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...
Design of aerospace control systems using fractional PID controller
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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 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)
Optimal PID Controller designing for voltage control of Fuel Cell
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Omid Khezri
2014-12-01
Full Text Available This paper is proposed a PID optimal controller in order to control of one of the most important types of fuel cell, namely proton exchange membrane fuel cell (PEMFC. At first, the introducing and implementation of PEMFC is present and next, during system load variations the proposed controller is designed. The controller should be designed against the load variations for keeping in a fixed value of Fuel cell output voltage. Here, the PID Controller is used which its coefficients are optimized based on Invasive Weed Optimization (IWO. In order to use this algorithm, at first, problem is written as an optimization problem which includes the objective function and constraints, and then to achieve the most desirable controller, IWO algorithm is applied to solve the problem. Simulation results are done for various loads in time domain, and the results show the efficiency of the proposed controller in contrast to the previous controllers.
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…
PID Controller Design for Multivariable Systems Using Gershgorin Bands
Garcia, Daniel; Karimi, Alireza; Longchamp, Roland
2005-01-01
A method to design decentralized PID controllers for MIMO systems is presented in this paper. Each loop is designed separately, but the Gershgorin bands are considered to take interactions into account. The method uses different design parameters: The infinity norm of the complementary sensitivity function as well as the crossover frequency are considered to represent the closed-loop system performances. A third design parameter, defined as the minimal distance from the critical point ...
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.
Design of Fuzzy PID controller to control DC motor with zero overshoot
Meenakshi Chourasiya; Prof. Shweta karnik
2014-01-01
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 c...
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...
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...
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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.
A DESIGN OF ROBUST PID CONTROLLER FOR NON-MINIMUM NETWORK CONTROL SYSTEM
Deepali Chandrakar; Balram Timande; Dewashri Pansari
2012-01-01
We have designed a robust PID controller for controlling the delay induced in the Network control system (NCS).A robust PID controller for a Non –Minimum phase system subjected to uncertain delay is presented here. The previous achievements are extended to the Non –Minimum phase plant containing an uncertain delay time with specifications in terms of gain and phase. Controller design to meet the gain phase margin specifications have been demonstrated in the literature [4, 6].Synthesis and...
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.
A General Method for Designing Fractional Order PID Controller
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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.
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
Design of High- Speed and Low-Power Finite-Word-Length PID Controllers.
K Oudjida, Abdelkrim; Chaillet, Nicolas; Liacha, Ahmed; L Berrandjia, Mohamed; Hamerlain, Mustapha
2014-01-01
ASIC or FPGA implementation of a finite word-length PID controller requires a double expertise: in control system and hardware design. In this paper, we only focus on the hardware side of the problem. Weshow how to design configurable fixed-point PIDs to satisfy applications requiring minimal power consumption, or high control-rate, or both together. As multiply operation is the engine of PID, we experienced three algorithms: Booth, modified Booth, and a new recursive multi-bit multiplication...
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.
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
Kandiban, R.; Arulmozhiyal, R.
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...
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.
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...
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 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.
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 the Glass Batching-Material System Based Fuzzy-PID Combined Control
Zhisong Hou; Yanchang Liu; Qigao Feng
2013-01-01
According to the traditional control methods of batching-material system exists defects low precision and bad real-time, this paper has proposed the combined control algorithm. This paper has designed a Fuzzy-PID control Glass batching-material system by using of combining the traditional PID and the Fuzzy control algorithm. The system uses expert system of online learning and adjusts automatically the control parameters, realize the best combination controlling precision and speed. The actua...
Design of Adaptive Fuzzy PID Controller for Speed control of BLDC Motor
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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.
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
Frequency-domain Model Matching PID Controller Design for Aero-engine
Liu, Nan; Huang, Jinquan; Lu, Feng
2014-12-01
The nonlinear model of aero-engine was linearized at multiple operation points by using frequency response method. The validation results indicate high accuracy of static and dynamic characteristics of the linear models. The improved PID tuning method of frequency-domain model matching was proposed with the system stability condition considered. The proposed method was applied to the design of PID controller of the high pressure rotor speed control in the flight envelope, and the control effects were evaluated by the nonlinear model. Simulation results show that the system had quick dynamic response with zero overshoot and zero steadystate error. Furthermore, a PID-fuzzy switching control scheme for aero-engine was designed, and the fuzzy switching system stability was proved. Simulations were studied to validate the applicability of the multiple PIDs fuzzy switching controller for aero-engine with wide range dynamics.
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)
Design of sewage treatment system by applying fuzzy adaptive PID controller
Jin, Liang-Ping; Li, Hong-Chan
2013-03-01
In the sewage treatment system, the dissolved oxygen concentration control, due to its nonlinear, time-varying, large time delay and uncertainty, is difficult to establish the exact mathematical model. While the conventional PID controller only works with good linear not far from its operating point, it is difficult to realize the system control when the operating point far off. In order to solve the above problems, the paper proposed a method which combine fuzzy control with PID methods and designed a fuzzy adaptive PID controller based on S7-300 PLC .It employs fuzzy inference method to achieve the online tuning for PID parameters. The control algorithm by simulation and practical application show that the system has stronger robustness and better adaptability.
Md. Selim Hasan; Shariar Kabir Khan, A. S. M.; Shibbir Alam, S. M.; Mehedi Hasan Pavel
2011-01-01
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 sys...
A DESIGN OF ROBUST PID CONTROLLER FOR NON-MINIMUM NETWORK CONTROL SYSTEM
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Deepali Chandrakar
2012-11-01
Full Text Available We have designed a robust PID controller for controlling the delay induced in the Network control system (NCS.A robust PID controller for a Non –Minimum phase system subjected to uncertain delay is presented here. The previous achievements are extended to the Non –Minimum phase plant containing an uncertain delay time with specifications in terms of gain and phase. Controller design to meet the gain phase margin specifications have been demonstrated in the literature [4, 6].Synthesis and analysis presented in this paper, is an extension procedure in [1, 3]. The paper presents optimization in tuning controllers for varying time delay system using simulation. The simulation results show the effectiveness of this compensation method.
A frequency response model matching method for PID controller design for processes with dead-time.
Anwar, Md Nishat; Pan, Somnath
2014-11-11
In this paper, a PID controller design method for the integrating processes based on frequency response matching is presented. Two approaches are proposed for the controller design. In the first approach, a double feedback loop configuration is considered where the inner loop is designed with a stabilizing gain. In the outer loop, the parameters of the PID controller are obtained by frequency response matching between the closed-loop system with the PID controller and a reference model with desired specifications. In the second approach, the design is directly carried out considering a desired load-disturbance rejection model of the system. In both the approaches, two low frequency points are considered for matching the frequency response, which yield linear algebraic equations, solution of which gives the controller parameters. Several examples are taken from the literature to demonstrate the effectiveness and to compare with some well known design methods. PMID:25441218
Robust PID control design for permanent magnet synchronous motor: A genetic approach
Energy Technology Data Exchange (ETDEWEB)
Jan, Rong-Maw; Tseng, Chung-Shi; Liu, Ren-Jun [Department of Electrical Engineering, Ming Hsin University of Science and Technology, Hsin-Feng 30401 (China)
2008-07-15
In this paper, a robust PID control scheme is proposed for the permanent magnet synchronous motor (PMSM) using a genetic searching approach. Genetic algorithms (GAs) are powerful searching algorithms based on the mechanics of natural selection and natural genetics. Based on a simple genetic algorithm, a set of PID parameters can be obtained such that the robust stability for the closed-loop system is guaranteed, the tracking performance is minimized subject to certain related cost function, and the disturbance rejection ability (H{sub {infinity}} performance) subject to a prescribed attenuation level can also be achieved. Numerical solutions of the PID parameters constrained by three different objectives and simulation results are provided to illustrate the design procedure and the expected performances. Finally, the proposed PID control scheme for the PMSM is implemented by a DSP-based fully digital controller. From the experimental results, the performances can be achieved using the proposed PID control scheme. In opposition to trial and error, the PID parameters can be obtained systematically in this study. The proposed method is simple and is suitable for practical control design in the motor drive. (author)
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 sho...
A fuzzy model based adaptive PID controller design for nonlinear and uncertain processes.
Savran, Aydogan; Kahraman, Gokalp
2014-03-01
We develop a novel adaptive tuning method for classical proportional-integral-derivative (PID) controller to control nonlinear processes to adjust PID gains, a problem which is very difficult to overcome in the classical PID controllers. By incorporating classical PID control, which is well-known in industry, to the control of nonlinear processes, we introduce a method which can readily be used by the industry. In this method, controller design does not require a first principal model of the process which is usually very difficult to obtain. Instead, it depends on a fuzzy process model which is constructed from the measured input-output data of the process. A soft limiter is used to impose industrial limits on the control input. The performance of the system is successfully tested on the bioreactor, a highly nonlinear process involving instabilities. Several tests showed the method's success in tracking, robustness to noise, and adaptation properties. We as well compared our system's performance to those of a plant with altered parameters with measurement noise, and obtained less ringing and better tracking. To conclude, we present a novel adaptive control method that is built upon the well-known PID architecture that successfully controls highly nonlinear industrial processes, even under conditions such as strong parameter variations, noise, and instabilities. PMID:24140160
Ali, Ahmad; Majhi, Somanath
2009-01-01
In this work, the normalized Internal Model Control (IMC) filter time constant is designed to achieve a specified value of the maximum sensitivity for stable first and second order plus time delay process models, respectively. Since a particular value of the maximum sensitivity results in an almost constant percentage overshoot to controller setpoint change, an empirical relationship between the normalized IMC filter time constant and percentage overshoot is presented. The main advantage of the proposed method is that only a user-defined overshoot is required to design a PI/PID controller. Simulation examples are given to demonstrate the value of the proposed method. PMID:18848321
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)
AN ALGORITHM FOR DESIGN OF A PID CONTROLLER FOR MULTIVARIABLE SYSTEM USING OUTPUT FEEDBACK
Suma H; Appukuttan,; K. K.
2010-01-01
This paper deals with the design of a proportional-plus-integral-plus-derivative (PID) controller for linear multivariable systems using an output feedback control law. Controller is designed as an equivalent proportionalplus- derivative controller for the augmented system formed due to the integral action. The design equations areformulated in terms of coefficient matrix of the transfer function vector of the equivalent single input (or single output) system. The computation of coefficient m...
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 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
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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 (FIW–LIW-LDW. On the other hand, the parameters of the PSO-PID controllers via mixed inertia weight (FIW–LIW-LDW were optimized, the parameter values 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 (FIW–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
Designing a robust PID congestion controller supporting TCP flows based on H? optimal control theory
Yu, Li; Shi, Zibo; Chen, Kun; Shu, Yantai
2007-09-01
A robust PID controller for active queue management (AQM) based on modern H? optimal control theory is presented in this paper. Taken both robustness and closed loop performance into consideration, most desirable parameters value can be gotten through some straightforward analytical formulas. Our robust PID controller is determined only by one parameter, other than traditional PID controller is by three or more. Additionally, this new parameters determining method can not only be extended to other AQM controller based on classical control theory or optimal control theory, but also be easily understood and implementation. We evaluate the performances of the controller extensively. The results show that the robust PID congestion controller outperform the existing controller, such as PI, RED, on keeping the router queue size at the target value. The most obvious property of the controller is that it takes on robustness such that it can adapt the network dynamic.
Adaptive Neuro-PID Controller Design with Application to Nonlinear Water Level in NEKA Power Plant
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A. Yazdizadeh
2009-01-01
Full Text Available In this study, two novel adaptive PID-like controllers capable of controlling multi-variable, non-linear Multi-Input Multiple-Output (MIMO systems are proposed. The proposed controllers are designed based on neural networks techniques. The learning algorithms are derived according to minimization of the error between the output of the system and the desired output. At first, two kinds of PID-like neural network controller named neural network PID and Neural network PID with internal dynamic feedbacks are introduced. Both of the proposed controllers may be used for controlling multivariable systems. The difference between these two controllers is mainly in the structure of their hidden layers that leads to their different performance. These controllers are applied to different kinds of black box, linear or nonlinear and time variant or time invariant systems. The stability of the proposed algorithm is also proven mathematically. Compared to conventional methods, very good results are achieved using the proposed methods. The simulation results show the quality performance of the proposed adaptive controllers and algorithms. Finally to show the performance of the proposed method, it is applied to the water level of tanks in water refinement process in NEKA Power Plant which is generally a very nonlinear system. Simulation results in this study show good performance of the proposed adaptive controllers.
Covariance Matrix Adapted Evolution Strategy Based Design of Mixed H2/H ? PID Controller
Willjuice Iruthayarajan, M.; Baskar, S.
This paper discusses the application of the covariance matrix adapted evolution strategy (CMAES) technique to the design of the mixed H2/H ? PID controller. The optimal robust PID controller is designed by minimizing the weighted sum of integral squared error (ISE) and balanced robust performance criterion involving robust stability and disturbance attenuation performance subjected to robust stability and disturbance attenuation constraints. In CMAES algorithm, these constraints are effectively handled by penalty parameter-less scheme. In order to test the performance of CMAES algorithm, MIMO distillation column model is considered. For the purpose of comparison, reported intelligent genetic algorithm (IGA) method is used. The statistical performances of combined ISE and balanced robust performance criterion in ten independent simulation runs show that a performance of CMAES is better than IGA method. Robustness test conducted on the system also shows that the robust performance of CMAES designed controller is better than IGA based controller under model uncertainty and external disturbances.
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.
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)
Design of PID Filter Controller with Genetic Algorithm for Mimo System in Modern Power Generation
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Anitha Mary. X
2014-08-01
Full Text Available In this work, a new technique based on Genetic Algorithm for designing multivariable PID filter controller has been developed and applied to gasifier control of ALSTOM benchmark challenge II. The coal gasifier is the main component in Modern power generation. Coal gasifier involves several performance and robustness requirements in addition to actuator constraints under three operating loads (no-load, 50% and 100% load. The proposed GA optimises the tuning parameters of PID constants in terms of robustness and performance. The optimised controller meets all design objectives under all operating conditions. Robustness of the controller is tested for step and sinusoidal pressure disturbances applied at the inlet of throttle valve along with increase and decrease of calorific value of fuel fed-in (coal. Simulation results obtained confirmed the superiority of proposed technique for gasifier problems.
PID Controller with Operational Amplifier
Cristian Paul Chioncel; Petru Chioncel; Nicoleta Gillich
2009-01-01
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.
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
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
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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.
Design of Self-tuning PID controller using Fuzzy Logic for Level Process
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P D Aditya Karthik *1
2014-06-01
Full Text Available In this paper a self-tuning PID controller is designed using fuzzy logic for a liquid level process of single tank and two tank systems. Conventional technique like Ziegler’s Nichols method can be enhanced using fuzzy logic. The gain parameters that are obtained using conventional technique can be adjusted automatically using the logic. The gain parameters that are obtained using conventional technique can be adjusted automatically using the
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)
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.
Pei, L; Theilacker, J; Soyars, W; Martinez, A; Bossert, R; DeGraff, B; Darve, C
2012-01-01
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.
INTELLIGENT CONTROL USING ADAPTIVE PID CONTROLLER
Vijayakumar, Dr P.; Unnikrishnan, P. C.
2014-01-01
In this paper an adaptive stable PID controller is briefly explained and validated by simulations and experimentation. The adaptive PID controller employs almost strict positive realness (ASPR) to ensure stability of the system. The design involves a parallel feedforward compensator (PFC) which guarantees the ASPRness of the controlled system. After a disturbance the dynamical system is assumed to be in one of a finite number of configurations, corresponding to each of which exist a stabilizi...
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 wi...
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
Greenhouse irrigation control system design based on ZigBee and fuzzy PID technology
Zhou, Bing; Yang, Qiliang; Liu, Kenan; Li, Peiqing; Zhang, Jing; Wang, Qijian
In order to achieve the water demand information accurately detect of the greenhouse crop and its precision irrigation automatic control, this article has designed a set of the irrigated control system based on ZigBee and fuzzy PID technology, which composed by the soil water potential sensor, CC2530F256 wireless microprocessor, IAR Embedded Workbench software development platform. And the time of Irrigation as the output .while the amount of soil water potential and crop growth cycle as the input. The article depended on Greenhouse-grown Jatropha to verify the object, the results show that the system can irrigate timely and appropriately according to the soil water potential and water demend of the different stages of Jatropha growth , which basically meet the design requirements. Therefore, the system has broad application prospects in the amount of greenhouse crop of fine control irrigation.
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Du Baojiang
2012-05-01
Full Text Available 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 circuit, PWM circuit and improved increment PID algorithm excitation controller based on digital PID algorithm are designed, which only use integral controller by the incremental algorithm, and the proportional and derivative controller by the positional algorithm. After integrated debugging and simulation, the reliability and high precision of the voltage control system are validated.
