed stochastic hybrid bacterial foraging particle swarm optimization (h-BF-PSO) algorithm. The performance of the proposed configuration is evaluated through extensive simulations for different operating conditions (changes in reference, load disturbance and noise signals). The results reveal that the proposed scheme performs significantly better over the C-PID controller and the C-PID-FLC in terms of several performance indices (integral absolute error (IAE), integral-of-time-multiplied absolute error (ITAE) and integral-of-time-multiplied squared error (ITSE)), overshoot and settling time for plants with and without dead time. PMID:25530256
Variable Structure PID Control to Prevent Integrator Windup
Hall, C. E.; Hodel, A. S.; Hung, J. Y.
1999-01-01
PID controllers are frequently used to control systems requiring zero steady-state error while maintaining requirements for settling time and robustness (gain/phase margins). PID controllers suffer significant loss of performance due to short-term integrator wind-up when used in systems with actuator saturation. We examine several existing and proposed methods for the prevention of integrator wind-up in both continuous and discrete time implementations.
Performance Analysis of Ship Tracking using PID/Fuzzy Controller
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Sanjay.N1 , Adinath Jain2 , Dr.S.A.Hariprasad
2013-06-01
Full Text Available Accurate ship Path following is an issue of the Marine Navigation Technology. In order to achieve accurate path following in ship navigation various controllers like PID(Proportional-Integral-Derivative, Adaptive and Predictive controllers are used. However, the main problem of ships is the PID controller is that they are set to work under specific conditions. Even though predictive controllers have predictive capability and are giving accurate results but they are computationally complex. In this work an attempt is made to evaluate the performance of Adaptive (Fuzzy logic and PID controllers in terms of tracking efficiency and computational time. Computational result evaluated using mat lab shows that Adaptive (Fuzzy logic provides better tracking performance than PID.
Optimization of PID Parameter In Control System Tuning With Multi-Objective Genetic Algorithm.
Md Amanullah; Pratibha Tiwari
2014-01-01
Way of playing advancement is the out-standing design of the study of PID control and frequently research work has been guided for this aspiration. The Proportional plus Integral plus Derivative (PID), controllers are most sweepingly used in control theory as well as industrial plants owing to their ease of execution and sturdiness way of playing. The aspiration of this deed representation capable and apace tuning approach using Genetic Algorithm (GA) to obtain the optimized c...
Beam closed orbit feedback based on PID control
International Nuclear Information System (INIS)
The algorithm in the feedback system has important influence on the performance of the beam orbit. Good feedback algorithm can greatly improve the beam orbit stability. In this paper, the theory of beam closed orbit correction, the principle of PID control and the beam closed orbit feedback correction using PID control were introduced. The simulation results were given. Compared with least-square method, the PID feedback algorithm makes the steady-state error smaller and more accurate, and enhances the beam orbit stability. (authors)
Nonlinear process control using adaptive predictive PID controller
International Nuclear Information System (INIS)
An adaptive PID control algorithm based on a neural network based predictor is presented to control nonlinear processes with time-delay. The architecture of a feed forward neural network based d-step predictor is given. In order to speed up the training of the neural network, a recursive least squares fast training algorithm is applied to on-line neural model identification. Simulation shows the presented method is effective for compensation of time-delay
FPGA Realization of PID Controller Based on BP Neural Network
Shanyong Xu; Yourui Huang; Liguo Qu; Chaoli Tang
2013-01-01
Through coordinately work of input layer module, hidden layer module, output layer module and back propagation calculation module to complete the whole system of the closed-loop calculation, this is a process of FPGA realization of PID controller based on BP neural network. Operation of the entire system with FPGA internal clock coordination is unified coordination, just provide clock and reset signals can automatically tune parameters of PID controller.
FPGA Realization of PID Controller Based on BP Neural Network
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Shanyong Xu
2013-10-01
Full Text Available Through coordinately work of input layer module, hidden layer module, output layer module and back propagation calculation module to complete the whole system of the closed-loop calculation, this is a process of FPGA realization of PID controller based on BP neural network. Operation of the entire system with FPGA internal clock coordination is unified coordination, just provide clock and reset signals can automatically tune parameters of PID controller.
DE-based tuning of PI(?)D(?) controllers.
Martín, Fernando; Monje, Concepción A; Moreno, Luis; Balaguer, Carlos
2015-11-01
A new method that relies on evolutionary computation concepts is proposed in this paper to tune the parameters of fractional order PI(?)D(?) controllers, in which the orders of the integral and derivative parts, ? and ?, respectively, are fractional. The main advantage of the fractional order controllers is that the increase in the number of parameters in the controller allows an increase in the number of control specifications that can be met. A Differential Evolution (DE) algorithm is proposed to make the controlled system fulfill different design specifications in time and frequency domains. This method is based on the minimization of a fitness function. Experiments have been carried out in simulation and in a real DC motor platform. The results illustrate the effectiveness of this method. PMID:26514918
Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller
Deepak Gautam; Cheolkeun Ha
2013-01-01
This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of ...
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A.Selwin Mich Priyadharson
2012-02-01
Full Text Available The main objective of the combustion controller in a thermal power plant is to regulate fuel and air in proper ratio to maintain the desired steam pressure at the turbine inlet, irrespective of the changes in steam demand. To achieve a continuous supply of steam at the desired pressure conditions is difficult to cope with inherenttime delay, nonlinearity due to uncertainty of the combustion process and frequent load changes. This paper deals with the design of behavior response computation based approach to get the optimal PID controller parameters for the combustion control of utility boiler. A separate control model is developed for Fuel and Air system. The control model for fuel will drive the Fuel controller which is cascaded with Air controller. PID controller for Air and Fuelsystem will use the optimum PID parameter derived from response based computation method. Many steady state and dynamic behavioral responses were analyzed for different load conditions. A lab scale experimental setup is fabricated in the laboratory for fuel and air control and tests were carried out for several load conditions. Optimal PID controller parameters were obtained when the experimental responses have good agreement with the real time behavior responses. The advantages of the proposed design are highlighted.
Naeim Farouk
2012-01-01
The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. The main focus of this study is to apply and comparative between two specific soft-computing techniques. Fuzzy logic controller and genetic algorithm to design and tuning of PID controller for applied on speed control system of marine d...
A novel auto-tuning PID control mechanism for nonlinear systems.
Cetin, Meric; Iplikci, Serdar
2015-09-01
In this paper, a novel Runge-Kutta (RK) discretization-based model-predictive auto-tuning proportional-integral-derivative controller (RK-PID) is introduced for the control of continuous-time nonlinear systems. The parameters of the PID controller are tuned using RK model of the system through prediction error-square minimization where the predicted information of tracking error provides an enhanced tuning of the parameters. Based on the model-predictive control (MPC) approach, the proposed mechanism provides necessary PID parameter adaptations while generating additive correction terms to assist the initially inadequate PID controller. Efficiency of the proposed mechanism has been tested on two experimental real-time systems: an unstable single-input single-output (SISO) nonlinear magnetic-levitation system and a nonlinear multi-input multi-output (MIMO) liquid-level system. RK-PID has been compared to standard PID, standard nonlinear MPC (NMPC), RK-MPC and conventional sliding-mode control (SMC) methods in terms of control performance, robustness, computational complexity and design issue. The proposed mechanism exhibits acceptable tuning and control performance with very small steady-state tracking errors, and provides very short settling time for parameter convergence. PMID:26117284
Genetic Algorithm Tuning of PID Controller in Smith Predictor for Glucose Concentration Control
Tsonyo Slavov; Olympia Roeva
2011-01-01
This paper focuses on design of a glucose concentration control system based on nonlinear model plant of E. coli MC4110 fed-batch cultivation process. Due to significant time delay in real time glucose concentration measurement, a correction is proposed in glucose concentration measurement and a Smith predictor (SP) control structure based on universal PID controller is designed. To reduce the influence of model error in SP structure the estimate of measured glucose concentration is used. For...
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Ankit Rastogi,
2013-05-01
Full Text Available PID controller is the most widely used controller in industry for control applications due to its simple structure and easy parameter adjusting.But increase in complexity of control systems has introduced many modified PID controllers.The recent advancement in fractional order calculus has introduced fractional order PID controller and it has recieved a great attention for researchers.Fractional order PID (FOPID controller is an advancement of conventional PID controller in which the derivative and integral order are fractional rather than integer.Apart from the usual tuning parameters of PID, it has two more parameters ? (integer order and ? (derivative order which are in fractions.This increases the flexiblity and robustness of the system and gives a better performance than classical PID controller. In this research paper, FOPID has been applied to DC motor for speed control and optimal values of ? and ? has been obtained using particle swarm optimization technique.
Comparison of PID Controller Tuning Methods with Genetic Algorithm for FOPTD System
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K. Mohamed Hussain
2014-02-01
Full Text Available Measurement of Level, Temperature, Pressure and Flow parameters are very vital in all process industries. A combination of a few transducers with a controller, that forms a closed loop system leads to a stable and effective process. This article deals with control of in the process tank and comparative analysis of various PID control techniques and Genetic Algorithm (GA technique. The model for such a Real-time process is identified as First Order Plus Dead Time (FOPTD process and validated. The need for improved performance of the process has led to the development of model based controllers. Well-designed conventional Proportional, Integral and Derivative (PID controllers are the most widely used controller in the chemical process industries because of their simplicity, robustness and successful practical applications. Many tuning methods have been proposed for PID controllers. Many tuning methods have been proposed for obtaining better PID controller parameter settings. The comparison of various tuning methods for First Order Plus Dead Time (FOPTD process are analysed using simulation software. Our purpose in this study is comparison of these tuning methods for single input single output (SISO systems using computer simulation.Also efficiency of various PID controller are investigated for different performance metrics such as Integral Square Error (ISE, Integral Absolute Error (IAE, Integral Time absolute Error (ITAE, and Mean square Error (MSE is presented and simulation is carried out. Work in this paper explores basic concepts, mathematics, and design aspect of PID controller. Comparison between the PID controller and Genetic Algorithm (GA will have been carried out to determine the best controller for the temperature system.
A Practical Tuning Method for the Robust PID Controller with Velocity Feed-Back
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Emre Sariyildiz
2015-08-01
Full Text Available Proportional-Integral-Derivative (PID control is the most widely used control method in industrial and academic applications due to its simplicity and efficiency. Several different control methods/algorithms have been proposed to tune the gains of PID controllers. However, the conventional tuning methods do not have sufficient performance and simplicity for practical applications, such as robotics and motion control. The performance of motion control systems may significantly deteriorate by the nonlinear plant uncertainties and unknown external disturbances, such as inertia variations, friction, external loads, etc., i.e., there may be a significant discrepancy between the simulation and experiment if the robustness is not considered in the design of PID controllers. This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back for motion control systems. The main advantages of the proposed method are the simplicity and efficiency in practical applications, i.e., a high performance robust motion control system can be easily designed by properly tuning conventional PID controllers. The validity of the proposal is verified by giving simulation and experimental results.
MET?N, Muzaffer; GÜÇLÜ, Rahmi
2011-01-01
In this study, a conventional PID type fuzzy controller and parameter adaptive fuzzy controller are designed to control vibrations actively of a light rail transport vehicle which modeled as 6 degree-of-freedom system and compared performances of these two controllers. Rail vehicle model consists of a passenger seat and its suspension system, vehicle body, bogie, primary and secondary suspensions and wheels. The similarity between mathematical model and real system is shown by compar...
Comparison of Controller Performance of Fuzzy with PID for a Level Control of Conical Tank System
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A.Srividya
2013-05-01
Full Text Available This paper attempts to design the controllers like Adaptive PI, Fuzzy Logic Control (FLC for the conical tank (Non-linear Process to maintain the liquid level in tank. The level control becomes quite typical due to the nonlinear shape of tank i.e. the rate of rise of water in the narrow part is high and gets reduced as height increases thus causing non-linearity in the level. The time constant and gain vary as a function of level. Proportional-integral-derivative (PID controllers are widely used in many industrial control systems for several decades. Fuzzy logic is one of the most successful applications of fuzzy set in which the variables are linguistic rather than numeric. The design of intelligent control systems has become an area of intense research interest. The development of an effective methodology for the design of such control systems undoubtedly requires the synthesis of many concepts from artificial intelligence. The most commonly used controller in the industry field is the proportional-plus-integral-plus-derivative (PID controller. Fuzzy logic controller (FLC provides an alternative to PID controller, especially when the available system models are inexact or unavailable. A fuzzy logic controller (FLC is based on a set of control rules (fuzzy rules among linguistic variables.
Genetic Tuned PID Controller Based Speed Control of DC Motor Drive
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S. A. Deraz
2014-11-01
Full Text Available Due to its extensive use for motion control systems in industry, tuning of the proportional-integral-derivative (PID controller parameters has been the focus of intensive research. In this paper, a novel tuning method for the parameters of PID controller based speed control of DC motor using genetic algorithm (GA is proposed. The main advantage of the proposed method is that the mathematical model of the system under control is not required, so it is useful in many industrial processes that have no obvious or complicated model. In addition, this method allows determining the best values of PID parameters for a specified overshoot, rise time, settling time, and steady-state error. The DC motor with the designed PID controller is modelled and the simulation results are obtained. The obtained results are compared with those of conventional Ziegler Nichols (ZN, GA based integral absolute of the error (IAE index, and GA based mean of the squared error (MSE index methods. The comparison indicates effectiveness of the proposed tuning method as it gives a better performance and satisfies the specified control characteristics.
A normalized PID controller in networked control systems with varying time delays.
Tran, Hoang-Dung; Guan, Zhi-Hong; Dang, Xuan-Kien; Cheng, Xin-Ming; Yuan, Fu-Shun
2013-09-01
It requires not only simplicity and flexibility but also high specified stability and robustness of system to design a PI/PID controller in such complicated networked control systems (NCSs) with delays. By gain and phase margins approach, this paper proposes a novel normalized PI/PID controller for NCSs based on analyzing the stability and robustness of system under the effect of network-induced delays. Specifically, We take into account the total measured network delays to formulate the gain and phase margins of the closed-loop system in the form of a set of equations. With pre-specified values of gain and phase margins, this set of equations is then solved for calculating the closed forms of control parameters which enable us to propose the normalized PI/PID controller simultaneously satisfying the following two requirements: (1) simplicity without re-solving the optimization problem for a new process, (2) high flexibility to cope with large scale of random delays and deal with many different processes in different conditions of network. Furthermore, in our method, the upper bound of random delay can be estimated to indicate the operating domain of proposed PI/PID controller. Finally, simulation results are shown to demonstrate the advantages of our proposed controller in many situations of network-induced delays. PMID:23810432
PID controller tuning using the magnitude optimum criterion
Papadopoulos, Konstantinos
2014-01-01
An instructive reference that will help control researchers and engineers, interested in a variety of industrial processes, to take advantage of a powerful tuning method for the ever-popular PID control paradigm. This monograph presents explicit PID tuning rules for linear control loops regardless of process complexity. It shows the reader how such loops achieve zero steady-position, velocity, and acceleration errors and are thus able to track fast reference signals. The theoretical development takes place in the frequency domain by introducing a general-transfer-function-known process model
Fast Response Systems Using Feed Forward Loop for Fuzzy Tuned PID Controllers
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M.Tharangini
2014-08-01
Full Text Available The temperature during heating processes more essential in oil quantity .Many of the research effort they developed new control technique to control and regulate the steam temperature in industries. This seems to be because PID controllers is simple structure, assure acceptable performances for a wide range of industrial plants and their usage (the tuning of their parameters is well known among industrial operators. PID with FLC with combination of this we neglected the steady sate errors. PID controllers are particularly suited for pure first- or second-order processes, while industrial plants often present characteristics such as high order, time delays, nonlinearities and so on challenges during design the PID is to tune the PID parameters gain that suite to the plant. To overcome this problem, feed forward tuning PID using the fuzzy logic controller with self-tuning method is utilized to regulate the steam temperature. It gives good process dynamic characteristic which are process rise time, process settling time, percent overshoot and less steady state error. The ability to track any parameters changes and has fast recovery the output response during disturbance period.
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Puchalski Bartosz
2015-12-01
Full Text Available In the paper, analysis of multi-region fuzzy logic controller with local PID controllers for steam generator of pressurized water reactor (PWR working in wide range of thermal power changes is presented. The U-tube steam generator has a nonlinear dynamics depending on thermal power transferred from coolant of the primary loop of the PWR plant. Control of water level in the steam generator conducted by a traditional PID controller which is designed for nominal power level of the nuclear reactor operates insufficiently well in wide range of operational conditions, especially at the low thermal power level. Thus the steam generator is often controlled manually by operators. Incorrect water level in the steam generator may lead to accidental shutdown of the nuclear reactor and consequently financial losses. In the paper a comparison of proposed multi region fuzzy logic controller and traditional PID controllers designed only for nominal condition is presented. The gains of the local PID controllers have been derived by solving appropriate optimization tasks with the cost function in a form of integrated squared error (ISE criterion. In both cases, a model of steam generator which is readily available in literature was used for control algorithms synthesis purposes. The proposed multi-region fuzzy logic controller and traditional PID controller were subjected to broad-based simulation tests in rapid prototyping software - Matlab/Simulink. These tests proved the advantage of multi-region fuzzy logic controller with local PID controllers over its traditional counterpart.
Simulation and Tuning of PID Controllers using Evolutionary Algorithms
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K.R.S. Narayanan
2012-10-01
Full Text Available The Proportional Integral Derivative (PID controller is the most widely used control strategy in the Industry. The popularity of PID controllers can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. Biologically inspired evolutionary strategies have gained importance over other strategies because of their consistent performance over wide range of process models and their flexibility. The level control systems on Deaerator, Feed Water Heaters, and Condenser Hot well are critical to the proper operation of the units in Nuclear Power plants. For Precise control of level, available tuning technologies based on conventional optimization methods are found to be inadequate as these conventional methods are having limitations. To overcome the limitations, alternate tuning techniques based on Genetic Algorithm are emerging. This paper analyses the manual tuning techniques and compares the same with Genetic Algorithm tuning methods for tuning PID controllers for level control system and testing of the quality of process control in the simulation environment of PFBR Operator Training Simulator(OTS.
Tuning method for multi-variable control system with PID controllers
International Nuclear Information System (INIS)
Control systems, including thermal and nuclear power plants, generally and mainly use PID controllers consisting of proportional, integral and differential actions. These systems consist of multiple control loops which interfere with each other. Therefore, it is present status that the fine control of the system is carried out by the trial and error method because the adjusting procedure for a single control loop cannot be applied to a multi-loop system in most cases. In this report, a method to effectively adjust PID controller parameters in a short time in a control system which consists of multi-loops that interfere with each other. This method makes adjustment by using the control area as the evaluation function, which is the time-dependent integration of control deviation, the input to the PID controllers. In other words, the evaluation function is provided for each control result for every parameter (gain constant, reset rate, and differentiation time), and all parameters are simultaneously changed in the direction of minimizing the values of these evaluation functions. In the report, the principle of tuning method, the evaluation function for each of three parameters, and the adjusting system configuration for separately using for actual plant tuning and for control system design are described. It also shows the examples of application to the actual tuning of the control system for a thermal power plant and to a control system design. (Wakatsuki, Y.)
Optimization of PID Parameter In Control System Tuning With Multi-Objective Genetic Algorithm.
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Md Amanullah
2014-05-01
Full Text Available Way of playing advancement is the out-standing design of the study of PID control and frequently research work has been guided for this aspiration. The Proportional plus Integral plus Derivative (PID, controllers are most sweepingly used in control theory as well as industrial plants owing to their ease of execution and sturdiness way of playing. The aspiration of this deed representation capable and apace tuning approach using Genetic Algorithm (GA to obtain the optimized criterion of the PID controller so as to acquire the essential appearance designation of the technique below meditation. The make perfect achievement about multiple plants have in relation to the established tuning approach, to consider the ability of intended approach. Mostly, the whole system’s performance powerfully depends on the controller’s proficiency and thus the tuning technique plays a key part in the system’s behavior.
Active vibration and noise control of vibro-acoustic system by using PID controller
Li, Yunlong; Wang, Xiaojun; Huang, Ren; Qiu, Zhiping
2015-07-01
Active control simulation of the acoustic and vibration response of a vibro-acoustic cavity of an airplane based on a PID controller is presented. A full numerical vibro-acoustic model is developed by using an Eulerian model, which is a coupled model based on the finite element formulation. The reduced order model, which is used to design the closed-loop control system, is obtained by the combination of modal expansion and variable substitution. Some physical experiments are made to validate and update the full-order and the reduced-order numerical models. Optimization of the actuator placement is employed in order to get an effective closed-loop control system. For the controller design, an iterative method is used to determine the optimal parameters of the PID controller. The process is illustrated by the design of an active noise and vibration control system for a cavity structure. The numerical and experimental results show that a PID-based active control system can effectively suppress the noise inside the cavity using a sound pressure signal as the controller input. It is also possible to control the noise by suppressing the vibration of the structure using the structural displacement signal as the controller input. For an airplane cavity structure, considering the issue of space-saving, the latter is more suitable.
Study of Immune PID Networked Control System Based on TrueTime
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Daogang Peng
2011-06-01
Full Text Available Networked control system has been a hotspot in the research fields of control theory and control engineering applications at home and abroad. Immune PID controller based on biological immune mechanism has simple structure and algorithms, and with the features of strong robustness and adaptability. The structure of networked control system based on immune PID controller had been designed in this paper, taking the typical one-order inertia plant with time delay and second-order inertia plant in the process of industrial production for example, the simulation model of immune PID networked control system based on TrueTime toolbox had built in the MATLAB environment, and simulation studies have shown the feasibility and effectiveness of the control scheme.
Patents, software and hardware for PID control: an overview and analysis of the current art
Li, Y.; Ang, K.H.; Chong, G.C.Y.
2006-01-01
Proportional-integral-derivative (PID) control provides simplicity, clear functionality, and ease of use. Since the invention of PID control in 1910 (largely owing to Elmer Sperry’s ship autopilot) and the straightforward Ziegler-Nichol (Z-N) tuning rule in 1942, the popularity of PID has grown tremendously. Today, PID is used in more than 90% of practical control systems, ranging from consumer electronics to industrial processes. The wide application of PID has stimulated and sustained the ...
Split PID control: two sensors can be better than one
Znaimer, Leith
2014-01-01
The traditional proportional-integral-derivative (PID) algorithm for regulation suffers from a tradeoff: placing the sensor near the sample being regulated ensures that its steady-state temperature matches the desired setpoint. However, the propagation delay (lag) between heater and sample can limit the control bandwidth. Moving the sensor closer to the heater reduces the lag and increases the bandwidth but introduces offsets and drifts into the temperature of the sample. Here, we explore the consequences of using two probes---one near the heater, one near the sample---and assigning the integral term to the sample probe and the other terms to the heater probe. The \\textit{split-PID} algorithm can outperform PID control loops based on one sensor.
Directory of Open Access Journals (Sweden)
Naeim Farouk
2012-11-01
Full Text Available The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. The main focus of this study is to apply and comparative between two specific soft-computing techniques. Fuzzy logic controller and genetic algorithm to design and tuning of PID controller for applied on speed control system of marine diesel engine to get an output with better dynamic and static performance. Simulation results show that the response of system when using genetic algorithm is better and faster than when using fuzzy tuning PID controller.
Research on the Robustness of an Adaptive PID Control of a Kind of Supersonic Missile
Gangling Jiao; Yuqiang Jin; Shixing Wang
2012-01-01
Based on the multi-loop design method, the dynamic characteristic of missile system is viewed as a two-loops system, such as inner loop and outer loop. An adaptive PID control strategy is designed for the pitch channel linear model of supersonic missile. The robustness of a double PID controller is analyzed by changing the aerodynamic coefficients. The control law is testified to be stable even the aerodynamic coefficients are changed between 0.7 and 1.7 times of its standard value and the co...
Simple analytic rules for model reduction and PID controller tuning
Sigurd Skogestad
2004-01-01
The aim of this paper is to present analytic rules for PID controller tuning that are simple and still result in good closed-loop behavior. The starting point has been the IMC-PID tuning rules that have achieved widespread industrial acceptance. The rule for the integral term has been modified to improve disturbance rejection for integrating processes. Furthermore, rather than deriving separate rules for each transfer function model, there is a just a single tuning rule for a first-order or s...
Speed Control of DC Motor Using Particle Swarm Optimization Technique by PSO Tunned PID and FOPID
Directory of Open Access Journals (Sweden)
Akhilesh Kumar Mishra
2014-10-01
Full Text Available The objective of this work is to design a speed controller of a DC motor by finding of PID and FOPID parameters using bio-inspired optimization technique of Particle Swarm Optimization (PSO. Here, model of a DC motor is considered as a second order system for speed control. In this work bio-inspired optimization technique in controllers and their advantages over conventional methods is discussed using MATLAB/Simulink. This proposed optimization methods could be applied for higher order system also to provide better system performance with minimum errors. The main aim is to apply PSO technique to design and tune parameters of PID controller to get an output with better dynamic and static performance. The application of PSO to the PID and FOPID controller imparts it the ability of tuning itself automatically in an on-line process while the application of optimization algorithm to the PID controller makes it to give an optimum output by searching for the best set of solutions for the PID and FOPID parameters.
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M. Antony Freeda Rani
2015-08-01
Full Text Available Permanent Magnet Brushless DC motor (PMBL DC is used in a large number of industrial and automotive applications because of their high efficiency, compactness and excellent reliability. However to design an efficient PMBL DC motor, it is necessary to provide an effective controller that has to reduce the overshoot, settling and rise time. In this study, an improved PID controller has been designed by optimizing the parameters of PID controller based on two advanced optimization techniques ANFIS and Cuckoo Search optimization for speed control of a PMBL DC motor. The proposed approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency. The PMBL DC motor is modeled in SIMULINK implementing the algorithms in MATLAB and the performance evaluation has been studied.
Vibration Control of Bus Suspension System using PI and PID Controller
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Swati Gaur
2013-07-01
Full Text Available This paper presents the application of PI and PIDcontroller to control the vibration occurred in the bus suspensionsystem. When the suspension system is designed, a ¼ model ofbus is used to simplify the problem to a one dimensional massspring-damper system. Its open-loop performance on the basis oftime response is observed which depicts that the bus suspensionhas oscillations with large settling time. To overcome thisproblem, closed-loop system is used. Despite continuousadvancement in control theory, Proportional –Integral (PI andProportional-Integral-Derivative (PID Controllers are thepopular technique to control any process. In this paper,Proportional-Integral (PI and Proportional-Integral-Derivative(PID controllers are used to control the vibrations to givesmooth response of the bus suspension system and carry-out their comparison on the basis of time and frequency using Matlab environment. The simulation and implementation of thecontroller is done using MATLAB/SIMULINK.
Active structural control with stable fuzzy PID techniques
Yu, Wen
2016-01-01
This book presents a detailed discussion of intelligent techniques to measure the displacement of buildings when they are subjected to vibration. It shows how these techniques are used to control active devices that can reduce vibration 60â€“80% more effectively than widely used passive anti-seismic systems. After introducing various structural control devices and building-modeling and active structural control methods, the authors propose offset cancellation and high-pass filtering techniques to solve some common problems of building-displacement measurement using accelerometers. The most popular control algorithms in industrial settings, PD/PID controllers, are then analyzed and then combined with fuzzy compensation. The stability of this combination is proven with standard weight-training algorithms. These conditions provide explicit methods for selecting PD/PID controllers. Finally, fuzzy-logic and sliding-mode control are applied to the control of wind-induced vibration. The methods described are support...
PID Controller Settings Based on a Transient Response Experiment
Silva, Carlos M.; Lito, Patricia F.; Neves, Patricia S.; Da Silva, Francisco A.
2008-01-01
An experimental work on controller tuning for chemical engineering undergraduate students is proposed using a small heat exchange unit. Based upon process reaction curves in open-loop configuration, system gain and time constant are determined for first order model with time delay with excellent accuracy. Afterwards students calculate PID…
Automatic Generation Control of Multi Area Power System Using PID Controller
Reena Kumari 1 , Mr. Ram Avtar
2013-01-01
This paper presents an Automatic Generation Control scheme for multi area power system using integrator and PID controller. The simulation results of four areas are compared using MATLAB/SIMULINK software. Automatic Generation Control is a very important process that operates constantly to balance the generation and load. PID controllers can be tuned by using many methods. In all methods an initial guess is made for PID controller parameter settings. Then these parameter settings are improved...
PID Neural Network Based Speed Control of Asynchronous Motor Using Programmable Logic Controller
MARABA, V. A.; KUZUCUOGLU, A. E.
2011-01-01
This paper deals with the structure and characteristics of PID Neural Network controller for single input and single output systems. PID Neural Network is a new kind of controller that includes the advantages of artificial neural networks and classic PID controller. Functioning of this controller is based on the update of controller parameters according to the value extracted from system output pursuant to the rules of back propagation algorithm used in artificial neural networks. Paramet...
Quarter Car Active Suspension System Control Using PID Controller tuned by PSO
Directory of Open Access Journals (Sweden)
Wissam H. Al-Mutar
2015-07-01
Full Text Available The objective of this paper is to design an efficient control scheme for car suspension system. The purpose of suspension system in vehicles is to get more comfortable riding and good handling with road vibrations. A nonlinear hydraulic actuator is connected to passive suspension system in parallel with damper. The Particles Swarm Optimization is used to tune a PID controller for active suspension system. The designed controller is applied for quarter car suspension system and result is compared with passive suspension system model and input road profile. Simulation results show good performance for the designed controller
A Comparison between Fuzzy-PSO Controller and PID-PSO Controller for Controlling a DC Motor
Ali Ghareaghaji
2015-01-01
The Direct current motors are in different types and there are several methods for controlling of their speed. In this paper two ways for speed controlling suggested. First a fuzzy logic speed controller for DC motor is designed and it’s parameter calculated by Particle Sward Optimization (PSO). The speed controller designed according to fuzzy rules, then for having better performance, the controller optimized with PSO. Secondly a PID controller that it’s parameter find by PSO, is used for sp...
Speed Control of Bldc Motor Drive By Using Pid Controllers
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Y.Narendra Kumar,
2014-04-01
Full Text Available This paper mainly deals with the Brushless DC (BLDC motor speed driving systems have sprouted in various small scale and large scale applications like automobile industries, domestic appliances etc. This leads to the development in Brushless DC motor (BLDCM. The usage of BLDC Motor enhances various performance factors ranging from higher efficiency, higher torque in low-speed range, high power density ,low maintenance and less noise than other motors. The BLDC Motor can act as an alternative for traditional motors like induction and switched reluctance motors. In this paper PID controller is implemented with speed feedback loop and it is observe that torque ripples are minimized. Simulation is carried out using MATLAB / SIMULINK. The results show that the performance of BLDC Motor is quite satisfactory for various loading conditions. Brushless DC motor drives are typically employed in speed controlled applications.
Heat control in HVDC resistive divider by PID and NN controllers
International Nuclear Information System (INIS)
In this study, a control system is presented that is devised to increase measurement precisions within a prototype high voltage DC resistive divider (HVDC-RD). Since one of the major sources of measurement errors in such devices is the self heating effect, a system controlling the temperature within the high voltage DC resistive divider is devised so that suitable and stable temperature conditions are maintained that, in return, will decrease the measurement errors. The resistive divider system is cooled by oil, and PID and neural network (NN) controllers try to keep the temperature within the prescribed limits. The system to be controlled exhibits a nonlinear character, and therefore, a control approach based on NN controllers is proposed. Thus, a system that can fulfill the various requirements dictated by the designer is constructed. The performance of the NN controller is compared with that of the PID controller developed for the same purpose, and the values of the performance indices indicate the superiority of the NN controller over that of the classical PID controller
TORQUE RIPPLE MINIMIZATION IN SWITCHED RELUCTANCE MOTORS USING PID FUZZY LOGIC CONTROLLER
K Deepak; G. Nagarajan
2014-01-01
The main objective of this paper is to design a system which will have small speed ripple and also produces fast response of switch reluctance motor (SRM) for various speeds , magnetic flux and current by means of PID fuzzy logic controller. The speed of motor is get increased by means of reducing the torque value and also by means of ripple content. The SRM will haves a PI fuzzy logic controller and a derivative part. The developed novel PID-like fuzzy logic controller (FLC) ...
A method for closed loop automatic tuning of PID controllers
Schei, Tor S.
1992-01-01
A simple method for the automatic tuning of PID controllers in closed loop is proposed. A limit cycle is generated through a nonlinear feedback path from the process output to the controller reference signal. The frequency of this oscillation is above the crossover frequency and below the critical frequency of the loop transfer function. The amplitude and frequency of the oscillation are estimated and the control parameters are adjusted iteratively such that the closed loop transfer function ...
Tuning PID Controller by Neural Network for Robot Manipulator Trajectory Tracking
Saad Zaghlul Saeed Al-Khayyt
2013-01-01
Ziegler and Nichols proposed the well-known Ziegler-Nichols method to tune the coefficients of PID controller. This tuning method is simple and gives fixed values for the coefficients which make PID controller have weak adaptabilities for the model parameters variation and changing in operating conditions. In order to achieve adaptive controller, the Neural Network (NN) self-tuning PID control is proposed in this paper which combines conventional PID controller and Neural Network learning cap...
GENETIC ALGORITHM BASED PARAMETER TUNING OF PID CONTROLLER FOR COMPOSITION CONTROL SYSTEM
Bhawna Tandon; Randeep Kaur
2011-01-01
A Composition control system is discussed in this paper in which the PID controller is tuned using Genetic Algorithm & Ziegler-Nichols Tuning Criteria. Tuning methods for PID controllers are very importantfor the process industries. Traditional methods such as Ziegler-Nichols method often do not provide adequate tuning. Genetic Algorithm (GA) as an intelligent approach has also been widely used to tune the parameters of PID. Genetic algorithms are used to create an objective function that can...
International Nuclear Information System (INIS)
Nuclear reactors are in nature nonlinear systems and their parameters vary with time as a function of power level. These characteristics must be considered if large power variations occur in power plant operational regimes, such as in load-following conditions. A PWR reactor has a component called pressurizer, whose function is to supply the necessary high pressure for its operation and to contain pressure variations in the primary cooling system. The use of control systems capable of reducing fast variations of the operation variables and to maintain the stability of this system is of fundamental importance. The best-known controllers used in industrial control processes are proportional-integral-derivative (PID) controllers due to their simple structure and robust performance in a wide range of operating conditions. However, designing a fuzzy controller is seen to be a much less difficult task. Once a Fuzzy Logic controller is designed for a particular set of parameters of the nonlinear element, it yields satisfactory performance for a range of these parameters. The objective of this work is to develop fuzzy proportional-integral-derivative (fuzzy-PID) control strategies to control the level of water in the reactor. In the study of the pressurizer, several computer codes are used to simulate its dynamic behavior. At the fuzzy-PID control strategy, the fuzzy logic controller is exploited to extend the finite sets of PID gains to the possible combinations of PID gains in stable region. Thus the fuzzy logic controller tunes the gain of PID controller to adapt the model with changes in the water level of reactor. The simulation results showed a favorable performance with the use to fuzzy-PID controllers. (author)
Energy Technology Data Exchange (ETDEWEB)
Vasconcelos, Wagner Eustaquio de; Lira, Carlos Alberto Brayner de Oliveira; Brito, Thiago Souza Pereira de; Afonso, Antonio Claudio Marques, E-mail: wagner@unicap.br, E-mail: cabol@ufpe.br, E-mail: afonsofisica@gmail.com, E-mail: thiago.brito86@yahoo.com.br [Universidade Federal de Pernambuco (UFPE), Recife, PE (Brazil). Centro de Tecnologia e Geociencias. Departamento de Energia Nuclear; Cruz Filho, Antonio Jose da; Marques, Jose Antonio, E-mail: antonio.jscf@gmail.com, E-mail: jamarkss@uol.com.br [Universidade Catolica de Pernambuco (CCT/PUC-PE), Recife, PE (Brazil). Centro de Ciencias e Tecnologia; Teixeira, Marcello Goulart, E-mail: marcellogt@dcc.ufrj.br [Universidade Federal do Rio de Janeiro (UFRJ), Rio de Janeiro, RJ (Brazil). Instituto de Matematica. Dept. de Matematica
2013-07-01
Nuclear reactors are in nature nonlinear systems and their parameters vary with time as a function of power level. These characteristics must be considered if large power variations occur in power plant operational regimes, such as in load-following conditions. A PWR reactor has a component called pressurizer, whose function is to supply the necessary high pressure for its operation and to contain pressure variations in the primary cooling system. The use of control systems capable of reducing fast variations of the operation variables and to maintain the stability of this system is of fundamental importance. The best-known controllers used in industrial control processes are proportional-integral-derivative (PID) controllers due to their simple structure and robust performance in a wide range of operating conditions. However, designing a fuzzy controller is seen to be a much less difficult task. Once a Fuzzy Logic controller is designed for a particular set of parameters of the nonlinear element, it yields satisfactory performance for a range of these parameters. The objective of this work is to develop fuzzy proportional-integral-derivative (fuzzy-PID) control strategies to control the level of water in the reactor. In the study of the pressurizer, several computer codes are used to simulate its dynamic behavior. At the fuzzy-PID control strategy, the fuzzy logic controller is exploited to extend the finite sets of PID gains to the possible combinations of PID gains in stable region. Thus the fuzzy logic controller tunes the gain of PID controller to adapt the model with changes in the water level of reactor. The simulation results showed a favorable performance with the use to fuzzy-PID controllers. (author)
Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller
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Deepak Gautam
2013-11-01
Full Text Available This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra’s algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries. The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.
A set of decentralized PID controllers for an â€“ link robot manipulator
Indian Academy of Sciences (India)
G Leena; G Ray
2012-06-01
A class of stabilizing decentralized proportional integral derivative (PID) controllers for an -link robot manipulator system is proposed. The range of decentralized PID controller parameters for an -link robot manipulator is obtained using Kharitonov theorem and stability boundary equations. Basically, the proposed design technique is based on the gain-phase margin tester and Kharitonovâ€™s theorem that synthesizes a set of PID controllers for the linear model while nonlinear interaction terms involve in system dynamics are treated as zero. The stability analysis of the composite system with the designed set of decentralized PID controllers is investigated by incorporating bounding parameters of interconnection terms in LMI formulation. From the range of controller gains obtained by the proposed method, a genetic algorithm is adopted to get an optimal controller gains so that the tracking error is minimum. Simulation results are shown to demonstrate the applicability of the proposed control scheme for solution of ï¬xed as well as time-varying trajectory tracking control problems.
Improved PID method of temperature control for adiabatic demagnetization refrigerators
International Nuclear Information System (INIS)
We report a new method of precise temperature control for an adiabatic demagnetization refrigerator (ADR). Temperature of the experimental stage of ADRs is usually controlled with the standard PID (Proportional, Integral, and Derivative control) method by decreasing the magnet current of the superconducting solenoid surrounding the paramagnetic salt inside the ADR. In controlling the temperature of our portable ADR system, we found a small residual between the aimed and measured temperatures, which gradually increased in time as the magnet current decreases. This phenomenon is explained by the magnetic cooling theory, and we have introduced a new functional parameter to improve the standard PID method. Applying this improvement to our system, highly stabilized temperature of 10?K rms at 100mK up to the period of ?15ks is presented. It is demonstrated that the temperature controlled time was increased by ?30% in our experiment. Our improved PID method is useful to maintain the long-term temperature stability down to almost zero magnet current with a relatively small ADR
Bharti Panjwani; Vijay Mohan
2013-01-01
This paper deals with two intelligent control schemes based on artificial neural network for temperature control in a jacketed Continuous Stirred Tank Reactor. Objective is to regulate the reactor temperature for an exothermic reaction taking place in the CSTR by manipulating the thermal condition of jacket. PID based NARMA-L2 and PID based ANFIS controller are designed and their performances are analyzed and compared. The simulation results show the priority of ANFIS control over NARMA-L2 co...
A Comparison between Fuzzy-PSO Controller and PID-PSO Controller for Controlling a DC Motor
Directory of Open Access Journals (Sweden)
Ali Ghareaghaji
2015-06-01
Full Text Available The Direct current motors are in different types and there are several methods for controlling of their speed. In this paper two ways for speed controlling suggested. First a fuzzy logic speed controller for DC motor is designed and it’s parameter calculated by Particle Sward Optimization (PSO. The speed controller designed according to fuzzy rules, then for having better performance, the controller optimized with PSO. Secondly a PID controller that it’s parameter find by PSO, is used for speed controlling of a DC motor. At the end the performance of fuzzy logic controller compared with PID controller. The results show that fuzzy-PSO controller has better performance.
Optimization of PID Controller for Brushless DC Motor by using Bio-inspired Algorithms
Sanjay Kr Singh; Nitish Katal; S.G. Modani
2014-01-01
This study presents the use and comparison of various bio-inspired algorithms for optimizing the response of a PID controller for a Brushless DC Motor in contrast to the conventional methods of tuning. For the optimization of the PID controllers Genetic Algorithm, Multi-objective Genetic Algorithm and Simulated Annealing have been used. PID controller tuning with soft-computing algorithms comprises of obtaining the best possible outcome for the three PID parameters for improving the steady st...
RBF neural network PID for Bilateral Servo Control System
Zhang Jingdong; Wen Guang; Wei Yongqiao; Yin Guofu
2013-01-01
Tele-operated bilateral hydraulic servo system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radicalization, battlefield, etc.). In this paper, a novel force feedback bilateral servo system is presented, based on analysis of bilateral servo system at home and abroad, which adopts tuning PID control algorithm with RBF neural network at the same time. From the simulation results, the novel force feedback bilateral se...
A New Fuzzy Sliding Mode Controller with PID Sliding Surface for Underwater Manipulators
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Hossein Nejatbakhsh Esfahani
2013-09-01
Full Text Available Design of an accurate and robust controller is challenging topic in underwater manipulator control. This is due to hydrodynamic disturbances in underwater environment. In this paper a sliding mode control (SMC included a PID sliding surface and fuzzy tunable gain is designed. In this proposed controller robustness property of SMC and fast response of PID are incorporated with fuzzy rules to reduce error tracking. In the control law, for remove of chattering, the exponential function is used. And also system is analyzed in terms of stability by direct lyapunov method. By tuning gains with fuzzy logic, the proposed controller does not require an accurate model of underwater manipulator dynamics. Hence the modeling and simulation studies are done for an underwater manipulator to verify the effectiveness of the proposed method. Both new proposed controller and conventional SMC are simulated. The results of simulation show the high performance of proposed controller in comparison to conventional SMC.
Optimization of PID Controller for Quarter-Car Suspension System using Genetic Algorithm
Directory of Open Access Journals (Sweden)
Nitish Katal, Sanjay Kr. Singh
2012-09-01
Full Text Available In order to improve the ride comfort and stabilityby reducing the body acceleration in vehicles caused by the roadirregularities, suspension system plays an imperative role inretaining the continuous road wheel contact for better roadholding. In this paper, a quarter-car suspension model has beenconsidered and a PID controller has been designed for the same.The aim of the work described in this paper is to illustrate theimprovement of response of the system by optimizing the PIDcontrollers using genetic algorithms. In the conclusion, by acomparative analysis between the conventional PID tuningmethods and optimization carried out using genetic algorithmsoffers lesser oscillatory and better response.
Systematic design approach of fuzzy PID stabilizer for DC-DC converters
International Nuclear Information System (INIS)
DC-DC converters process electrical energy by switching between a fixed number of configurations. The objective of controlling these systems is to provide better performances, ensure closed loop stability and guarantee a simple predictable behaviour. Based on a converter averaged model, we propose, in this paper, a systematic design approach of a fuzzy PID. The choice of controller parameters stands on the whole system stability requirements. Extension of the obtained asymptotic stability to structural stability is presented to show that the developed controller ensures also a simple and predictable behaviour of the converter. Finally, we illustrate the efficiency of the proposed fuzzy PID design approach through simulations in voltage mode as well as in current mode control
MINIMUM RULE BASED PID SLIDING MODE FUZZY CONTROL TECHNIQUES FOR BRUSHLESS DC MOTOR DRIVES
M. Sudha; C. Navaneethakkannan
2012-01-01
In this paper, a mathematical tunable gain model free PID - like sliding mode fuzzy controller (PIDSMFC) is designed to rich the best performance. Sliding mode fuzzy controller is studied because of its model free,stable and high performance. Today, most of systems are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools (e.g., nonlinear sliding mode controller) are used in artificial intelligent control methodologies to...
Directory of Open Access Journals (Sweden)
Sanjay Kr. Singh
2014-05-01
Full Text Available This study focuses on multi-objective optimization of the PID controllers for optimal speed control for an isolated steam turbine. In complex operations, optimal tuning plays an imperative role in maintaining the product quality and process safety. This study focuses on the comparison of the optimal PID tuning using Multi-objective Genetic Algorithm (NSGA-II against normal genetic algorithm and Ziegler Nichols methods for the speed control of an isolated steam turbine. Isolated steam turbine not being connected to the grid; hence is usually used in refineries as steam turbine, where a hydraulic governor is used for the speed control. The PID controller for the system has been designed and implemented using MATLAB and SIMULINK and the results of the design methods have been compared, analysed and conclusions indicates that the significant improvement of results have been obtained by the Multi-Objective GA based optimization of PID as much faster response is obtained as compared to the ordinary GA and Ziegler Nichols method.
Tuning PID and FOPID Controllers using the Integral Time Absolute Error Criterion
Maiti, Deepyaman; Chakraborty, Mithun; Konar, Amit; Janarthanan, Ramadoss
2008-01-01
Particle swarm optimization (PSO) is extensively used for real parameter optimization in diverse fields of study. This paper describes an application of PSO to the problem of designing a fractional-order proportional-integral-derivative (FOPID) controller whose parameters comprise proportionality constant, integral constant, derivative constant, integral order (lambda) and derivative order (delta). The presence of five optimizable parameters makes the task of designing a FOPID controller more challenging than conventional PID controller design. Our design method focuses on minimizing the Integral Time Absolute Error (ITAE) criterion. The digital realization of the deigned system utilizes the Tustin operator-based continued fraction expansion scheme. We carry out a simulation that illustrates the effectiveness of the proposed approach especially for realizing fractional-order plants. This paper also attempts to study the behavior of fractional PID controller vis-a-vis that of its integer order counterpart and ...
Hybrid PID and PSO-based control for electric power assist steering system for electric vehicle
Hanifah, R. A.; Toha, S. F.; Ahmad, S.
2013-12-01
Electric power assist steering (EPAS) system provides an important significance in enhancing the driving performance of a vehicle with its energy-conserving features. This paper presents a hybrid PID (Proportional-Integral-Derivative) and particle swarm optimization (PSO) based control scheme to minimize energy consumption for EPAS. This single objective optimization scheme is realized using the PSO technique in searching for best gain parameters of the PID controller. The fast tuning feature of this optimum PID controller produced high-quality solutions. Simulation results show the performance and effectiveness of the hybrid PSO-PID based controller as opposed to the conventional PID controller.
Das, Saptarshi; Das, Shantanu; Gupta, Amitava; 10.1016/j.engappai.2011.10.004
2012-01-01
A novel fractional order (FO) fuzzy Proportional-Integral-Derivative (PID) controller has been proposed in this paper which works on the closed loop error and its fractional derivative as the input and has a fractional integrator in its output. The fractional order differ-integrations in the proposed fuzzy logic controller (FLC) are kept as design variables along with the input-output scaling factors (SF) and are optimized with Genetic Algorithm (GA) while minimizing several integral error indices along with the control signal as the objective function. Simulations studies are carried out to control a delayed nonlinear process and an open loop unstable process with time delay. The closed loop performances and controller efforts in each case are compared with conventional PID, fuzzy PID and PI{\\lambda}D{\\mu} controller subjected to different integral performance indices. Simulation results show that the proposed fractional order fuzzy PID controller outperforms the others in most cases.
Genetic Algorithm Tuning of PID Controller in Smith Predictor for Glucose Concentration Control
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Tsonyo Slavov
2011-07-01
Full Text Available This paper focuses on design of a glucose concentration control system based on nonlinear model plant of E. coli MC4110 fed-batch cultivation process. Due to significant time delay in real time glucose concentration measurement, a correction is proposed in glucose concentration measurement and a Smith predictor (SP control structure based on universal PID controller is designed. To reduce the influence of model error in SP structure the estimate of measured glucose concentration is used. For the aim an extended Kalman filter (EKF is designed. To achieve good closed-loop system performance genetic algorithm (GA based optimal controller tuning procedure is applied. A standard binary encoding GA is applied. The GA parameters and operators are specified for the considered here problem. As a result the optimal PID controller settings are obtained. The simulation experiments of the control systems based on SP with EKF and without EKF are performed. The results show that the control system based on SP with EKF has a better performance than the one without EKF. For a short time the controller sets the control variable and maintains it at the desired set point during the cultivation process. As a result, a high biomass concentration of 48.3 g·l-1 is obtained at the end of the process.
Robust PID based power system stabiliser: Design and real-time implementation
Energy Technology Data Exchange (ETDEWEB)
Bevrani, Hassan [Department of Electrical and Computer Eng., University of Kurdistan, Sanandaj (Iran, Islamic Republic of); Hiyama, Takashi [Department of Electrical and Computer Eng., Kumamoto University, Kumamoto (Japan); Bevrani, Hossein [Department of Statistics, University of Tabriz, Tabriz (Iran, Islamic Republic of)
2011-02-15
This paper addresses a new robust control strategy to synthesis of robust proportional-integral-derivative (PID) based power system stabilisers (PSS). The PID based PSS design problem is reduced to find an optimal gain vector via an H{infinity} static output feedback control (H{infinity}-SOF) technique, and the solution is easily carried out using a developed iterative linear matrix inequalities algorithm. To illustrate the developed approach, a real-time experiment has been performed for a longitudinal four-machine infinite-bus system using the Analog Power System Simulator at the Research Laboratory of the Kyushu Electric Power Company. The results of the proposed control strategy are compared with full-order H{infinity} and conventional PSS designs. The robust PSS is shown to maintain the robust performance and minimise the effect of disturbances properly. (author)
Research on the Robustness of an Adaptive PID Control of a Kind of Supersonic Missile
Directory of Open Access Journals (Sweden)
Gangling Jiao
2012-09-01
Full Text Available Based on the multi-loop design method, the dynamic characteristic of missile system is viewed as a two-loops system, such as inner loop and outer loop. An adaptive PID control strategy is designed for the pitch channel linear model of supersonic missile. The robustness of a double PID controller is analyzed by changing the aerodynamic coefficients. The control law is testified to be stable even the aerodynamic coefficients are changed between 0.7 and 1.7 times of its standard value and the control effect is compared with the sliding mode control strategy. Also the advantage and defect of both control strategy are summarized at the end of this study.
Scientific Electronic Library Online (English)
Maria Isabel, Berto; Fabiana Rodrigues de, Sá; Vivaldo, Silveira Jr..
2004-09-01
Full Text Available O trabalho consiste na implementação de um controle convencional PID/SISO-feedback para obter um ajuste fino na temperatura de entrada da água de aquecimento em um processo de pasteurização. Para isto utilizou-se uma resistência de 2500 Watts instalada na linha do fluido secundário da seção de aquec [...] imento do pasteurizador e um Pt100 para a medição de sua temperatura. Como o comportamento desta temperatura em função de uma mesma perturbação degrau de potência na resistência é dependente da vazão de trabalho, objetivou-se encontrar um controle único para que a mesma fosse mantida no set-point desejado na faixa de operação de vazão da água do processo (300 a 700L/h). Três sintonias para o controlador adaptativo PID foram testadas: a primeira consistiu na implementação de uma função adaptativa dos parâmetros PID, ajustada através dos valores individuais obtidos para cada vazão de trabalho conforme metodologia da curva de reação do processo; a segunda consistiu em configurar os parâmetros do PID com os valores médios destes calculados individualmente para cada vazão, e a terceira consistiu na sintonia através de uma função adaptativa ajustada pelos parâmetros de sintonia obtidos pela metodologia de Aström & Hägglund. A avaliação do desempenho das sintonias dos controladores adaptativos foi realizada por comparação dos valores dos índices de erro, obtidos por perturbações do sistema em malha fechada na vazão de água. Os resultados obtidos mostraram que dentre as sintonias testadas, a terceira sintonia, popularmente conhecida como "Bang-Bang", apresentou menores oscilações e os menores valores dos índices de erros. Abstract in english The aim of this work is to implement a conventional PID/SISO feedback control to obtain a fine adjustment of the water inlet temperature at a pasteurization process. For that, a resistance of 2500 Watts and a Pt100 to measure the temperature were installed in the water inlet line of the pasteurizer [...] heating section. As the water temperature behavior according to the same step change on the potency of the resistance depends on the working flow rate, a single controller was designed to keep this temperature at its desirable set-point, for the water flow rate, within the range of 300 to 700L/h. Three different tunings for the PID were tested: the first consisted on the implementation of a function for the calculation of the PID parameters fitted to individual values obtained from each flow rate, according to process reaction curve methodology; the second consisted on using the PID parameters calculated as the average of these individual values; at the third tuning, an adaptive function fitted with the individual parameters obtained with Aström & Hägglund methodology was used. The performance evaluation of the configured PID controllers was carried out by comparing the error index values, obtained after disturbances in the water flow rate in the closed loop system. The error indexes calculated after step changes in the water flow rate were used to evaluate the tunings. The results have shown that the third tuning, called "Bang Bang" presented minor oscillations and smaller error indexes compared to the other two methods.