Design and Robustness Analysis of a PID Based Sliding Mode Controller for a dc-dc Converter
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D.M. Mary Synthia Regis Prabha
2012-02-01
Full Text Available 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 equivalent control technique is used in its design which makes the converter more suitable for fixed frequency operation. Sensitivity of these controllers to supply voltage disturbances and load disturbances is studied and results are presented.
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 of PID controllers in double feedback loops for SISO systems with set-point filters.
Vijayan, V; Panda, Rames C
2012-07-01
A PID controller is widely used to control industrial processes that are mostly open loop stable or unstable. Selection of proper feedback structure and controller tuning helps to improve the performance of the loop. In this paper a double-feedback loop/method is used to achieve stability and better performance of the process. The internal feedback is used for stabilizing the process and the outer loop is used for good setpoint tracking. An internal model controller (IMC) based PID method is used for tuning the outer loop controller. Autotuning based on relay feedback or the Ziegler-Nichols method can be used for tuning an inner loop controller. A tuning parameter (?) that is used to tune IMC-PID is used as a time constant of a setpoint filter that is used for reducing the peak overshoot. The method has been tested successfully on many low order processes. PMID:22494496
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.
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.
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...
Application of Adaptive Fuzzy PID Leveling Controller
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Ke Zhang
2013-05-01
Full Text Available Aiming at the levelling precision, speed and stability of suspended access platform, this paper put forward a new adaptive fuzzy PID control levelling algorithm by fuzzy theory. The method is aided design by using the SIMULINK toolbox of MATLAB, and setting the membership function and the fuzzy-PID control rule. The levelling algorithm can real-time adjust the three parameters of PID according to the fuzzy rules due to the current state. It is experimented, which is verified the algorithm have better stability and dynamic performance.
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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.
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
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
New results on the synthesis of FO-PID controllers
Caponetto, Riccardo; Dongola, Giovanni; Fortuna, Luigi; Gallo, Antonio
2010-04-01
In this paper a new procedure that allows to define the parameters of fractional order PI?D? controller, designed to stabilize a first-order plant with delay-time, is proposed. Using a version of the Hermite-Biehler theorem applicable to quasipolynomials, the complete set of stabilizing PI?D? parameters is determined. The widespread industrial use of PID controllers and the potentiality of their non-integer order representation justifies a timely interest to PI?D? tuning techniques.
Optimal PID Controller Design Based on PSO-RBFNN for Wind Turbine Systems
Jau-Woei Perng; Guan-Yan Chen; Shan-Chang Hsieh
2014-01-01
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 m...
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...
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.
PID Controller Tuning Using Bode's Integrals
Karimi, A.; Garcia, D.; Longchamp, R.
2003-01-01
A new method for PID controller tuning based on Bode's integrals is proposed. It is shown that the derivatives of amplitude and phase of a plant model with respect to frequency can be approximated by Bode's integrals without any model of the plant. This information can be used to design a PID controller for slope adjustment of the Nyquist diagram and improve the closed-loop performance. Besides, the derivatives can be also employed to estimate the gradient and the Hessian of a frequency cri...
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
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
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 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.
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
Mukherjee, Bijoy K.; Metia, Santanu
2009-10-01
The paper is divided into three parts. The first part gives a brief introduction to the overall paper, to fractional order PID (PI?D?) controllers and to Genetic Algorithm (GA). In the second part, first it has been studied how the performance of an integer order PID controller deteriorates when implemented with lossy capacitors in its analog realization. Thereafter it has been shown that the lossy capacitors can be effectively modeled by fractional order terms. Then, a novel GA based method has been proposed to tune the controller parameters such that the original performance is retained even though realized with the same lossy capacitors. Simulation results have been presented to validate the usefulness of the method. Some Ziegler-Nichols type tuning rules for design of fractional order PID controllers have been proposed in the literature [11]. In the third part, a novel GA based method has been proposed which shows how equivalent integer order PID controllers can be obtained which will give performance level similar to those of the fractional order PID controllers thereby removing the complexity involved in the implementation of the latter. It has been shown with extensive simulation results that the equivalent integer order PID controllers more or less retain the robustness and iso-damping properties of the original fractional order PID controllers. Simulation results also show that the equivalent integer order PID controllers are more robust than the normal Ziegler-Nichols tuned PID controllers.
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
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.
PID Fuzzy Logic Controller System for DC Motor Speed Control
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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.
Analysis of Fuzzy PID and Immune PID Controller for Three Tank Liquid Level Control
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Sharad Kumar Tiwari
2011-09-01
Full Text Available 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-parameters according to error and change in error.Biological immune system is a control system that has strongrobusticity and self-adaptability in complex disturbance andindeterminacy environments. The artificial intelligence techniqueof fuzzy logic and immune controller is adopted for more reliableand precise control action which incorporate the uncertain factorsalso. In this work the comparison of the conventional model, fuzzymodel and immune feedback mechanism is clarified.
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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
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
Rama Reddy, D.; Sailaja, Dr M.
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...
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.
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...
Model Reference PID Control of an Electro-hydraulic Drive
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Ayman A. Aly
2012-10-01
Full Text Available Hydraulic cranes are inherently nonlinear and contain components exhibiting strong friction, saturation, variable inertia mechanical loads, etc. The characteristics of these non-linear components are usually not known exactly as structure or parameters. For these reasons, tuning of the traditional PID controller parameters to control this system for the required performance faces a strong challenge. In this paper a new approach to design an adaptive PID control has the ability to solve the control problem of highly nonlinear systems such as the hydraulic crane was proposed. The core of the design method depends on comparing the performance of the Model Reference (MR response with the nonlinear model response and feeding an adaptation signal to the PID control system to eliminate the error in between. It is found that the proposed MR-PID control policy provided the most consistent performance in terms of rise time and settling time regardless of the nonlinearities.
Model Reference PID Control of an Electro-hydraulic Drive
Aly, Ayman A.
2012-01-01
Hydraulic cranes are inherently nonlinear and contain components exhibiting strong friction, saturation, variable inertia mechanical loads, etc. The characteristics of these non-linear components are usually not known exactly as structure or parameters. For these reasons, tuning of the traditional PID controller parameters to control this system for the required performance faces a strong challenge. In this paper a new approach to design an adaptive PID control has the ability to solve the co...
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.
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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.
Research on fuzzy PID control to electronic speed regulator
Xu, Xiao-gang; Chen, Xue-hui; Zheng, Sheng-guo
2007-12-01
As an important part of diesel engine, the speed regulator plays an important role in stabilizing speed and improving engine's performance. Because there are so many model parameters of diesel-engine considered in traditional PID control and these parameters present non-linear characteristic.The method to adjust engine speed using traditional PID is not considered as a best way. Especially for the diesel-engine generator set. In this paper, the Fuzzy PID control strategy is proposed. Some problems about its utilization in electronic speed regulator are discussed. A mathematical model of electric control system for diesel-engine generator set is established and the way of the PID parameters in the model to affect the function of system is analyzed. And then it is proposed the differential coefficient must be applied in control design for reducing dynamic deviation of system and adjusting time. Based on the control theory, a study combined control with PID calculation together for turning fuzzy PID parameter is implemented. And also a simulation experiment about electronic speed regulator system was conducted using Matlab/Simulink and the Fuzzy-Toolbox. Compared with the traditional PID Algorithm, the simulated results presented obvious improvements in the instantaneous speed governing rate and steady state speed governing rate of diesel-engine generator set when the fuzzy logic control strategy used.
Harsha Ragini, A.; Rajesh, K.; Hari Krishna, B.
2013-01-01
In terms of control multi loop processes are very complicated when compared to single loop processes due to the existence of interactions between manipulated and controlled variables. During the last several decades this topic has drawn lot of research attention and many multivariable control approaches have been proposed. This Project proposes an Effective Open-loop Transfer Function (EOTF) method for PI/PID design of multi-loop control processes, by employing the concepts of Internal Model ...
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...
Fujii, Kenzo; Yamamoto, Toru
In petroleum refineries and petrochemical processes, the production cost reduction is a key matter in improving competitiveness. Previously, the authors proposed the cyclic one-spot tuning PID control scheme for single-input and single-output systems, and applied it to the atmospheric distillation tower. The effectiveness of the proposed control scheme has been verified in steady operation mode. However, satisfactory performance could not be obtained when the operation mode was switched to transition operation mode. In order to overcome this problem, it is necessary to consider the influence of the interactions upon each input and each output. This paper presents a new multiloop one-spot tuning PID control scheme with a static pre-compensator. According to the newly proposed control scheme, satisfactory control performance can be obtained in both the steady and the transition operation modes.
FPGA Based Modified Fuzzy PID Controller for Pitch Angle of Bench-top Helicopter
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A.A. Aldair
2012-01-01
Full Text Available Fuzzy PID controller design is still a complex task due to the involvement of a large number of parameters in defining the fuzzy rule base. To reduce the huge number of fuzzy rules required in the normal design for fuzzy PID controller, the fuzzy PID controller is represented as Proportional-Derivative Fuzzy (PDF controller and Proportional-Integral Fuzzy (PIF controller connected in parallel through a summer. The PIF controller design has been simplified by replacing the PIF controller by PDF controller with accumulating output. In this paper, the modified Fuzzy PID controller design for bench-top helicopter has been presented. The proposed Fuzzy PID controller has been described using Very High Speed Integrated Circuit Hardware Description Language(VHDL and implemented using the Field Programmable Gate Array (FPGA board. The bench-top helicopter has been used to test the proposed controller. The results have been compared with theconventional PID controller and Internal Model Control Tuned PID (IMC-PID Controller. Simulation results show that the modified Fuzzy PID controller produces superior controlperformance than the other two controllers in handling the non-linearity of the helicopter system. The output signal from the FPGA board is compared with the output of the modified Fuzzy PID controllerto show that the FPGA board works like the Fuzzy PID controller. The result shows that the plant responses with the FPGA board are much similar to the plant responses when using simulation software based controller
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
Saranya, M.; Pamela, Asst Prof D.
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...
Novel intelligent PID control of traveling wave ultrasonic motor.
Jingzhuo, Shi; Yu, Liu; Jingtao, Huang; Meiyu, Xu; Juwei, Zhang; Lei, Zhang
2014-09-01
A simple control strategy with acceptable control performance can be a good choice for the mass production of ultrasonic motor control system. In this paper, through the theoretic and experimental analyses of typical control process, a simpler intelligent PID speed control strategy of TWUM is proposed, involving only two expert rules to adjust the PID control parameters based on the current status. Compared with the traditional PID controller, this design requires less calculation and more cheap chips which can be easily involved in online performance. Experiments with different load torques and voltage amplitudes show that the proposed controller can deal with the nonlinearity and load disturbance to maintain good control performance of TWUM. PMID:24957274
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 PID-Sliding Mode Control Design for a Coupled Tank
Rhif, Ahmed; Kardous, Zohra; Braiek, Naceur Benhadj
2013-01-01
The sliding mode control (SMC) is strongly requested due to its robustness against the disturbances. The principle of the sliding mode control is to force the system to converge toward a selected surface and then to evolve there in spite of the uncertainties and the disturbances. The surface is defined by a set of relations between the state variables of the system. However, the chattering phenomenon remains the main disadvantage of this robust control. As solution to this p...
Modeling, Design and Implement of Steering Fuzzy PID Control System for DORIS Robot
Khaled Sailan; Kuhnert, Klaus D.; Hradik Karelia
2014-01-01
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 tur...
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...
Modeling, Design and Implement of Steering Fuzzy PID Control System for DORIS Robot
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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.
Implementation of PID and Fuzzy PID controllers for Temperature control in CSTR
Srinivasulu Raju, S.; Ravi Kiran, T. K. S.; Chaitanya Kumar Reddy, K. M. N.; Viswanath, M.
2013-01-01
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 conducti...
Design of Type-1 and Interval Type-2 Fuzzy PID Control for Anesthesia Using Genetic Algorithms
Hugo Araujo; Bo Xiao; Chuang Liu; Yanbin Zhao; Lam, H. K.
2014-01-01
This paper presents the automatic drug administration for the regulation of bispectral (BIS) index in the anesthesia process during the clinical surgery by controlling the concentration target of two drugs, namely, propofol and remifentanil. To realize the automatic drug administration, real clinical data are collected for 42 patients for the construction of patients’ models consisting of pharmacokinetic and pharmacodynamic models describing the dynamics reacting to t...
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...
Adaptive PID Controller with Parallel Feedforward Compensator for MIMO Systems
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R. A. Fahmy
2013-07-01
Full Text Available With the classical PID controller, good performance can be obtained, if all the model parameters and operating conditions are known. In case which some of the system parameters or operating conditions are uncertain or unknown, an adaptive PID (APID learning controller (which consists of a set of learning rules for PID gain tuning is used. To guarantee the stability of APID controller, the controlled system must be Almost Strict Positive Real (ASPR. Because not all the actual MIMO systems can satisfy that condition and to make the APID controller design applicable on more general systems, an auxiliary subsystem called parallel feedforward compensator (PFC is added in parallel with the controlled system. Computer simulations are given to demonstrate the effectiveness of the overall system applying different shapes of input signals.
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
The Research on Fuzzy PID Control of the Permanent Magnet Linear Synchronous Motor
Wu, Ying; Jiang, Hang; Zou, Min
Based on analyzing mathematical mode of the permanent magnet linear synchronous motor (PMLSM), three-closed-loop control system is presented in this paper. Combined the advantages of traditional PID control algorithm and fuzzy control algorithm, according to the characteristics of linear motor and the possible factors of uncertainty, a set of adaptive fuzzy PID control system is designed for the speed loop of the proposed control system, moreover, fuzzy inference rules is established to realize the Fuzzy PID controlling of the speed loop. In the end, the simulation models of the motor and the whole control system are built on Matlab/Simulink platform to compare and analyze the fuzzy PID control and conventional PID control. Simulation results show that the designed fuzzy PID speed loop controller can significantly improve the response performance of linear motor.
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
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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
Directory of Open Access Journals (Sweden)
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.
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 Controllers based on simplified single parameter optimization
Sanchis Llopis, Roberto; Romero Pe?rez, Julio Ariel; Balaguer Herrero, Pedro
2010-01-01
A simple method to design PID controllers in the frequency domain based on a simplified constrained optimiza- tion is proposed. The method is based on the use of a single tuning parameter, defined as the quotient between the final crossover frequency and the zero of the controller. The tuning procedure is based on the maximization of the controller gain subject to an equality constraint in the phase margin and an inequality constraint in the gain margin. The main advantage of the proposed met...
ROBUST INTERNAL MODEL CONTROL STRATEGY BASED PID CONTROLLER FOR BLDCM
Purna Chandra Rao, A.; 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...
Agees Kumar, C.; Kesavan Nair, N.
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...
Closed-Loop Anesthesia in Children using a PID Controller: A Pilot Study
Soltesz, Kristian; Heusden, Klaske; Dumont, Guy A.; Hägglund, Tore; Petersen, Christian; West, Nicholas; Ansermino, J. Mark
2012-01-01
The first study with a PID controller based automatic drug delivery system for propofol anesthesia in children is presented. It is shown that a robustly tuned PID controller is capable of delivering safe and adequate anesthesia. The design process of the control system is reviewed. Results are discussed and compared to those of two previous studies in adults.
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...
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.
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.
Research on CNC Machine Tool Fuzzy Immune PID Position Controller
Guoyong Zhao; Yong Shen; Lili Zhang
2013-01-01
CNC machine tool position controller connects control system with actuating mechanism and often adopts traditional PID control technology. But the traditional PID technology is hard to achieve rapid adjustment and lesser overshoot at the same time. Consequently, the CNC machine tool fuzzy immune PID position controller based on immunity feedback control theory is developed in the study. The experiment results show that the developed controller can achieve shorter adjust time, better rapidity ...
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...
Adaptive PID Controller with Parallel Feedforward Compensator for MIMO Systems
Fahmy, R. A.; Badr, R. I.; Abouelsoud, A. A.; Rahman, F. A.
2013-01-01
With the classical PID controller, good performance can be obtained, if all the model parameters and operating conditions are known. In case which some of the system parameters or operating conditions are uncertain or unknown, an adaptive PID (APID) learning controller (which consists of a set of learning rules for PID gain tuning) is used. To guarantee the stability of APID controller, the controlled system must be Almost Strict Positive Real (ASPR). Because not all the actual MIMO systems c...
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.
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
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...
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 identificaçăo sobre o motor, modificam-se o circuito de controle, a [...] etapa de potęncia e o sensor. Posteriormente utiliza-se o método do lugar das raízes para sintonizar o PID no controle da posiçăo angular. As simulaçőes e o controle realizam-se desde Simulink de MATLAB®, no qual se usa também uma placa de aquisiçăo 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 desempeńo 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.
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 ptima. 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.