Simulation Comparison of Auto-Tuning Methods for PID Control
Olsson, Markus
2008-01-01
Auto-tuning has become an important function in distributed control systems (DCS) and is especially appreciated in large industries that can have hundreds of controllers. In the DCS 800xA manufactured by ABB, there is an auto-tuning method implemented based on a relay experiment to determine the ultimate gain and the ultimate period, with which the PID parameters are obtained using the modified Ziegler-Nichols tuning rules. The tuning procedure can then proceed with a step identification expe...
A Proportional Integral Derivative (PID Feedback Control without a Subsidiary Speed Loop
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M. Aboelhassan
2008-01-01
Full Text Available The aim of this investigation is to design and describe the essential features of a brushless direct-current (BLDC motor. The static and dynamical state of the BLDC-Motor is designed and calculated.Within this frame-work, it has been shown that while working with the P-controller in conjunction with the subsidiary speed loop and PD-controller (with non-zero error in a steady state without a subsidiary speed loop, there is PID-controller without a subsidiary speed loop which has zero error in a steady state. The last part of this paper is dedicated to a simulation of the circle rounds of P and PID controllers with and without a subsidiary speed loop in MATLAB–SIMULINK to decide which of these controllers is suitable, available and reliable with a BLDC-Motor and their application in cutting tool machines in general.
A Synthesis of Electronically Controllable Current-Mode PI, PD and PID Controllers Employing CCCDBAs
Somchai Srisakultiew; Montree Siripruchyanun
2013-01-01
This paper presents a synthesis of current-mode PI, PD and PID controllers employing current controlled current differential buffer amplifiers (CCCDBAs). The features of these controllers are that: the output parameters can be electronically/independently controlled by adjusting corresponding bias currents in the proportional, integral, and deviation controllers; circuit description of the PID controller is simply formulated, it consists of four CCCDBAs cooperating with two grounded capacitor...
Research on the Steering Control System of Rice Transplanter based on Fuzzy Immunity PID
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WANG Yi
2014-02-01
Full Text Available In order to realize the automatic driving of the machinery working in the paddy field, using the stepping motor as the driving power and taking 2ZG630A high speed rice transplanter as the study platform, the steering mechanism of the rice transplanter was improved in this study. The controller with the fuzzy immunity PID control algorithm was designed and applied in the navigation control system of the rice transplanter as well. The test result indicated that the course deviation can be controlled within 0.5° and 1.1° and its control can be realized in 4 and 6 sec separately when the rice transplanter was driven in the cement floor or the paddy field by the speed of 0.7 m/sec. It also indicated that the steering control system of rice transplanter based on fuzzy immunity PID can satisfy the automatic navigation request of the vehicles used in the agriculture.
Research on the Robustness of an Adaptive PID Control of a Kind of Supersonic Missile
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Gangling Jiao
2013-01-01
Full Text Available In this study, the dynamic characteristic of missile system is viewed as a two-loop system, such as inner loop and outer loop and we design an adaptive PID control strategy for the pitch channel linear model of supersonic missile. The robustness of a double PID controller is analyzed by changing the aerodynamic coefficients. The control law is testified to be stable even the aerodynamic coefficients are changed between 0.7 and 1.7 times of its standard value and the control effect is compared with the sliding mode control strategy. Also the advantage and defect of both control strategy are summarized at the end of this study.
PID Neural Network Based Speed Control of Asynchronous Motor Using Programmable Logic Controller
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MARABA, V. A.
2011-11-01
Full Text Available This paper deals with the structure and characteristics of PID Neural Network controller for single input and single output systems. PID Neural Network is a new kind of controller that includes the advantages of artificial neural networks and classic PID controller. Functioning of this controller is based on the update of controller parameters according to the value extracted from system output pursuant to the rules of back propagation algorithm used in artificial neural networks. Parameters obtained from the application of PID Neural Network training algorithm on the speed model of the asynchronous motor exhibiting second order linear behavior were used in the real time speed control of the motor. Programmable logic controller (PLC was used as real time controller. The real time control results show that reference speed successfully maintained under various load conditions.
Application of a Pid+fuzzy controller on the motion control system in machine tools
Scientific Electronic Library Online (English)
H. B., Lacerda; E. M., Belo.
1999-09-01
Full Text Available This work deals with an hybrid PID+fuzzy logic controller applied to control the machine tool biaxial table motions. The non-linear model includes backlash and the axis elasticity. Two PID controllers do the primary table control. A third PID+fuzzy controller has a cross coupled structure whose func [...] tion is to minimise the trajectory contour errors. Once with the three PID controllers tuned, the system is simulated with and without the third controller. The responses results are plotted and compared to analyse the effectiveness of this hybrid controller over the system. They show that the proposed methodology reduces the contour error in a proportion of 70:1.
Compare the results of Tuning of PID controller by using PSO and GA Technique for AVR system
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Anil Kumar , Dr. Rajeev Gupta
2013-06-01
Full Text Available This paper Present to design method fordetermining the optimal proportional-integral-derivative(PID controller parameters of an Automatic VoltageRegulator (AVR system using the particle swarmoptimization (PSO algorithm and Genetic Algorithm (GA.The design goal is to minimize transient response byminimizing overshoot, settling time and rise time of stepresponse. The proposed approach had superior features,including easy implementation, stable convergencecharacteristic, and good computational efficiency. Fast tuningof optimum PID controller parameters yields high-qualitysolution. First an objective function is defined, and then byminimizing the objective functions using real-coded GA andPSO, the optimal controller parameters can be assigned.Compare the result of step response of AVR system by usingParticle Swarm Optimization (PSO and Genetic Algorithm(GA. The obtained result of the closed loop PSO-PID andGA-PID controller response to the unit step input signalshows excellent performance of the PID controller.Keywords— AVR system, Feedback System, Optimization,PID controller, PSO and GA.
Study of PID Controllers to Load Frequency Control Systems with Various Turbine Models
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Abdul Shariq
2015-08-01
Full Text Available This paper studies the load frequency control problem for various systems under various controller design methods. Frequency should remain nearly constant for satisfactory operation of a power system because frequency deviations can directly impact on a power system operation, system stability, reliability and efficiency. A Load Frequency Control (LFC scheme basically incorporates an appropriate control system for an interconnected power system, which is having the capability to bring the frequencies of system to original set point values or very nearer to set point values effectively after any load change. This can be achieved by the use of conventional and modern controllers. In this proposed paper PID controller has been applied for LFC power systems. The parameters of the PID controller are tuned by different methods names as Ziegler-Nichols (Z-N Method, and IMC method for better results. We use various tuning formulae in Z-N method and certain model approximation methods and the responses of LFC with model approximation are studied. It is seen that the results obtained are as good as the conventional controller.
Xiang Li
2009-01-01
A new speed control strategy is presented for high performance control of a Brushless Direct Current Motor (BLDCM). A self-tuning Neuro-PID controller is developed for speed control. The PID gains are tuned automatically by the neural network in an on-line way. In recent years, the re-searches on the control of electrical machines based on Neuro-PID Position Controller are increased.It offers inherent advantages over conventional PID controller for BLDCM, Such as reduction of the effects of...
REZAZADEH, A.; SEDIGHIZADEH, M.
2010-01-01
Nonlinear characteristics of wind turbines and electric generators necessitate complicated and nonlinear control of grid connected Wind Energy Conversion Systems (WECS). This paper proposes a modified self-tuning PID control strategy, using reinforcement learning for WECS control. The controller employs Actor-Critic learning in order to tune PID parameters adaptively. These Actor-Critic learning is a special kind of reinforcement learning that uses a single wavelet neural network to appro...
Genetic Algorithm Based PID tuning for Controlling Paraplegic Humanoid Walking Movement
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Hashim Ali
2012-07-01
Full Text Available Genetic Algorithm (GA is a very useful tool to search and optimize many engineering and scientific problems. In this paper, a real time enhanced biomedical model of humanoid structure is developed in MSC visual Nastran to assist the paraplegic patient. The complexity of the model is driven by the needs that the model parameters must be estimated for an eventual individual with disability. After the development of humanoid structure an inverse model is designed to estimate the joint torques. The reference trajectories of the humanoid model are obtained from MSC visual Nastran.The controllers are designed in Matlab/ Simulink for four joints which are manually tuned simultaneously to obtain the results. Afterwards, GA is used to tune the PID controllers to find the optimal solutions which are compared with manually tuned PIDs. The results are shown and hence it is proved that GA has given a better optimized control system.
Hybrid Takagi-Sugeno Fuzzy FED PID Control of Nonlinear Systems
Hamed, Basil; El Khateb, Ahmad
2008-06-01
The new method of proportional-integral-derivative (PID) controller is proposed in this paper for a hybrid fuzzy PID controller for nonlinear system. The important feature of the proposed approach is that it combines the fuzzy gain scheduling method and a fuzzy fed PID controller to solve the nonlinear control problem. The resultant fuzzy rule base of the proposed controller contains one part. This single part of the rules uses the Takagi-Sugeno method for solving the nonlinear problem. The simulation results of a nonlinear system show that the performance of a fed PID Hybrid Takagi-Sugeno fuzzy controller is better than that of the conventional fuzzy PID controller or Hybrid Mamdani fuzzy FED PID controller.
Merrikh-Bayat, Farshad; Jamshidi, Alireza
2013-01-01
This paper proposes the application of fractional-order PID (FOPID) controller for output voltage control of boost converters. For this purpose, parameters of the FOPID controller are calculated such that the Integral Absolute Error (IAE) of the variations of the output voltage is minimized. Since the search space is very large in dealing with such an optimization problem, the Artificial Bee Colony (ABC) algorithm is used for optimal tuning the parameters of the FOPID controller. Simulations,...
Fault tolerant control of multivariable processes using auto-tuning PID controller.
Yu, Ding-Li; Chang, T K; Yu, Ding-Wen
2005-02-01
Fault tolerant control of dynamic processes is investigated in this paper using an auto-tuning PID controller. A fault tolerant control scheme is proposed composing an auto-tuning PID controller based on an adaptive neural network model. The model is trained online using the extended Kalman filter (EKF) algorithm to learn system post-fault dynamics. Based on this model, the PID controller adjusts its parameters to compensate the effects of the faults, so that the control performance is recovered from degradation. The auto-tuning algorithm for the PID controller is derived with the Lyapunov method and therefore, the model predicted tracking error is guaranteed to converge asymptotically. The method is applied to a simulated two-input two-output continuous stirred tank reactor (CSTR) with various faults, which demonstrate the applicability of the developed scheme to industrial processes. PMID:15719931
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Li Jing
2016-01-01
Full Text Available For the control of the liquid level of liquid ammonia in thermal power plantâ€™s ammonia vaporization room, traditional PID controller parameter tuning is difficult to adapt to complex control systems, the setting of the traditional PID controller parameters is difficult to adapt to the complex control system. For the disadvantage of bad parameter setting, poor performance and so on the fuzzy adaptive PID control is proposed. Fuzzy adaptive PID control combines the advantages of traditional PID technology and fuzzy control. By using the fuzzy controller to intelligent control the object, the performance of the PID controller is further improved, and the control precision of the system is improved[1]. The simulation results show that the fuzzy adaptive PID controller not only has the advantages of high accuracy of PID controller, but also has the characteristics of fast and strong adaptability of fuzzy controller. It realizes the optimization of PID parameters which are in the optimal state, and the maximum increase production efficiency, so that are more suitable for nonlinear dynamic system.
Nonlinear Adaptive PID Control for Greenhouse Environment Based on RBF Network
Guanghui Li; Lihong Xu; Haigen Hu; Songwei Zeng
2012-01-01
This paper presents a hybrid control strategy, combining Radial Basis Function (RBF) network with conventional proportional, integral, and derivative (PID) controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through ...
RBF neural network PID for Bilateral Servo Control System
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Zhang Jingdong
2013-09-01
Full Text Available Tele-operated bilateral hydraulic servo system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radicalization, battlefield, etc.. In this paper, a novel force feedback bilateral servo system is presented, based on analysis of bilateral servo system at home and abroad, which adopts tuning PID control algorithm with RBF neural network at the same time. From the simulation results, the novel force feedback bilateral servo system is presented to verify the effectiveness of the proposed control algorithm.The control briefness, fast response, strong robustness, good disturbance rejection capability and good adaptive capability can be obtained.It is also revealed from simulation results that the proposed control algorithm is valid for force feedback bilateral servo system and also provides the theoretical and experimental basis.
Optimization of PID Controllers Using Ant Colony and Genetic Algorithms
Ünal, Muhammet; Topuz, Vedat; Erdal, Hasan
2013-01-01
Artificial neural networks, genetic algorithms and the ant colony optimization algorithm have become a highly effective tool for solving hard optimization problems. As their popularity has increased, applications of these algorithms have grown in more than equal measure. While many of the books available on these subjects only provide a cursory discussion of theory, the present book gives special emphasis to the theoretical background that is behind these algorithms and their applications. Moreover, this book introduces a novel real time control algorithm, that uses genetic algorithm and ant colony optimization algorithms for optimizing PID controller parameters. In general, the present book represents a solid survey on artificial neural networks, genetic algorithms and the ant colony optimization algorithm and introduces novel practical elements related to the application of these methods to process system control.
PID: from material properties to outdoor performance and quality control counter measures
Berghold, J.; Koch, S.; Pingel, S.; Janke, S.; Ukar, A.; Grunow, P.; Shioda, T.
2015-09-01
Although the main root causes and referring counter measures for PID are known, a significant part of the industrial modules are still found to be PID sensitive in testing and PID is increasingly evident in field. This paper discusses field occurrence of PID with respect to environmental conditions and material properties. Different PID pattern in field and in test are analyzed in terms of the potential distribution and surface conductivity. Examples are given for the correlation of PID lab tests of a (commercial) BOM with real outdoor degradation. PID progress is predicted for different locations and compared with measurement data. Suitable quality control measures are discussed for the modules as well as for the encapsulation material
Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID
Syed Najib Syed Salim; Mohd Fua’ad Rahmat; Ahmad ’Athif Mohd Faudzi; Ismail, Zool H.; Noorhazirah Sunar
2014-01-01
The enhancement of nonlinear PID (N-PID) controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF), is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this ...
Speed Control of DC Motor under Varying Load Using PID Controller
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Muhammad Rafay Khan
2015-08-01
Full Text Available DC motors are used extensively in industrial variable speed applications because of most demanding speed-torque characteristics and are simple in controlling aspects. This paper presents a DC motor speed controlling technique under varying load condition. The linear system model of separately excited DC motor with Torque-variation is designed using PID controller. A Matlab simulation of proposed system with no-Load and full-load condition is performed on Simulink platform to observe the system response. The motor speed is kept constant in this experiment. The simulation result of the experiment shows that a motor is running approximately at a constant speed regardless of a motor load. The Simulink results show that the speed of the motor is slow down only for about 270 rpm (9% in 980 milliseconds under the effect of full load. However, the motor speed is hunting about 200 rpm (6.66% in 900 milliseconds on unloading condition. It is concluded that a PID controller is successful tool for controlling the motor speed in presence of load disturbances.
Experimental studies on active vibration control of a smart composite beam using a PID controller
Jovanovi?, Miroslav M.; Simonovi?, Aleksandar M.; Zori?, Nemanja D.; Luki?, Nebojša S.; Stupar, Slobodan N.; Ili?, Slobodan S.
2013-11-01
This paper presents experimental verification of the active vibration control of a smart cantilever composite beam using a PID controller. In order to prevent negative occurrences in the derivative and integral terms in a PID controller, first-order low-pass filters are implemented in the derivative action and in the feedback of the integral action. The proposed application setup consists of a composite cantilever beam with a fiber-reinforced piezoelectric actuator and strain gage sensors. The beam is modeled using a finite element method based on third-order shear deformation theory. The experiment considers vibration control under periodic excitation and an initial static deflection. A control algorithm was implemented on a PIC32MX440F256H microcontroller. Experimental results corresponding to the proposed PID controller are compared with corresponding results using proportional (P) control, proportional-integral (PI) control and proportional-derivative (PD) control. Experimental results indicate that the proposed PID controller provides 8.93% more damping compared to a PD controller, 14.41% more damping compared to a PI controller and 19.04% more damping compared to a P controller in the case of vibration under periodic excitation. In the case of free vibration control, the proposed PID controller shows better performance (settling time 1.2 s) compared to the PD controller (settling time 1.5 s) and PI controller (settling time 2.5 s).
Experimental studies on active vibration control of a smart composite beam using a PID controller
International Nuclear Information System (INIS)
This paper presents experimental verification of the active vibration control of a smart cantilever composite beam using a PID controller. In order to prevent negative occurrences in the derivative and integral terms in a PID controller, first-order low-pass filters are implemented in the derivative action and in the feedback of the integral action. The proposed application setup consists of a composite cantilever beam with a fiber-reinforced piezoelectric actuator and strain gage sensors. The beam is modeled using a finite element method based on third-order shear deformation theory. The experiment considers vibration control under periodic excitation and an initial static deflection. A control algorithm was implemented on a PIC32MX440F256H microcontroller. Experimental results corresponding to the proposed PID controller are compared with corresponding results using proportional (P) control, proportional–integral (PI) control and proportional–derivative (PD) control. Experimental results indicate that the proposed PID controller provides 8.93% more damping compared to a PD controller, 14.41% more damping compared to a PI controller and 19.04% more damping compared to a P controller in the case of vibration under periodic excitation. In the case of free vibration control, the proposed PID controller shows better performance (settling time 1.2 s) compared to the PD controller (settling time 1.5 s) and PI controller (settling time 2.5 s). (paper)
A Fuzzy PID Approach for the Vibration Control of the FSPM
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Zhu-Feng Shao
2013-01-01
Full Text Available This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM, which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The research object is a 40m scale model of the Feed Support System (FSS for the Five?hundred?meter Aperture Spherical radio Telescope (FAST project, which is composed of a cable?driven parallel manipulator, an A?B rotator and a rigid Stewart manipulator, assembled in series. The cable?driven parallel manipulator is sensitive to disturbances and could lead to system vibration with a large terminal error. The rigid Stewart manipulator is designed to carry out the vibration control. Considering the time?variability, nonlinearity and dynamic coupling of an FSPM, a fuzzy proportional–integral–derivative (PID controller is introduced. The fuzzy inference rules established on the terminal error and the error change are used to adjust the PID parameters to achieve better performance. Physical experiments are carried out and the results indicate that the fuzzy PID method can effectively promote the terminal precision and maintain system stability. The control methodology proposed in this paper is quite promising for the vibration control of an FSPM.
Robust Speed Control of DC Servo Motor Using PID-Neural Network Hybrid Controller
Energy Technology Data Exchange (ETDEWEB)
Park, Wal Seo; Jeon, Jeong Chay [Wonkwang University (Korea, Republic of)
1998-02-01
Robust control for DC servo motor is needed according to the highest precision of industrial automation. However, when a motor control system with PID controller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem, in this paper, PID-neural network hybrid control method for motor control system is presented. The output of neural network controller is determined by error and rate of error change occurring in load disturbance. The robust control of DC servo motor using neural network controller is demonstrated by computer simulation. (author). 6 refs., 5 figs.
Neuro-PID tracking control of a discharge air temperature system
International Nuclear Information System (INIS)
In this paper, the problem of improving the performance of a discharge air temperature (DAT) system using a PID controller and augmenting it with neural network based tuning and tracking functions is explored. The DAT system is modeled as a SISO (single input single output) system. The architecture of the real time neuro-PID controller and simulation results obtained under realistic operating conditions are presented. The neural network assisted PID tuning method is simple to implement. Results show that the network assisted PID controller is able to track both constant and variable set point trajectories efficiently in the presence of disturbances acting on the DAT system
Neuro-PID tracking control of a discharge air temperature system
Energy Technology Data Exchange (ETDEWEB)
Zaheer-uddin, M. E-mail: zaheer@cbs-engr.concordia.ca; Tudoroiu, N
2004-09-01
In this paper, the problem of improving the performance of a discharge air temperature (DAT) system using a PID controller and augmenting it with neural network based tuning and tracking functions is explored. The DAT system is modeled as a SISO (single input single output) system. The architecture of the real time neuro-PID controller and simulation results obtained under realistic operating conditions are presented. The neural network assisted PID tuning method is simple to implement. Results show that the network assisted PID controller is able to track both constant and variable set point trajectories efficiently in the presence of disturbances acting on the DAT system.
A Proportional Integral Derivative (PID) Feedback Control without a Subsidiary Speed Loop
M. Aboelhassan
2008-01-01
The aim of this investigation is to design and describe the essential features of a brushless direct-current (BLDC) motor. The static and dynamical state of the BLDC-Motor is designed and calculated.Within this frame-work, it has been shown that while working with the P-controller in conjunction with the subsidiary speed loop and PD-controller (with non-zero error in a steady state) without a subsidiary speed loop, there is PID-controller without a subsidiary speed loop which has zero error i...
International Nuclear Information System (INIS)
This paper proposes a new optimal fuzzy logic-based-proportional-integral-derivative (FLPID) controller for load frequency control (LFC) including superconducting magnetic energy storage (SMES) units. Conventionally, the membership functions and control rules of fuzzy logic control are obtained by trial and error method or experiences of designers. To overcome this problem, the multiple tabu search (MTS) algorithm is applied to simultaneously tune PID gains, membership functions and control rules of FLPID controller to minimize frequency deviations of the system against load disturbances. The MTS algorithm introduces additional techniques for improvement of search process such as initialization, adaptive search, multiple searches, crossover and restarting process. Simulation results explicitly show that the performance of the optimum FLPID controller is superior to the conventional PID controller and the non-optimum FLPID controller in terms of the overshoot, settling time and robustness against variations of system parameters
Energy Technology Data Exchange (ETDEWEB)
Pothiya, Saravuth; Ngamroo, Issarachai [Department of Electrical Engineering, Faculty of Engineering, King Mongkut' s Institute of Technology Ladkrabang, Bangkok 10520 (Thailand)
2008-10-15
This paper proposes a new optimal fuzzy logic-based-proportional-integral-derivative (FLPID) controller for load frequency control (LFC) including superconducting magnetic energy storage (SMES) units. Conventionally, the membership functions and control rules of fuzzy logic control are obtained by trial and error method or experiences of designers. To overcome this problem, the multiple tabu search (MTS) algorithm is applied to simultaneously tune PID gains, membership functions and control rules of FLPID controller to minimize frequency deviations of the system against load disturbances. The MTS algorithm introduces additional techniques for improvement of search process such as initialization, adaptive search, multiple searches, crossover and restarting process. Simulation results explicitly show that the performance of the optimum FLPID controller is superior to the conventional PID controller and the non-optimum FLPID controller in terms of the overshoot, settling time and robustness against variations of system parameters. (author)
Speed Control System on Marine Diesel Engine Based on a Self-Tuning Fuzzy PID Controller
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Naeim Farouk
2012-03-01
Full Text Available The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. This study presents a self-tuning fuzzy PID control system for speed control system of marine diesel engine. The system under consideration is a fourth-order plant with highly dynamic and uncertain environments. The current speed controllers for marine/traction diesel engines based on PID Controller cannot fully handle the uncertainties associated with such dynamic environments. A fuzzy logic control algorithm is used to estimate the PID coefficients in order to handle such uncertainties to produce a better control performance. Simulation tests were established using Simulink of MATLAB. The obtained results have demonstrated the feasibility and effectiveness of the proposed approach. Simulation results are represented in this study.
Implementation of motor speed control using PID control in programmable logic controller
Samin, R. E.; Azmi, N. A.; Ahmad, M. A.; Ghazali, M. R.; Zawawi, M. A.
2012-11-01
This paper presents the implementation of motor speed control using Proportional Integral Derrivative (PID) controller using Programmable Logic Controller (PLC). Proportional Integral Derrivative (PID) controller is the technique used to actively control the speed of the motor. An AC motor is used in the research together with the PLC, encoder and Proface touch screen. The model of the PLC that has been used in this project is OMRON CJIG-CPU42P where this PLC has a build in loop control that can be made the ladder diagram quite simple using function block in CX-process tools. A complete experimental analysis of the technique in terms of system response is presented. Comparative assessment of the impact of Proportional, Integral and Derivative in the controller on the system performance is presented and discussed.
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Afsaneh Salehi
2013-05-01
Full Text Available Refer to this paper, an intelligent-fuzzy feed-forward computed torque estimator for Proportional-Integral-Derivative (PID controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately and it is the most used in robot manipulators. In order to remove steady-state error caused by uncertainties and noise, the integrator gain has to be increased. This leads to worse transient performance, even destroys the stability. The integrator in a PID controller also reduces the bandwidth of the closed-loop system. Model-based compensation for PD control is an alternative method to substitute PID control. Computed torque compensation is one of the nonlinear compensator. The main problem of the pure computed torque compensator (CTC was highly nonlinear dynamic parameters which related to system’s dynamic parameters in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using feed-forward fuzzy inference system. To eliminate the continuum robot manipulator system’s dynamic; Mamdani fuzzy inference system is design and applied to CTC. This methodology is based on design feed-forward fuzzy inference system and applied to CTC. The results demonstrate that the model base feed-forward fuzzy CTC estimator works well to compensate linear PID controller in presence of partly uncertainty system (e.g., continuum robot.
The Research of PID Control in a Large Scale Helium Refrigerator
Pan, W.; Wu, J. H.; Li, L. F.; Liu, H. M.; Li, Q.
2015-12-01
In the development of a helium refrigerator, the control of load temperature stability is an important requirement. We usually use multistage control strategies to achieve the precise control of it. Each level has its strict control logic. PID controllers are the core control module in the process. Therefore, a research of its principle and parameters’ setting occupies an important position in the development work. This paper detailed describes the PID control principle used in a large scale helium refrigerator of 10kW@20K, as well as several improvements on PID parameters’ setting, by using simulations and experiments in combination. The temperature is eventually controlled more precise.
Performance Analysis and FPGA Implementation of Digital PID Controller for Speed Control of DC Motor
Directory of Open Access Journals (Sweden)
Charul Agarwal
2013-06-01
Full Text Available This paper deals with the performance analysis and implementation of PID(Proportional-Integral-Derivative Controller on FPGA platform.The hardware implementation has been done on Xilinx Spartan 3E FPGA board.The software implementation has been done using Xilinx ISE 8.1i as a tool and simulation is performed using ModelSim 5.4a as a simulator.The PWM signal is generated by FPGA board,which further given to dc motor for its speed control. A new technique has been introduced for the generation of the control input as a PWM signal for controlling the motor driver circuit and decoding the optical encoder data for using it for the speed feedback in the PID control loop. The VHDL algorithm for the proposed implementation has been presented in this paper. Performance analysis of PID controller using MATLAB software shows the effectiveness of the proposed method.
Hajare, V D; Patre, B M
2015-11-01
This paper presents a decentralized PID controller design method for two input two output (TITO) systems with time delay using characteristic ratio assignment (CRA) method. The ability of CRA method to design controller for desired transient response has been explored for TITO systems. The design methodology uses an ideal decoupler to reduce the interaction. Each decoupled subsystem is reduced to first order plus dead time (FOPDT) model to design independent diagonal controllers. Based on specified overshoot and settling time, the controller parameters are computed using CRA method. To verify performance of the proposed controller, two benchmark simulation examples are presented. To demonstrate applicability of the proposed controller, experimentation is performed on real life interacting coupled tank level system. PMID:26521724
International Nuclear Information System (INIS)
A three-parameter fuzzy self-adaptive-adjusting Proportional-Integral-Differential (PID) control system is designed in this paper based on the full study of the characteristics of once-through steam generator. The fuzzy self-adaptive technique as well as three-parameter control system is introduced to normal PID control system. Simulation result indicates that this control system can give effective control over once-through steam generator by the analysis of control simulation result. (authors)
Active vibration control of a piezoelectric beam using PID controller: Experimental study
Scientific Electronic Library Online (English)
Najeeb ur, Rahman; M. Naushad, Alam.
2012-12-01
Full Text Available Vibration suppression of smart beams using the piezoelectric patch structure is presented in the present work. The smart system consists of a beam as the host structure and piezoceramic patches as the actuation and sensing elements. An experimental set-up has been developed to obtain the active vibr [...] ation suppression of smart beam. The set-up consists of a smart cantilever beam, the data acquisition system and a LabView based controller. Experiments are performed for different beam specimen. The coupled effcient layerwise (zigzag) theory is used for theoretical finite element modeling. The finite element model is free of shear locking. The beam element has two nodes with four mechanical and a variable number of electric degrees of freedom at each node. In the thickness direction, the electric field is approximated as piecewise linear across an arbitrary number of sub-layers in the piezoelectric layers. Cubic Hermite interpolation is used for the deflection, and linear interpolation is used for the axial displacement and the shear rotation. Undamped Natural Frequencies are obtained by solving the Eigen Value problem using Subspace Iteration method for cantilever beam. A state space model characterizing the dynamics of the physical system is developed from experimental results using PID approach for the purpose of control law design. The experimental results obtained by using the active vibration control system have demonstrated the validity and effciency of PID controller. Experiments are conducted to compare the controlling of various cantilever beams of different sizes. It shows that the present actuator and sensor based control method is effective and the LabView control plots for various beams can be used as a benchmark for analytical work. The results are compared with ABAQUS software and 1D Finite element formulation based on zigzag theory.
MULTI OBJECTIVE OPTIMIZATION OF VEHICLE ACTIVE SUSPENSION SYSTEM USING DEBBO BASED PID CONTROLLER
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Kalaivani Rajagopal
2014-03-01
Full Text Available This paper proposes the Multi Objective Optimization (MOO of Vehicle Active Suspension System (VASS with a hybrid Differential Evolution (DE based Biogeography-Based Optimization (BBO (DEBBO for the parameter tuning of Proportional Integral Derivative (PID controller. Initially a conventional PID controller, secondly a BBO, an rising nature enthused global optimization procedure based on the study of the ecological distribution of biological organisms and a hybridized DEBBO algorithm which inherits the behaviours of BBO and DE have been used to find the tuning parameters of the PID controller to improve the performance of VASS by considering a MOO function as the performance index. Simulations of passive system, active system having PID controller with and without optimizations have been performed by considering dual and triple bump kind of road disturbances in MATLAB/Simulink environment. The simulation results show the effectiveness of DEBBO based PID (DEBBOPID in achieving the goal.
Hu, Ruiqiang; Li, Chengwei
2015-01-01
Automated closed-loop insulin infusion therapy has been studied for many years. In closed-loop system, the control algorithm is the key technique of precise insulin infusion. The control algorithm needs to be designed and validated. In this paper, an improved PID algorithm based on insulin-on-board estimate is proposed and computer simulations are done using a combinational mathematical model of the dynamics of blood glucose-insulin regulation in the blood system. The simulation results demonstrate that the improved PID algorithm can perform well in different carbohydrate ingestion and different insulin sensitivity situations. Compared with the traditional PID algorithm, the control performance is improved obviously and hypoglycemia can be avoided. To verify the effectiveness of the proposed control algorithm, in silico testing is done using the UVa/Padova virtual patient software. PMID:26550021
FPGA Synthesis of Fuzzy (PD and PID Controller for Insulin Pumps in Diabetes Using Cadence
Directory of Open Access Journals (Sweden)
R. HariKumar
2012-01-01
Full Text Available This paper emphasizes on a FPGA synthesis of Fuzzy PD and PID Controller in biomedical application. We aim at identifying a proper methodology for the infusion process of insulin to diabetic patients using an automated fuzzy logic PD and PID controller. A synthesis of FPGA model of the above automatic controller is analyzed and synthesized. In Type I and Type II diabetes the patient is dependent on an external source of insulin to be infused at an appropriate rate to maintain blood glucose concentration. Hypoglycemia has short term effects which can lead to diabetic coma and possibly death, while hyperglycemia has a long term impact that has been linked to nephropathy, retinopathy and other tissues damage. In this process insulin is administrated through an infusion pump as a single injection. The pump is controlled by the automatic control Fuzzy PD Controller which is more efficient compared to the conventional PD Controller. This is of primary importance where the processes are too complex to be analyzed using the conventional one. The designed controller is implemented with low power multiplier and Fuzzy controller architecture. In case of non- linear inputs, Fuzzy PD Controller performs better compared to the conventional controller and consumes lesser power. The blood glucose level is monitored from Photo Plethysmography of pulse Oximeter. This fuzzy controller model will surely be a boon to the diabetic patients.
Kesavan.E; Rakesh kumar.S
2013-01-01
This paper suggests an idea to design an adaptive PID controller for Non-linear liquid tank System and is implemented in PLC. Online estimation of linear parameters (Time constant and Gain) brings an exact model of the process to take perfect control action. Based on these estimated values, the controller parameters will be well tuned by internal model control. Internal model control is an unremarkably used technique and provides well tuned controller in order to have a good controlling proce...
PID self tuning control based on Mamdani fuzzy logic control for quadrotor stabilization
Priyambodo, Tri Kuntoro; Dharmawan, Andi; Putra, Agfianto Eko
2016-02-01
Quadrotor as one type of UAV have the ability to perform Vertical Take Off and Landing (VTOL). It allows the Quadrotor to be stationary hovering in the air. PID (Proportional Integral Derivative) control system is one of the control methods that are commonly used. It is usually used to optimize the Quadrotor stabilization at least based on the three Eulerian angles (roll, pitch, and yaw) as input parameters for the control system. The three constants of PID can be obtained in various methods. The simplest method is tuning manually. This method has several weaknesses. For example if the three constants are not exact, the resulting response will deviate from the desired result. By combining the methods of PID with fuzzy logic systems where human expertise is implemented into the machine language is expected to further optimize the control system.
Optimal fractional order PID design via Tabu Search based algorithm.
Ate?, Abdullah; Yeroglu, Celaleddin
2016-01-01
This paper presents an optimization method based on the Tabu Search Algorithm (TSA) to design a Fractional-Order Proportional-Integral-Derivative (FOPID) controller. All parameter computations of the FOPID employ random initial conditions, using the proposed optimization method. Illustrative examples demonstrate the performance of the proposed FOPID controller design method. PMID:26652128
Effect of Time Delay on Robust PID Controllers for a Transfer Function
Directory of Open Access Journals (Sweden)
Mukul Gaur,
2013-05-01
Full Text Available A controller designed for a nominal process model generally works fine for the nominal plant model, but may fail even by a slight change in it. Robust control deals with system analysis and control design for such imperfectly known process models. Robust control has been a recent addition to the field of control engineering that primarily deals with obtaining system robustness in the presence of uncertainties. A lot of research has been done and many approaches are available for robust design of the plants. In this paper, a graphical technique introduced in [1] to find all proportional integral derivative (PID controllers that satisfy the robust stability constraint of a given single input-single-output (SISO linear time-invariant (LTI system with time delay[1], is followed and effects of change of time-delay in the nominal plant model is discussed.
Online Self-Tuning Precompensation for a PID Heading Control of a Flying Robot
Manukid Parnichkun; Sukon Puntunan
2008-01-01
In this paper, an online self-tuning precompensation for a Proportional-Integral-Derivative (PID) controller is proposed to control heading direction of a flying robot. The flying robot is a highly nonlinear plant, it is a modified X-Cell 60 radio-controlled helicopter. Heading direction is controlled to evaluate efficiency of the proposed precompensation algorithm. The heading control is based on the conventional PID control combined with an online self-tuning precompensation so that both th...
Tuning PID Controller by Neural Network for Robot Manipulator Trajectory Tracking
Directory of Open Access Journals (Sweden)
Saad Zaghlul Saeed Al-Khayyt
2013-01-01
Full Text Available Ziegler and Nichols proposed the well-known Ziegler-Nichols method to tune the coefficients of PID controller. This tuning method is simple and gives fixed values for the coefficients which make PID controller have weak adaptabilities for the model parameters variation and changing in operating conditions. In order to achieve adaptive controller, the Neural Network (NN self-tuning PID control is proposed in this paper which combines conventional PID controller and Neural Network learning capabilities. The proportional, integral and derivative (KP, KI, KD gains are self tuned on-line by the NN output which is obtained due to the error value on the desired output of the system under control. The conventional PID controller in the robot manipulator is replaced by NN self tuning PID controller so as to achieve trajectory tracking with minimum steady-state error and improving the dynamic behavior (overshoot. The simulation results showed that the proposed controller has strong self-adaptability over the conventional PID controller.
Performance and Robustness of Smith Predictor Control and Comparison with PID Control
Holene, Axel Lødemel
2013-01-01
The performance and robustness of the Smith predictor controller has been tested for first and second order processes with time-delay by comparing with PI and PID control. It was assumed that the performance would obviously be better when the time-delay is known. Pareto optimal PI and PID controller tuning curves has been found. The processes studied is divided between five first-order-plus-time-delay and nine second-order-plus-time-delay models. Performance have been defined as a weighted av...
Singh, Ravendra; Ierapetritou, Marianthi; Ramachandran, Rohit
2013-11-01
The next generation of QbD based pharmaceutical products will be manufactured through continuous processing. This will allow the integration of online/inline monitoring tools, coupled with an efficient advanced model-based feedback control systems, to achieve precise control of process variables, so that the predefined product quality can be achieved consistently. The direct compaction process considered in this study is highly interactive and involves time delays for a number of process variables due to sensor placements, process equipment dimensions, and the flow characteristics of the solid material. A simple feedback regulatory control system (e.g., PI(D)) by itself may not be sufficient to achieve the tight process control that is mandated by regulatory authorities. The process presented herein comprises of coupled dynamics involving slow and fast responses, indicating the requirement of a hybrid control scheme such as a combined MPC-PID control scheme. In this manuscript, an efficient system-wide hybrid control strategy for an integrated continuous pharmaceutical tablet manufacturing process via direct compaction has been designed. The designed control system is a hybrid scheme of MPC-PID control. An effective controller parameter tuning strategy involving an ITAE method coupled with an optimization strategy has been used for tuning of both MPC and PID parameters. The designed hybrid control system has been implemented in a first-principles model-based flowsheet that was simulated in gPROMS (Process System Enterprise). Results demonstrate enhanced performance of critical quality attributes (CQAs) under the hybrid control scheme compared to only PID or MPC control schemes, illustrating the potential of a hybrid control scheme in improving pharmaceutical manufacturing operations. PMID:23523542
Directory of Open Access Journals (Sweden)
S. J. Bassi 1, 1 and2, 1 and 2
2011-11-01
Full Text Available The proportional-integral-derivative (PID controllers are the most popular controllers used in industry because of their remarkable effectiveness, simplicity of implementation and broad applicability. However, manual tuning of these controllers is time consuming, tedious and generally lead to poor performance. This tuning which is application specific also deteriorates with time as a result of plant parameter changes. This paper presents an artificial intelligence (AI method of particle swarm optimization (PSO algorithm for tuning the optimal proportional-integral derivative (PID controller parameters for industrial processes. This approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency over the conventional methods. Ziegler- Nichols, tuning method was applied in the PID tuning and results were compared with the PSO-Based PID for optimum control. Simulation results are presented to show that the PSO-Based optimized PID controller is capable of providing an improved closed-loop performance over the Ziegler- Nichols tuned PID controller Parameters. Compared to the heuristic PID tuning method of Ziegler-Nichols, the proposed method was more efficient in improving the step response characteristics such as, reducing the steady-states error; rise time, settling time and maximum overshoot in speed control of DC motor.
Directory of Open Access Journals (Sweden)
S. J. Bassi
2011-10-01
Full Text Available The proportional-integral-derivative (PID controllers are the most popular controllers used in industry because of their remarkable effectiveness, simplicity of implementation and broad applicability. However, manual tuning of these controllers is time consuming, tedious and generally lead to poor performance. This tuning which is application specific also deteriorates with time as a result of plant parameter changes. This paper presents an artificial intelligence (AI method of particle swarm optimization (PSO algorithm for tuning the optimal proportional-integral derivative (PID controller parameters for industrial processes. This approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency over the conventional methods. Ziegler- Nichols, tuning method was applied in the PID tuning and results were compared with the PSO-Based PID for optimum control. Simulation results are presented to show that the PSO-Based optimized PID controller is capable of providing an improved closed-loop performance over the Ziegler- Nichols tuned PID controller Parameters. Compared to the heuristic PID tuning method of Ziegler-Nichols, the proposed method was more efficient in improving the step response characteristics such as, reducing the steady-states error; rise time, settling time and maximum overshoot in speed control of DC motor.
Fuzzy PID Control Method for Internet-based Tele-operation Manipulators System
Directory of Open Access Journals (Sweden)
Wei Gao
2013-11-01
Full Text Available Trajectory tracking control problem for internet-based tele-operation system is researched in this paper. The control structure of master and slave tele-operation manipulators adapts bilateral servo control architecture with force deviation feedback. The simulation model of three degrees of freedom (3-DOF manipulator is presented. In order to ensure the synchronization of positions of the master and slave manipulators, a fuzzy PID control method is proposed. This control algorithm is to adjust the three parameters of PID controller online by fuzzy control method. The contrast simulation experiments of PID and fuzzy PID control methods show that the proposed control method can effectively improve the force and position tracking performance and reduce time delay.
Tuning of PID Controller for Time Delayed Process Using Particle Swarm Optimization
Neha Kundariya; Jyoti Ohri
2013-01-01
This paper proposes PID controller tuning for time delayed process using particle swarm optimization. There is a need to control the process with time delay in many industries. Presence of dead time in control system makes the system uncertain and gives large overshoot. When the time delay becomes longer compare to system time constant, or when the time delay varies, then control of such system becomes very difficult by classical tuning method. However many techniques of PID controller tuning...
US Agency for International Development â€” PIDS is the web-based system designed to allow data input and consultative sessions by USAID/Liberia's IPs and USAID personnel. It is established and maintained by...
PID Self-Tuning Controllers Used in Different Structures of the Control Loops
Viorel DUGAN; Adrian DAN; Clara IONESCU; Mirela COTRUMB
2008-01-01
The paper investigates the behavior of digital PID self-tuning controllers (STC) in different structures of the control loops used in adaptive systems. In the two phases of this type of systems which use a STC-PID, the first phase, i.e. the task of recursive identification of the plant model parameters, is used a regression (ARX) model with the recursive least squares method. Because the quality of process model depends on the order of the ARX model and of the sample period (Ts), the digital ...
Das, Saptarshi; Pan, Indranil; Das, Shantanu
2013-07-01
Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional order (FO) rate of error signal and FO integral of control signal have been used in the design of a family of decomposed hybrid FO fuzzy PID controllers. The input and output scaling factors (SF) along with the integro-differential operators are tuned with real coded genetic algorithm (GA) to produce optimum closed loop performance by simultaneous consideration of the control loop error index and the control signal. Three different classes of fractional order oscillatory processes with various levels of relative dominance between time constant and time delay have been used to test the comparative merits of the proposed family of hybrid fractional order fuzzy PID controllers. Performance comparison of the different FO fuzzy PID controller structures has been done in terms of optimal set-point tracking, load disturbance rejection and minimal variation of manipulated variable or smaller actuator requirement etc. In addition, multi-objective Non-dominated Sorting Genetic Algorithm (NSGA-II) has been used to study the Pareto optimal trade-offs between the set point tracking and control signal, and the set point tracking and load disturbance performance for each of the controller structure to handle the three different types of processes. PMID:23664205
PI, PID and Fuzzy logic controller for Reactive Power and Harmonic Compensation
Karuppanan, P.; Kanta Mahapatra, Kamala
2010-01-01
This article describes the proportional integral (PI), proportional integral derivative (PID) and fuzzy logic controller (FLC) based three phase shunt active power line conditioners (APLC) for the power-quality improvement such as reactive power and harmonic current compensation generated due to nonlinear loads. PI, PID controller requires precise linear mathematical model and FLC needs linguistic description of the system. The controller is capable of controlling dc capacitor voltage and gen...
PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems
Arturo Y. Jaen-Cuellar; Rene de J. Romero-Troncoso; Luis Morales-Velazquez; Osornio-Rios, Roque A.
2013-01-01
Performance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its well? known beneficial features. In general, the whole system’s performance strongly depends on the controller’s efficiency and hence the tuning process plays a key role in the system’s behaviour. In this work, the servo systems will be analysed, specifically the positioning control systems. ...
Implementation of a New Self-Tuning Fuzzy PID Controller on PLC
KARASAKAL, Onur; YE??L, Engin
2005-01-01
In this study, the self-tuning method for fuzzy PID controllers that has been developed in a previous study of the authors is implemented on PLC in order to control some standard processes formed on FEEDBACK PCS 327 Process Control Simulator. In this tuning method, the input scaling factor corresponding to the derivative coefficient and the output scaling factor corresponding to the integral coefficient of the fuzzy PID controller are adjusted using a fuzzy inference mechanism with a ...
DEFF Research Database (Denmark)
Jantzen, Jan
1998-01-01
Design of a fuzzy controller requires more design decisions than usual, for example regarding rule base, inference engine, defuzzification, and data pre- and post processing. This tutorial paper identifies and describes the design choices related to single-loop fuzzy control, based on an...... international standard which is underway. The paper contains also a design approach, which uses a PID controller as a starting point. A design engineer can view the paper as an introduction to fuzzy controller design....
Multi-Objective PID-Controller Tuning for a Magnetic Levitation System using NSGA-II
DEFF Research Database (Denmark)
Pedersen, Gerulf K. M.; Yang, Zhenyu
This paper investigates the issue of PID-controller parameter tuning for a magnetic levitation system using the non-dominated sorting genetic algorithm (NSGA-II). The magnetic levitation system is inherently unstable and the PID-controller parameters are hard to find using conventional methods....... Based on four different performance measures, derived from the step response of the levitation system, the algorithm is used to find a set of non-dominated parameters for a PID-controller that can stabilize the system and minimize the performance measures....
Computation of stabilizing PI and PID controllers using the stability boundary locus
International Nuclear Information System (INIS)
In this paper, a new method for the calculation of all stabilizing PI controllers is given. The proposed method is based on plotting the stability boundary locus in the (k p, k i)-plane and then computing the stabilizing values of the parameters of a PI controller. The technique presented does not require sweeping over the parameters and also does not need linear programming to solve a set of inequalities. Thus it offers several important advantages over existing results obtained in this direction. Beyond stabilization, the method is used to shift all poles to a shifted half plane that guarantees a specified settling time of response. Computation of stabilizing PI controllers which achieve user specified gain and phase margins is studied. It is shown via an example that the stabilizing region in the (k p, k i)-plane is not always a convex set. The proposed method is also used to design PID controllers. The limiting values of a PID controller which stabilize a given system are obtained in the (k p, k i)-plane (k p, k d)-plane and (k i, k d)-plane. Furthermore, the proposed method is used to compute all the parameters of a PI controller which stabilize a control system with an interval plant family. Examples are given to show the benefits of the method presented
Please no more PID tuning rules
Oliveira, Paulo; Cunha, José Boaventura; J. P. Coelho
2002-01-01
Despite the large number of existent design and tunig techniques, adequate PID controller tuning by plant operations is still not accomplished in many process control loops. The particle swarm optimisation algorithms is proposed as an alternative technique to design and tune PID controllers for linear single-input single-output systems. This evolutionary approach is illustrated by a simulation example, in which the PID is used to control a set of models that represents a wide variety of proce...
Directory of Open Access Journals (Sweden)
Juli Sardi
2014-09-01
Full Text Available In the present study, bioimpedance signals of human body was utilized to control speed of a wheelchair movement. A bioimpedance is electrically passive part contained the body tissues. The research is one of alternative solutions for patients with paralysis of the upper and lower limb. Firstly, design of system of the research consisted of bioimpedance measuring instruments and a mechanical design of the wheelchair. Bioimpedance measurement was performed by injecting a sinusoidal current source of 0.5 mArms with a frequency of 50 kHz to muscle tissue (shoulder to obtain the output voltage in the range of 0-5 Vdc. With impulse and manual thresholding methods, the voltage signal was classified into several controls command to adjust the speed and direction of the wheelchair control based on PID Controller. The experimental result of the research was realization of bioimpedance signal that used as a reference to control the direction and speed of the wheelchair with a success rate of 86.7 %. A wheelchair velocity was classified into three types of motion, namely slow, medium and fast. Slow speed has a rated speed of 30 Cm/s, medium speed value speed of 40 Cm/s and fast speed value of 50 Cm/s. The wheelchair can also turn to the left and the right in accordance with the wishes of wheelchair user beside to moving forward.
Effects of a GPC-PID control strategy with hierarchical structure for a cooling coil unit
International Nuclear Information System (INIS)
This paper presents a GPC-PID control strategy for a cooling-coil unit in heating, ventilation and air conditioning systems. By analysis of the cooling towers and chillers, different models in the occupied period are considered in each operating condition. Because of the complication of components, well tuned PID controllers are unsatisfied, and the results are poor over a wide range of operation conditions. To solve this problem, a GPC-PID controller with hierarchical structure is proposed based on minimizing the generalized predictive control criterion to tune conventional PID controller parameters. Simulation and experiments show that the proposed controller is able to deal with a wide range of operating conditions and to achieve better performance than conventional methods
Directory of Open Access Journals (Sweden)
Aleem Ahmed Khan
2012-10-01
Full Text Available The idea of this paper is to compare the time-response performance characteristics between two controllers having different strategy for an inverted pendulum system. The main objective is to determine which control strategy brings the better results in comparative analysis with regard to pendulum’s angle and cart’s position of the system. The inverted pendulum system in fact a critical and challenging control problem, which continually moves away from a stable state. Two Control strategies for an Inverted pendulum system model are presented for stabilized controlling such as Proportional-Integral-Derivatives (PID and Fuzzy Logic Controller (FLC Controllers. Matlab Simulation has been performed on Simulink platform shows that both controllers successfully controls Multi-output Inverted pendulum system. However PID is more efficient and has a better time response characteristics than FLC control strategy.
The Design of Constant Pressure Water Supply PID System Based on PLC
Directory of Open Access Journals (Sweden)
Yilei Wang
2012-02-01
Full Text Available According to the requirement of city residential water demand, this paper designs a set of VF speed regulating constant pressure water supply system based on PLC. The system consists of PLC, transducer, pressure sensor, water pumps and other units. The system controls three water pumps by frequency conversion cycle, which have soft starting and frequency function, and with the principle of “start first and stop last”, the system makes effective use of water pump motors. PLC computes by PID through the deviation between the measured value and the set value, controls the output frequency of the inverter and changes the water pump motor speed according to the operation result, so as to maintain the user’s pipe network pressure, to achieve the purpose of constant pressure water supply. The design is of great technical and economic benefits, and has the broad application prospect and promotion value.
A High Order Sliding Mode Control with PID Sliding Surface: Simulation on a Torpedo
Rhif, Ahmed
2012-01-01
Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different approaches, among it the sliding mode control. The sliding mode control has proved its effectiveness through the different studies. The advantage that makes such an important approach is its robustness versus the disturbances and the model uncertainties. However, this approach implies a disadvantage which is the chattering phenomenon caused by the discontinuous part of this control and which can have a harmful effect on the actuators. This paper deals with the basic concepts, mathematics, and design aspects of a control for nonlinear systems that make the chattering effect lower. As solution to this problem we will adopt as a starting point the high order sliding mode approaches then the PID sliding surface. Simulation results show that this control strategy can attain exce...
Nejati, R.; Eshtehardiha, S.; Poudeh, M. Bayati
2008-10-01
The DC converter can be employed alone for the stabilization or the control of DC voltage of a battery or it can be a component of a complex converter to control the intermediate or output voltages. Due to the switching property included in their structure, DC-DC converters have a non-linear behavior and their controlling design is accompanied with complexities. But by employing the average method it is possible to approximate the system by a linear system and then linear control methods can be used. Dynamic performance of buck converters output voltage can be controlled by methods of Linear Quadratic Regulator (LQR) and PID. The former controller designing needs to positive definite matrix selection and the later is relative to desired pole places in complex coordinate. In this article, matrixes coefficients and the best constant values for PID controllers are selected based on Genetic algorithm method. The simulation results show an improvement in voltage control response.
Directory of Open Access Journals (Sweden)
Parul Arora, Alok Gupta
2013-10-01
Full Text Available Two Control strategies are developed to control the molecular weight in emulsion polymerization by manipulating flow-rates of water stream of jacket in first case study and the power of heater in another study. The control strategies were validated with experimental data of emulsion polymerization using Methyl methacrylate as monomer. PID controller is used to control the temperature of the reactor in both the case studies.
Speed Control System on Marine Diesel Engine Based on a Self-Tuning Fuzzy PID Controller
Naeim Farouk; Liu Sheng; Leghmizi Said
2012-01-01
The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. This study presents a self-tuning fuzzy PID control system for speed control system of marine diesel engine. The system under consideration is a fourth-order plant with highly dynamic and uncertain environments. The current speed contro...
Fast Response Systems Using Feed Forward Loop for Fuzzy Tuned PID Controllers
M.Tharangini; Ramesh, B.; K. Mani
2014-01-01
The temperature during heating processes more essential in oil quantity .Many of the research effort they developed new control technique to control and regulate the steam temperature in industries. This seems to be because PID controllers is simple structure, assure acceptable performances for a wide range of industrial plants and their usage (the tuning of their parameters) is well known among industrial operators. PID with FLC with combination of this we neglected the steady sate errors. P...
The PID Controller Based on the Artificial Neural Network and the Differential Evolution Algorithm
Wei Lu; Jian hua Yang; Xiao Dong Liu
2012-01-01
The conventional PID (proportional-integral-derivative) controller is widely applied to industrial automation and process control field because its structure is sample and its robust is well, but it do not work well for nonlinear system, time-delayed linear system and time-varying system. This paper provides a new style of PID controller that is based on artificial neural network and evolutionary algorithm according to the conventional one’s mathematical formula. The artificial neural n...