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
Study of Immune PID Networked Control System Based on TrueTime
Daogang Peng; Hao Zhang; Conghua Huang; Jiajun Lin; Hui Li
2011-01-01
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...
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.
ANFIS-PID Control FES-Supported Sit-to-Stand in Paraplegics: (Simulation Study
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Rufaida Hussain
2014-03-01
Full Text Available 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 controllers were developed: open loop and feedback controllers. The results showed that ANFIS-PID controller not only succeeded in controlling knee joint motion during sit to stand movement, but also reduced the deviations between desired trajectory and actual knee movement to ±5°. Promising simulation results provide the potential for feasible clinical application in the future.
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...
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...
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.
Gaojian Li
2013-01-01
The study designs PID mathematical model and algorithm of the central air conditioning temperature control based on genetic algorithm. In order to test availability of the procedure and algorithm, we use the MATLAB software to do numerical simulation on different algorithms. Through calculation we found that delay time of the PID controller based on genetic algorithm designed in this paper is 92 seconds, less than the other two algorithms. The time which ne...
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
The Advantages of PID Fuzzy Controllers Over The Conventional Types
Directory of Open Access Journals (Sweden)
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.
Directory of Open Access Journals (Sweden)
R. Arulmurugan
2012-10-01
Full Text Available This paper proposes a new dc to dc boost converter using closed loop control proportional Integral and Derivative mechanism for photovoltaic (PV standalone high voltage applications. The boost converter is composed of MOSFETs which are driven by closed loop PWM control. Many advantages including high efficiency, minimum number of switch, high voltage and power, low cost. This converter is attractive for high voltage and high power applications. The analysis and design considerations of the converter are presented. A prototype was implemented for an application requiring a 410W output power, input voltage range from 17.1-V, and a 317-V output voltage. The proposed system efficiency is about 90%.
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...
Energy Analysis of Pid Controlled Heat Pump Dryer
Ceylan, Ilhan
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...
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.
Application of a Pid+fuzzy controller on the motion control system in machine tools
Lacerda, H. B.; Belo, E. M.
1999-01-01
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 function 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 co...
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 ...
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.
PID Self-Tuning Controllers Used in Different Structures of the Control Loops
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Viorel DUGAN
2008-12-01
Full Text Available 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 PID parameters are functions of these variables and, supplementary, of continuous-time PID parameters and of the control loop structures used in the adaptive system (although, not so largely as the firstly three variables. To see the latter influence, in this paper are considered two control loop block diagram, and for simulations - three different processes (stable; with no minimum phase; unstable, and some simulations with different . The PID controller design method used to obtain the specs desired for control loop dynamic behavior was the pole assignment method of the loop.
Speed Control of DC Motor Using Extended Kalman FilterBased Fuzzy PID
Meysam Shadkam; Hamed Mojallali; Yaser Bostani
2013-01-01
In this paper, extended Kalman filter (EKF) isused for online optimization of input and output membershipfunctions (MFs) of Mamdani fuzzy PID controller. Theproposed controller is employed for controlling the separatelyexcited DC motor. The simulation results show that the fuzzyPID controller with online optimization has better efficiencythan classic PID controller and fuzzy PID controller with fixedmembership functions.
Adaptive PID-like Fuzzy Variable Structure Control for Uncertain MIMO Systems
Wang Yaonan; Zhang Xizheng
2011-01-01
In this study, the stability analysis of the PID-like adaptive fuzzy Sliding Model Controller (SMC) for a class of nonlinear uncertain MIMO systems is presented. The upper bounds of structured uncertainties and external disturbance are not needed to be known and approximated by a fuzzy inference system. To overcome the chattering problem in the conventional SMC scheme, an adaptive Proportional Integral Derivative (PID) controller is designed to replace the switching part of the SMC scheme. Th...
Main Stream Temperature Control System Based on Smith-PID Scheduling Network Control
Zhengxia Zhang; Jianqiu Deng; Haijun Li
2011-01-01
This paper is concerned with the controller design problem for a class of networked main stream temperature control system with long random time delay and packet losses. To compensate the effect of time delay and packet losses, a gain-scheduling based Smith-PID controller is proposed for the considered networked control systems (NCSs). Moreover, to further improve the control performance of NCSs, genetic algorithm is employed to obtain the optimal control parameters for gain-scheduling Smith-...
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...
Directory of Open Access Journals (Sweden)
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.
CONTROL OF CONCENTRATION IN CSTR USING DMC AND CONVENTIONAL PID BASED ON RELAY FEEDBACK METHOD
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S. SRINIVASULU RAJU
2013-04-01
Full Text Available This paper presents the design of a Dynamic Matrix Controller (DMC is analyzed for concentration control of Continuous Stirred Tank Reactors (CSTRs which have strong nonlinearities. Various control approaches have been applied on CSTR to control its parameters. All the industrial process applications require solutions of a specific chemical strength of the chemicals or fluids considered for analysis. Such specific concentrations are achieved by mixing a full strength solution with water in the desired proportions. For this, we use twocontrollers DMC and PID and analyzed. The basic PID controllers have difficulty in dealing with complex nonlinear processes. Simulation studies give satisfactory results. In this paper the control the concentration of one chemical with the help of other has been analyzed. Model design and simulation are done in MATLAB/SIMULINK, using programming. The concentration control is found better controlled with the addition of DMC instead of PID controller solely.
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...
SIMULATION AND IMPLEMENTATION OF PID-ANN CONTROLLER FOR CHOPPER FED EMBEDDED PMDC MOTOR
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M. Madheswaran
2012-04-01
Full Text Available The closed loop control of PMDC drive with an inner current controller and an outer PID-ANN (Proportional Integral Derivative – Artificial Neural Network based speed controller is designed and presented in this paper. Motor is fed by DC / DC buck converter (DC Chopper. The controller is used to change the duty cycle of the converter and thereby, the voltage fed to the PMDC motor to regulate the speed. The PID-ANN controller designed was evaluated by computer simulation and it was implemented using an 8051 based embedded system. This system will operate in forward motoring with variable speed.
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.) system design. (Wakatsuki, Y.)
Comparison of PID Controller Tuning Methods with Genetic Algorithm for FOPTD System
Directory of Open Access Journals (Sweden)
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.
Directory of Open Access Journals (Sweden)
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.
Tuning and Application of Integer and Fractional Order PID Controllers
Barbosa, Ramiro S.; Silva, Manuel F.; Machado, J. A. Tenreiro
Fractional calculus (FC) is widely used in most areas of science and engineering, being recognized its ability to yield a superior modeling and control in many dynamical systems. In this perspective, this article illustrates two applications of FC in the area of control systems. Firstly, is presented a methodology of tuning PID controllers that gives closed-loop systems robust to gain variations. After, a fractional-order PID controller is proposed for the control of an hexapod robot with three dof legs. In both cases, it is demonstrated the system's superior performance by using the FC concepts.
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
Performance-based parameter tuning method of model-driven PID control systems.
Zhao, Y M; Xie, W F; Tu, X W
2012-05-01
In this paper, performance-based parameter tuning method of model-driven Two-Degree-of-Freedom PID (MD TDOF PID) control system has been proposed to enhance the control performances of a process. Known for its ability of stabilizing the unstable processes, fast tracking to the change of set points and rejecting disturbance, the MD TDOF PID has gained research interest recently. The tuning methods for the reported MD TDOF PID are based on internal model control (IMC) method instead of optimizing the performance indices. In this paper, an Integral of Time Absolute Error (ITAE) zero-position-error optimal tuning and noise effect minimizing method is proposed for tuning two parameters in MD TDOF PID control system to achieve the desired regulating and disturbance rejection performance. The comparison with Two-Degree-of-Freedom control scheme by modified smith predictor (TDOF CS MSP) and the designed MD TDOF PID tuned by the IMC tuning method demonstrates the effectiveness of the proposed tuning method. PMID:22429300
Optimization of PID Parameter In Control System Tuning With Multi-Objective Genetic Algorithm.
Directory of Open Access Journals (Sweden)
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.
Genetic Algorithm based PID controller for Frequency Regulation Ancillary services
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Sandeep Bhongade
2010-12-01
Full Text Available In this paper, the parameters of Proportional, Integral and Derivative (PID controller for Automatic Generation Control (AGC suitable in restructured power system is tuned according to Generic Algorithms (GAs based performance indices. The key idea of the proposed method is to use the fitness function based on Area Control Error (ACE. The functioning of the proposed Genetic Algorithm based PID (GAPID controller has been demonstrated on a 75-bus Indian power system network and the results have been compared with those obtained by using Least Square Minimization method.
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.
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...
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 th...
Temperature Control System of Screw Air Compressor Based on Fuzzy PID Control Theory
Mingbo Lv; Wanqiang Lin; Sheng Gao; Janglong Fang
2011-01-01
In order to improve the inaccuracy of the traditional screw compressor PID controller parameters when initial set. To improve the speed and accuracy, raises a theory of determination on the PID controller based on fuzzy control theory and the first method of Ziegle•Nichols, applied to determine the initial value of PID controller. And the theory is applied on new controller. Then the PI D controller parameters are obtained which can meet the control requirements. The validity and reliabilit...
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Gaojian Li
2013-01-01
Full Text Available The study designs PID mathematical model and algorithm of the central air conditioning temperature control based on genetic algorithm. In order to test availability of the procedure and algorithm, we use the MATLAB software to do numerical simulation on different algorithms. Through calculation we found that delay time of the PID controller based on genetic algorithm designed in this paper is 92 seconds, less than the other two algorithms. The time which needs to adjust is 302 seconds, less than the other two algorithms. The overshoot is 25% which meets the needs of central air conditioning temperature control system. Finally, through the graphics computing functions of MATLAB we get two-dimensional section images of central air conditioning refrigeration effect. From the image we can see the central air conditioning refrigeration effect of PID algorithm based on genetic algorithm is good. It provides the theoretical reference for the study of air conditioning control system.
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 Ľ 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.
Development of a GA-fuzzy-immune PID controller with incomplete derivation for robot dexterous hand.
Liu, Xin-hua; Chen, Xiao-hu; Zheng, Xian-hua; Li, Sheng-peng; Wang, Zhong-bin
2014-01-01
In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal. PMID:25097881
Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
Xin-hua Liu; Xiao-hu Chen; Xian-hua Zheng; Sheng-peng Li; Zhong-bin Wang
2014-01-01
In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal.
DEFF Research Database (Denmark)
Yang, Zhenyu; Pedersen, Gerulf K.m.
2006-01-01
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.
MIMO PID Controller Synthesis with Closed-Loop Pole Assignment
Chang, Tsu-Shuan; Günde?, A. Nazli
For certain classes of linear, time-invariant, multi-input multi-output plants, a systematic synthesis is developed for stabilization using Proportional + Integral + Derivative (PID) controllers, where the closed-loop poles can be assigned to the left of an axis shifted away from the origin. The real-parts of the closed-loop poles can be smaller than any given negative value for some of these classes. The classes that admit PID-controllers with this property of small negative real-part assignability of closed-loop poles include stable and some unstable plants.
Intelligent particle swarm optimized fuzzy PID controller for AVR system
Energy Technology Data Exchange (ETDEWEB)
Mukherjee, V. [Department of Electrical Engineering, Asansol Engineering College, Asansol, West Bengal (India); Ghoshal, S.P. [Department of Electrical Engineering, National Institute of Technology, Durgapur, West Bengal (India)
2007-10-15
In process plants like thermal power plants, biomedical instrumentation the popular use of proportional-integral-derivative (PID) controllers can be noted. Proper tuning of such controllers is obviously a prime priority as any other alternative situation will require a high degree of industrial expertise. So in order to get the best results of PID controllers the optimal tuning of PID gains is required. This paper, thus, deals with the determination of off-line, nominal, optimal PID gains of a PID controller of an automatic voltage regulator (AVR) for nominal system parameters and step reference voltage input. Craziness based particle swarm optimization (CRPSO) and binary coded genetic algorithm (GA) are the two props used to get the optimal PID gains. CRPSO proves to be more robust than GA in performing optimal transient performance even under various nominal operating conditions. Computational time required by CRPSO is lesser than that of GA. Factors that have influenced the enhancement of global searching ability of PSO are the incorporation of systematic and intelligent velocity, position updating procedure and introduction of craziness. This modified from of PSO is termed as CRPSO. For on-line off-nominal system parameters Sugeno fuzzy logic (SFL) is applied to get on-line terminal voltage response. The work of SFL is to extrapolate intelligently and linearly, the nominal optimal gains in order to determine off-nominal optimal gains. The on-line computational burden of SFL is noticeably low. Consequently, on-line optimized transient response of incremental change in terminal voltage is obtained. (author)
Comparative analysis of PSO algorithms for PID controller tuning
Štimac, Goranka; Braut, Sanjin; Žiguli?, Roberto
2014-09-01
The active magnetic bearing(AMB) suspends the rotating shaft and maintains it in levitated position by applying controlled electromagnetic forces on the rotor in radial and axial directions. Although the development of various control methods is rapid, PID control strategy is still the most widely used control strategy in many applications, including AMBs. In order to tune PID controller, a particle swarm optimization(PSO) method is applied. Therefore, a comparative analysis of particle swarm optimization(PSO) algorithms is carried out, where two PSO algorithms, namely (1) PSO with linearly decreasing inertia weight(LDW-PSO), and (2) PSO algorithm with constriction factor approach(CFA-PSO), are independently tested for different PID structures. The computer simulations are carried out with the aim of minimizing the objective function defined as the integral of time multiplied by the absolute value of error(ITAE). In order to validate the performance of the analyzed PSO algorithms, one-axis and two-axis radial rotor/active magnetic bearing systems are examined. The results show that PSO algorithms are effective and easily implemented methods, providing stable convergence and good computational efficiency of different PID structures for the rotor/AMB systems. Moreover, the PSO algorithms prove to be easily used for controller tuning in case of both SISO and MIMO system, which consider the system delay and the interference among the horizontal and vertical rotor axes.
Automatic Generation Control of Multi Area Power System Using PID Controller
Reena Kumari, 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...
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
Zhang, Mei; Zheng, Meng; Li, Yanqiu
2013-12-01
A variable universe fuzzy PID algorithm is designed to control the misalignment of the lithography projection optics to meet the requirement of high image quality. This paper first simulates the alignment of Schwarzschild objective designed by us. Secondly, the variable universe fuzzy PID control is introduced to feed back the misalignment of Schwarzschild objective to the control system to drive the stage which holds the objective. So the position can be adjusted automatically. This feedback scheme can adjust the variables' universe self-adaptively by using fuzzy rules so that the concrete function and parameters of the contraction-expansion factor are not necessary. Finally, the proposed approach is demonstrated by simulations. The results show that, variable universe fuzzy PID method exhibits better performance in both improving response speed and decreasing overshoot compared to conventional PID and fuzzy PID control methods. In addition, the interference signal can be effectively restrained. It is concluded that this method can improve the dynamic and static properties of system and meet the requirement of fast response.
A PID Sliding Mode Control for Ropeless Elevator Maglev Guiding System
Hadi Afsharirad; Mohammad Bagher Bana Sharifian; Hasan Alipour
2012-01-01
In this paper, three different controllers are proposed and simulated for maglev guiding systems to have convenient and smooth elevator motion. The proposed controllers are PID, sliding mode, and PID sliding mode controllers. The advantages and disadvantages of the proposed controllers are discussed. Although, PID controller is fast, its response affected considerably by external disturbances. Unlike PID, the sliding mode controller is so robust, but its transient is unsuitable based on appli...
LHCb PID Upgrade Technical Design Report
LHCb Collaboration
2013-01-01
The LHCb upgrade will take place in the second long shutdown of the LHC, currently scheduled to begin in 2018. The upgrade will enable the experiment to run at luminosities of $2 \\times 10^{33}cm^{-2}s^{-1}$ and will read out data at a rate of 40MHz into a exible software-based trigger. All sub-detectors of LHCb will be re-designed to comply with these new operating conditions. This Technical Design Report presents the upgrade plans of the Ring Imaging Cherenkov (RICH) system, the calorimeter system and the muon system, which together provide the particle identication capabilities of the experiment.
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…
Robustness of PD and PID Controllers used with Second-Order Processes
Hassaan, Galal A.
2014-01-01
Robustness is one of the requirements used in controllers and compensators design. The designs presented in the previous papers did not consider the robustness of the controller or compensator. Therefore, the objective of this paper is to investigate the robustness of PD and PID controllers when used to control second-order processes against uncertainty in the process parameters. A variation of ± 20 % in process parameters is considered through simulation to study its effect o...
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)
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...
Speed Control of Bldc Motor Drive By Using Pid Controllers
Directory of Open Access Journals (Sweden)
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.
Adaptive PID formation control of nonholonomic robots without leader's velocity information.
Shen, Dongbin; Sun, Weijie; Sun, Zhendong
2014-03-01
This paper proposes an adaptive proportional integral derivative (PID) algorithm to solve a formation control problem in the leader-follower framework where the leader robot's velocities are unknown for the follower robots. The main idea is first to design some proper ideal control law for the formation system to obtain a required performance, and then to propose the adaptive PID methodology to approach the ideal controller. As a result, the formation is achieved with much more enhanced robust formation performance. The stability of the closed-loop system is theoretically proved by Lyapunov method. Both numerical simulations and physical vehicle experiments are presented to verify the effectiveness of the proposed adaptive PID algorithm. PMID:24388355
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.
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...
Saha, Suman; Das, Saptarshi; Das, Shantanu; Gupta, Amitava
2012-09-01
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?D?) controller have been approximated in this paper vis-ŕ-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?D? controller pushes the open loop zeros of the equivalent PID controller towards greater damping regions which gives a trajectory of the controller zeros and dominant closed loop poles. This trajectory is termed as "M-curve". This phenomena is used to design a two-stage tuning algorithm which reduces the existing PID controller's effort in a significant manner compared to that with a single stage LQR based pole placement method at a desired closed loop damping and frequency.
Cascade control of superheated steam temperature with neuro-PID controller.
Zhang, Jianhua; Zhang, Fenfang; Ren, Mifeng; Hou, Guolian; Fang, Fang
2012-11-01
In this paper, an improved cascade control methodology for superheated processes is developed, in which the primary PID controller is implemented by neural networks trained by minimizing error entropy criterion. The entropy of the tracking error can be estimated recursively by utilizing receding horizon window technique. The measurable disturbances in superheated processes are input to the neuro-PID controller besides the sequences of tracking error in outer loop control system, hence, feedback control is combined with feedforward control in the proposed neuro-PID controller. The convergent condition of the neural networks is analyzed. The implementation procedures of the proposed cascade control approach are summarized. Compared with the neuro-PID controller using minimizing squared error criterion, the proposed neuro-PID controller using minimizing error entropy criterion may decrease fluctuations of the superheated steam temperature. A simulation example shows the advantages of the proposed method. PMID:22776550
Design and implementation of a 2-DOF PID compensation for magnetic levitation systems.
Ghosh, Arun; Rakesh Krishnan, T; Tejaswy, Pailla; Mandal, Abhisek; Pradhan, Jatin K; Ranasingh, Subhakant
2014-07-01
This paper employs a 2-DOF (degree of freedom) PID controller for compensating a physical magnetic levitation system. It is shown that because of having a feedforward gain in the proposed 2-DOF PID control, the transient performance of the compensated system can be changed in a desired manner unlike the conventional 1-DOF PID control. It is also shown that for a choice of PID parameters, although the theoretical loop robustness is the same for both the compensated systems, in real-time, 2-DOF PID control may provide superior robustness if a suitable choice of the feedforward parameter is made. The results are verified through simulations and experiments. PMID:24947430
Comparison of Controller Performance of Fuzzy with PID for a Level Control of Conical Tank System
Srividya, A.; Viswanath, M.; Ravi Kiran, T. K. S.; Ayeesha Siddiqa, M.
2013-01-01
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 widel...
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 ...
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
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
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.
Research on the Robustness of an Adaptive PID Control of a Kind of Supersonic Missile
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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.
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...
Developing e-course Robust Constrained PID Control
Peter ?apák; Mikuláš Huba
2011-01-01
This paper informs about the latest development of the blended learning course Robust Constrained PID Control and describes in details problems faced in evaluating independent work of students with real time experiments that represent the main element of the applied “learning by doing” and “learning by experimenting” approach. Basic features of the developed system that evaluates consistency of student’s results with the measured experimental data and possibilities of further system...
Fuzzy Immune PID Control of Hydraulic System Based on PSO Algorithm
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Ma Yu
2013-02-01
Full Text Available This paper takes the permanent magnet servo motor-driven hydraulic system as the research object. The hydraulic system power source uses servo motor instead of the original asynchronous motor, becoming a new energy-saving, fast response, and easy to realize closed-loop control hydraulic power systems. Aiming at variability of the load for the hydraulic system, immune algorithm is introduced to incremental PID controller and derive control law. Using fuzzy strategy approximating antibodies inhibit adjustment function to enhance the stability and robustness of the system, and designing fuzzy immune PID controller, parameters of controller are self-optimized by particle swarm (PSO algorithm. This controller is applied to a hydraulic system, and achieved the precise control of the system flow in a variety of typical conditions. Simulation results show that: the controller can immune modulate automatically according to the dynamic changes of load of the hydraulic system, with fast tracking, small overshoot, and strong robustness advantages.
Networked PID Controllers for Wireless Systems
Ungan, Volkan
2010-01-01
Networked control systems (NCS) have recently been attracting significant attention as they are easier to monitor and modify and have reduced costs for wiring compared to the standard wired solutions. Wireless systems, on top of these traits, can overcome several physical impossibilities of wiring, i.e. they could enable installing a sensor on a rotating mill. However, wireless communication systems have evident imperfections, such as time-varying delay and packet dropout. The stochastic pack...
Hybrid PID-fuzzy control scheme for managing energy resources in buildings
Paris, Benjamin; Eynard, Julien; Grieu, Ste?phane; Polit, Monique
2011-01-01
Both indoor temperature regulation and energy resources management in buildings require the design and the implementation of efficient and readily adaptable control schemes. One can use standard schemes, such as "on/off" and PID, or "advanced" schemes, such as MPC (Model Predictive Control). Another approach would be considering artificial intelligence tools. In this sense, fuzzy logic allows controlling temperature and managing energy sources, taking advantage of the flexibility offered by l...
Robustness of PD and PID Controllers used with Second-Order Processes
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Galal A. Hassaan
2014-09-01
Full Text Available Robustness is one of the requirements used in controllers and compensators design. The designs presented in the previous papers did not consider the robustness of the controller or compensator. Therefore, the objective of this paper is to investigate the robustness of PD and PID controllers when used to control second-order processes against uncertainty in the process parameters. A variation of ± 20 % in process parameters is considered through simulation to study its effect on the system performance parameters using the tuned PD and PID controllers. With PD controller controlling an overdamped second order process, the variation in process damping ratio has no effect on the maximum percentage overshoot, maximum percentage undershoot and settling time of the closed-loop control system. The variation of the process natural frequency produced a change of 55.5 % in the settling time and zero change in maximum percentage overshoot and undershoot. For PID controller controlling an underdamped second order process, changing the damping ratio and natural frequency of the process by ± 20 % results in increasing the maximum percentage overshoot using the tuned controller by 18.3 % and 61.3 % respectively. This does not affect the maximum percentage undershoot and the settling time.
Seif, A. E. A.; Moustafa, M. A.; Tammam, M. A.; Aboelela, M. A. S.
2012-01-01
This paper studies control of load frequency in single and two area power systems with fuzzy like PID controller. In this study, multi-objective genetic algorithm is used to determine the parameters of the fuzzy like PID controller according to the system dynamics. The proposed controller has been compared with the conventional PID controllers tuned by Ziegler-Nicholasmethod and Particle Swarm Optimization technique. The overshoots and settling times with the proposed Genetic-PID controller a...
Decentralized PI/PID controllers based on gain and phase margin specifications for TITO processes.
Maghade, D K; Patre, B M
2012-07-01
In this paper, a decentralized PI/PID controller design method based on gain and phase margin specifications for two-input-two-output (TITO) interactive processes is proposed. The decouplers are designed for systems to minimize the interaction between the loops, and the first order plus dead time (FOPDT) model is achieved for each decoupled subsystem based on the frequency response fitting. An independent PI/PID controller is designed for each reduced order decoupled subsystem to obtain the desired gain and phase margins, and the performance is verified on the original interactive system to show the effectiveness of the proposed design method for the general class of TITO systems. Simulation examples are incorporated to validate the usefulness of the presented algorithm. An experimentation is performed on the Level-Temperature reactor process to show the practical applicability of the proposed method for the interactive system. PMID:22445395
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.
Security Enhancement of Dynamic System Using PID Controller and Optimization Algorithm
Parul Dewangan; Somesh Kumar Dewangan; Jyotiprakash Patra
2012-01-01
This paper presents a research project on a dynamic system by using a controller known as PID Controller, used to provide the simplest and yet effective solutions to most of the control engineering applications today [4] and some computing algorithm, which is implemented in hardware for obtaining parameters of PID controller, for setting K values of controller, increasing the derivative time and also minimizing the integral error in the system. The system has been applied to a PID Controller ...
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.
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.
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 ...
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.
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...
Energy Technology Data Exchange (ETDEWEB)
Ha, Sughong; Yum, Manoh; Cho, Kyeumrae; Lee, Jinkul
1995-11-15
Problems in design of sliding mode are the chattering problem expressing control input and requirement of feedback in a full state. In this study, by using characteristics of a digital computer, position control of an electro-hydraulic servosystem using PID sliding mode in which only input and output signals were designed was applied, and its simulation and experiments were conducted. Then, the instruction tracking ability and the external disturbance removing ability due to loading variation and external disturbances were examined by result comparison with the common PID control. This designed PID sliding mode controller can removed the chattering phenomena that is a problem of sliding mode control, by introduce of saturation functions. The respond characteristics of this designed control system was confirmed to depend on only characteristics of the designed sliding planes in according to design way. 11 refs., 12 figs., 2 tabs.
Developing e-course Robust Constrained PID Control
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Peter ?apák
2011-04-01
Full Text Available This paper informs about the latest development of the blended learning course Robust Constrained PID Control and describes in details problems faced in evaluating independent work of students with real time experiments that represent the main element of the applied “learning by doing” and “learning by experimenting” approach. Basic features of the developed system that evaluates consistency of student’s results with the measured experimental data and possibilities of further system expansion to automation of offering to student constructive feedback are discussed. Simultaneously, by comparing all data of the Matlab workspace the developed system serves although as an excellent anti-plagiarism tool.
Comparison of intelligent fuzzy based AGC coordinated PID controlled and PSS controlled AVR system
Energy Technology Data Exchange (ETDEWEB)
Mukherjee, V. [Department of Electrical Engineering, Asansol Engineering College, Asansol, West Bengal (India); Ghoshal, S.P. [Department of Electrical Engineering, National Institute of Technology, Durgapur, West Bengal (India)
2007-11-15
This paper attempts to investigate the performance of intelligent fuzzy based coordinated control of the Automatic Generation Control (AGC) loop and the excitation loop equipped with Proportional Integral Derivative (PID) controlled Automatic Voltage Regulator (AVR) system and Power System Stabilizer (PSS) controlled AVR system. The work establishes that PSS controlled AVR system is much more robust in dynamic performance of the system over a wide range of system operating configurations. Thus, it is revealed that PSS equipped AVR is much more superior than PID equipped AVR in damping the oscillation resulting in improved transient response. The paper utilizes a novel class of Particle Swarm Optimization (PSO) termed as Craziness based Particle Swarm Optimization (CRPSO) as optimizing tool to get optimal tuning of PSS parameters as well as the gains of PID controllers. For on-line, off-nominal operating conditions Takagi Sugeno Fuzzy Logic (TSFL) has been applied to obtain the off-nominal optimal gains of PID controllers and parameters of PSS. Implementation of TSFL helps to achieve very fast dynamic response. Fourth order model of generator with AVR and high gain thyristor excitation system is considered for PSS controlled system while normal gain exciter is considered for PID controlled system. Simulation study also reveals that with high gain exciter, PID control is not at all effective. Transient responses are achieved by using modal analysis. (author)
Adaptive PID-like Fuzzy Variable Structure Control for Uncertain MIMO Systems
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Wang Yaonan
2011-01-01
Full Text Available In this study, the stability analysis of the PID-like adaptive fuzzy Sliding Model Controller (SMC for a class of nonlinear uncertain MIMO systems is presented. The upper bounds of structured uncertainties and external disturbance are not needed to be known and approximated by a fuzzy inference system. To overcome the chattering problem in the conventional SMC scheme, an adaptive Proportional Integral Derivative (PID controller is designed to replace the switching part of the SMC scheme. The approximation and estimation errors are also assumed to be unknown and estimated online by using adaptive laws. The global stability and robustness of the closed-loop system is ensured by the derivation of the stability criterion based upon Lyapunovs direct method. Finally, numerical simulations for an two-link rigid robot under different controllers are provided and the results show that the proposed approach achieves satisfactory performance from the viewpoint of chattering removement and tracking accuracy.
IMC-PID Control using NN for Ultra-Sonic Motor
Tanaka, Kanya; Takeguchi, Tetsuma; Nakamoto, Jyouji; Li, Jinhua
Since modeling based on physical analysis of an ultra-sonic motor(USM) is difficult, conventional PID or IMC-PID control often has been used. However, it is difficult to accomplish satisfactory control performance using a conventional PID or IMC-PID control because an USM contains dynamic variations and non-linear elements. In this paper, we propose IMC-PID control using neural networks(NN) for an USM. In the proposed method, one parameter of IMC-PID control is adjusted using NN at each sampling-time. Introduction of NN makes it possible to compensate dynamic variations and non-linearity of an USM. The effectiveness of the proposed method is confirmed by experiment using existent USM.
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
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 contro...
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)ime 2.5 s). (paper)
Directory of Open Access Journals (Sweden)
Bharti Panjwani
2013-11-01
Full Text Available 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 control to achieve better response.
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.
Online Self-Tuning Precompensation for a PID Heading Control of a Flying Robot
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Manukid Parnichkun
2008-11-01
Full Text Available 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 the desired transient and steady state responses can be achieved. The precompensation is applied to compensate unsatisfied performances of the conventional PID controller by adjusting reference command. The precompensator is based on Takagi-Sugeno's type fuzzy model, which learns to tune itself online. The main contribution of the proposed controller is to enhance the controlled performance of the conventional PID controller by adding a self-tuning precompensator on the existing conventional PID controller. The results show that the conventional PID controller with an online self-tuning precompensation has a superior performance than the conventional PID controller. In addition, the online selftuning precompensation algorithm is implemented simply by adding the precompensator to the existing conventional PID controller and letting the self-tuning mechanism tune itself online.
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
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)
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.
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...
Coordinating IMC-PID and adaptive SMC controllers for a PEMFC.
Wang, Guo-Liang; Wang, Yong; Shi, Jun-Hai; Shao, Hui-He
2010-01-01
For a Proton Exchange Membrane Fuel Cell (PEMFC) power plant with a methanol reformer, the process parameters and power output are considered simultaneously to avoid violation of the constraints and to keep the fuel cell power plant safe and effective. In this paper, a novel coordinating scheme is proposed by combining an Internal Model Control (IMC) based PID Control and adaptive Sliding Mode Control (SMC). The IMC-PID controller is designed for the reformer of the fuel flow rate according to the expected first-order dynamic properties. The adaptive SMC controller of the fuel cell current has been designed using the constant plus proportional rate reaching law. The parameters of the SMC controller are adaptively tuned according to the response of the fuel flow rate control system. When the power output controller feeds back the current references to these two controllers, the coordinating controllers system works in a system-wide way. The simulation results of the PEMFC power plant demonstrate the effectiveness of the proposed method. PMID:19781698
FPGA Synthesis of Fuzzy (PD and PID Controller for Insulin Pumps in Diabetes Using Cadence
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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.
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 SciELO Brazil | Language: English Abstract in english 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.
Performance Analysis and FPGA Implementation of Digital PID Controller for Speed Control of DC Motor
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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.
Multi-Drive Paper System Control Based on Multi-Input Multi-Output PID Controller
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Boumedične ALLAOUA
2010-12-01
Full Text Available Paper industries require several drives for paper processing. Electronic synchronization has to be ensured for quality of produced paper rolls. Several control strategies of multi-input multi-output (MIMO system (multivariable system have been suggested based on robust control or electronic emulation of mechanical line shaft. In this paper, a multivariable proportional-integral-derivative (PID controller applied on multi-drive paper system (MDPS. The proposed controller has superior feature, including easy implementation, stable convergence characteristics and very good computational performances efficiency. The multivariable PID controller is modeled in MATLAB environment. The speed control of MDPS (in our case is a triple drive system based on multivariable PID is more proficient in improving the speed loop response stability, the steady state error is reduced, the rising time is perfected and the disturbances do not affect the performances of driving motors with no overtaking.