Sanjay Kr Singh; D. Boolchandani; S.G. Modani; Nitish Katal
2014-01-01
This study focuses on multi-objective optimization of the PID controllers for optimal speed control for an isolated steam turbine. In complex operations, optimal tuning plays an imperative role in maintaining the product quality and process safety. This study focuses on the comparison of the optimal PID tuning using Multi-objective Genetic Algorithm (NSGA-II) against normal genetic algorithm and Ziegler Nichols methods for the speed control of an isolated steam turbine. Isolated steam turbine...
The Self-Adaptive Fuzzy PID Controller in Actuator Simulated Loading System
Directory of Open Access Journals (Sweden)
Chuanhui Zhang
2013-05-01
Full Text Available This paper analyzes the structure principle of the actuator simulated loading system with variable stiffness, and establishes the simplified model. What’s more, it also does a research on the application of the self-adaptive tuning of fuzzy PID(Proportion Integration Differentiation in actuator simulated loading system with variable stiffness. Because the loading system is connected with the steering system by a spring rod, there must be strong coupling. Besides, there are also the parametric variations accompanying with the variations of the stiffness. Based on compensation from the feed-forward control on the disturbance brought by the motion of steering engine, the system performance can be improved by using fuzzy adaptive adjusting PID control to make up the changes of system parameter caused by the changes of the stiffness. By combining the fuzzy control with traditional PID control, fuzzy adaptive PID control is able to choose the parameters more properly.
Approach of PID Controller Tuning for Geothermal Systems
SILAGHI Alexandru Marius; COSTEA Claudiu Raul
2010-01-01
In this study, a controller was designed fortemperature control. This paper propose to analyse thetemperature value in geothermal power station andcontrol it. The results are obtained by simulating aSimulink model.
Comparison between Conventional and Fuzzy Logic PID Controllers for Controlling DC Motors
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Essam Natsheh
2010-09-01
Full Text Available Fuzzy logic and proportional-integral-derivative (PID controllers are compared for use in direct current (DC motors positioning system. A simulation study of the PID position controller for the armature-controlled with fixed field and field controlled with fixed armature current DC motors is performed. Fuzzy rules and the inferencing mechanism of the fuzzy logic controller (FLC are evaluated by using conventional rule-lookup tables that encode the control knowledge in a rules form. The performance assessment of the studied position controllers is based on transient response and error integral criteria. The results obtained from the FLC are not only superior in the rise time, speed fluctuations, and percent overshoot but also much better in the controller output signal structure, which is much remarkable in terms of the hardware implementation.
Automatic PID Tuning Based on Genetic Algorithm for Botnia Soccer Robots
Gong, Pengju
2012-01-01
Current PID parameters of botnia soccer robot are experiential predefined. Those PID parameters are fixed on different field surface, which make the PID controller cannot perform very well. To get appropriate PID parameters based on the specific field, the genetic algorithm was used to tune the PID parameters automatically. In this thesis, a genetic algorithm program used to tune botnia soccer robot PID parameters has been designed. Meanwhile, this design has been simulated with Matlab and...
PID feedback controller used as a tactical asset allocation technique: The G.A.M. model
Gandolfi, G.; Sabatini, A.; Rossolini, M.
2007-09-01
The objective of this paper is to illustrate a tactical asset allocation technique utilizing the PID controller. The proportional-integral-derivative (PID) controller is widely applied in most industrial processes; it has been successfully used for over 50 years and it is used by more than 95% of the plants processes. It is a robust and easily understood algorithm that can provide excellent control performance in spite of the diverse dynamic characteristics of the process plant. In finance, the process plant, controlled by the PID controller, can be represented by financial market assets forming a portfolio. More specifically, in the present work, the plant is represented by a risk-adjusted return variable. Money and portfolio managers’ main target is to achieve a relevant risk-adjusted return in their managing activities. In literature and in the financial industry business, numerous kinds of return/risk ratios are commonly studied and used. The aim of this work is to perform a tactical asset allocation technique consisting in the optimization of risk adjusted return by means of asset allocation methodologies based on the PID model-free feedback control modeling procedure. The process plant does not need to be mathematically modeled: the PID control action lies in altering the portfolio asset weights, according to the PID algorithm and its parameters, Ziegler-and-Nichols-tuned, in order to approach the desired portfolio risk-adjusted return efficiently.
MULTI OBJECTIVE OPTIMIZATION OF VEHICLE ACTIVE SUSPENSION SYSTEM USING DEBBO BASED PID CONTROLLER
Kalaivani Rajagopal; Lakshmi Ponnusamy
2014-01-01
This paper proposes the Multi Objective Optimization (MOO) of Vehicle Active Suspension System (VASS) with a hybrid Differential Evolution (DE) based Biogeography-Based Optimization (BBO) (DEBBO) for the parameter tuning of Proportional Integral Derivative (PID) controller. Initially a conventional PID controller, secondly a BBO, an rising nature enthused global optimization procedure based on the study of the ecological distribution of biological organisms and a hybridized DEBBO algorithm wh...
Comparison between PI and PID controllers used in UPFC control for power flow
Energy Technology Data Exchange (ETDEWEB)
Aghdam, Hossein Nasir [Department of Electrical Engineering, Ahar Branch, Islamic Azad University, Ahar (Iran, Islamic Republic of); email: h_nasir@iau-ahar.ac.ir; Kaheh, Meghdad [Department of Electrical Engineering, Majlesi Branch, Islamic Azad University, Majlesi (Iran, Islamic Republic of); email: kaheh.meghdad@gmail.com; Najafi, Babak [Department of Electrical Engineering, Germi Branch, Islamic Azad University, Germi (Iran, Islamic Republic of); email: ba.najafi@gmail.com4; Farhadi, Payam; Karimi, Mohammad [Department of Electrical Engineering, Parsabad Moghan Branch, Islamic Azad University, Young Researchers Club, Parsabad Moghan (Iran, Islamic Republic of); email: pfarhadi@iaupmogan.ac.ir; Karimi, Mohammad, email: mohammadkarimi62@gmail.com
2011-07-01
This paper compares features of PI and PID Controllers, the two most frequently used unified power flow controllers (UPFC) in transmission lines. These are Flexible AC Transmission Systems devices (FACTS) which are used in general to control the power flow and damp oscillations of power systems. These features enhance the capacity of existing transmission systems to carry energy, obviating the need to build new transmission lines while at the same time respecting safety, environmental, and economic constraints. The growing demand for energy has put pressure on the industry to develop appropriate methods for augmenting the efficacity and reliability of systems while operating within their various limitations. In conclusion, it was demonstrated that the PI controller response is better for power system stability but that in reactive power control the PI and PID controllers have similar performance. The efficiency of the UPFCs was also demonstrated using MATLAB/SIMULINK software.
Power Regulation of a Wind Turbine Using Adaptive Fuzzy- PID Pitch Angle Controller
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Sachin Goyal,
2013-05-01
Full Text Available Abstract—This paper considers power generation control in variable pitch wind turbines, using an adaptive fuzzy-PID controller. The pitch angle control system was simulated using MATLAB/ SIMULINK tool to test the control strategy and performance evaluation of the system. To test the controller’s performance, a wind profile has been simulated and results are validated to show that the proposed controllers are effective for power regulation. To highlight the improvements of the method the proposed controller are compared to the conventional PID controller.
Song, Ningfang; Luo, Xinkai; Li, Huipeng; Li, Jiao
2015-10-01
The non-linearity of the phase shifting mechanism in white light interferometry system can seriously affect the measuring accuracy of the system. In this paper, the correcting method is to combine the displacement feedback control technology with the fuzzy PID control technology. Displacement feedback control mechanism and fuzzy PID controller are designed and then try to figure it out through Matlab simulation and experiment.. The result shows that combining the displacement feedback control technology with the fuzzy PID control technology can fulfill decent overall non-linear correction in the white light interferometry measuring system. Meanwhile, the accuracy of the correction is high and the non-linearity drop from 2% to 0.1%.
The Smith-PID Control of Three-Tank-System Based on Fuzzy Theory
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Jianqiu Deng
2011-03-01
Full Text Available According to the character of the volume-lag of the controlled process of three-tank-system, Smith predictor was adopted to compensate three-tank-system fuzzy adaptive control system. Fuzzy adaptive Smith predictive control system is composed with Smith predictor and fuzzy adaptive controller. The PID parameters were setting on line. This algorithm uses fuzzy adaptive PID control to improve the resistance ability to random disturbance and Smith predictive control to overcome the time-delay character of controlled object. Simulation results showed that this control algorithm has the advantages of strong adaptive ability and noise immunity.
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Gaurav
2012-06-01
Full Text Available Measuring the flow of liquids is a critical need in many industrial plants. In recent years, flow control has become a highly multi-disciplinary research activity encompassing theoretical, computational and experimental fluid dynamics. Fuzzy control is based on fuzzy logic-a logical system that is much closer in spirit to human thinking and natural language than traditional logical systems. During the past several years, fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the realm of industrial processes, which do not lend themselves to control by conventional methods because of a lack of quantitative data regarding the input-output relations. The fuzzy logic controller (FLC based on fuzzy logic provides a means of converting a linguistic control strategy based on expert knowledge into an automatic control strategy. Fuzzy Logic controller has better stability, small overshoot, and fast response. In this Paper, performance analysis of the conventional PID controller and fuzzy logic controller has been done by the use of Matlab and Simulink and in the end comparison of various time domain parameters is done to prove that the fuzzy logic controller has small overshoot and fast response as compared to PID controller.
A comparison of fuzzy logic-PID control strategies for PWR pressurizer control
International Nuclear Information System (INIS)
This paper describes the results obtained from a comparison performed between classical proportional-integral-derivative (PID) and fuzzy logic (FL) controlling the pressure in a pressurized water reactor (PWR). The two methodologies have been tested under various transient scenarios, and their performances are evaluated with respect to robustness and on-time response to external stimuli. One of the main concerns in the safe operation of PWR is the pressure control in the primary side of the system. In order to maintain the pressure in a PWR at the desired level, the pressurizer component equipped with sprayers, heaters, and safety relief valves is used. The control strategy in a Westinghouse PWR is implemented with a PID controller that initiates either the electric heaters or the sprayers, depending on the direction of the coolant pressure deviation from the setpoint
Xiao-Guang Zhang; Dian-Xu Ruan
2013-01-01
Due to the environment of coal mine underground is poor, need to establish a stable and reliable network topology quickly during building the monitoring network and the topology must has reconfigurability, connectivity and reliability. For the above request, the topology control algorithm for wireless sensor network based on the PID of self-adapt hierarchical genetic (SAHGA-PID) in the coal mine underground was proposed. Based on the adaptive genetic algorithm, introduced hierarchical search ...
Nonlinear Dynamics Study Of Voltage Mode Controlled DC Drive With PID Controller
Sukumar Das; Shubhajit Pal
2014-01-01
This paper presents a non-linear dynamic model of a voltage controlled PMDC motor drive, based on the state vector analysis of the system is conducted. Proportional-Integral-derivative (PID) is the techniques proposed in this investigation to control the speed of a dc motor, revealing the periodic and chaotic phenomenon under different system parameter. Mathematical analysis and computer simulation are attached to verify the proposed non-linear model of the PMDC motor.
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Sh. Zamani
2014-02-01
Full Text Available Modernization of irrigation canals as an operation improvement tool is essential to promote the performance of canal networks and indeed requires control systems. Proportional integral derivative (PID algorithms have more applications than the other controllers in different places of the world, but tuning these controllers for different hydraulic conditions of canals is considered as a major problem for designing control algorithms. Since the bottom slope is one of the effective factors in the water flow dynamic behavior, in this research, the distant downstream Proportional Integral Derivative feedback control with decouplers was designed with a change in longitudinal slope in a reference canal and its performance was investigated. The canal characteristics were used to tune this controller and the system identification as a new method was applied for determining canal characteristics. SOBEK hydrodynamic model modulated with MATLAB software was used to design and run the control algorithms, and slope influence on water flow behavior, tuning controller, and coefficients of controller were investigated with different values of slope. Then, controller performance for hypothetical period of operation in various scenarios was evaluated with computation performance indices. The results showed less resonance behavior of water flow and less potential of controller in steep slope
Synthesis of PID-type controllers without parametric models: A graphical approach
International Nuclear Information System (INIS)
This paper considers the problem of determining the set of all stabilizing proportional-integral-derivative (PID) type controllers without parametric models for any given linear time-invariant (LTI) plants. It is shown that the only information for designing is the frequency response data and the number of right-half-plane (RHP) poles of the plant, and all stabilizing domains in the parameter space of PID-type controllers are determined by the boundaries which are analytically described based on the technique of D-decomposition. The method can handle arbitrary order minimum phase, non-minimum phase, stable or unstable plants and particularly, plants that have zeros or poles on the imaginary axis. It is shown that the approach presented does not require any parametric models of plants and can be applied to a wide range of industrial applications, especially where plants parametric models (transfer function and state space) are not available or identification is difficult. Several examples illustrate the proposed method
Compare the results of Tuning of PID controller by using PSO and GA Technique for AVR system
Anil Kumar , Dr. Rajeev Gupta
2013-01-01
This paper Present to design method fordetermining the optimal proportional-integral-derivative(PID) controller parameters of an Automatic VoltageRegulator (AVR) system using the particle swarmoptimization (PSO) algorithm and Genetic Algorithm (GA).The design goal is to minimize transient response byminimizing overshoot, settling time and rise time of stepresponse. The proposed approach had superior features,including easy implementation, stable convergencecharacteristic, and good computation...
Sharma, Richa; Gaur, Prerna; Mittal, A P
2015-09-01
The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. PMID:25896827
Das, Saptarshi; Pan, Indranil; Das, Shantanu; Gupta, Amitava
2012-01-01
A novel fractional order (FO) fuzzy Proportional-Integral-Derivative (PID) controller has been proposed in this paper which works on the closed loop error and its fractional derivative as the input and has a fractional integrator in its output. The fractional order differ-integrations in the proposed fuzzy logic controller (FLC) are kept as design variables along with the input-output scaling factors (SF) and are optimized with Genetic Algorithm (GA) while minimizing several integral error in...
Optimum PID Control of Multi-wing Attractors in A Family of Lorenz-like Chaotic Systems
Acharya, Anish; Das, Saptarshi; Pan, Indranil
2012-01-01
Multi-wing chaotic attractors are highly complex nonlinear dynamical systems with higher number of index-2 equilibrium points. Due to the presence of several equilibrium points, randomness of the state time series for these multi-wing chaotic systems is higher than that of the conventional double wing chaotic attractors. A real coded Genetic Algorithm (GA) based global optimization framework has been presented in this paper, to design optimum PID controllers so as to control...
Bu?anovi? Ljubiša J.; Lazarevi? Mihailo P.; Batalov Sre?ko N.
2014-01-01
This paper deals with the design of a new algorithm of PID control based on fractional calculus (FC) in production of technical gases, i.e. in a cryogenic air separation process. Production of low pressure liquid air was first introduced by P. L. Kapica and involved expansion in a gas turbine. For application in the synthesis of the control law, for the input temperature and flow of air to the expansion turbine, it is necessary to determine the appropriate ...
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S.Swathi,
2014-01-01
Full Text Available This paper deals with the electronic load controller for self exited induction generator using PID plus fuzzy logic controller. The self-excited induction generators (SEIGs are considered to be well suited for generating electricity by means of conventional energy sources and for supplying electrical energy in remote and rural areas. Induction generators have many advantages such as cost, reduced maintenance, rugged, and simple construction, brushless rotor (squirrel cage. A three phase induction generator can be operated on a delta connection for supplying single phase loads. The main disadvantage of SEIG has is that it poor voltage regulation, and its value depends on the prime mover speed, capacitance, load current and power factor of the load. The electronic load controller (ELC can be used for maintaining constant voltage and frequency of SEIG with variable consumer load driven by constant prime mover. This paper presents the simulation design and implementation of ELC using fuzzy logic method for an SEIG feeding single-phase load. The ELC consist of a rectifier, IGBT as a chopper switch, PI controller, voltage sensor, and resistive dump load in which power consumption was varied through the duty cycle of the chopper. However an ELC consist of electronics system, in general, has complex nonlinear model with parameter variation problem, and the control need to be very fast. The fuzzy logic based controller gives nonlinear control with fast response and virtually no overshoot. The simulation of ELC for self exited induction generator is carried out on MATLAB/SIMULINK. By this proposed ELC using FLC for SEIG we can maintain the constant voltage and frequency of SEIG with variable consumer load.
Wind turbine pitch control using ICPSO-PID algorithm
DEFF Research Database (Denmark)
Xu, Chang; Tian, Qiangqiang; Shen, Wen Zhong; Zhen, Yuan; Liu, Deyou; Zhang, Ming
2013-01-01
For the traditional simplified first-order pitch-control system model, it is difficult to describe a real dynamic characteristic of a variable pitch action system, thus a complete high order mathematical model has to be developed for the pitch control of wind turbine generation (WTG). In the paper, a pitch controller was designed based on power and wind speed and by considering the inertia and delay characteristics of a pitch-control system to achieve a constant power output when a wind speed wa...
Dynamic characteristics research of pressurizer control system and PID parameters setting
International Nuclear Information System (INIS)
A mathematics model and simulation model of pressurizer pressure control system for nuclear power plant are established. The static and dynamic characteristics of the pressurizer pressure control system are researched under the condition of that the average coolant temperature changes +- 3 degree C and the outer load changes +- 10% of the rated power by step. The parameters of the Proportional, Integral and Differential (PID) controller are set too. As a result, if the proper parameters of the PID controller have been chosen, the static and dynamic character of pressurizer pressure control system can be greatly improved
The PID Controller Based on the Artificial Neural Network and the Differential Evolution Algorithm
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Wei Lu
2012-10-01
Full Text Available The conventional PID (proportional-integral-derivative controller is widely applied to industrial automation and process control field because its structure is sample and its robust is well, but it do not work well for nonlinear system, time-delayed linear system and time-varying system. This paper provides a new style of PID controller that is based on artificial neural network and evolutionary algorithm according to the conventional one’s mathematical formula. The artificial neural network (ANN is used to approach PID formula and the differential evolution algorithm (DEA is used to search weight of the artificial neural network. This new controller is proven better control effect in the simulation test. This new controller has more advantages than the conventional one, such as less calculated load, faster global convergence speed, better robust, more independence and adaptability on the plant and independent of human intervention and expert experiences etc.
International Nuclear Information System (INIS)
PID control is the disciplinarian frequently used in feed-back control system, and the low pass filtering PID algorithm based on the digital filtering technology is presented. The principle of this algorithm and its realization are described. The feed-back control system for plasma density in HT-7 Tokamak is introduced. The algorithm enhances the control precision by filtering the noise intermingled in the error signal and is well used in the plasma density control system in HT-7 Tokamak. (authors)
Single Neuron PID Control of Aircraft Deicing Fluids Rapid Heating System
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Bin Chen
2013-02-01
Full Text Available Aircraft deicing fluids rapid heating system is widely used in aircraft ground deicing to ensure that the operation of flights can be safe and efficient. Aiming at the temperature turbulence problem of aircraft deicing system, this paper presents the single neuron PID control strategy which combine the advantage of conventional PID control with artificial neuron control. The aircraft deicing fluids rapid heating system and the scheme and working principle of the system is introduced. Simulation is executed on the basis of the mathematical model of aircraft deicing fluids rapid heating system, which is built in this paper, according to a number of data collected by experiments which are operated on the experimental platform of deicing fluids rapid heating system. The simulation results show that the single neuron PID control strategy perform effectively on the temperature turbulence problem of aircraft deicing fluids rapid heating system. Experiments are conducted to vertify the single neuron PID control strategy, the results of which show that the single neuron PID control strategy can achieve the request in practical application of the aircraft deicing fluids rapid heating system.
Wastegate Actuator Modeling and Tuning of a PID Controller for Boost Pressure Control
Thomasson, Andreas
2009-01-01
In some turbochargers, boost pressure is reduced by opening the wastegate valve. In a modern turbo charged car, the most common way for opening the wastegate is with a pneumatic actuator and an air control solenoid, controlled by the ECU. In the control systems studied the ECU utilizes a static feedforward and a PID controller, for the purpose of making the boost pressure follow its reference value. With no systematic method for tuning the controller, this can be time consuming, and a set of ...
A Comparative Analysis of Integrated Boost Flyback Converter using PID and Fuzzy Controller
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R.Samuel Rajesh Babu
2015-02-01
Full Text Available This paper presents a comparative analysis of Integrated boost flyback converter for Renewable energy System. IBFC is the combination of boost converter and fly back converter. The proposed converter is simulated in open and closed loop using PID and FUZZY controller. The Fuzzy Logic Controller (FLC is used reduce the rise time, settling time to almost negligible and try to remove the delay time and inverted response. The performance of IBFC with fuzzy logic controller is found better instead of PID controller. The simulation results are verified experimentally and the output of converter is free from ripples and has regulated output voltage.
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Bu?anovi? Ljubiša J.
2014-01-01
Full Text Available This paper deals with the design of a new algorithm of PID control based on fractional calculus (FC in production of technical gases, i.e. in a cryogenic air separation process. Production of low pressure liquid air was first introduced by P. L. Kapica and involved expansion in a gas turbine. For application in the synthesis of the control law, for the input temperature and flow of air to the expansion turbine, it is necessary to determine the appropriate differential equations of the cryogenic process of mixing of two gaseous airflows at different temperatures before entrance to the expansion turbine. Thereafter, the model is linearized and decoupled and consequently classical PID and fractional order controllers are taken to assess the quality of the proposed technique. A set of optimal parameters of these controllers are achieved through the genetic algorithm optimization procedure by minimizing a cost function. Our design method focuses on minimizing performance criterion which involves IAE, overshoot, as well as settling time. A time-domain simulation was used to identify the performance of controller with respect to a traditional optimized PID controller. [Projekat Ministarstva nauke Republike Srbije, br. 35006
Das, Pramode K.; Mathew, Sam; Shaiju, A. J.; Patnaik, B. S. V.
2016-02-01
The control of vortex shedding behind a circular cylinder is a precursor to a wide range of external shear flow problems in engineering, in particular the flow-induced vibrations. In the present study, numerical simulation of an energetically efficient active flow control strategy is proposed, for the control of wake vortices behind a circular cylinder at a low Reynolds number of 100. The fluid is assumed to be incompressible and Newtonian with negligible variation in properties. Reflectionally symmetric controllers are designed such that, they are located on a small sector of the cylinder over which, tangential sliding mode control is imparted. In the field of modern controls, proportional (P), integral (I) and differential (D) control strategies and their numerous combinations are extremely popular in industrial practice. To impart suitable control actuation, the vertically varying lift force on the circular cylinder, is synthesised for the construction of an error term. Four different types of controllers considered in the present study are, P, I, PI and PID. These controllers are evaluated for their energetic efficiency and performance. A linear quadratic optimal control problem is formulated, to minimise the cost functional. By performing detailed simulations, it was observed that, the system is energetically efficient, even when the twin eddies are still persisting behind the circular cylinder. To assess the adaptability of the controllers, the actuators were switched on and off to study their dynamic response.
AC/DC Converter AC Side Harmonic Wave Detection Based on Self-adaption Fuzzy PID Controlling
Li Jia-Sheng
2014-01-01
As AC/DC converter is a non-linear and time varying uncertain system, it is hard to reach the ideal control effect if adopting the routine Proportional Integral Differential (PID) control which is bad in dynamic property. A compound control scheme is proposed in this study which combines PID control and fuzzy self adaption. It takes error e and error variation ec as input and modifies PID parameter by using fuzzy control rule on line to satisfy the requirements of e and ec on PID parameter se...
Demonstration of the improved PID method for the accurate temperature control of ADRs
International Nuclear Information System (INIS)
Microcalorimeters require extreme stability (-bar 10?K) of thermal bath at low temperature (?100mK). We have developed a portable adiabatic demagnetization refrigerator (ADR) system for ground experiments with TES microcalorimeters, in which we observed residual temperature between aimed and measured values when magnet current was controlled with the standard Proportional, Integral, and Derivative control (PID) method. The difference increases in time as the magnet current decreases. This phenomenon can be explained by the theory of the magnetic cooling, and we have introduced a new functional parameter to improve the PID method. With this improvement, long-term stability of the ADR temperature about 10?K rms is obtained up to the period of ?15ks down to almost zero magnet current. We briefly describe our ADR system and principle of the improved PID method, showing the temperature control result. It is demonstrated that the controlled time of the aimed temperature can be extended by about 30% longer than the standard PID method in our system. The improved PID method is considered to be of great advantage especially in the range of small magnet current
International Nuclear Information System (INIS)
Energy efficiency enhancement is achieved by utilizing control algorithms that reduce overshoots and undershoots as well as unnecessary fluctuations in the amount of energy input to energy consuming systems during transient operation periods. It is hypothesized that application of control methodologies with characteristics that change with time and according to the system dynamics, identified as dynamic energy efficiency measures (DEEM), achieves the desired enhancement. The objective of this study is to simulate and analyze the effects of fuzzy logic based tuning of proportional integral derivative (F-PID) and proportional sum derivative (F-PSD) controllers for a heating and cooling energy system while accounting for the dynamics of the major system components. The procedure to achieve the objective includes utilization of fuzzy logic rules to determine the PID and PSD controllers gain coefficients so that the control laws for regulating the heat exchangers heating or cooling energy inputs are determined in each time step of the operation period. The performances of the F-PID and F-PSD controllers are measured by means of two cost functions that are based on quadratic forms of the energy input and deviation from a set point temperature. It is found that application of the F-PID control algorithm, as a DEEM, results in lower costs for energy input and deviation from a set point temperature by 24% and 17% as compared to a PID and 13% and 8% as compared to a PSD, respectively. It is also shown that the F-PSD performance is better than that of the F-PID controller
Continuous Firefly Algorithm for Optimal Tuning of Pid Controller in Avr System
Bendjeghaba, Omar
2014-01-01
This paper presents a tuning approach based on Continuous firefly algorithm (CFA) to obtain the proportional-integral- derivative (PID) controller parameters in Automatic Voltage Regulator system (AVR). In the tuning processes the CFA is iterated to reach the optimal or the near optimal of PID controller parameters when the main goal is to improve the AVR step response characteristics. Conducted simulations show the effectiveness and the efficiency of the proposed approach. Furthermore the proposed approach can improve the dynamic of the AVR system. Compared with particle swarm optimization (PSO), the new CFA tuning method has better control system performance in terms of time domain specifications and set-point tracking.
An Approach to Tune PID Fuzzy Logic Controllers Based on Reinforcement Learning
Rezine, Hacene; Rabah, Louali; Faucher, J&#;rome; Maussion, Pascal
2008-01-01
On the whole, this paper provides some new and original headlines for the on-site tuning PID like fuzzy logic controllers.With the Broida methodology for conventional PID controllers; it is possible to obtain satisfying basic FPID. These settings depend only on two or three parameters (K, T and eventually ) extracting from an open-loop identification test of the process. A second set of pre-defined settings for the controllable factors FPID is proposed and selected from the reinforcement lear...