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
Optimized linear motor and digital PID controller setup used in Mössbauer spectrometer
Kohout, Pavel; Kou?il, Lukáš; Nava?ík, Jakub; Novák, Petr; Pechoušek, Ji?í
2014-10-01
Optimization of a linear motor and digital PID controller setup used in a Mössbauer spectrometer is presented. Velocity driving system with a digital PID feedback subsystem was developed in the LabVIEW graphical environment and deployed on the sbRIO real-time hardware device (National Instruments). The most important data acquisition processes are performed as real-time deterministic tasks on an FPGA chip. Velocity transducer of a double loudspeaker type with a power amplifier circuit is driven by the system. Series of calibration measurements were proceeded to find the optimal setup of the P, I, D parameters together with velocity error signal analysis. The shape and given signal characteristics of the velocity error signal are analyzed in details. Remote applications for controlling and monitoring the PID system from computer or smart phone, respectively, were also developed. The best setup and P, I, D parameters were set and calibration spectrum of ?-Fe sample with an average nonlinearity of the velocity scale below 0.08% was collected. Furthermore, the width of the spectral line below 0.30 mm/s was observed. Powerful and complex velocity driving system was designed.
IMC-PID design based on model matching approach and closed-loop shaping.
Jin, Qi B; Liu, Q
2014-03-01
Motivated by the limitations of the conventional internal model control (IMC), this communication addresses the design of IMC-based PID in terms of the robust performance of the control system. The IMC controller form is obtained by solving an H-infinity problem based on the model matching approach, and the parameters are determined by closed-loop shaping. The shaping of the closed-loop transfer function is considered both for the set-point tracking and for the load disturbance rejection. The design procedure is formulated as a multi-objective optimization problem which is solved by a specific optimization algorithm. A nice feature of this design method is that it permits a clear tradeoff between robustness and performance. Simulation examples show that the proposed method is effective and has a wide applicability. PMID:24280534
Research on Adaptive Fuzzy PID Synchronous Control Strategy of Double-Motor
Yu, Biao; Zhu, Hui; Xue, Chi
2011-01-01
The double-motor synchronous control system is widely used in industrial field. Its performance plays an important role in production. Traditional PID controller parameters are difficult to tune when used in control system, as well as the control effect can not satisfy the requirement of producing process when the controller plant is complex non-linear system. In this paper, adaptive fuzzy PID which can tune the parameters on-line is introduced to apply in the double-motor synchronous control...
The Smith-PID Control of Three-Tank-System Based on Fuzzy Theory
Jianqiu Deng; Cui Hao
2011-01-01
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-d...
Self-adaptive fuzzy PID control for three-tank water
Ke, Zhao
2013-03-01
Three-tank water represents a typical plant with non-linearity and large time delay. By combining the linearization method for non-linear plant, PID control structure and fuzzy control based on T-S model, the self-adaptive fuzzy PID control of the three-tank water is devised. The strategy aims at improving the control performance of the three-tank water by weighing the membership function to produce PID parameters and making parameters vary steadily with the variation of water level . Simulation results show that the control strategy proposed in this paper is correct and effective.
High precision position control of voice coil motor based on single neuron PID
Li, Liyi; Chen, Qiming; Tan, Guangjun; Zhu, He
2013-01-01
Voice coil motor(VCM) is widely used in high-speed and high-precision positioning control system in recent years. However, there are system uncertainty, nonlinear, modeling error, and external disturbances in the high-precision positioning control system, traditional PID control method is difficult to achieve precise positioning control. In this paper, a new position control strategy with a single neuron controller which has the capability of self-studying and self-adapting composed with PID controller is put forward, and the feedforward compensator is added to improve the dynamic response of the system in the position loop. Moreover, the disturbance observer is designed to suppress model parameter uncertainty and external disturbance signal in the current loop. In addition, the problem of high precision position control of VCM under the influence of significant disturbances is addressed, which including the gas-lubricated damping, the spring, the back EMF and ripple forces, on the basis, the mathematical model of VCM is established accurately. The simulation results show that this kind of controller can improve the dynamic characteristic and strengthen the robustness of the system, and the current loop with disturbance observer can also restrain disturbance and high frequency.
Active sway control of a gantry crane using hybrid input shaping and PID control schemes
Mohd Tumari, M. Z.; Shabudin, L.; Zawawi, M. A.; Shah, L. H. Ahmad
2013-12-01
This project presents investigations into the development of hybrid input-shaping and PID control schemes for active sway control of a gantry crane system. The application of positive input shaping involves a technique that can reduce the sway by creating a common signal that cancels its own vibration and used as a feed-forward control which is for controlling the sway angle of the pendulum, while the proportional integral derivative (PID) controller is used as a feedback control which is for controlling the crane position. The PID controller was tuned using Ziegler-Nichols method to get the best performance of the system. The hybrid input-shaping and PID control schemes guarantee a fast input tracking capability, precise payload positioning and very minimal sway motion. The modeling of gantry crane is used to simulate the system using MATLAB/SIMULINK software. The results of the response with the controllers are presented in time domains and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specification.
Performance and Robustness of Smith Predictor Control and Comparison with PID Control
Holene, Axel Lřdemel
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...
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
Fuzzy PID Control Method for Internet-based Tele-operation Manipulators System
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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.
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
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Ayman A. Aly
2011-06-01
Full Text Available Electrohydraulic servosystem have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In order to increase the reliability, controllability and utilizing the superior speed of response achievable from electrohydraulic systems, further research is required to develop a control software has the ability of overcoming the problems of system nonlinearities. In This paper, a Proportional Integral Derivative (PID controller is designed and attached to electrohydraulic servo actuator system to control its angular position. The PID parameters are optimized by the Genetic Algorithm (GA. The controller is verified on the state space model of servovalve attached to a rotary actuator by SIMULINK program. The appropriate specifications of the GA for the rotary position control of an actuator system are presented. It is found that the optimal values of the feedback gains can be obtained within 10 generations, which corresponds to about 200 experiments. A new fitness function was implemented to optimize the feedback gains and its efficiency was verified for control such nonlinear servosystem.
PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems
Jaen-cuellar, Arturo Y.; Romero-troncoso, Rene J.; 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 s...
A New Adaptive PID and CMAC Controller Based on Multi-parameter Optimization
Ruo-Fa Cheng; Wen-Long Zhao; Hong-Feng Deng; Deng-Feng Peng
2013-01-01
PID and CMAC compound controller was developed about thirty years ago but yet it lacks effective multi-parameter self-tuning method, including parameters of CMAC learning rate and inertia weight. Without proper control parameters, the control system based on PID and CMAC controller will converge very slowly, even becoming unstable after the simulation for a period of time. A new kind of multi-parameter self-adaptive optimization scheme based on adaptive genetic algorithm (AGA) was proposed fo...
PID Self-Tuning Controllers Used in Different Structures of the Control Loops
Dugan, Viorel; Dan, Adrian; Ionescu, Clara; Cotrumb, Mirela
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 ...
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...
Multi-Objective PID-Controller Tuning for a Magnetic Levitation System using NSGA-II
DEFF Research Database (Denmark)
Pedersen, Gerulf K. M.; Yang, Zhenyu
2006-01-01
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.
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
A PID Sliding Mode Control for Ropeless Elevator Maglev Guiding System
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Hadi Afsharirad
2012-05-01
Full Text Available In this paper, three different controllers are proposed and simulated for maglev guiding systems to have convenient and smooth elevator motion. The proposed controllers are PID, sliding mode, and PID sliding mode controllers. The advantages and disadvantages of the proposed controllers are discussed. Although, PID controller is fast, its response affected considerably by external disturbances. Unlike PID, the sliding mode controller is so robust, but its transient is unsuitable based on application conditions. However, an acceptable controller for ropeless elevator guiding system should guaranty the passengers safety and convenient. Consequently, the response of the system should be fast, robust, and without considerable overshoots and oscillations. These required advantages are compromised in the proposed parallel PID sliding mode controller. The affectivity of the introduced controllers for maglev guiding system is investigated through conducted simulations in MATLAB/Simulink environment. The obtained results illustrate that PID sliding mode controller is a so fast and robust controller for a ropeless elevator maglev guiding system.
The Design of Constant Pressure Water Supply PID System Based on PLC
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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.
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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...
Haitao Zhang; Zhen Li
2011-01-01
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. Comp...
Single Neuron PID Control of Aircraft Deicing Fluids Rapid Heating System
Bin Chen; Hong-zhen Yang; Li-wen Wang
2013-01-01
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. Simulati...
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...
Simulation Research on Fuzzy PID Mixed Controller Based on AC Servo-motor System
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Zhiqi Xu
2012-04-01
Full Text Available AC servo motor is a complex controlled object. In this paper, the fuzzy PID mixed control strategy is adopted to conduct an analytical research by using the MATLAB/SIMULINK simulation software for simulation. Results show that, application of the fuzzy PID mixed control system to the AC servo motor produces good dynamics and steady-state performance as well as robustness, etc.
The Self-Adaptive Fuzzy PID Controller in Actuator Simulated Loading System
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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.
COMPARISON OF PID TUNING TECHNIQUES FOR CLOSED LOOP CONTROLLER OF DC-DC BOOST CONVERTER
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Apekshit Bhowate
2015-02-01
Full Text Available The capability of PID controller to withstand practical industrial problems has led to its inclusive acceptance in industries and academics. It has been observed that PID controller tuning is quite difficult by classical methods using graphs and mathematical analysis. In this paper, PID theory is briefly summarized and some standard tuning methods are discussed using MATLAB. Accordingly compensator transfer function is derived by different methods and compared based on the steady state response and system characteristics. This effort inspects which method is best for conventional DC-DC boost converter.
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.
Multi-Drive Paper System Control Based on Multi-Input Multi-Output PID Controller
Allaoua, Boumedie?ne; Laoufi, Abdellah; Gasbaoui, Brahim
2010-01-01
Paper industries require several drives for paper processing. Electronic synchronization has to be ensured for quality of produced paper rolls. Several control strategies of multi-input multi-output (MIMO) system (multivariable system) have been suggested based on robust control or electronic emulation of mechanical line shaft. In this paper, a multivariable proportional-integral-derivative (PID) controller applied on multi-drive paper system (MDPS). The proposed controller has superior featu...
A PID based MIMO control system of the CMS Tracker thermal screen
Carrone, Enzo
2004-01-01
The Tracker is one of the CMS (Compact Muon Solenoid experiment) subdetectors to be installed at the LHC (Large Hadron Collider) accelerator at CERN (European Organization for Nuclear Research). The tracker will be operated at a temperature of -10 degree C in order to reduce the radiation damage on the silicon detectors; hence, an insulated environment has to be provided by means of a screen that introduces a thermal separation between the Tracker and the neighbouring detection systems. The control system design includes a description of the process by means of a thermodynamic model and the electrical equivalence. The transfer function is inferred by the ratio of the temperature outside the tracker and the heat generated (which is the controlled variable). A PID (Proportional Integral Derivative) controller has then been designed. The MIMO (Multiple Input Multiple Output) approach and the Relative Gain Array showed that mutual interactions are negligible. The results achieved so far prove that this methodolog...
Alca?ntara Cano, Salvador
2011-01-01
The concept of (negative) feedback, albeit simple, is extremely powerful, and has since the Industrial Revolution changed our world dramatically. Nowadays, control systems are everywhere. In process industry, for example, they keep the manipulated variables close to the set-points in spite of disturbances and changes in the plant. Moreover, feedback provides the only means to stabilize unstable processes. This way, the feedback mechanism reveals essential for improving product quality and ene...
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.
Parul Arora, Alok Gupta
2013-01-01
This paper describes the PID control of a batch polymerization reactor concluding after comparison of two different mode of control. The main objective of any control system is to attain target value within minimum time. To achieve this goal we compared split range control with controller using heat load as manipulative variable. Both provide good control but after study of performance index we found PID controller with heat load as manipulative variable perfor...
A Synthesis of Electronically Controllable Current-Mode PI, PD and PID Controllers Employing CCCDBAs
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Somchai Srisakultiew
2013-06-01
Full Text Available 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 capacitors, and PI and PD controllers are composed of three CCCCDBAs and a grounded capacitor. Without any external resistor, the proposed circuits are very suitable to develop into integrated circuit architecture. The given results from the PSpice simulation agree well with the theoretical anticipation. The approximate power consumption in a closed loop control system consisting of the PI, PD and PID controller with low-pass filter passive plant are 4.03 mW, 4.85 mW and 5.71 mW, respectively, at ±1.5 V power supply voltages.
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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
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...
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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
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.
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 contform 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.
Research on AHP speed adjusting based on fuzzy-PID double-mode complex control
Sang, Yong; Liu, Yang; Lin, Hongbin; Wang, Zhanlin
2008-10-01
In the ground test station of AC motor driven airborne hydraulic pump (referred to as AHP, hereinafter), speed adjusting is usually worsened by the high order, nonlinearity and time-varying features of AC motor, as well as the nonlinearity of the hydraulic system. In order to solve these problems a new complex control method based on Fuzzy-PID control theory is brought forward. The control method adopts fuzzy controller to enhance the system's tracing features under big error conditions and adopts parameter self-modifying Fuzzy-PID control to eliminate static errors under small error conditions. Simulation results show that the complex controller has faster response, higher accuracy, stronger robust, compared with the general PID controller. The AHP speed and robust requirements can be satisfied.
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)
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
Directory of Open Access Journals (Sweden)
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
Development of a GPC-based PID controller for unstable systems with deadtime
Tan; Huang; Lee
2000-01-01
Till now, traditional low-order control schemes have never been applicable to unstable systems with deadtime. In this paper, we present the first application of a PID controller with time-scheduled gains to unstable systems with deadtime, consisting of a single unstable pole. The control gains are designed based on a generalised predictive control (GPC) approach. The only user specifications required are simple and classical desired properties as in the natural frequency and the damping ratio of the closed-loop system. An approach is further developed to subsequent on-line self-tuning of control weights so that the overall control system remains applicable and effective in the face of disturbances and slowly varying dynamics. A detailed analysis of the closed-loop stability of the thus designed control system is further provided in the paper. Based on stability conditions developed, the prediction horizon for the GPC-based controller may be effectively computed. Finally, simulation examples illustrate the performance of the control system. PMID:10826286
A new control scheme for PID load frequency controller of single-area and multi-area power systems.
Padhan, Dola Gobinda; Majhi, Somanath
2013-03-01
A new control structure with a tuning method to design a PID load frequency controller for power systems is presented. Initially, the controller is designed for single area power system, then it is extended to multi-area case. The controller parameters are obtained by expanding controller transfer function using Laurent series. Relay based identification technique is adopted to estimate power system dynamics. Robustness studies on stability and performance are provided, with respect to uncertainties in the plant parameters. The proposed scheme ensures that overall system remains asymptotically stable for all bounded uncertainties and for system oscillations. Simulation results show the feasibility of the approach and the proposed method improves the load disturbance rejection performance significantly even in the presence of the uncertainties in plant parameters. PMID:23141877
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.
Li, Heng; Ren, Changzhi; Song, Libin; Wu, Jun
2014-07-01
The direct drive tracking system of Telescope is one multivariable, nonlinear and strong coupling complex mechanical control system which is disturbed by some nonlinear disturbance such torque ripple, wind disturbance during the tracking process. the traditional PID control cannot fundamentally solved the contradiction between static and dynamic performance, tracking data and disturbance .This paper explores a kind of CMAC with nonlinear PID parallel composite control method for dual redundant telescope tracing servo system. The simulation result proves that combined algorithm based on CMAC and PID realizes the servo system without overshoot and accelerates the response of the system. What's more, CMAC feedforward control improves anti-disturbance ability and the control precision of the servo system.
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, respecnd 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.
Power Regulation of a Wind Turbine Using Adaptive Fuzzy- PID Pitch Angle Controller
Sachin Goyal; Mukul Gaur,; Prof. Sulata Bhandari,
2013-01-01
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 p...
Parameter Tuning of Fractional PI?D? Controllers With Integral Performance Criterion
Bettou, K.; Charef, A.
2008-06-01
A new technique for tuning fractional PI?D? controllers is presented in this paper. This technique is based on the solution of an optimisation problem. The basic ideas of the proposed technique are based on the minimum Integral Squared Error (ISE) criterion, in the first place, for setting the parameters of the fractional PI?D? controller for ? = 1 and ? = 1 which means setting the parameters of the conventional PID controller, and in the second place, for setting the fractional integration action order ? and the fractional differentiation action order ?. The performance of this technique is compared with other techniques already available in the literature, and the results show a significant improvement in the closed-loop responses and more robustness using the parameters obtained by the proposed approach.
Adaptive Functional-Based Neuro-Fuzzy-PID Incremental Controller Structure
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Ashraf Ahmed Fahmy
2015-03-01
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.
Setpoint Weighted PID Controller for the Electromechanical Actuator in Spacecraft
Sumathi, R.; Usha, M.
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...
Energy Technology Data Exchange (ETDEWEB)
Jahedi, G. [Energy Research Center, Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), 424 Hafez Ave, Tehran (Iran, Islamic Republic of); Ardehali, M.M., E-mail: ardehali@aut.ac.i [Energy Research Center, Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), 424 Hafez Ave, Tehran (Iran, Islamic Republic of)
2011-01-15
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.
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 on the Integral Separation PID Control in Piezoelectric Crystal Positioning Process
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Yucheng Liu
2013-01-01
Full Text Available The Preisach control model is one of the effective methods for piezoelectric crystal control. However, unstable data sampling brought considerable influence and errors to the control process. For the purpose of improving the precision and stability of positioning control in implementation procedure, this paper applied the integral separation PID control technology to piezoelectric crystal positioning process. Desirable results of precision control have been acquired.
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...
Fuzzy PID Control Method for Internet-based Tele-operation Manipulators System
Wei Gao; Miaolei Zhou
2013-01-01
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 adju...
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...
Genetic design of interpolated non-linear controllers for linear plants
International Nuclear Information System (INIS)
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)
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...
Multi-stage fuzzy PID power system automatic generation controller in deregulated environments
International Nuclear Information System (INIS)
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
Fuzzy Immune PID Control of Hydraulic System Based on PSO Algorithm
Ma Yu; Gu Lichen
2013-01-01
This paper takes the permanent magnet servo motor-driven hydraulic system as the research object. The hydraulic system power source uses servo motor instead of the original asynchronous motor, becoming a new energy-saving, fast response, and easy to realize closed-loop control hydraulic power systems. Aiming at variability of the load for the hydraulic system, immune algorithm is introduced to incremental PID controller and derive control law. Using fuzzy strategy approximating antibodies...
Geometric Nonlinear PID Control of a Quadrotor UAV on SE(3)
Goodarzi, Farhad; Lee, Daewon; Lee, Taeyoung
2013-01-01
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of minimal attitude representations or ambiguity of quaternions. A new form of integral control terms is proposed to guarantee almost global asymptotic stability when there exist uncertainties in the quadrotor dynamics. A rigorous mathematical pro...
Novel Resistorless Mixed-Mode PID Controller with Improved Low-Frequency Performance
Directory of Open Access Journals (Sweden)
V. Silaruam
2013-09-01
Full Text Available This paper introduces a new resistorless mixed-mode proportional-integral-derivative (PID controller. It employs six simple transconductors and only two grounded capacitors. The proposed PID controller offers several advantageous features of resistorless configuration, use of grounded capacitors, independent electronic-tuning characteristic of its parameters, and mixed-mode operation such as current, transimpedance, transadmittance, and voltage modes. The parasitic element effects of the transconductors on the proposed controller are investigated and the improved low-frequency performance of the proposed controller is then discussed. As applications, the proposed controller is demonstrated on two closed-loop systems. The PSPICE simulations with TSMC 0.18µm CMOS process and ±0.9V supply voltage verify the theoretical analysis.
The Advantages of PID Fuzzy Controllers Over The Conventional Types
Al-odienat, Abdullah I.; Al-lawama, Ayman A.
2008-01-01
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 ...
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.
Zhang, Shu; Taft, Cyrus W; Bentsman, Joseph; Hussey, Aaron; Petrus, Bryan
2012-09-01
Tuning a complex multi-loop PID based control system requires considerable experience. In today's power industry the number of available qualified tuners is dwindling and there is a great need for better tuning tools to maintain and improve the performance of complex multivariable processes. Multi-loop PID tuning is the procedure for the online tuning of a cluster of PID controllers operating in a closed loop with a multivariable process. This paper presents the first application of the simultaneous tuning technique to the multi-input-multi-output (MIMO) PID based nonlinear controller in the power plant control context, with the closed-loop system consisting of a MIMO nonlinear boiler/turbine model and a nonlinear cluster of six PID-type controllers. Although simplified, the dynamics and cross-coupling of the process and the PID cluster are similar to those used in a real power plant. The particular technique selected, iterative feedback tuning (IFT), utilizes the linearized version of the PID cluster for signal conditioning, but the data collection and tuning is carried out on the full nonlinear closed-loop system. Based on the figure of merit for the control system performance, the IFT is shown to deliver performance favorably comparable to that attained through the empirical tuning carried out by an experienced control engineer. PMID:22633781
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
Sartori Natal, Guilherme; Chemori, Ahmed; Michelin, Micae?l; Pierrot, Franc?ois
2012-01-01
This paper deals with dual-space control of R4 redundantly actuated parallel manipulator for very high acceleration applications. This controller consists in a PID in the Cartesian space complied with a feedforward of the desired acceleration in both Cartesian and articular spaces for tracking performance improvements: models show that this "dual-space" control strategy is an e cient way to implement computed torque control. For comparison purposes, experiments were made with a Cartesian PID ...
Singh, Ravendra; Sahay, Abhishek; Karry, Krizia M; Muzzio, Fernando; Ierapetritou, Marianthi; Ramachandran, Rohit
2014-10-01
It is desirable for a pharmaceutical final dosage form to be manufactured through a quality by design (QbD)-based approach rather than a quality by testing (QbT) approach. An automatic feedback control system coupled with PAT tools that is part of the QbD paradigm shift, has the potential to ensure that the pre-defined end product quality attributes are met in a time and cost efficient manner. In this work, an advanced hybrid MPC-PID control architecture coupled with real time inline/online monitoring tools and principal components analysis (PCA) based additional supervisory control layer has been proposed for a continuous direct compaction tablet manufacturing process. The advantages of both MPC and PID have been utilized in a hybrid scheme. The control hardware and software integration and implementation of the control system has been demonstrated using feeders and blending unit operation of a continuous tablet manufacturing pilot plant and an NIR based PAT tool. The advanced hybrid MPC-PID control scheme leads to enhanced control loop performance of the critical quality attributes in comparison to a regulatory (e.g. PID) control scheme indicating its potential to improve pharmaceutical product quality. PMID:24974987
ANN Based PID Controlled Brushless DC drive System
Ganesh, C.; Prabhu, M.; Rajalakshmi, M.; Sumathi, G.; Bhola, Virender; Patnaik, S. K.
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...
Scientific Electronic Library Online (English)
José Rubén, Lagunas-Jiménez; Víctor, Moo-Yam; Benjamín, Ortíz-Moctezuma.
2014-06-01
Full Text Available SciELO Mexico | Language: English Abstract in spanish En este artículos e presenta una metodología de diseńo 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.
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
International Nuclear Information System (INIS)
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
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.
International Nuclear Information System (INIS)
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.
Regular self-oscillating and chaotic behaviour of a PID controlled gimbal suspension gyro
International Nuclear Information System (INIS)
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
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.
PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor
Bouabdallah, Samir; Noth, Andre?; Siegwart, Roland Yves
2004-01-01
The development of miniature flying robots has become a reachable dream thanks to the new sensing and actuating technologies. Micro VTOL1 systems represent a useful class of flying robots because of their strong abilities for small-area monitoring and building exploration. In this paper, we present the results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called Quadrotor. A classical approach (PID) assuming a simplified dynamics and a modern techn...
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
Control of a production-inventory system using a pid and demand prediction based controller
Scientific Electronic Library Online (English)
S., Tosetti; D., Patińo; 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.
A novel multi-drive electric vehicle system control based on multi-input multi-output PID controller
Gasbaoui Brahim; Nasri Abdelfatah
2012-01-01
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 ...
Iqbal, Kamran; Roy, Anindo
2004-12-01
In this paper we address the problem of PID stabilization of a single-link inverted pendulum-based biomechanical model with force feedback, two levels of position and velocity feedback, and with delays in all the feedback loops. The novelty of the proposed model lies in its physiological relevance, whereby both small and medium latency sensory feedbacks from muscle spindle (MS), and force feedback from Golgi tendon organ (GTO) are included in the formulation. The biomechanical model also includes active and passive viscoelastic feedback from Hill-type muscle model and a second-order low-pass function for muscle activation. The central nervous system (CNS) regulation of postural movement is represented by a proportional-integral-derivative (PID) controller. Padé approximation of delay terms is employed to arrive at an overall rational transfer function of the biomechanical model. The Hermite-Biehler theorem is then used to derive stability results, leading to the existence of stabilizing PID controllers. An algorithm for selection of stabilizing feedback gains is developed using the linear matrix inequality (LMI) approach. PMID:15796343
A Control Design for Grinding Systems with Feedforward Compensation
Costea, Claudiu Raul
2012-01-01
The object of the present study is to design acontrol system for milling systems. An analyze of thedynamic behavior is described, aimed at designing acontrol system. The control system that is presenteduses PID control with feedforward compensation.
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.
Velocity relaxed and craziness-based swarm optimized intelligent PID and PSS controlled AVR system
Energy Technology Data Exchange (ETDEWEB)
Chatterjee, A.; Mukherjee, V. [Department of Electrical Engineering, Asansol Engineering College, Asansol, Vivekananda Sarani, Kanyapur, West Bengal 713305 (India); Ghoshal, S.P. [Department of Electrical Engineering, National Institute of Technology, Durgapur, West Bengal 713209 (India)
2009-09-15
This paper explores a comparative performance study of two new classes of particle swarm optimization techniques, one with velocity update relaxation (VURPSO) and the other based on novel position, velocity updating strategy and craziness (CRPSO). Both VURPSO and CRPSO highly enhance searching ability. Genetic algorithm (GA) is considered for the sake of comparison. Finally, it is revealed that while applying in two power systems applications (PID controlled AVR system, PSS controlled AVR system), VURPSO exhibits better transient performance than CRPSO/GA. For on-line, off-nominal conditions, Takagi Sugeno fuzzy logic is applied to obtain on-line responses for both the system models. (author)
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 desempeńo 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
A novel multi-drive electric vehicle system control based on multi-input multi-output PID controller
Directory of Open Access Journals (Sweden)
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.
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...
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.
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
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.
Sasano, Koji; Okajima, Hiroshi; Matsunaga, Nobutomo
Recently, the fractional order PID (FO-PID) control, which is the extension of the PID control, has been focused on. Even though the FO-PID requires the high-order filter, it is difficult to realize the high-order filter due to the memory limitation of digital computer. For implementation of FO-PID, approximation of the fractional integrator and differentiator are required. Short memory principle (SMP) is one of the effective approximation methods. However, there is a disadvantage that the approximated filter with SMP cannot eliminate the steady-state error. For this problem, we introduce the distributed implementation of the integrator and the dynamic quantizer to make the efficient use of permissible memory. The objective of this study is to clarify how to implement the accurate FO-PID with limited memories. In this paper, we propose the implementation method of FO-PID with memory constraint using dynamic quantizer. And the trade off between approximation of fractional elements and quantized data size are examined so as to close to the ideal FO-PID responses. The effectiveness of proposed method is evaluated by numerical example and experiment in the temperature control of heat plate.
A PID Positioning Controller with a Curve Fitting Model Based on RFID Technology
Directory of Open Access Journals (Sweden)
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
Study of Constant Voltage Control on Small Steam Generator Based on PID Algorithm
Directory of Open Access Journals (Sweden)
Yanjun Xiao
2014-03-01
Full Text Available The object of this study is a kind of 3 kW small steam generator, which can recover waste heat through making use of 0.1~0.3 MPa steam. This can exploit secondary energy efficiently. The electricity generated can be commonly used as factory lighting, heating, fan and emergency power supply. But the generation voltage of the existed steam turbine is instable, especially when the steam pressure and the load of the generator changes suddenly. This can pose a threat to electrical safety and greatly limit the market of small steam generator. In this study, PID control algorithm is used to control the amount of steam into the turbine of generator system. And the closed-loop control system can make a real-time feedback regulation to the steam, so that the generator voltage can be stable. The user's electrical safety requirements are satisfied as well.
Root Locus Based Autopilot PID’s Parameters Tuning for a Flying Wing Unmanned Aerial Vehicle
Directory of Open Access Journals (Sweden)
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.
A Discrete PID Control System Using Predictors and an Observer for the Influence of a Time Delay
Hikichi, Y.; Sasaki, K.; Tanaka, R.; 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...
Stability of PID-Controlled Linear Time-Delay Feedback Systems
Martelli, Gianpasquale
2008-01-01
The stability of feedback systems consisting of linear time-delay plants and PID controllers has been investigated for many years by means of several methods, of which the Nyquist criterion, a generalization of the Hermite-Biehler Theorem, and the root location method are well known. The main purpose of these researches is to determine the range of controller parameters that allow stability. Explicit and complete expressions of the boundaries of these regions and computation procedures with a finite number of steps are now available only for first-order plants, provided with one time delay. In this note, the same results, based on Pontryagin's studies, are presented for arbitrary-order plants.
Afsaneh Salehi; Farzin Piltan; Mahmoud Mousavi; Arzhang Khajeh; Mohammad Reza Rashidian
2013-01-01
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 ...
Pan'ko, M. A.; Belov, S. L.
2008-06-01
The methods of analyzing the influence of parameters of an actual differentiating section in the structure of a PID-controller on the dynamic accuracy of control systems based on calculation of lines of the preset stability margin are presented. Recommendations for selecting the value of a ballast time constant of a differentiator are given.
Wang, Yuan-Jay
2014-03-01
This paper proposes a novel alternative method to graphically compute all feasible gain and phase margin specifications-oriented robust PID controllers for open-loop unstable plus time delay (OLUPTD) processes. This method is applicable to general OLUPTD processes without constraint on system order. To retain robustness for OLUPTD processes subject to positive or negative gain variations, the downward gain margin (GM(down)), upward gain margin (GM(up)), and phase margin (PM) are considered. A virtual gain-phase margin tester compensator is incorporated to guarantee the concerned system satisfies certain robust safety margins. In addition, the stability equation method and the parameter plane method are exploited to portray the stability boundary and the constant gain margin (GM) boundary as well as the constant PM boundary. The overlapping region of these boundaries is graphically determined and denotes the GM and PM specifications-oriented region (GPMSOR). Alternatively, the GPMSOR characterizes all feasible robust PID controllers which achieve the pre-specified safety margins. In particular, to achieve optimal gain tuning, the controller gains are searched within the GPMSOR to minimize the integral of the absolute error (IAE) or the integral of the squared error (ISE) performance criterion. Thus, an optimal PID controller gain set is successfully found within the GPMSOR and guarantees the OLUPTD processes with a pre-specified GM and PM as well as a minimum IAE or ISE. Consequently, both robustness and performance can be simultaneously assured. Further, the design procedures are summarized as an algorithm to help rapidly locate the GPMSOR and search an optimal PID gain set. Finally, three highly cited examples are provided to illustrate the design process and to demonstrate the effectiveness of the proposed method. PMID:24462232
Modelling and Controller Design of Inverted Pendulum
Directory of Open Access Journals (Sweden)
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.
Cui, J.; Guo, Z. Y.; Yang, Z. C.; Hao, Y. L.; Yan, G. Z.
2011-09-01
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.
Directory of Open Access Journals (Sweden)
Eric S. Sanches
2014-10-01
Full Text Available Three speed controllers for an axial magnetic flux switched reluctance motor with only one stator, are described and experimentally tested. As it is known, when current pulses are imposed in their windings, high ripple torque is obtained. In order to reduce this ripple, a control strategy with modified current shapes is proposed. A workbench consisting of a machine prototype and the control system based on a microcontroller was built. These controllers were: a conventional PID, a fuzzy logic PID and a neural PID type. From experimental results, the effective reduction of the torque ripple was confirmed and the performance of the controllers was compared.
Status of LHD control system design
International Nuclear Information System (INIS)
The present status of LHD (Large Helical Device) control system design is described, emphasizing on the plasma operation modes, the architecture of the LHD control system, the real-time plasma feedback system with PID or Fuzzy controllers and the construction schedule of the LHD control system. The conceptual and designs are under way taking flexible and reliable operations for physics experiments into account. (author)
Status of LHD control system design
International Nuclear Information System (INIS)
The present status of LHD (Large Helical Device) control system design is described, emphasizing on the plasma operation modes, the architecture of the LHD control system, the real-time plasma feedback system with PID or Fuzzy controllers and the construction schedule of the LHD control system. The conceptual and detailed designs are under way taking flexible and reliable operations for physics experiments into account. (author)
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...
Vibration Control of Bus Suspension System using PI and PID Controller
Swati Gaur
2013-01-01
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 Ľ 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 contr...
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
Fu?tterer, Johannes P.; Henn, Sarah; Schmidt, Martin; Mueller, Dirk
2014-01-01
We assess different control loop tuning methods to tackle suboptimal building performance due to suboptimal PID control within building automation systems. Advanced control research for building energy systems is usually conducted either simulation-based or with the help of experiments via test benches. Therefore, it is limited in terms of applicability to real systems. Consequently, we conduct real tuning experiments with different PID tuning methods under real operation conditions within a ...
Simple PI/PID Controller Tuning Rules for FOPDT Plants with Guaranteed Closed-Loop Stability Margin
Jan Cvejn
2011-01-01
In the paper we present tuning rules for PI and PID controllers and the first order plus dead time (FOPDT) process model.The settings respect both performance and stability indices and provide a high degree of robustness for any value of the dead timeparameter. As the performance index we are using the well known modulus optimum criterion, which requires that the amplitudeof the closed-loop frequency response is close to one for low frequencies. This criterion produces simple tuning formulas ...