Setpoint Weighted PID Controller for the Electromechanical Actuator in Spacecraft
R. Sumathi; M.Usha
2014-01-01
An intelligent control system for the rocket engine during electromechanical stage is designed and scrutinized in this paper. The rocket is the only vehicle that lift-offs the spacecraft in the space. But, the motion of the rocket can be influenced by internal and external disturbances. Furthermore, the rocket is a multi-input and multi-output nonlinear system whose dynamics are unstable and poorly understood. So the orientation of the spacecraft in precise position is so critical. Hence, att...
Optimización de señal de control en reguladores PID con arquitectura antireset Wind-Up
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Ilber Adonayt Ruge Ruge
2011-12-01
Full Text Available This paper shows the reader the methods of tuning PID controllers Kayser-Rajka (KR and Astrom-Haglund (AH, with the aim of evaluatingtheir performance against some conventional methods like Ziegler-Nichols tuning (ZN. It also shows the method for improving the control signal based on the architecture Antireset Wind-Up.
PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems
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Arturo Y. Jaen-Cuellar
2013-09-01
Full Text Available Performance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its well? known beneficial features. In general, the whole system’s performance strongly depends on the controller’s efficiency and hence the tuning process plays a key role in the system’s behaviour. In this work, the servo systems will be analysed, specifically the positioning control systems. Among the existent tuning methods, the Gain? Phase Margin method based on Frequency Response analysis is the most adequate for controller tuning in positioning control systems. Nevertheless, this method can be improved by integrating an optimization technique. The novelty of this work is the development of a new methodology for PID control tuning by coupling the Gain?Phase Margin method with the Genetic Algorithms in which the micro?population concept and adaptive mutation probability are applied. Simulations using a positioning system model in MATLAB and experimental tests in two CNC machines and an industrial robot are carried out in order to show the effectiveness of the proposal. The obtained results are compared with both the classical Gain?Phase Margin tuning and with a recent PID controller optimization using Genetic Algorithms based on real codification. The three methodologies are implemented using software.
Adaptive Functional-Based Neuro-Fuzzy-PID Incremental Controller Structure
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Ashraf Ahmed Fahmy
2014-03-01
Full Text Available This paper presents an adaptive functional-based Neuro-fuzzy-PID incremental (NFPID controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input-output space of the three term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral function for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation. Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using Bees Algorithm, and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA type robot arm.
International Nuclear Information System (INIS)
The simplicity in coding the heuristic judgment of experienced operator by means of fuzzy logic can be exploited for enhancement of energy efficiency. Fuzzy logic has been used as an effective tool for scheduling conventional PID controllers gain coefficients (F-PID). However, to search for the most desirable fuzzy system characteristics that allow for best performance of the energy system with minimum energy input, optimization techniques such as genetic algorithm (GA) could be utilized and the control methodology is identified as GA-based F-PID (GA-F-PID). The objective of this study is to examine the performance of PID, F-PID, and GA-F-PID controllers for enhancement of energy efficiency of a dynamic energy system. The performance evaluation of the controllers is accomplished by means of two cost functions that are based on the quadratic forms of the energy input and deviation from a setpoint temperature, referred to as energy and comfort costs, respectively. The GA-F-PID controller is examined in two different forms, namely, global form and local form. For the global form, all possible combinations of fuzzy system characteristics in the search domain are explored by GA for finding the fittest chromosome for all discrete time intervals during the entire operation period. For the local form, however, GA is used in each discrete time interval to find the fittest chromosome for implementation. The results show that the global form GA-F-PID and local form GA-F-PID control methodologies, in comparison with PID controller, achieve higher energy efficiency by lowering energy costs by 51.2%, and 67.8%, respectively. Similarly, the comfort costs for deviation from setpoint are enhanced by 54.4%, and 62.4%, respectively. It is determined that GA-F-PID performs better in local from than global form.
Control de velocidad de un motor de CD con un controlador PID Wavenet
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Abraham Christian Pedroza Araujo
2014-01-01
Full Text Available El controlador mÃ¡s utilizado actualmente en la industria es el controlador PID. Sin embargo, el algoritmo PID lineal tiene bajo desempeÃ±o cuando el proceso a controlar presenta dinÃ¡micas complejas como zonas muertas y caracterÃsticas no lineales. El funcionamiento del controlador PID en general, se basa en la actuaciÃ³n en forma proporcional, integral y derivativa sobre la seÃ±al de error e(t, definida como e(t = yref(t - y(t, con la finalidad de efectuar la seÃ±al de control u(t que manipula la salida del proceso en forma deseada como se muestra la Figura 1. Figura 1. Esquema de un control clÃ¡sico. Figura 1. Esquema de un control clÃ¡sico. Las constantes kp ki kd son las ganancias del PID. Existen distintas tÃ©cnicas analÃticas y experimentales con el fin de sintonizar esas ganancias. Una alternativa a este problema de sintonizaciÃ³n es el controlador PID wavenet, donde por medio de una wavenet y un filtro IIR se estima la salida del sistema a controlar, lo cual se utiliza para re-sintonizar las ganancias de un PID discreto, todo esto en lÃnea. Esta es la alternativa que se emplea en el presente trabajo de investigaciÃ³n y enfocada a la simulaciÃ³n y control de un motor de cd obteniendo resultados.
E. Zió?kowski; P. ?mierciak
2012-01-01
Foundry resistance furnaces are thermal devices with a relatively large time delay in their response to a change in power parameters.Commonly used in automation classical PID controllers do not meet the requirements of high-quality control. Developed in recent years,fuzzy control theory is increasingly being used in various branches of economy and industry. Fuzzy controllers allow to introduce newdevelopments in control systems of foundry furnaces as well. Correctly selected fuzzy controller ...
Performance Enhancement of a Dynamic System Using PID Controller Tuning Formulae
Jyotiprakash Patra; Dr.Partha Sarathi Khuntia
2011-01-01
The proportional integral derivative (PID) controller is the most dominant form of automatic controller in industrial use today. With this technique, it is necessary to adjust the controller parameters according to the nature of the process. Thus, for effective control of a HVDC system, for example, specific values need to be chosen for the P, I and D parameters, which will be different for the values required to control, for example, an induction motor drive. This tailoring of controller to ...
Study of PID Controller Based Pitch Actuator System for Variable Speed HAWT using MATLAB
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VISHAL T. MAKVANA, RINAL K. AHIR, DHAVAL K. PATEL, JITENDRA A. JADHAV
2013-05-01
Full Text Available As the energy demand and greenhouse gases emission is increasing day by day the popularity of renewable energy systems is also being raised. One of the most popular renewable energy systems over the past decade has been the wind energy or wind turbines. Wind turbine extracts kinetic energy from the wind. Currently much research has concentrated on improving the aerodynamic performance of wind turbine. Variable speed horizontal axis wind turbines use blade pitch control to meet specified objectives for three regions of operation named low wind, medium wind and high wind conditions. In this paper a control strategy is being developed for variable speed horizontal axis wind turbine which will allow the turbine to run at its maximum efficiency. For this purpose the PID controller based pitch actuator system is used to control the aerodynamic power of wind turbine. MATLAB Simulink power system tool is used to develop the model of PID controller. In this paper a model for the simulation of the PID controller based pitch actuator system is constructed using properly selected sub blocks. Step response of this PID controller based pitch actuator system will be analyzed. The above presented model can be a useful tool for wind power industry to study the behavior of wind turbines.
Merrikh-Bayat, Farshad; Mirebrahimi, Seyedeh-Nafiseh; Khalili, Mohammad-Reza
2014-01-01
In some of the complicated control problems we have to use the controllers that apply nonlocal operators to the error signal to generate the control. Currently, the most famous controller with nonlocal operators is the fractional-order PID (FOPID). Commonly, after tuning the parameters of FOPID controller, its transfer function is discretized (for realization purposes) using the so-called generating function. This discretization is the origin of some errors and unexpected re...
Saha, Suman; Das, Shantanu; Gupta, Amitava
2012-01-01
A novel conformal mapping based Fractional Order (FO) methodology is developed in this paper for tuning existing classical (Integer Order) Proportional Integral Derivative (PID) controllers especially for sluggish and oscillatory second order systems. The conventional pole placement tuning via Linear Quadratic Regulator (LQR) method is extended for open loop oscillatory systems as well. The locations of the open loop zeros of a fractional order PID (FOPID or PI{\\lambda}D{\\mu}) controller have been approximated in this paper vis-\\`a-vis a LQR tuned conventional integer order PID controller, to achieve equivalent integer order PID control system. This approach eases the implementation of analog/digital realization of a FOPID controller with its integer order counterpart along with the advantages of fractional order controller preserved. It is shown here in the paper that decrease in the integro-differential operators of the FOPID/PI{\\lambda}D{\\mu} controller pushes the open loop zeros of the equivalent PID cont...
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MÃ¡rcio MendonÃ§a
2015-10-01
Full Text Available In this work, it is analyzed a multivariate system control of an alcoholic fermentation process with no minimum phase. The control is made with PID classic controllers associated with a supervisory system based on Fuzzy Systems. The Fuzzy system, a priori, send set-points to PID controllers, but also adds protection functions, such as if the biomass valued is at zero or very close. The Fuzzy controller changes the campaign to prevent or mitigate the paralyzation of the process. Three control architectures based on Fuzzy Control Systems are presented and compared in performance with classic control in different campaigns. The third architecture, in particular, adds an adaptive function. A brief summary of Fuzzy theory and correlated works will be presented. And, finally simulations results, conclusions and future works end the article.
Implementation of ON/OFF and PID controller using TCP Protocol Based on Virtual Instrumentation
Abhyarthana Bisoyi , Umesh Chandra Pati
2013-01-01
LabVIEW(Laboratory Virtual InstrumentEngineering Workbench)isthe softwarewhichgives virtual existence ofhardware, reduces its costand hencetermed as Virtual Instrumentation.Thispaper deals with the implementation ofON/OFFand PID controller for controlling the temperatureof a heating element inside a wooden box with thehelp of LabVIEW. In this software,TransmissionControl Protocol (TCP)is used for developing anonline transmission processbetween client andserver. Client has control overthe set ...
Tuning of PID Controller for Time Delayed Process Using Particle Swarm Optimization
Neha Kundariya, Jyoti Ohri
2013-01-01
This paper proposes PID controller tuning for time delayed process using particle swarm optimization. There is a need to control the process with time delay in many industries. Presence of dead time in control system makes the system uncertain and gives large overshoot. When the time delay becomes longer compare to system time constant, or when the time delay varies, then control of such system becomes very difficult by classical tuning method. However many tec...
A hybrid PSO-PID approach for trajectory tracking application of a liquid level control process
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Turker Tekin Erguzel
2015-07-01
Full Text Available Water level control is a crucial step for steam generators (SG which are widely used to control the temperature of nuclear power plants. The control process is therefore a challenging task to improve the performance of water level control system. The performance assessment is another consideration to underline. In this paper, in order to get better control of water level, the nonlinear process was first expressed in terms of a transfer function (TF, a proportional-integral-derivative (PID controller was then attached to the model. The parameters of the PID controller was finally optimized using particle swarm optimization (PSO. Simulation results indicate that the proposed approach can make an effective tracking of a given level set or reference trajectory.
Optimization of PID Controller for Brushless DC Motor by using Bio-inspired Algorithms
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Sanjay Kr. Singh
2014-02-01
Full Text Available This study presents the use and comparison of various bio-inspired algorithms for optimizing the response of a PID controller for a Brushless DC Motor in contrast to the conventional methods of tuning. For the optimization of the PID controllers Genetic Algorithm, Multi-objective Genetic Algorithm and Simulated Annealing have been used. PID controller tuning with soft-computing algorithms comprises of obtaining the best possible outcome for the three PID parameters for improving the steady state characteristics and performance indices like overshoot percentage, rise time and settling time. For the calculation and simulation of the results the Brushless DC Motor model, Maxon EC 45 flat ? 45 mm with Hall Sensors Motor has been used. The results obtained the optimization using Genetic Algorithms, Multi-objective Genetic Algorithm and Simulated Annealing is compared with the ones derived from the Ziegler-Nichols method and the MATLAB SISO Tool. And it is observed that comparatively better results are obtained by optimization using Simulated Annealing offering better steady state response.
Multi-stage fuzzy PID power system automatic generation controller in deregulated environments
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In this paper, a multi-stage fuzzy proportional integral derivative (PID) type controller is proposed to solve the automatic generation control (AGC) problem in a deregulated power system that operates under deregulation based on the bilateral policy scheme. In each control area, the effects of the possible contracts are treated as a set of new input signals in a modified traditional dynamical model. The multi-stage controller uses the fuzzy switch to blend a proportional derivative (PD) fuzzy logic controller with an integral fuzzy logic input. The proposed controller operates on fuzzy values passing the consequence of a prior stage on to the next stage as fact. The salient advantage of this strategy is its high insensitivity to large load changes and disturbances in the presence of plant parameter variations and system nonlinearities. This newly developed strategy leads to a flexible controller with simple structure that is easy to implement, and therefore, it can be useful for the real world power systems. The proposed method is tested on a three area power system with different contracted scenarios under various operating conditions. The results of the proposed controller are compared with those of the classical fuzzy PID type controller and classical PID controller through some performance indices to illustrate its robust performance
S. J. Bassi 1, 1 and2, 1 and 2; Mishra, M. K.; E.E.Omizegba
2011-01-01
The proportional-integral-derivative (PID) controllers are the most popular controllers used in industry because of their remarkable effectiveness, simplicity of implementation and broad applicability. However, manual tuning of these controllers is time consuming, tedious and generally lead to poor performance. This tuning which is application specific also deteriorates with time as a result of plant parameter changes. This paper presents an artificial intelligence (AI) method of particle swa...
Comparison of PID Controller Tuning Methods with Genetic Algorithm for FOPTD System
K. Mohamed Hussain; R. Allwyn Rajendran Zepherin
2014-01-01
Measurement of Level, Temperature, Pressure and Flow parameters are very vital in all process industries. A combination of a few transducers with a controller, that forms a closed loop system leads to a stable and effective process. This article deals with control of in the process tank and comparative analysis of various PID control techniques and Genetic Algorithm (GA) technique. The model for such a Real-time process is identified as First Order Plus Dead Time (FOPTD) proce...
A Comparative Analysis of Integrated Boost Flyback Converter using PID and Fuzzy Controller
R. Samuel Rajesh Babu
2015-01-01
This paper presents a comparative analysis of Integrated boost flyback converter for Renewable energy System. IBFC is the combination of boost converter and fly back converter. The proposed converter is simulated in open and closed loop using PID and FUZZY controller. The Fuzzy Logic Controller (FLC) is used reduce the rise time, settling time to almost negligible and try to remove the delay time and inverted response. The performance of IBFC with fuzzy logic controller is found better inste...
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Haitao Zhang
2011-12-01
Full Text Available In the networked control system with random time delay in forward and feedback channels, a kind of controller based on Smith compensator and signal neuron incomplete differential forward PID is presented. First, using root locus method and simulink simulation software, the influences of network’s time delay on the system stability and dynamic performance are analyzed. Then, combined with incomplete differential forward PID control algorithm, Smith compensation model is established. Compared with existing Smith compensator, the proposed control model is easy to be implemented, and can also get better control performance in the case of miss-matching compensator model. Finally, the simulation research on a DC motor is done, and the simulation results show the effectiveness of the proposed method.
ANN Based PID Controlled Brushless DC drive System
Ganesh, C.; Prabhu, M.; M. Rajalakshmi; Sumathi, G.; Bhola, Virender; S.K. Patnaik
2012-01-01
Brushless (BLDC) DC motors find many industrial applications such as process control, robotics, automation, aerospace etc. Wider usage of this system has demanded an optimum position control for high efficiency, accuracy and reliability. Hence for the effective position control, estimation of dynamic load parameters i.e. moment of inertia and friction coefficient is necessary. This paper incorporates the estimation of mechanical parameters such as moment of inertia and friction coefficient of...
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Xiao-Guang Zhang
2013-01-01
Full Text Available Due to the environment of coal mine underground is poor, need to establish a stable and reliable network topology quickly during building the monitoring network and the topology must has reconfigurability, connectivity and reliability. For the above request, the topology control algorithm for wireless sensor network based on the PID of self-adapt hierarchical genetic (SAHGA-PID in the coal mine underground was proposed. Based on the adaptive genetic algorithm, introduced hierarchical search strategy, divided the solution space into two-layers and improved the optimization efficiency. This algorithm combined biological intelligence algorithm to closed-loop control theory, overcame the shortcoming of slow convergence and instability of the existing topology control algorithm and improved the energy efficiency and convergence rate. The simulations and results show that, this algorithm can achieve the goal of optimizing the topology control quickly and effectively.
Method’s and Test Stand for Electronic PID Controller
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Cristian Paul Chioncel
2009-01-01
Full Text Available The paper presents method’s and a testing stand for electronic controller using for this a signal generator and a digital oscilloscope respectively the virtual instrumentation and the signal acquisitions from the controllers input and output through an data acquisition board and an PC on that Lab View program runs.
Method’s and Test Stand for Electronic PID Controller
Cristian Paul Chioncel; Petru Chioncel; Nicoleta Gillich; Ovidiu Tirian
2009-01-01
The paper presents method’s and a testing stand for electronic controller using for this a signal generator and a digital oscilloscope respectively the virtual instrumentation and the signal acquisitions from the controllers input and output through an data acquisition board and an PC on that Lab View program runs.
Immune algorithm based active PID control for structure systems
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An immune algorithm is a kind of evolutional computation strategies, which is developed in the basis of a real immune mechanism in the human body. Recently, scientific or engineering applications using this scheme are remarkably increased due to its significant ability in terms of adaptation and robustness for external disturbances. Particularly, this algorithm is efficient to search optimal parameters against complicated dynamic systems with uncertainty and perturbation. In this paper, we investigate an immune algorithm embedded Proportional Integral Derivate (called IPID) control, in which an optimal parameter vector of the controller is determined offline by using a cell-mediated immune response of the immunized mechanism. For evaluation, we apply the proposed control to mitigation of vibrations for nonlinear structural systems, cased by external environment load such as winds and earthquakes. Comparing to traditional controls under same simulation scenarios, we demonstrate the innovation control is superior especially in robustness aspect
HYBRID SYSTEM BASED FUZZY-PID CONTROL SCHEMES FOR UNPREDICTABLE PROCESS
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M.K. Tan
2011-07-01
Full Text Available In general, the primary aim of polymerization industry is to enhance the process operation in order to obtain high quality and purity product. However, a sudden and large amount of heat will be released rapidly during the mixing process of two reactants, i.e. phenol and formalin due to its exothermic behavior. The unpredictable heat will cause deviation of process temperature and hence affect the quality of the product. Therefore, it is vital to control the process temperature during the polymerization. In the modern industry, fuzzy logic is commonly used to auto-tune PID controller to control the process temperature. However, this method needs an experienced operator to fine tune the fuzzy membership function and universe of discourse via trial and error approach. Hence, the setting of fuzzy inference system might not be accurate due to the human errors. Besides that, control of the process can be challenging due to the rapid changes in the plant parameters which will increase the process complexity. This paper proposes an optimization scheme using hybrid of Q-learning (QL and genetic algorithm (GA to optimize the fuzzy membership function in order to allow the conventional fuzzy-PID controller to control the process temperature more effectively. The performances of the proposed optimization scheme are compared with the existing fuzzy-PID scheme. The results show that the proposed optimization scheme is able to control the process temperature more effectively even if disturbance is introduced.
MPC-based auto-tuned PID controller for the steam generator water level
International Nuclear Information System (INIS)
In this work, proportional-integral-derivative (PID) control gains are automatically tuned by using a model predictive control (MPC) method. The MPC has received much attention as a powerful tool for the control of industrial process systems. An MPC-based PID controller can be derived from the second order linear model of a process. The steam generator is usually described by the well-known 4th order linear model which consists of the mass capacity, reverse dynamics and mechanical oscillations terms. But the important terms in this linear model are the mass capacity and reverse dynamics terms, both of which can be described by a 2nd order linear system. The proposed auto-tuned PID controller was applied to a linear model of steam generators. The parameters of a linear model for steam generators are very different according to the power levels. The proposed controller showed good performance for the water level deviation and sudden steam flow disturbances that are typical in the existing power plants by changing only the input-weighting factor according to the power level
Tuning of PID Controller for Time Delayed Process Using Particle Swarm Optimization
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Neha Kundariya
2013-07-01
Full Text Available This paper proposes PID controller tuning for time delayed process using particle swarm optimization. There is a need to control the process with time delay in many industries. Presence of dead time in control system makes the system uncertain and gives large overshoot. When the time delay becomes longer compare to system time constant, or when the time delay varies, then control of such system becomes very difficult by classical tuning method. However many techniques of PID controller tuning came in existence in recent years which gives better results compare to classical tuning rule that is Ziegler Nichols Tuning method. This paper presents a new scheme for tuning of PID controller with time delay process. Particle swarm optimization is the topic of recent research and many researchers are working on it. It is a population based technique which is inspired by the social behavior of biological organism. It is an efficient and fast tuning scheme compare to other conventional techniques. This paper presents simulation results of time delayed process using PSO and a comparison with Ziegler Nichols tuning method
de Souza Granja Barros, Juliana; Rossi, Luiz Antonio; Sartor, Karina
2015-12-01
The use of smarter temperature control technologies in heating systems can optimize the use of electric power and performance of piglets. Two control technologies of a resistive heating system were assessed in a pig nursery: a PID (proportional, integral, and derivative) controller and a thermostat. The systems were evaluated regarding thermal environment, piglet performance, and use of electric power for 99 days. The heating system with PID controller improved the thermal environment conditions and was significantly (P < 0.001) more efficient in terms of electricity use to produce 1 kg of body weight (2.88 kWh kg-1), specific cost (0.75 R kg-1), weight gain (7.3 kg), daily weight gain (0.21 kg day-1), and feed conversion (1.71) than the system with thermostat (3.98 kWh kg-1; 1.03 R kg-1; 5.2 kg; 0.15 kg day-1, and 2.62, respectively). The results indicate that the PID-controlled heating system is more efficient in electricity use and provides better conditions for thermal comfort and animal performance than heating with thermostat.
Genetic design of interpolated non-linear controllers for linear plants
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The techniques of genetic algorithms are proposed as a means of designing non-linear PID control systems. It is shown that the use of genetic algorithms for this purpose results in highly effective non-linear PID control systems. These results are illustrated by using genetic algorithms to design a non-linear PID control system and contrasting the results with an optimally tuned linear PID controller. (author)
Dong, Zhekang; Duan, Shukai; Hu, Xiaofang; Wang, Lidan; Li, Hai
2014-01-01
In this paper, we present an implementation scheme of memristor-based multilayer feedforward small-world neural network (MFSNN) inspirited by the lack of the hardware realization of the MFSNN on account of the need of a large number of electronic neurons and synapses. More specially, a mathematical closed-form charge-governed memristor model is presented with derivation procedures and the corresponding Simulink model is presented, which is an essential block for realizing the memristive synapse and the activation function in electronic neurons. Furthermore, we investigate a more intelligent memristive PID controller by incorporating the proposed MFSNN into intelligent PID control based on the advantages of the memristive MFSNN on computation speed and accuracy. Finally, numerical simulations have demonstrated the effectiveness of the proposed scheme. PMID:25202723
A PSO-PID quaternion model based trajectory control of a hexarotor UAV
Artale, Valeria; Milazzo, Cristina L. R.; Orlando, Calogero; Ricciardello, Angela
2015-12-01
A quaternion based trajectory controller for a prototype of an Unmanned Aerial Vehicle (UAV) is discussed in this paper. The dynamics of the UAV, a hexarotor in details, is described in terms of quaternion instead of the usual Euler angle parameterization. As UAV flight management concerns, the method here implemented consists of two main steps: trajectory and attitude control via Proportional-Integrative-Derivative (PID) and Proportional-Derivative (PD) technique respectively and the application of Particle Swarm Optimization (PSO) method in order to tune the PID and PD parameters. The optimization is the consequence of the minimization of a objective function related to the error with the respect to a proper trajectory. Numerical simulations support and validate the proposed method.
Regular self-oscillating and chaotic behaviour of a PID controlled gimbal suspension gyro
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The dynamics of a gyro in gimbal with a PID controller to obtain steady state, self-oscillating and chaotic motion is considered in this paper. The mathematical model of the whole system is deduced from the gyroscope nutation theory and from a feedback control system formed by a PID controller with constrained integral action. The paper shows that the gyro and the associated PID feedback control system have multiple equilibrium points, and from the analysis of a Poincare-Andronov-Hopf bifurcation at the equilibrium points, it is possible to deduce the conditions, which give regular and self-oscillating behaviour. The calculation of the first Lyapunov value is used to predict the motion of the gyro in order to obtain a desired equilibrium point or self-oscillating behaviour. The mechanism of the stability loss of the gyro under small vibrations of the gyro platform and the appearance of chaotic motion is also presented. Numerical simulations are performed to verify the analytical results
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Despite the popularity, the tuning aspect of proportional-integral-derivative (PID) controllers is a challenge for researchers and plant operators. Various controllers tuning methodologies have been proposed in the literature such as auto-tuning, self-tuning, pattern recognition, artificial intelligence, and optimization methods. Chaotic optimization algorithms as an emergent method of global optimization have attracted much attention in engineering applications. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from local optimum, is a promising tool for engineering applications. In this paper, a tuning method for determining the parameters of PID control for an automatic regulator voltage (AVR) system using a chaotic optimization approach based on Lozi map is proposed. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. Simulation results are promising and show the effectiveness of the proposed approach. Numerical simulations based on proposed PID control of an AVR system for nominal system parameters and step reference voltage input demonstrate the good performance of chaotic optimization.
Idehara, Toshitaka; Kuleshov, Alexei; Ueda, Keisuke; Khutoryan, Eduard
2013-11-01
High stabilization of the output power of high frequency gyrotrons for high power THz spectroscopy is an important issue in order to extend the applications of gyrotrons to wider subjects. For this objective, we tried a PID feedback control on a heater current of a triode magnetron injection gun (MIG) for stabilization of an electron beam current and an additional PID control of an anode voltage of the gun for direct stabilization of output power. This double PID control achieved effective responses for the stabilization of output power in both slow (from several tens seconds to several minutes) and fast (from milliseconds to seconds) time scales.
I Made Ginarsa; Agung Budi Muljono; I Made Ari Nrartha
2013-01-01
Chaos and voltage collapse occurred in critical power systems due to disturbing of energy. PID-SVC layered reccurrent neural network-based (LRN-based PID-SVC) was proposed to solve this problem. A PID was used to control chaos and voltage collapse. Then, an SVC LRN-based to maintan the load voltage. By using the proposed controller, chaos and voltage collapse were able to suppress and maintain the load voltage around the setting value. Furthemore, the proposed controller gives better response...