Design of section positioning control for luggage DR-CT inspection system
International Nuclear Information System (INIS)
This paper introduces briefly the principles of luggage DR-CT inspection system, and analyzes the functions of its control subsystem. It also introduces the design of PID control for section positioning and the method of tuning PID parameters in detail. It is proved that the positioning error is reduced significantly, and its functions meet the demands of this inspection system. (authors)
International Nuclear Information System (INIS)
The use of photoionization detectors (PIDs) for field screening of soils for volatile organic contaminants has become a standard industry practice. PID screening data is generally utilized as a qualitative basis for selection of samples for laboratory analysis to quantify concentrations of specific contaminants of concern. Both qualitative field screening data and quantitative laboratory analytical data were reviewed for more than 100 hydrogeologic assessment sites in Ohio to evaluate controls on the effectiveness of field screening data. Assessment data evaluated was limited to sites at which the suspected contaminant source was a gasoline underground storage tanks system. In each case, a 10.0 eV (or greater) PID calibrated for benzene was used to screen soils which were analyzed for benzene, toluene, ethylbenzene and xylene (BTEX) by SW 846 method 8020. Controls on field screening which were evaluated for each site included (1) soil classification, (2) soil moisture, (3) weather conditions, (4) background levels, (5) equipment quality, (6) screening methodology, and (7) laboratory QA/QC. Statistical data analysis predictably indicated a general overestimate of total BTEX levels based on field screening (gasoline is approximately 25 weight percent BTEX). However, data locally indicated cases of both significant (i.e., more than an order of magnitude difference) over- and under-estimation of actual BTEX concentrations (i.e., quantitative laboratory data) by field screuantitative laboratory data) by field screening data
Chen, Zhihuan; Yuan, Yanbin; Yuan, Xiaohui; Huang, Yuehua; Li, Xianshan; Li, Wenwu
2014-12-01
A hydraulic turbine regulating system (HTRS) is one of the most important components of hydropower plant, which plays a key role in maintaining safety, stability and economical operation of hydro-electrical installations. At present, the conventional PID controller is widely applied in the HTRS system for its practicability and robustness, and the primary problem with respect to this control law is how to optimally tune the parameters, i.e. the determination of PID controller gains for satisfactory performance. In this paper, a kind of multi-objective evolutionary algorithms, named adaptive grid particle swarm optimization (AGPSO) is applied to solve the PID gains tuning problem of the HTRS system. This newly AGPSO optimized method, which differs from a traditional one-single objective optimization method, is designed to take care of settling time and overshoot level simultaneously, in which a set of non-inferior alternatives solutions (i.e. Pareto solution) is generated. Furthermore, a fuzzy-based membership value assignment method is employed to choose the best compromise solution from the obtained Pareto set. An illustrative example associated with the best compromise solution for parameter tuning of the nonlinear HTRS system is introduced to verify the feasibility and the effectiveness of the proposed AGPSO-based optimization approach, as compared with two another prominent multi-objective algorithms, i.e. Non-dominated Sorting Genetic Algorithm II (NSGAII) and Strength Pareto Evolutionary Algorithm II (SPEAII), for the quality and diversity of obtained Pareto solutions set. Consequently, simulation results show that this AGPSO optimized approach outperforms than compared methods with higher efficiency and better quality no matter whether the HTRS system works under unload or load conditions. PMID:25481821
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Safaa M. Z. Al-Ubaidi
2012-06-01
Full Text Available This paper presents an implementation of conventional PID (CPID controller using Ziegler-Nichols rules and fuzzy PD (FPD controller for position servo motor control based on Lab View (Laboratory Virtual Instrument Engineering Workbench Environment through Data Acquisition (DAQ Device PCI- 6521 of National Instrument's and Data Acquisition Accessory Board Model (CB-68LP.CPID controller is perhaps the most well-known and most widely used in industrial applications. However, it has been known that CPID controller generally don’t work well for non-linear systems, higher order and time-delayed linear system and particularly complex and vague system. To overcome these difficulties, this paper proposes to use the FPD controller for a servo motor system instead of CPID. The parameters of servo motor used are completely unknown. The FPD structure has two-input single-output and fairly similar characteristic to its conventional counterpart and provides good performance. Simple rules base are used for FPD (nine rules only. Performance evaluation was carried out via a comparison study for the proposed control scheme and other existing control scheme, such as CPID controller. The critical point for this experiment on position system is a steady state error and settling time. The performance showing that the FPD has less settling time and zero steady state error over its CPID. The algorithms of FPD and CPID controllers are implemented using PID, Fuzzy Logic and simulation toolkits of the Lab View environment.
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Dedid Cahya Happyanto
2012-05-01
Full Text Available Driving system of electric car for low speed has a performance of controller that is not easily set up on large span so it does not give a comfort to passengers. The study has been tested in the bumpy road conditions, by providing disturbances in the motor load, it is to describe the condition of the road. To improve the system performance, the speed and torque controller was applied using Field Oriented Control (FOC method. In this method, On-Line Proportional Integral Derivative Fuzzy Logic Controller (PID-FLC is used to give dynamic response to the change of speed and maximum torque on the electric car and this results the smooth movement on every change of car performance both in fast and slow movement when breaking action is taken. Optimization of membership functions in Fuzzy PID controller is required to obtain a new PID parameter values which is done in autotuning in any changes of the input or disturbance. PID parameter tuning in this case using the Ziegler-Nichols method based on frequency response. The mechanism is done by adjusting the PID parameters and the strengthening of the system output. The test results show that the controller Fuzzy Self-Tuning PID appropriate for Electric cars because they have a good response about 0.85% overshoot at to changes in speed and braking of electric cars.
New design deforming controlling system of the active stressed lap
Ying, Li; Wang, Daxing
2008-07-01
A 450mm diameter active stressed lap has been developed in NIAOT by 2003. We design a new lap in 2007. This paper puts on emphases on introducing the new deforming control system of the lap. Aiming at the control characteristic of the lap, a new kind of digital deforming controller is designed. The controller consists of 3 parts: computer signal disposing, motor driving and force sensor signal disposing. Intelligent numeral PID method is applied in the controller instead of traditional PID. In the end, the result of new deformation are given.
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RASHMITA KHARE, M. J. NIGAM
2013-08-01
Full Text Available BP Neural Network has a longer training time and a slow convergence. To deal with the defects of BP Neural Network a modified BP algorithm is proposed in the paper. The algorithm is applied for the control of Inverted Pendulum, a highly non linear system inherently being open loop unstable. Levenberg-Marquardt algorithm is used for the training purpose. The training samples are being collected by a two PID and one LQR arrangement. The simulation results prove that the modified BP algorithm for inverted pendulum control gives better efficiency, lesser training time and faster convergence.
Aleem Ahmed Khan; Kashan Hussain
2012-01-01
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 strategie...
International Nuclear Information System (INIS)
This article refers to development of ANN modeling for geothermal district heating systems, and the novel and optimal control strategy for exergy efficiency maximization by using these systems. As a real case study, the geothermal district heating system in Afyonkarahisar (AGDHS), Turkey is considered. Its actual thermal data as of average weekly data are collected in heating seasons during the period 2006–2010 for ANN model and control strategy. In this study, a novel control strategy-based PID controller is proposed to ensure the maximum exergy efficiency via the flow rate control of the AGDHS. ANN model of the AGDHS is used as a test system to demonstrate the effectiveness of the proposed control strategy under various operating conditions. The results of this study show that the network yields a good statistical performance with respect to maximum correlation coefficient (0.9986) with minimum RMSE and MAPE values. Moreover, the proposed PID controller has better control performance compared to the manual control even in the presence of the AGDHS. Energy efficiency and cost saving of the system are increased by 13% by the proposed control strategy. Thus, the proposed control strategy has the potential for creating more comfortable thermal environments for district heating systems. -- Highlights: ? ANN model for a GDHS is developed as a test system, and has a good statistical performance. ? A novel control strategy is used in this test system under various operating conditions. ? Max. exergy efficiency of the AGDHS is ensured by this strategy via the flow rate control. ? The strategy has better control performance compared to the manual control in the AGDHS. ? With the proposed strategy, the exergy efficiency of the system is increased by 13%
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Mostafa Lotfi Forushani
2012-04-01
Full Text Available This paper presents an optimized controller around the longitudinal axis of multivariable system in one of the aircraft flight conditions. The controller is introduced in order to control the angle of attack from the pitch attitude angle independently (that is required for designing a set of direct force-modes for the longitudinal axis based on particle swarm optimization (PSO algorithm. The autopilot system for military or civil aircraft is an essential component and in this paper, the autopilot system via 6 degree of freedom model for the control and guidance of aircraft in which the autopilot design will perform based on defining the longitudinal and the lateral-directional axes are supposed. The effectiveness of the proposed controller is illustrated by considering HIMAT aircraft. The simulation results verify merits of the proposed controller.
International Nuclear Information System (INIS)
Highlights: ? This paper proposes a powerful and flexible method for controlling a class of nonlinear chaotic systems. ? This method is incorporated with H-infinity tracking control scheme. ? In the core of proposed method, PSO algorithm is employed to obtaining an optimal performance. - Abstract: This paper introduces an optimal H? adaptive PID (OHAPID) control scheme for a class of nonlinear chaotic system in the presence system uncertainties and external disturbances. Based on Lyapunov stability theory, it is shown that the proposed control scheme can guarantee the stability robustness of closed-loop system with H? tracking performance. In the core of proposed controller, to achieve an optimal performance of OHAPID, the Particle Swarm Optimization (PSO) algorithm is utilized. To show the feasibility of proposed OHAPID controller, it is applied on the chaotic gyro system. Simulation results demonstrate that it has highly effective in providing an optimal performance.
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Germ\\u00E1n A. Hern\\u00E1ndez Mill\\u00E1n
2012-01-01
Full Text Available Dado que no siempre es posible conocer con exactitud la función de transferencia de todo sistema se hace necesario utilizar herramientas diferentes a las tradicionalmente conocidas para desarrollar el control. Una de estas herramientas son las redes neuronales. Estas no necesitan conocer de manera directa el comportamiento de cada uno de los componentes del sistema para emularlo. Lo único que necesitan son datos para aprender el comportamiento deseado del sistema. En este artículo se demuestra que las redes neuronales pueden emular el comportamiento de un controlador PID para controlar los perfiles de velocidad de los motores de tracción un robot móvil tipo diferencial.
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Mohammed Salem
2014-10-01
Full Text Available In this paper an enhanced approach based on a modified biogeography optimization with predator and prey behavior (PMBBO is presented. The approach uses several predators with new proposed prey’s movement formula. The potential of using a modified predator and prey model is to increase the diversification along the optimization process so to avoid local optima and reach the optimal solution quickly. The proposed approach is used in tuning the gains of PID controller for nonlinear systems (Mass spring damper and an inverted pendulum and has given remarkable results when compared to genetic algorithm and classical BBO.
Rashmita Khare, M. J. Nigam
2013-01-01
BP Neural Network has a longer training time and a slow convergence. To deal with the defects of BP Neural Network a modified BP algorithm is proposed in the paper. The algorithm is applied for the control of Inverted Pendulum, a highly non linear system inherently being open loop unstable. Levenberg-Marquardt algorithm is used for the training purpose. The training samples are being collected by a two PID and one LQR arrangement. The simulation results prove that the modified BP algorithm fo...
The Influence of Control Design on Energetic Cost during FES Induced Sit-to-Stand
Directory of Open Access Journals (Sweden)
Rasha Massoud
2014-12-01
Full Text Available This paper highlights the benefits of using intelligent model based controllers to produce FES induced sit-to-stand movement (FES-STS, in terms of reducing energy cost and producing more natural responses in comparison with conventional controllers. A muscle energy expenditure model for the quadriceps is implemented in the control design of FES-STS, then simulation is run for three different control designs: an adaptive neuro-fuzzy inference system controller (ANFIS, a conventional PID controller, and a hybrid ANFIS-PID controller. The PID control strategy results in negative energy expenditure of the quadriceps at the end of the STS initiation phase, this negative energy is caused by the high lengthening speeds at the muscle fiber level, which may lead to muscle fatigue or damage. Contrary to PID controller, model based controllers show positive energy expenditure, lower energy costs, and more natural curves of energy expenditure and knee torques.
Pan, Indranil; Das, Saptarshi; Gupta, Amitava
2011-10-01
The issues of stochastically varying network delays and packet dropouts in Networked Control System (NCS) applications have been simultaneously addressed by time domain optimal tuning of fractional order (FO) PID controllers. Different variants of evolutionary algorithms are used for the tuning process and their performances are compared. Also the effectiveness of the fractional order PI(?)D(?) controllers over their integer order counterparts is looked into. Two standard test bench plants with time delay and unstable poles which are encountered in process control applications are tuned with the proposed method to establish the validity of the tuning methodology. The proposed tuning methodology is independent of the specific choice of plant and is also applicable for less complicated systems. Thus it is useful in a wide variety of scenarios. The paper also shows the superiority of FOPID controllers over their conventional PID counterparts for NCS applications. PMID:21621208
A Simple Method of Designing Dual loop Controller for Cold Rolling Mill
S. Umamaheswari,; V.Palanisamy,; Chidambaram, M.
2010-01-01
The mathematical model (Interval Plant) of the web guide in rolling mill is controlled using PID controller. The given interval plant is approximated to first order plus time delay with integrator (FOPTDI) system. The dual loop control (DLC) method proposed by Jacob and chidambaram for design PID controllers is extended for FOPTD+I systems. The performance of the closed loop system is evaluated for both the original and the approximated model. The controllers are also tuned using Internal Mod...
New PID Tuning Rule Using ITAE Criteria
Ala Eldin Abdallah Awouda; Rosbi Bin Mamat
2010-01-01
This paper demonstrates an efficient method of tuning the PID controller parametersusing the optimization rule for ITAE performance criteria. The method implies ananalytical calculating the gain of the controller (Kc), integral time (Ti) and thederivative time (Td) for PID controlled systems whose process is modeled in firstorder lag plus time delay (FOLPD) form. Firstly A mat lab program with objectivefunction is written to find the optimum value for the PID controller parameters whichcan ac...
Design of Superheated Steam Temperature Control Strategy for Heat-engine Plant
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Huang Quan-Zhen
2013-01-01
Full Text Available Superheated steam temperature is a very important monitoring and control parameter for Heat-engine plant, too high or too low temperature will affect the safe operation of the plant and its production efficiency. Superheated steam temperature control system generally contains nonlinearity and parameter instability nad it is difficult to build the precise mathematical model by the traditional control method such as PID, so a PID Superheated Steam Temperature Control System based on BP neural network (BP-NN is designed using the characteristic of self-learning and robustness and combining with conventional PID control algorithm. According to the changes of controlled object parameter, it can automatically adjust the PID parameters using BP neural network by itself. Simulation and actual investment of the factory test show that the designed control system is feasible and the control effect is better.
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Jie-Sheng Wang
2014-02-01
Full Text Available 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 diversity of the particles in the population, prevent premature convergence and improve the search efficiency of PSO algorithm. The simulation results show the feasibility and effectiveness of the proposed control method. The new method can overcome dynamic working conditions and coupling features of the system in a wide range, and it has strong robustness and adaptability.
Design Robust Controller for Rotary Kiln
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Omar D. Hernández-Arboleda
2013-11-01
Full Text Available This paper presents the design of a robust controller for a rotary kiln. The designed controller is a combination of a fractional PID and linear quadratic regulator (LQR, these are not used to control the kiln until now, in addition robustness criteria are evaluated (gain margin, phase margin, strength gain, rejecting high frequency noise and sensitivity applied to the entire model (controller-plant, obtaining good results with a frequency range of 0.020 to 90 rad/s, which contributes to the robustness of the system.
Copot, Cosmin; Zhong, Yu; Ionescu, Clara; Keyser, Robin
2013-06-01
In this paper, two methods to tune a fractional-order PI ? D ? controller for a mechatronic system are presented. The first method is based on a genetic algorithm to obtain the parameter values for the fractionalorder PI ? D ? controller by global optimization. The second method used to design the fractional-order PI ? D ? controller relies on an auto-tuning approach by meeting some specifications in the frequency domain. The real-time experiments are conducted using a Steward platform which consists of a table tilted by six servo-motors with a ball on the top of the table. The considered system is a 6 degrees of freedom (d.o.f.) motion platform. The feedback on the position of the ball is obtained from images acquired by a visual sensor mounted above the platform. The fractional-order controllers were implemented and the performances of the steward platform are analyzed.