Combining a recurrent neural network and a PID controller for prognostic purpose.
Zemouri, Ryad; Gouriveau, Rafael; ZERHOUNI, NOUREDDINE
2009-01-01
In maintenance field, prognostic is recognized as a key feature as the prediction of the remaining useful life of a system allows avoiding inopportune maintenance spending. Assuming that it can be difficult to provide models for that purpose, artificial neural networks appear to be well suited. In this paper, an approach combining a Recurrent Radial Basis Function network (RRBF) and a proportional integral derivative controller (PID) is proposed in order to improve the accuracy of predictions...
Improving the prediction accuracy of recurrent neural network by a PID controller.
Zemouri, Ryad; Gouriveau, Rafael; Ciprian Patic, Paul
2010-01-01
In maintenance field, prognostic is recognized as a key feature as the prediction of the remaining useful life of a system which allows avoiding inopportune maintenance spending. Assuming that it can be difficult to provide models for that purpose, artificial neural networks appear to be well suited. In this paper, an approach combining a Recurrent Radial Basis Function network (RRBF) and a proportional integral derivative controller (PID) is proposed in order to improve the accuracy of predi...
Scientific Electronic Library Online (English)
José Rubén, Lagunas-Jiménez; Víctor, Moo-Yam; Benjamín, Ortíz-Moctezuma.
2014-06-01
Full Text Available En este artículos e presenta una metodología de diseño de controladores PID (Proporcional, Integral y Derivativo), de dos grados de libertad mediante el planteamiento de un problema de optimización multiobjetivo. Las funciones objetivo propuestas consideran entre otros: respuesta de referencia al es [...] calón, perturbación de carga y robustez ante incertidumbre en el modelado. También se incluye un filtro para minimizar el ruido de medición y la constante de tiempo se incluye en el vector de variables de decisión. El problema de optimización se resuelve con un algoritmo genético. Abstract in english In this paper, a design methodology for a proportional integral derivative (PID) control design is presented by means of the statement of a multiobjective optimization problem (MOP). Two-degrees-of-freedom controller (PID-ISA) is used. The objective functions are deployed considering a set point res [...] ponse, load disturbances and robustness to model uncertainty as its components. The time constant of measurement noise filter is a component of the vector of decision variables. The optimization problem is solved by means of a genetic algorithm.
Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop.
Tepljakov, Aleksei; Gonzalez, Emmanuel A; Petlenkov, Eduard; Belikov, Juri; Monje, Concepción A; Petráš, Ivo
2016-01-01
The problem of changing the dynamics of an existing DC motor control system without the need of making internal changes is considered in the paper. In particular, this paper presents a method for incorporating fractional-order dynamics in an existing DC motor control system with internal PI or PID controller, through the addition of an external controller into the system and by tapping its original input and output signals. Experimental results based on the control of a real test plant from MATLAB/Simulink environment are presented, indicating the validity of the proposed approach. PMID:26639053
Energy Technology Data Exchange (ETDEWEB)
Palomares Gonzalez, Daniel; Garcia Mendoza, Raul [Instituto de Investigaciones Electricas, Cuernavaca (Mexico)
1990-12-31
A description is made of the design and evaluation of an hybrid control system, formed by a quadratic gaussian linear regulator (QLR) and proportional integral derivative (PID) type regulators. This scheme is used to control the reheater and secondary superheater steam temperatures of a steam generator model with a maximum capacity of 2,150,000 pounds per hour. Once applied to the model of a 300 MW steam power plant, this system showed better results than the traditional schemes and inclusively better than some modern control schemes. This fact characterizes it as a high potential system to be applied to steam power plants. [Espanol] Se describe el diseno y la evaluacion de un sistema de control hibrido, formado por un regulador lineal cuadratico gaussiano (RLC) y reguladores tipo proporcional integral derivativo (PID). Este esquema se utiliza para controlar las temperaturas de vapor del recalentador y sobrecalentador secundario del modelo de un generador de vapor con capacidad maxima de 2,150,000 libras por hora. Una vez aplicado al modelo de una unidad termoelectrica de 300 MW, este sistema produjo mejores resultados que los esquemas tradicionales e incluso mejores que algunos esquemas de control moderno. Esto lo caracteriza como un sistema con un alto potencial para aplicarse a unidades termoelectricas.
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Wendy Kurniawan Kautsar
2012-09-01
Full Text Available Pada sistem tenaga listrik, perubahan beban tidak dapat diprediksi. Beban yang berubah secara tiba-tiba menyebabkan osilasi pada frekuensi generator. Pada sistem tenaga listrik multi area, generator bekerja secara sinkron. Osilasi frekuensi dapat menyebabkan frekuensi generator lepas sinkron. Oleh karena itu, osilasi frekuensi harus diredam dengan cara pengaturan frekuensi dan beban atau Load Frequency Control (LFC. Pengaturan frekuensi pada generator dilakukan oleh governor. Untuk mendapatkan performansi yang lebih baik, pengaturan frekuensi pada generator diberi aksi kontrol Kontroler Proporsional Integral Differensial (PID. Selain kontroller PID, osilasi dapat diredam dengan Thyristor Controlled Phase Shifter (TCPS. TCPS adalah salah satu peralatan Flexible AC Transmision System (FACTS. FACTS juga banyak digunakan sebagai peredam osilasi. Agar didapatkan koordinasi yang baik, maka parameter PID dan TCPS dioptimisasi dengan Differential Evolution (DE.
Xia, Dunzhu; Kong, Lun; Hu, Yiwei; Ni, Peizhen
2015-02-01
We present a novel silicon microgyroscope (SMG) temperature prediction and control system in a narrow space. As the temperature of SMG is closely related to its drive mode frequency and driving voltage, a temperature prediction model can be established based on the BP neural network. The simulation results demonstrate that the established temperature prediction model can estimate the temperature in the range of -40 to 60?°C with an error of less than ±0.05?°C. Then, a temperature control system based on the combination of fuzzy logic controller and the increment PID control method is proposed. The simulation results prove that the Fuzzy-PID controller has a smaller steady state error, less rise time and better robustness than the PID controller. This is validated by experimental results that show the Fuzzy-PID control method can achieve high precision in keeping the SMG temperature stable at 55?°C with an error of less than 0.2?°C. The scale factor can be stabilized at 8.7?mV/°/s with a temperature coefficient of 33?ppm?°C-1. ZRO (zero rate output) instability is decreased from 1.10°/s (9.5?mV) to 0.08°/s (0.7?mV) when the temperature control system is implemented over an ambient temperature range of -40 to 60?°C.
Control of a production-inventory system using a pid and demand prediction based controller
Scientific Electronic Library Online (English)
S., Tosetti; D., Patiño; F., Capraro; A., Gambier.
2009-10-01
Full Text Available The need of reducing inventory levels as much as possible without loosing sales opportunities is an important goal not only for small but also for mid-size and large companies, on account of the high costs associated with large inventory stocks. In general, the performance of inventory systems is al [...] so affected by the Bullwhip effect caused, among other factors, by non-zero lead times. This paper proposes an automatic pipeline feedback order-based production control system (APIOBPCS) considering a demand with cyclic and stochastic components. The dynamics and delays of the production process are modeled as a pure delay. The control system structure consists of a PID controller and demand prediction based on an Extended Kalman Filter (EKF). The main objective of the controller is to stabilize and regulate the inventory levels about a desired set-point. The extended Kalman Filter estimates the parameters of a Volterra time-series model to predict future values of the demand. The control system is evaluated by simulations, showing a good performance and better results than those achieved by using traditional inventory control techniques.
AC/DC Converter AC Side Harmonic Wave Detection Based on Self-adaption Fuzzy PID Controlling
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Li Jia-Sheng
2014-01-01
Full Text Available As AC/DC converter is a non-linear and time varying uncertain system, it is hard to reach the ideal control effect if adopting the routine Proportional Integral Differential (PID control which is bad in dynamic property. A compound control scheme is proposed in this study which combines PID control and fuzzy self adaption. It takes error e and error variation ec as input and modifies PID parameter by using fuzzy control rule on line to satisfy the requirements of e and ec on PID parameter self tuning in different times. The experiment simulation indicates that the proposed scheme can minimize the AC side distortion factor and get better sine wave. Additionally, this scheme is simple, effective and practical in certain degree.
Cascade sliding mode-PID controller for a coupled-inductor boost converter
Carrero Candelas, Niliana Andreina; Batlle Arnau, Carles; Fossas Colet, Enric
2013-01-01
In this paper, a coupled-inductor Boost converter is modelled as a piece-wise complementarity system and controlled by means of two loops: a sliding mode control inner loop and an experimentally tuned PID outer loop control. The aim of the closed loop system is to regulate the output voltage of the coupled-inductor Boost converter. The control is carried out using the piece-wise complementarity model of the converter, which takes into account its hybrid dynamic. In addition, the performance a...
Performance Enhancement of a Dynamic System Using PID Controller Tuning Formulae
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Jyotiprakash Patra
2011-09-01
Full Text Available The proportional integral derivative (PID controller is the most dominant form of automatic controller in industrial use today. With this technique, it is necessary to adjust the controller parameters according to the nature of the process. Thus, for effective control of a HVDC system, for example, specific values need to be chosen for the P, I and D parameters, which will be different for the values required to control, for example, an induction motor drive. This tailoring of controller to process is known as controller tuning. Controller tuning is easily and effectively performed using tuning rules (i.e. formulae for controller tuning, based on process information. Such tuning rules allow the easy set up of controllers to achieve optimum performance at commissioning. Importantly, they allow ease of re -commissioning if the characteristics of the process change. The paper communicates the results of recent work in the collation of industry-relevant PI and PID controller tuning rules, which may be applied to a variety of applications in power electronics, machines and drives.
Haitao Zhang; Jinbo Hu; Wenshao Bu
2015-01-01
We first analyze the effect of network-induced delay on the stability of networked control systems (NCSs). Then, aiming at stochastic characteristics of the time delay, we introduce a new Smith predictor to remove the exponential function with the time delay in the closed-loop characteristic equation of the NCS. Furthermore, we combine the fuzzy PID algorithm with the fuzzy immune control algorithm and present a fuzzy immune self-adaptive PID algorithm to compensate the influence of the model...
Optimal Self-Tuning PID Controller Based on Low Power Consumption for a Server Fan Cooling System
Lee, Chengming; Chen, Rongshun
2015-01-01
Recently, saving the cooling power in servers by controlling the fan speed has attracted considerable attention because of the increasing demand for high-density servers. This paper presents an optimal self-tuning proportional-integral-derivative (PID) controller, combining a PID neural network (PIDNN) with fan-power-based optimization in the transient-state temperature response in the time domain, for a server fan cooling system. Because the thermal model of the cooling system is nonlinear a...
Directory of Open Access Journals (Sweden)
Leila Mohammadian
2015-03-01
Full Text Available In this paper, a new method of signal flow graph technique and Masonâ€™s gain formula are applied for extracting the model and transfer functions from control to output and from input to output of a buck-boost converter. In order to investigate necessity of a controller for the converter with assumed parameters, the frequency and time domain analysis is done and the open loop system characteristics are verified. In addition, the needed closed loop controlled system specifications are determined. Moreover, designing a controller for the mentioned converter system based on the extracted model is discussed. For this purpose, a proportional-integral-derivative (PID controller is designed and the hybrid of genetic algorithm (GA and particle swarm optimization (PSO, called H-GA-PSO method is used for tuning of the PID controller. Finally, the simulation results are used to show the performance of the proposed modeling and regulation methods.
PID temperature controller and heating assembly for superheated liquid neutron sensor
International Nuclear Information System (INIS)
Superheated drop detector developed by DL, Jodhpur works on bubble chamber principle. Such type of detector for personal neutron dosimetry is commercially available. The above neutron dosimeter is temperature dependent and it is quite difficult to compensate for temperature in extreme environment. An attempt is made to develop a PID temperature controller along with heating assembly for neutron survey meter so as to cover the vide neutron energy response. The details of temperature controller circuit and heating assembly are highlighted in the present paper with the results obtained using R-114 sensor liquid. (author)
Design Controller for a Class of Nonlinear Pendulum Dynamical System
Mohamad Reza Rahimi Khoygani; Reza Ghasemi; Davoud Sanaei
2013-01-01
Designing proportional integral derivative (PID), Linear Quadratic Regulator (LQR), Fuzzy Logic Controller (FLC) and Self-Tuning Fuzzy PID (STFP) controller is used for nonlinear pendulum dynamic system in this paper.The promising performance of the proposed controllers investigates in simulation. The effectiveness, robustness against noise and the comparison of the controller methods for Nonlinear Pendulum Dynamical System are delivered in this paper.
Scientific Electronic Library Online (English)
P. E., Silveira; R. de, Souza Jr.; V. M., Biazotto.
2002-05-01
Full Text Available An Autonomous Mobile Robot battery driven, with two traction wheels and a steering wheel is being developed. This Robot central control is regulated by an IPC, which controls every function of security, steering, positioning localization and driving. Each traction wheel is operated by a DC motor wit [...] h independent control system. This system is made up of a chopper, an encoder and a microcomputer. The IPC transmits the velocity values and acceleration ramp references to the PIC microcontrollers. As each traction wheel control is independent, it's possible to obtain different speed values for each wheel. This process facilities the direction and drive changes. Two different strategies for speed velocity control were implemented; one works with PID, and the other with fuzzy logic. There were no changes in circuits and feedback control, except for the PIC microcontroller software. Comparing the two different speed control strategies the results were equivalent. However, in relation to the development and implementation of these strategies, the difficulties were bigger to implement the PID control.
Genetics algorithms as a tuning tool for PID and sliding mode controllers
Scientific Electronic Library Online (English)
Juan C, Terán-Picón; José, Anderez; Oscar, Camacho.
2005-12-01
Full Text Available En este artículo los algoritmos genéticos se utilizan como una herramienta de búsqueda aleatoria de parámetros de sintonización de un controlador. El algoritmo funciona de tal manera que los nuevos parámetros de ajuste mejoran el desempeño del sistema de control. Dos casos de estudio son considerado [...] s: el primer caso es el controlador proporcional-integral-derivativo y el segundo caso de estudio es el controlador por modo deslizante. Los algoritmos son aplicados a partir de sintonizaciones iniciales, Ziegler y Nichols para la sintonización previa del PID, y las desarrolladas por Camacho para la sintonización inicial. Abstract in english In this paper, the genetic algorithms are used as a searching tool of the tuning parameters of a controller. The algorithm works such a way that the new tunings improve the performance of the control system. Two studied cases are considered: the first case is the proportional-integral-derivative con [...] troller and the second study case is the sliding mode controller. The algorithms are applied from initial tunings, such as Ziegler and Nichols for the PID controller and the obtained from Camacho for sliding mode controller.
Reducing the energy consumption of an earth–air heat exchanger with a PID control system
International Nuclear Information System (INIS)
Highlights: • The application of control actions to green technologies has been simulated. • Energy consumption of green technologies can be reduced even more. • The efficiency of green technologies can be raised. • Environmental concerns can be diminished. • The sustainability of the planet can be increased. - Abstract: Reducing environmental emissions is one of the challenges that human being has to overcome. It can only be reached with a proper energetic efficiency and management of the processes that exist in the society nowadays. Several academic works have mentioned that raising the efficiency of a process it also increases sustainability and in turn decreases the environmental impact. One process that requires much attention is the cooling and heating of buildings; this process contributes to the major part of the electric bill, in particular, if a conventional and old air conditioning is used as commonly occurs in many countries. In recent years there have been developed new alternatives that are used in few countries, such as the earth–air heat exchanger, where air is passed through a heat exchanger buried a few meters below the ground. The heat exchanger takes advantage of the well-known difference between the temperature of the surrounding air and the temperature of the ground for cooling or heating the air that is subsequently injected into the buildings. This process requires less energy, then in the present work is thought that a PID (Proportional, Integral and Derivative) controller can be applied to an earth–air heat exchanger to reduce even more the energy consumption. Therefore, a simulation of a thermodynamic model of an earth–air heat exchanger was done and used along with a PID controller, to estimate savings in energy consumption. The results show that the energy consumption can be reduced up to 87% with the PID control, hence the efficiency of the process is increased as well as the sustainability of the planet and thus the environmental concerns are diminished
Scientific Electronic Library Online (English)
Juliana de S. G., Barros; Luiz A., Rossi; Karina, Sartor.
2015-05-01
Full Text Available O uso racional de energia elétrica em creches suínas pode ser viabilizado sem afetar o desempenho produtivo dos animais visando à sustentabilidade do setor razão por que o objetivo deste trabalho foi avaliar a eficiência de duas tecnologias de controle de temperatura em sistema de aquecimento resist [...] ivo em creche suína, no uso de energia elétrica e no ganho de peso dos leitões. Os sistemas avaliados foram: resistências elétricas suspensas com controle PID (proporcional, integral e derivativo) e resistências elétricas suspensas com termostato. O experimento foi realizado durante o período de inverno, entre maio e setembro de 2013. Os critérios de comparação foram: consumo de energia elétrica (kWh), consumo específico (kWh kg-1), custo específico (R$ kg-1), indicador de eficiência elétrica no aquecimento, ganho de peso (kg) e ganho de peso diário (kg d-1). O sistema de aquecimento com controlador PID, apesar de apresentar maior consumo médio, foi mais eficiente quanto ao uso de energia elétrica para produzir 1 kg de peso vivo (2,88 kWh kg-1), quanto ao custo específico (0,75 R$ kg-1) e quanto ao ganho de peso dos leitões (7,3 kg) em comparação com o sistema com termostato (3,98 kWh kg-1, 1,03 R$ kg-1 e 5,2 kg, respectivamente). Abstract in english The rational use of energy in swine nurseries can be made possible without affecting the productive performance of animals, aiming the sustainability of the sector. The objective of this study was to evaluate the efficiency of two technologies for temperature control of resistive heating system for [...] swine nursery on the use of electricity by the systems and on the weight gain of the piglets. The evaluated systems were: overhead electric heaters with PID (proportional, integral and derivative) control and suspended electric heaters with thermostat. The experiment was conducted during the winter period between May and September 2013. The comparison criteria were: electricity consumption (kWh), specific consumption (kWh kg-1), specific cost (R$ kg-1), indicator of electrical efficiency in heating, weight gain (kg) and daily weight gain (kg d-1). The heating system with PID controller, although showed a higher average consumption, was more efficient as the electricity used to produce 1 kg of body weight (2,88 kWh kg-1), as the specific cost (0,75 R$ kg-1) and for weight gain of piglets (7,3 kg) compared to the system with thermostat (3,98 kWh kg-1, 1,03 R$ kg-1 and 5,2 kg, respectively).
Saha, Suman; Das, Saptarshi; Das, Shantanu; Gupta, Amitava
2012-01-01
A novel conformal mapping based Fractional Order (FO) methodology is developed in this paper for tuning existing classical (Integer Order) Proportional Integral Derivative (PID) controllers especially for sluggish and oscillatory second order systems. The conventional pole placement tuning via Linear Quadratic Regulator (LQR) method is extended for open loop oscillatory systems as well. The locations of the open loop zeros of a fractional order PID (FOPID or PI{\\lambda}D{\\mu...
PSO-tuned PID controller for coupled tank system via priority-based fitness scheme
Jaafar, Hazriq Izzuan; Hussien, Sharifah Yuslinda Syed; Selamat, Nur Asmiza; Abidin, Amar Faiz Zainal; Aras, Mohd Shahrieel Mohd; Nasir, Mohamad Na'im Mohd; Bohari, Zul Hasrizal
2015-05-01
The industrial applications of Coupled Tank System (CTS) are widely used especially in chemical process industries. The overall process is require liquids to be pumped, stored in the tank and pumped again to another tank. Nevertheless, the level of liquid in tank need to be controlled and flow between two tanks must be regulated. This paper presents development of an optimal PID controller for controlling the desired liquid level of the CTS. Two method of Particle Swarm Optimization (PSO) algorithm will be tested in optimizing the PID controller parameters. These two methods of PSO are standard Particle Swarm Optimization (PSO) and Priority-based Fitness Scheme in Particle Swarm Optimization (PFPSO). Simulation is conducted within Matlab environment to verify the performance of the system in terms of settling time (Ts), steady state error (SSE) and overshoot (OS). It has been demonstrated that implementation of PSO via Priority-based Fitness Scheme (PFPSO) for this system is potential technique to control the desired liquid level and improve the system performances compared with standard PSO.
Research on PID controller with input shaping algorithm for linear motor
Liu, Yang; Dong, Yue; Fan, Wenchao; Fu, Zhenxian
2015-02-01
The reticle stage of lithography is a high precision servo motion platform, which requires using macro movement of linear motor and micro movement of voice coil motor to realize an nm-level positioning precision and tracking. In order to increase the control effect and response speed of macro movement linear motor of reticle stage of lithography, the paper presents an efficient control for linear motor. The method use input shaping technique with Proportional Integral Derivative (PID) controller to realize the high position precision in small stetting time. In the paper we firstly build the linear motor mathematical modeling which is end to velocity loop or position loop. so that we mainly focus on the tracking of speed signal. Then a PID controller is introduced in the system, which is high frequency used in industrial control. Finally, as the need of high positioning precision and small stetting time, we apply input shaping algorithm to solve the problem. The simulation of the system is performed by using MATLAB/Simulation. The evaluation of the method is the performance of input tracking capability.
Directory of Open Access Journals (Sweden)
MAHALINGAM Usha
2013-05-01
Full Text Available The strength of any material is dependenton the grain size and percentage of volume fractionrecrystallization. In this Paper, a new approach forcontrolling microstructure development during hotworking process by percentage of volume fractionrecrystallization is proposed. Here two differentmethods are employed. One of the approaches is basedon the Optimal Control theory and involves thedeveloping of state space models to describe thematerial behavior and the mechanics of the process.This approach is applied to obtain the desiredpercentage of volume fraction recrystallization of ‘1’from an initial value of ‘0’. The standard Arreheniousequation of 0.3% carbon steel is utilized to obtain anoptimal deformation path such that the percentage ofvolume fraction recrystallization should be 1. Theplant model is developed and an appropriate optimalitycriterion is selected to maintain strain, strain rate andtemperature. The state-space model together with anoptimality criterion is used to control the percentage ofvolume fraction recrystallization using LinearQuadratic Regulator method. In the other approachPID controller is employed for the plant model(microstructure development. The simulation is doneon various values for percentage of volume fractionrecrystallization using both the controllers byMATLAB simulink toolbox. When comparing theresponses, the PID controller provides betterperformance compared with LQR. Resulting tabulatedperformance indices showed a considerableimprovement in settling time besides reducing steadystate error.
Photovoltaic System Regulation Based on a PID Fuzzy Controller to Ensure a Fixed Settling Time
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Paula A. Ortiz-Valencia
2013-11-01
Full Text Available The main objective of the controllers in photovoltaic systems (PV is to ensure the maximum extraction of the available power. Those controllers usually combine the action of a maximum power point tracking algorithm (MPPT with a voltage regulator, which has the function of rejecting disturbances at the panel terminals. Such controllers are commonly based on PI and PID structures, it requiring linearized models at an operating point. But, due to disturbances generated by the environment and the load, the operating point of the system changes drastically, which hinder to obtain the desired system performance. This paper proposes to regulate the PV system using a Fuzzy PID controller, which adapts to changes in solar irradiance and load oscillations. This characteristic guarantees a constant settling time, which is required to precisely define the period of the MPPT algorithm. In the case of classical linear controllers, the period of the MPPT algorithm is set to the worst case (longest period which generates additional power losses by slowing down the tracking of the optimal operating point. Therefore, the solution proposed in this paper improves the overall system efficiency. Finally, such a solution is validated through simulations in MatlabÂ®.
Pricop, Emil; Zamfir, Florin; Paraschiv, Nicolae
2015-11-01
Process control is a challenging research topic for both academia and industry for a long time. Controllers evolved from the classical SISO approach to modern fuzzy or neuro-fuzzy embedded devices with networking capabilities, however PID algorithms are still used in the most industrial control loops. In this paper, we focus on the implementation of a PID controller using mbed NXP LPC1768 development board. This board integrates a powerful ARM Cortex- M3 core and has networking capabilities. The implemented controller can be remotely operated by using an Internet connection and a standard Web browser. The main advantages of the proposed embedded system are customizability, easy operation and very low power consumption. The experimental results obtained by using a simulated process are analysed and shows that the implementation can be done with success in industrial applications.
Gyrotron Output Power Stabilization by PID Feedback Control of Heater Current and Anode Voltage
Khutoryan, E. M.; Idehara, T.; Kuleshov, A. N.; Ueda, K.
2014-12-01
To provide stable output power of a gyrotron during long operation time the power stabilization was achieved by two schemes with PID feedback control of heater current and anode voltage. It was based on the dependence of the output power on both the anode voltage and the beam current and also on the dependence of the beam current on the gun heater current. Both schemes provided decrease of the power standard deviation to 0.3-0.5%. The comparison between parameters of both schemes is discussed in the paper.
Stabilization of Gyrotron Frequency by PID Feedback Control on the Acceleration Voltage
Khutoryan, E. M.; Idehara, T.; Kuleshov, A. N.; Tatematsu, Y.; Yamaguchi, Y.; Matsuki, Y.; Fujiwara, T.
2015-12-01
The results of frequency stabilization by proportional-integral-derivative (PID) feedback control of acceleration voltage in the 460-GHz Gyrotron FU CW GVI (the official name in Osaka University is Gyrotron FU CW GOI) are presented. The experiment was organized on the basis of the frequency modulation by modulation of acceleration voltage of beam electrons. The frequency stabilization during 10 h experiment was better than 10-6, which is compared with the results of the frequency deviation in free-running gyrotron operation.
Response to a Setpoint Change in PID Controlled Time-Delay Feedback Systems
Martelli, G
2007-01-01
The response to a setpoint change in PID controlled feedback systems plays an important role for the tuning methods. This response may be easily evaluated in linear systems without delay by solving the related ordinary differential equations. These equations are also obtained for system with delay, if the delay exponential term is approximated to a polynomial by one of the Pade expressions. If this simplification is avoided, one must deal with differential difference equations. In this paper their explicit solution, obtained with the method of steps, is presented. Moreover a second order equation is investigated as example and the complete set of the coefficients formulas is given.
Non-parametric Tuning of PID Controllers A Modified Relay-Feedback-Test Approach
Boiko, Igor
2013-01-01
The relay feedback test (RFT) has become a popular and efficient tool used in process identification and automatic controller tuning. Non-parametric Tuning of PID Controllers couples new modifications of classical RFT with application-specific optimal tuning rules to form a non-parametric method of test-and-tuning. Test and tuning are coordinated through a set of common parameters so that a PID controller can obtain the desired gain or phase margins in a system exactly, even with unknown process dynamics. The concept of process-specific optimal tuning rules in the nonparametric setup, with corresponding tuning rules for flow, level pressure, and temperature control loops is presented in the text. Common problems of tuning accuracy based on parametric and non-parametric approaches are addressed. In addition, the text treats the parametric approach to tuning based on the modified RFT approach and the exact model of oscillations in the system under test using the locus of a perturbedrelay system (LPRS) meth...
Classical controller design techniques for fractional order case.
Yeroglu, Celaleddin; Tan, Nusret
2011-07-01
This paper presents some classical controller design techniques for the fractional order case. New robust lag, lag-lead, PI controller design methods for control systems with a fractional order interval transfer function (FOITF) are proposed using classical design methods with the Bode envelopes of the FOITF. These controllers satisfy the robust performance specifications of the fractional order interval plant. In order to design a classical PID controller, an optimization technique based on fractional order reference model is used. PID controller parameters are obtained using the least squares optimization method. Different PID controller parameters that satisfy stability have been obtained for the same plant. PMID:21497807
Implementation of ON/OFF and PID controller using TCP Protocol Based on Virtual Instrumentation
Directory of Open Access Journals (Sweden)
Abhyarthana Bisoyi , Umesh Chandra Pati
2013-03-01
Full Text Available LabVIEW(Laboratory Virtual InstrumentEngineering Workbenchisthe softwarewhichgives virtual existence ofhardware, reduces its costand hencetermed as Virtual Instrumentation.Thispaper deals with the implementation ofON/OFFand PID controller for controlling the temperatureof a heating element inside a wooden box with thehelp of LabVIEW. In this software,TransmissionControl Protocol (TCPis used for developing anonline transmission processbetween client andserver. Client has control overthe set point andServer has control over the temperature. Inhardware section, a DataAcquisition (DAQ cardreads temperature from sensor and delivers toServer. With the help of internet protocol,clientprovides the value ofset point according to whichthe control actions aretaken by the server.Thepaper also includes discussions regarding theadvantages and disadvantages of TCP/IP.
A novel multi-drive electric vehicle system control based on multi-input multi-output PID controller
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Gasbaoui Brahim
2012-01-01
Full Text Available In-wheel-motor drive electric vehicle (EV is an innovative configuration of the modern EV, in which each wheel is driven individually by an electric motor. The classical traction motor control called the Independent Machine Control Structure (IMCS using a PID speed controller presents major inconveniences in modern EV safety, when the proposed control can not ensure stability of the EV with differing road topology and variations of speed. A new approach is proposed for a control of a two-in-wheel-motor drive EV, called the Maximum Control Structure MCS. This is based on a multivariable PID (MIMO-PID strategy, which is employed to estimate the linear speed error of each of the two back driving wheels, when the error of each wheel is taken into account in the other speed control computations. Simulation results show that the new control system presents increased safety for the EVs compared with the IMCS strategy and can maintain the error slip rate within the optimal range, ensuring the stability of the vehicle either in a straight or a curved line.
A PID Positioning Controller with a Curve Fitting Model Based on RFID Technology
Scientific Electronic Library Online (English)
Young-Long, Chen; Zhi-Rong, Chen.
2013-04-01
Full Text Available The global positioning system (GPS) is an important research topic to solve outdoor positioning problems, but GPS is unable to locate objects accurately and precisely indoors. Some available systems apply ultrasound or optical tracking. This paper presents an efficient proportional-integral-derivati [...] ve (PID) controller with curve fitting model for mobile robot localization and position estimation which adopts passive radio frequency identification (RFID) tags in a space. This scheme is based on a mobile robot carries an RFID reader module which reads the installed low-cost passive tags under the floor in a grid-like pattern. The PID controllers increase the efficiency of captured RFID tags and the curve fitting model is used to systematically identify the revolutions per minute (RPM) of the motor. We control and monitor the position of the robot from a remote location through a mobile phone via Wi-Fi and Bluetooth network. Experiment results present that the number of captured RFID tags of our proposed scheme outperforms that of the previous scheme.
Stabilization loop of a two axes gimbal system using self-tuning PID type fuzzy controller.
Abdo, Maher Mahmoud; Vali, Ahmad Reza; Toloei, Ali Reza; Arvan, Mohammad Reza
2014-03-01
The application of inertial stabilization system is to stabilize the sensor's line of sight toward a target by isolating the sensor from the disturbances induced by the operating environment. The aim of this paper is to present two axes gimbal system. The gimbals torque relationships are derived using Lagrange equation considering the base angular motion and dynamic mass unbalance. The stabilization loops are constructed with cross coupling unit utilizing proposed fuzzy PID type controller. The overall control system is simulated and validated using MATLAB. Then, the performance of proposed controller is evaluated comparing with conventional PI controller in terms of transient response analysis and quantitative study of error analysis. The simulation results obtained in different conditions prove the efficiency of the proposed fuzzy controller which offers a better response than the classical one, and improves further the transient and steady-state performance. PMID:24461337
Calculation verification of startup method for density lock based on PID control
International Nuclear Information System (INIS)
For the Passive Residual Heat Removal System, basing on the self-equivalence startup process, and adding pump controlling system, the startup method for density lock based on PID control system is advanced, that is, after the valve in PRHRS opening, the pump speed is controlled basing on the temperature changing in density lock, and the cold-hot liquid interface is maintained in the density lock, which ensures the PRHRS depart from the primary loop. According to the one-dimensional equations, the controlling startup process for the density lock is numerically simulated, and it is shown that under the effect of controlling system, the pressure in two loops can become balance gradually to start up the density lock successfully by changing the primary loop flux. The method makes the restrictions less and successful ration bigger for density lock startup. (authors)
Computation of stabilizing PI and PID controllers by using Kronecker summation method
International Nuclear Information System (INIS)
In this paper, a new method for computation of all stabilizing PI controllers is given. The method is based on the plant model in time domain, and by using the extraordinary feature results from Kronecker sum operation, an explicit equation of control parameters defining the stability boundary in parametric space is obtained. Beyond stabilization, the method is used to shift all poles to a shifted half plane that guarantees a specified settling time of response. The stability regions of PID controllers are given in (kp, ki), (kp, kd) and (ki, kd) plane, respectively. The proposed method is also used to compute all the values of a PI controller stabilizing a control system with uncertain parameters. The proposed method is further extended to determine stability regions of uncertain coefficients of the system. Examples are given to show the benefits of the proposed method.
DEFF Research Database (Denmark)
Moafi, Milad; Marzband, Mousa; Savaghebi, Mehdi; Guerrero, Josep M.
2016-01-01
the islanded Microgrid (MG). To increase performance for a wide range of power system operating conditions, an energy management systems (EMS) is proposed based on a fuzzy fractional order PID (FFOPID) controller. It is able to analyze and simulate the dynamic behavior in grid connected MGs. This...... mechanism combined with a PID-controller (termed as FLPID) and Fuzzy fractional order PID (termed as FFOPID) are implemented according to the characteristics and limitations of overloading and state of charge (SOC). The obtained results show good performance of FFOPID controllers by improving the transient...... controller is proposed in the MG encompassing distributed generation resources with “plug and play” ability. The performance of FFOPID controller is verified for frequency control purposes and to support internal bus voltage in both islanded and grid connected operating modes in accordance with the failure...
Directory of Open Access Journals (Sweden)
Prof Vishal Vaidya
2013-11-01
Full Text Available his paper describes the speed control of dc motor using back emf method. Among the various techniques for controlling the speed control of dc motor, this method offers relatively simple and cost effective solution. In this method no feedback sensor or extra feedback signal processing circuitry is required. The speed control of dc motor has been achieved using pid controller which is implemented on PIC micro controller and one method is also proposed to achieve better speed control of dc motor.
A PID Positioning Controller with a Curve Fitting Model Based on RFID Technology
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Young-Long Chen
2013-03-01
Full Text Available The global positioning system (GPS is an important research topic to solve outdoor positioning problems, but GPSis unable to locate objects accurately and precisely indoors. Some available systems apply ultrasound or opticaltracking. This paper presents an efficient proportional-integral-derivative (PID controller with curve fitting model formobile robot localization and position estimation which adopts passive radio frequency identification (RFID tags ina space. This scheme is based on a mobile robot carries an RFID reader module which reads the installed low-costpassive tags under the floor in a grid-like pattern. The PID controllers increase the efficiency of captured RFID tagsand the curve fitting model is used to systematically identify the revolutions per minute (RPM of the motor. Wecontrol and monitor the position of the robot from a remote location through a mobile phone via Wi-Fi and Bluetoothnetwork. Experiment results present that the number of captured RFID tags of our proposed scheme outperformsthat of the previous scheme.
Das, Saptarshi; Pan, Indranil; Das, Shantanu; Gupta, Amitava
2012-03-01
Genetic algorithm (GA) has been used in this study for a new approach of suboptimal model reduction in the Nyquist plane and optimal time domain tuning of proportional-integral-derivative (PID) and fractional-order (FO) PI(?)D(?) controllers. Simulation studies show that the new Nyquist-based model reduction technique outperforms the conventional H(2)-norm-based reduced parameter modeling technique. With the tuned controller parameters and reduced-order model parameter dataset, optimum tuning rules have been developed with a test-bench of higher-order processes via genetic programming (GP). The GP performs a symbolic regression on the reduced process parameters to evolve a tuning rule which provides the best analytical expression to map the data. The tuning rules are developed for a minimum time domain integral performance index described by a weighted sum of error index and controller effort. From the reported Pareto optimal front of the GP-based optimal rule extraction technique, a trade-off can be made between the complexity of the tuning formulae and the control performance. The efficacy of the single-gene and multi-gene GP-based tuning rules has been compared with the original GA-based control performance for the PID and PI(?)D(?) controllers, handling four different classes of representative higher-order processes. These rules are very useful for process control engineers, as they inherit the power of the GA-based tuning methodology, but can be easily calculated without the requirement for running the computationally intensive GA every time. Three-dimensional plots of the required variation in PID/fractional-order PID (FOPID) controller parameters with reduced process parameters have been shown as a guideline for the operator. Parametric robustness of the reported GP-based tuning rules has also been shown with credible simulation examples. PMID:22036301
Non-Contact Linear Actuator Position Sensor Having a PID-Compensating Controller
Alhorn, Dean C. (Inventor); Howard, David E. (Inventor)
2001-01-01
A position sensor or controller generates a response signal in existing armature windings of an actuator and detects the response signal to determine the position of the armature. To generate the response signal, the actuator includes a sensor excitation winding near the armature. Two sensor excitation windings can be provided, above and below the armature, to cancel out z components and thus allow for a variable gap. The sensor excitation winding or windings are supplied with an excitation signal to induce the response signal in the armature windings. The response signal is derived by differentially amplifying and frequency filtering a raw output of the armature windings. The response signal is demodulated to determine position. If a position controller rather than a mere sensor is desired, the position signal can be buffered, PID compensated, amplified, and fed back to the armature windings.
Thermal response simulation for tuning PID controllers in a 1016 mm guarded hot plate apparatus.
Thomas, William C; Zarr, Robert R
2011-07-01
A mathematical model has been developed and used to simulate the controlled thermal performance of a large guarded hot-plate apparatus. This highly specialized apparatus comprises three interdependent components whose temperatures are closely controlled in order to measure the thermal conductivity of insulation materials. The simulation model was used to investigate control strategies and derive controller gain parameters that are directly transferable to the actual instrument. The simulations take orders-of-magnitude less time to carry out when compared to traditional tuning methods based on operating the actual apparatus. The control system consists primarily of a PC-based PID control algorithm that regulates the output voltage of programmable power amplifiers. Feedback parameters in the form of controller gains are required for the three heating circuits. An objective is to determine an improved set of gains that meet temperature control criteria for testing insulation materials of interest. The analytical model is based on aggregated thermal capacity representations of the primary components and includes the same control algorithm as used in the actual hot-plate apparatus. The model, accounting for both thermal characteristics and temperature control, was validated by comparisons with test data. The tuning methodology used with the simulation model is described and results are presented. The resulting control algorithm and gain parameters have been used in the actual apparatus without modification during several years of testing materials over wide ranges of thermal conductivity, thickness, and insulation resistance values. PMID:21377157
Scientific Electronic Library Online (English)
David A, Márquez; Oscar O, Cárdenas.
Full Text Available El objetivo del trabajo es desarrollar un instrumento didáctico, que permita introducir variaciones de los parámetros del controlador para visualizar la influencia que tienen en la estabilidad de los procesos, con la finalidad de impartir enseñanza del control de procesos haciendo uso del computador [...] . En los casos estudiados se fijan primero los valores de los parámetros y luego se deja libertad de insertarlos tanto en el controlador como en el proceso para analizar sus efectos. Las pruebas realizadas visualizan las ventajas y desventajas que el empleo de este tipo de controlador tiene para un proceso en particular. La experiencia obtenida con los estudiantes fue satisfactoria, logrando que los conceptos estudiados quedaran claros, en particular el tipo de variación a realizar en los parámetros del controlador para obtener mejor estabilidad de un sistema de control. Abstract in english The objective of this work is to develop a teaching tool, which allows variations in the parameters of the controller to see the influence they have on the stability of this process, with the aim of teaching process control using the computer. In the cases studied the values of the parameters were f [...] irst fixed and then the students are allowed to change them both in the controller and in the process, to analyze their effects. The tests conducted showed the advantages and disadvantages of the use of this type of controller in a particular process. The experience gained with the students was satisfactory and the concepts were well understood by the students, in particular the type of changes that need to be introduced to reach stability of the control system.
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David A Márquez
2008-01-01
Full Text Available El objetivo del trabajo es desarrollar un instrumento didáctico, que permita introducir variaciones de los parámetros del controlador para visualizar la influencia que tienen en la estabilidad de los procesos, con la finalidad de impartir enseñanza del control de procesos haciendo uso del computador. En los casos estudiados se fijan primero los valores de los parámetros y luego se deja libertad de insertarlos tanto en el controlador como en el proceso para analizar sus efectos. Las pruebas realizadas visualizan las ventajas y desventajas que el empleo de este tipo de controlador tiene para un proceso en particular. La experiencia obtenida con los estudiantes fue satisfactoria, logrando que los conceptos estudiados quedaran claros, en particular el tipo de variación a realizar en los parámetros del controlador para obtener mejor estabilidad de un sistema de control.The objective of this work is to develop a teaching tool, which allows variations in the parameters of the controller to see the influence they have on the stability of this process, with the aim of teaching process control using the computer. In the cases studied the values of the parameters were first fixed and then the students are allowed to change them both in the controller and in the process, to analyze their effects. The tests conducted showed the advantages and disadvantages of the use of this type of controller in a particular process. The experience gained with the students was satisfactory and the concepts were well understood by the students, in particular the type of changes that need to be introduced to reach stability of the control system.
A Discrete PID Control System Using Predictors and an Observer for the Influence of a Time Delay
Y. Hikichi; Sasaki, K.; Tanaka, R.(LAL, Université Paris-Sud, CNRS/IN2P3, Orsay, France); Shibasaki, H.; Kawaguchi, K; Ishida, Y.
2013-01-01
In this paper, a control system for the influence of a time delay compensation using predictors and a disturbance observer is proposed. The time delay in the controlled plant is one of the serious problems decreasing the control stability. Therefore, many control methods for controlled plants with a time delay have been proposed until now. We proposed an effective control system for influence of time delay by connecting predictors and a disturbance observer to a PID control system. It allevia...
Scientific Electronic Library Online (English)
Emil, Hernández-Arroyo; Jorge Luis, Díaz-Rodríguez; Omar, Pinzón-Ardila.
2014-07-01
Full Text Available Apresenta um estudo comparativo entre o Controle Preditivo baseado no Modelo [MPC] e no controle PID, numa usina piloto de temperatura. Encontrou-se que o controle MPC apresenta melhor comportamento, com um tempo de assentamento de 1000 segundos e uma sobreelongação de 5 °C, e que o PID apresenta um [...] tempo de assentamento de 2000 segundos e uma sobreelongação de 40°C. Simultaneamente, se apresenta uma forma alternativa para controlar e monitorar em tempo real a variável temperatura; para isso se dispõe de um computador que utiliza o software MATLAB 7.1 e a ferramenta Real-Time Windows Target. Abstract in spanish Presenta un estudio comparativo entre el Control Predictivo basado en el Modelo [MPC] y el control PID, en una planta piloto de temperatura. Se encontró que el control MPC presenta mejor comportamiento, con un tiempo de asentamiento de 1000 segundos y una sobre-elongación de 5 °C, y que el PID prese [...] nta un tiempo de asentamiento de 2000 segundos y una sobre-elongación de 40 °C. Simultáneamente, se presenta una forma alternativa para controlar y monitorear en tiempo real la variable temperatura; para ello se dispone de un computador de escritorio que utiliza el software MATLAB 7.1 y la herramienta Real-Time Windows Target. Abstract in english This project aims to conduct a comparative study of the Model Predictive Control [MPC] and the classical controller PID, over a pilot temperature plant. From the experimental results, was found that MPC has better behavior with a assessment time of 1000 seconds and a over shoot of 5°C, the assessmen [...] t time of PID control was 2000 seconds and over shoot of 40 °C. At the same time an alternative way was presented to controlling and monitoring in real time the temperature variable and is available desktop computer using the software tool MATLAB 7.1 and Real-Time Windows Target.
Optimal Self-Tuning PID Controller Based on Low Power Consumption for a Server Fan Cooling System
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Chengming Lee
2015-05-01
Full Text Available Recently, saving the cooling power in servers by controlling the fan speed has attracted considerable attention because of the increasing demand for high-density servers. This paper presents an optimal self-tuning proportional-integral-derivative (PID controller, combining a PID neural network (PIDNN with fan-power-based optimization in the transient-state temperature response in the time domain, for a server fan cooling system. Because the thermal model of the cooling system is nonlinear and complex, a server mockup system simulating a 1U rack server was constructed and a fan power model was created using a third-order nonlinear curve fit to determine the cooling power consumption by the fan speed control. PIDNN with a time domain criterion is used to tune all online and optimized PID gains. The proposed controller was validated through experiments of step response when the server operated from the low to high power state. The results show that up to 14% of a server’s fan cooling power can be saved if the fan control permits a slight temperature response overshoot in the electronic components, which may provide a time-saving strategy for tuning the PID controller to control the server fan speed during low fan power consumption.
Optimal Self-Tuning PID Controller Based on Low Power Consumption for a Server Fan Cooling System.
Lee, Chengming; Chen, Rongshun
2015-01-01
Recently, saving the cooling power in servers by controlling the fan speed has attracted considerable attention because of the increasing demand for high-density servers. This paper presents an optimal self-tuning proportional-integral-derivative (PID) controller, combining a PID neural network (PIDNN) with fan-power-based optimization in the transient-state temperature response in the time domain, for a server fan cooling system. Because the thermal model of the cooling system is nonlinear and complex, a server mockup system simulating a 1U rack server was constructed and a fan power model was created using a third-order nonlinear curve fit to determine the cooling power consumption by the fan speed control. PIDNN with a time domain criterion is used to tune all online and optimized PID gains. The proposed controller was validated through experiments of step response when the server operated from the low to high power state. The results show that up to 14% of a server's fan cooling power can be saved if the fan control permits a slight temperature response overshoot in the electronic components, which may provide a time-saving strategy for tuning the PID controller to control the server fan speed during low fan power consumption. PMID:26007725
Root Locus Based Autopilot PID’s Parameters Tuning for a Flying Wing Unmanned Aerial Vehicle
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Fendy Santoso
2008-05-01
Full Text Available This paper depicts the applications of classical root locus based PID control to the longitudinal flight dynamics of a Flying Wing Unmanned Aerial Vehicle, P15035, developed by Monash Aerobotics Research Group in the Department of Electrical and Computer Systems Engineering, Monash University, Australia. The challenge associated with our UAV is related to the fact that all of its motions and attitude variables are controlled by two independently actuated ailerons, namely elevons, as its primary control surfaces along with throttle, in contrast to most conventional aircraft which have rudder, aileron and elevator. The reason to choose PID control is mainly due to its simplicity and availability. Since our current autopilot, MP2028, only provides PID control law for its flight control, our design result can be implemented straight away for PID parameters’ tuning and practical flight controls. Simulations indicate that a well-tuned PID autopilot has successfully demonstrated acceptable closed loop performances for both pitch and altitude loops. In general, full PID control configuration is the recommended control mode to overcome the adverse impact of disturbances. Moreover, by utilising this control scheme, overshoots have been successfully suppressed into a certain reasonable level. Furthermore, it has been proven that exact pole-zero cancellations by employing Derivative control configuration in both pitch and altitude loop to eliminate the effects of integral action contributed by open loop transfer function of elevon-average-to- pitch as well as pitch- to- pitch- rate is impractical.
International Nuclear Information System (INIS)
In this paper, we demonstrate a novel control strategy for the drive mode of a microgyroscope using ascending frequency drive (AFD) with an AGC-2DOF PID controller, which drives a resonator with a modulation signal not at the resonant frequency and senses the vibration signal at the resonant frequency, thus realizing the isolation between the actual mechanical response and electrical coupling signal. This approach holds the following three advantages: (1) it employs the AFD signal instead of the resonant frequency drive signal to excite the gyroscope in the drive direction, suppressing the electrical coupling from the drive electrode to the sense electrode; (2) it can reduce the noise at low frequency and resonant frequency by shifting flicker noise to the high-frequency part; (3) it can effectively improve the performance of the transient response of the closed-loop control with a 2-DOF (degree of freedom) PID controller compared with the conventional 1-DOF PID. The stability condition of the whole loop is investigated by utilizing the averaging and linearization method. The control approach is applied to drive a lateral tuning fork microgyroscope. Test results show good agreement with the theoretical and simulation results. The non-ideal electrical antiresonance peak is removed and the resonant peak height increases by approximately 10 dB over a 400 Hz span with a flicker noise reduction of 30 dB within 100 Hz using AFD. The percent overshoot is reduced from 36.2% (1DOF PID) to 8.95% (2DOF PID, about 75.3% overshoot suppression) with 15.3% improvement in setting time
PID control of brushless DC motor and robot trajectory planning simulation with MATLAB®/SIMULINK®
Oguntoyinbo, Oludayo
2009-01-01
This report presents a PID model of a brushless dc (BLDC) motor and a robot trajectory planning and simulation. A short description of the brushless dc motor is given. For this work, mathematical models were developed and subsequently used in getting the simulation parameters. The PID model is accomplished with the use of MATLAB®/SIMULINK®. The operational parameters of the specific BLDC motor were modelled using the tuning methods which are used to develop subsequent simulations. The best PI...
Scientific Electronic Library Online (English)
Ilber Adonayt, Ruge Ruge.
2011-12-01
Full Text Available El presente artículo muestra al lector los métodos de sintonización de controladores PID Kayser-Rajka (KR) y Astrom-Haglund (AH), con el ánimo de evaluar su desempeño frente a algunos métodos convencionales de sintonización como Ziegler-Nichols (ZN). Además, se muestra el método de mejoramiento de l [...] a señal de control basado en la arquitectura Antireset Wind-Up. Abstract in english This paper shows the reader the methods of tuning PID controllers Kayser-Rajka (KR) and Astrom-Haglund (AH), with the aim of evaluating their performance against some conventional methods like Ziegler-Nichols tuning (ZN). It also shows the method for improving the control signal based on the archite [...] cture Antireset Wind-Up.
Modelling and Controller Design of Inverted Pendulum
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Mr.Pankaj Kumar,Mr. KunalChakraborty,Mr. RabiRanjan Mukherjee,Mr.SuvobratraMukherjee
2013-01-01
Full Text Available In this paper modeling of an inverted pendulum has been done and then three different controllers (PID& SFB, LQR have been used for stabilization of the pendulum. The proposed system extends classical invertedpendulum by incorporating two moving masses. The motion of two masses that slide along the horizontal plane iscontrollable .The results of computer simulation for the system with Proportional, Integral and Derivative (PID &State Feedback Controllers are shown. Main focus is to derive the mathematical model and the analysis of itssystem performance, then design a LQR controller in order to get better control.
Yu-xin Zhao; Xue Du; Geng-lei Xia
2014-01-01
This paper presents a novel wavelet kernel neural network (WKNN) with wavelet kernel function. It is applicable in online learning with adaptive parameters and is applied on parameters tuning of fractional-order PID (FOPID) controller, which could handle time delay problem of the complex control system. Combining the wavelet function and the kernel function, the wavelet kernel function is adopted and validated the availability for neural network. Compared to the conservative wavelet neural ne...
Popov, Andrey; Farag, Adel; Werner, Herbert
2005-01-01
Most control engineering problems are characterized by several, often contradicting, objectives, which have to be satisfied simultaneously. Two widely used methods for finding the optimal solution to such problems are aggregating to a single criterion, and using Pareto-optimal solutions. Here we propose a Genetic Algorithm (GA) approach using a combination of both methods to find a fixed-gain, discrete-time PID controller for a chemical neutralization plant. Known to be highly non-linear and...
Jie-Sheng Wang; Chen-Xu Ning; Yang Yang
2014-01-01
A mathematical model of electroslag remelting (ESR) process is established based on its technical features and dynamic characteristics. A new multivariable self-tuning proportional-integral-derivative (PID) controller tuned optimally by an improved particle swarm optimization (IPSO) algorithm is proposed to control the two-input/two-output (TITO) ESR process. An adaptive chaotic migration mutation operator is used to tackle the particles trapped in the clustering field in order to enhance the...
A Discrete PID Control System Using Predictors and an Observer for the Influence of a Time Delay
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Y. Hikichi
2013-02-01
Full Text Available In this paper, a control system for the influence of a time delay compensation using predictors and a disturbance observer is proposed. The time delay in the controlled plant is one of the serious problems decreasing the control stability. Therefore, many control methods for controlled plants with a time delay have been proposed until now. We proposed an effective control system for influence of time delay by connecting predictors and a disturbance observer to a PID control system. It alleviates the influence of the time delay on the target response and disturbance response.
Shabani, Hamed; Vahidi, Behrooz; Ebrahimpour, Majid
2013-01-01
A new PID controller for resistant differential control against load disturbance is introduced that can be used for load frequency control (LFC) application. Parameters of the controller have been specified by using imperialist competitive algorithm (ICA). Load disturbance, which is due to continuous and rapid changes of small loads, is always a problem for load frequency control of power systems. This paper introduces a new method to overcome this problem that is based on filtering technique which eliminates the effect of this kind of disturbance. The object is frequency regulation in each area of the power system and decreasing of power transfer between control areas, so the parameters of the proposed controller have been specified in a wide range of load changes by means of ICA to achieve the best dynamic response of frequency. To evaluate the effectiveness of the proposed controller, a three-area power system is simulated in MATLAB/SIMULINK. Each area has different generation units, so utilizes controllers with different parameters. Finally a comparison between the proposed controller and two other prevalent PI controllers, optimized by GA and Neural Networks, has been done which represents advantages of this controller over others. PMID:23084664