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Teddy Sudewo
2012-09-01
Full Text Available Pada fase penerbangan quadcopter, fase landing (pendaratan merupakan fase paling kritis, dimana resiko terjadi kecelakaan paling besar. Permasalahan tersebut muncul karena adanya beberapa kendala, seperti kendala pada struktur rangka pesawat yang kecil, peningkatan beban pada sayap pesawat serta pengaruh angin sehingga menyebabkan pesawat tidak stabil. Pada penelitian tugas akhir ini, didesain suatu sistem kontrol pada UAV quadcopter menggunakan kontrol PID dengan Model Reference Adaptive Control (MRAC. Sistem pengendalian berbasis MRAC menawarkan beberapa kelebihan untuk mengatasi karakteristik plant non-linear salah satunya quadcopter. MRAC merupakan kontrol adaptif dimana performansi keluaran sistem (proses akan mengikuti performansi keluaran model referensinya. Pada tugas akhir ini, model referensi sudah ditentukan diawal dan spesifikasinya tetap sehingga dapat langsung didisain mekanisme adaptasi dari MRAC. Parameter proses ? (a1,a2,b0,b1 diestimasi menggunakan metode Extended Least Square, parameter proses tersebut akan mentuning parameter kontroler (k0,k1,k2,k3 sehingga menghasilkan sinyal kontrol PID. Hasil pengujian menunjukkan bahwa ketika terjadi perubahan parameter pada plant, kontroler mampu memperbaiki respon agar tetap dapat mengikuti model referensinya dan dalam mengatasi gangguan metode adaptasi MRAC memiliki kemampuan yang baik dilihat dari waktu yang dibutuhkan yang relatif singkat.
K Aakpado, C. O. Ezeagwu
2013-01-01
Performance evaluation of PID controllers implemented with a clear objective to control the temperature of a ventilation system is the focal point of this paper. Mathematical models of plant (chamber) and actuator were developed. Controller design based on the models was also developed using Simulink. The models were validated through simulation using Matlab/Simulink and the Zeigler-Nichol tuning method was adopted as the tuning technique for varying the parameters of the PID controller in or...
Simple PI/PID Controller Tuning Rules for FOPDT Plants with Guaranteed Closed-Loop Stability Margin
Directory of Open Access Journals (Sweden)
Jan Cvejn
2011-11-01
Full Text Available In the paper we present tuning rules for PI and PID controllers and the first order plus dead time (FOPDT process model.The settings respect both performance and stability indices and provide a high degree of robustness for any value of the dead timeparameter. As the performance index we are using the well known modulus optimum criterion, which requires that the amplitudeof the closed-loop frequency response is close to one for low frequencies. This criterion produces simple tuning formulas with veryfavourable properties in time domain. Although optimal values of the parameters are valid for the reference tracking problem, acompensation of the disturbance lag that preserves the stability margin is proposed in the case of the disturbance rejection task.
Sanches, Eric S.; Santisteban, Jose? A.
2014-01-01
Three speed controllers for an axial magnetic flux switched reluctance motor with only one stator, are described and experimentally tested. As it is known, when current pulses are imposed in their windings, high ripple torque is obtained. In order to reduce this ripple, a control strategy with modified current shapes is proposed. A workbench consisting of a machine prototype and the control system based on a microcontroller was built. These controllers were: a conventional PID, a fuzzy logic ...
Shin, Seoyong; Kim, Sungchul; Song, Sungho
2008-11-01
We propose a new method of minimizing the gain-transient recovery time of wavelength-division-multiplexing (WDM) signals in cascaded erbium-doped fiber amplifiers (EDFAs) in WDM network as the gain of signals in EDFA fluctuates due to channel add/drops. To minimize the gain-related errors at the receivers, the gain of the signal should be recovered back to its original level as fast as possible. In this paper, we have applied, for the first time in our knowledge, the wellknown control theory of disturbance observer technique to the control of gain-transient recovery of cascaded EDFAs. We have used a disturbance observer to detect and compensate the gain variations due to WDM channel add/drops. While the major compensation of the gain is performed by the disturbance observer, the fine control process for exact gain recovery is done by a proportional/integral/differential (PID) controller. The proposed gain control algorithm for EDFA was implemented by MATLAB and the performance of the technique was verified by simulations for the cases of different numbers of cascaded EDFAs in WDM networks. For simulation, we have used a commercially available numerical modeling software package such as the OptsimTM. Simulation results show that the technique decreases the amount of gain-transient recovery time to less than 3?sec in all the cases. This amount of gain recovery time is just about 1% of the one for commercial WDM EDFAs in these days.
Intelligent Controller Design for a Chemical Process
Mr. Glan Devadhas G; Dr.Pushpakumar S.
2010-01-01
Chemical process control is a challenging problem due to the strong on*line non*linearity and extreme sensitivity to disturbances of the process. Ziegler – Nichols tuned PI and PID controllers are found to provide poor performances for higher*order and non–linear systems. This paper presents an application of one*step*ahead fuzzy as well as ANFIS (adaptive*network*based fuzzy inference system) tuning scheme for an Continuous Stirred Tank Reactor CSTR process. The controller is designed ba...
Pelvic Inflammatory Disease (PID)
... in women. 1 in 8 women with a history of PID experience difficulties getting pregnant. You can ... Gonorrhea Hepatitis Herpes HIV/AIDS & STDs Human Papillomavirus (HPV) Pelvic Inflammatory Disease (PID) STDs & Infertility Syphilis Trichomoniasis ...
Scientific Electronic Library Online (English)
Tania, García Martínez; Rafael F., Tanda Martínez; Alberto, Aguado Behar.
2012-12-01
Full Text Available En este artículo se presenta una mejora del lazo de regulación de la temperatura del vapor sobrecalentado en un generador de vapor BKZ-340-140-29M de 100 MW. El estudio se realiza en la Central Termoeléctrica Máximo Gómez. La propuesta consiste en un controlador PID con una estructura de dos grados [...] de libertad y filtraje de la medida. El diseńo, que incluye un criterio de robustez, tiene como objetivo fundamental la atenuación de las perturbaciones de carga producidas por la variación del flujo de vapor. El ruido de medida se resuelve filtrando la salida con un filtro de segundo orden. La ponderación del punto de consigna se utiliza para mejorar los cambios en la referencia. La propuesta se compara con el desempeńo del controlador implementado actualmente en el lazo. Los resultados confirman los beneficios del diseńo, garantizando así una mejor eficiencia del lazo. Abstract in english In this paper it is presented an improvement of the temperature loop regulation of the steam overheated in a boiler BKZ-340-140-29M of 100 MW. The study is carried out in the Thermoelectric Máximo Gómez. The proposed consists in a two degree of freedom PID control and measure filtering. The design, [...] that include a robust criteria, has like a fundamental objective the load disturbances rejection produced by variation in the steam flow. The measurement noise is solving using filtering process output with a second order filter. The setpoint weighting it is used to improve the setpoint changes. The proposed is compare with the performance of the current implemented controller in the loop. The results confirm the benefits of design, guaranteeing a better efficiency of the loop.
Parameter Turning of PID Controller Based on Molecular Beacon DNA Computing
Yourui Huang; Xiaomin Tian; Jing Wang; Hongping Zhou
2012-01-01
Molecular beacon deoxyribonucleic acid computing is new research focus of intelligent control theory in recent years, it is also new bionic algorithm. It is well known that a very important problem how to determine or tune the proportional integral derivative controller parameters, because these parameters have a great influence on the stability and the performance of the control system. Parameter turning of proportional integral derivative controller by using molecular beacon deoxyribonuclei...
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...
An Optimized PID Control Strategy For Active Suspensions Applied To A Half Car Model
Abuhadrous, Iyad M.; Abushaban, Mohammed H.; Sabra, Mahir B.
2013-01-01
In this paper, we propose a new control strategy for the active control of a hydraulically controlled half-car active suspension system. Our study proposes a special construction of the suspension system where the hydraulic actuator is to be placed in series with the conventional passive one to form a special case of low-frequency active suspension. The full dynamics of the electro-hydraulic servo-valve and hydraulic actuator were employed. Response of proposed control strategy has been teste...
Differential Evolution for Optimization of PID Gains in Automatic Generation Control
Dr. L.D. Arya,; Dr. H.K. Verma,; Cheshta Jain
2011-01-01
Automatic generation control (AGC) of a multi area power system provides power demand signals for AGC power generators to control frequency and tie-line power flow due to the large load changes or other disturbances. Occurrence of large megawatt imbalance causes large frequency deviations from its nominal value which may be a threat to secure operation of power system. To avoid such situation,emergency control to maintain the system frequency using differential evolution (DE) based proportion...
PID parameters setting on level control system of steam generator in Qinshan phase II NPP
International Nuclear Information System (INIS)
Based on SimPort simulation platform of nuclear power plant, a simulation model on the level control system of steam generator in the unit one of Qinshan Phase II NPP was established. Using this model, transient simulation experiments and researches with different conditions were conducted and the setpoints of the level control system were obtained. To level controller, KP, TI and TD are 4.25, 425 s and 10 s respectively. To flow controller, KP is 1.0 and TI is 13 s. These setpoints are in agreement with the actual values and can be referred by engineering technicians. (authors)
An Optimized PID Control Strategy For Active Suspensions Applied To A Half Car Model
Directory of Open Access Journals (Sweden)
Iyad M. Abuhadrous
2013-02-01
Full Text Available In this paper, we propose a new control strategy for the active control of a hydraulically controlled half-car active suspension system. Our study proposes a special construction of the suspension system where the hydraulic actuator is to be placed in series with the conventional passive one to form a special case of low-frequency active suspension. The full dynamics of the electro-hydraulic servo-valve and hydraulic actuator were employed. Response of proposed control strategy has been tested for different road profiles and riding conditions including car chassis rolling effect when cornering and pitch movements when braking/ acceleration. Results have shown superior performance of our modified controller over passive suspensions and many other controllers of previous studies. Simulations show that our proposed controller provide better passenger comfort as it lowers maximum body acceleration by 94.3% and with reduction in body travel by 98.8% of that of passive one. Also, our proposed control strategy has shown better road handling and car stability over a whole range of road and inertial disturbances.
Silveira P. E.; Souza Jr. R. de; Biazotto V. M.
2002-01-01
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 with 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...
Aly, Ayman A.
2011-01-01
Electrohydraulic servosystem have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In order to increase the reliability, controllability and utilizing the superior speed of response achievable from electrohydraulic systems, further research is required to develop a control software has the ability of overcoming the problems of system nonlinearities. In This paper, a Proportion...
HYBRID MODELING OF POWER PLANT AND CONTROLLING USING FUZZY P+ID WITH APPLICATION
Dorrah, Hassen T.; Aboelela, Magdy A. S.; Abdulmoneim, Marwa M.
2012-01-01
This paper provides a method one can model manufacturing processes in hybrid systems framework utilizing simple bond graph to determine the flow of events and differential equation models that describe the system dynamics. Controlling of these systems can be easy to develop. “Modeling and Simulation of thermal Power generation Station for power control” will be presented by using hybrid bond graph approach. This work includes the structure and components of the thermal electrical power ge...
Sumathi, Ramakrishnan; Usha, Mahalingam
2012-03-01
dent on the grain size and percentage of volume fraction recrystallization. In this Paper, a new approach for controlling microstructure development during hot working process by percentage of volume fraction recrystallization is proposed. Here two different methods are employed. One of the approaches is based on the Optimal Control theory and involves the developing of state space models to describe the material behavior and the mechanics of the process. This approach is applied to obtain the desired percentage of volume fraction recrystallization of '1' from an initial value of '0'. The standard Arrehenious equation of 0.3% carbon steel is utilized to obtain an optimal deformation path such that the percentage of volume fraction recrystallization should be 1. The plant model is developed and an appropriate optimality criterion is selected to maintain strain, strain rate and temperature. The state-space model together with an optimality criterion is used to control the percentage of volume fraction recrystallization using Linear Quadrat
PID Control Simulation and Kalman Filter State Estimation of HIT-SI Injector Flux Circuit
Kraske, Matthew
In order to implement an optimal modern control system on the HIT-SI injector voltage and flux circuits, it is first necessary to apply state estimation techniques, allowing the physical system to be observed by the controller. To test these estimation methods prior to implementation on the experiment, a simulation must be developed which accurately represents the dynamics and behavior of the experiment. Kalman filter state estimation is implemented using a circuit dynamics model which yields observable state tracking with very low error. Extended Kalman filter estimation is implemented for circuit parameter estimation and for sine wave fitting but requires additional development.
Study of PID Controller Based Pitch Actuator System for Variable Speed HAWT using MATLAB
Vishal T Makvana, Rinal K. Ahir
2013-01-01
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 objec...
A Study on the Control Methods Based on 3-DOF Helicopter Model
Junshan Gao; Xinghu Xu; Chen He
2012-01-01
The 3 degree of freedom (3-DOF) helicopter system is a typical higher-order times, instability, multi-variable, nonlinear and strong coupling control system. This paper presents the analysis of the mathematical model and the basic principle of PID control and fuzzy PID control, which are based on 3-DOF helicopter systems. In allusion to balance control of 3-DOF helicopter system, PID controller and fuzzy PID controller are designed respectively to control the model. The MATLAB simulation resu...
DC-DC Converters Using PID Controller and Pulse Width Modulation Technique
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R.Sudha
2014-01-01
Full Text Available This paper presents a boost converter along with a flyback converter. The Zero Voltage Switching (ZVS technique is used to achieve soft switching. A bidirectional boost converter is connected with an output module as a Parallel Input Serial Output configuration. The flyback converter with Voltage Doubler Rectifier (VDR acts as an output module. This connection makes a bidirectional boost converter an active clamp circuit which is connected to the output side in order to extend the step up ratio. A converter with active clamp technique is used to recycle the leakage energy, to eliminate voltage spike due to coupled inductors and also to provide a mechanism to achieve ZVS. To overcome the efficiency degradation during light load due to load dependent soft switching of the ZVS, a control method using Pulse Width Modulation (PWM proportional to the load current is used.
Performance assessment of PID and IMC tuning methods for a mixing process with time delay.
Selvi, J Arputha Vijaya; Radhakrishnan, T K; Sundaram, S
2007-06-01
A flow process with time delay has been considered for modeling and control. A dilute solution of sodium chloride is used as tracer and an online conductivity measurement unit as sensor and recorder. The objective of the current study is to design control algorithms and present corresponding robust control analysis for the process. The control methodologies considered are (i) conventional PID control and (ii) internal model control (IMC). The control structures are comparatively analyzed using standard robustness measures for stability and performance. Of the two control algorithms, conventional PID and IMC, IMC exhibits faster settling time, no overshoot, better set-point tracking and disturbance rejection, and good robust performance than the PID control scheme. PMID:17376446
Fopid Controller Design for Robust Performance Using Particle Swarm Optimization
Zamani, Majid; Karimi-ghartemani, Masoud; Sadati, Nasser
2007-01-01
This paper proposes a novel method to design an H? -optimal fractional order PID (FOPID) controller with ability to control the transient, steady-state response and stability margins characteristics. The method uses particle swarm optimization algorithm and operates based on minimizing a general cost function. Minimization of the cost function is carried out subject to the H? -norm; this norm is also included in the cost function to achieve its lower value. The method is applied ...
Directory of Open Access Journals (Sweden)
Priyank Jain
2014-04-01
Full Text Available In various industrial systems, parameters variation is one of the major problems faced by control engineers now days. To overcome the problem of parameter variations, this paper proposes the hybridization of MIT rule based online tuning of classical PID controllers with Differential Evolution algorithm. The hybridization of two techniques results in the offline as well as online tuning of PID controllers at the same time. The developed hybrid controller is then applied on magnetic levitation system using MATLAB and Simulink. The paper also describes the basic steps involved in Differential Evolution (DE algorithm and a comparison between designed hybrid controller and the simple DE algorithm based controller has been carried out. The results depict that the performance of the hybrid controller is better than the offline tuned PID controller in terms of transient parameters such as peak overshoot and settling time.
FPGA-BASED CONTROL OF THERMOELECTRIC COOLERS FOR LASER DIODE TEMPERATURE REGULATION
AHTESHAM ALI; CHAKIB ALAOUI
2012-01-01
The proportional-integral-derivative (PID) controller is the most used controller in the industry. Field programmable gate arrays (FPGAs) allow efficient implementation of PID controllers. This paper presents the temperature regulation of a 48W laser diode through thermoelectric coolers (TECs). The temperature regulation system is designed and tested. The results demonstrate the feasibility and applicability of PID control through FPGA.
Ronilaya, Ferdian; Miyauchi, Hajime
2014-10-01
This paper presents a new implementation of a parameter adaptive PID-type fuzzy controller (PAPIDfc) for a grid-supporting inverter of battery to alleviate frequency fluctuations in a wind-diesel power system. A variable speed wind turbine that drives a permanent magnet synchronous generator is assumed for demonstrations. The PAPIDfc controller is built from a set of control rules that adopts the droop method and uses only locally measurable frequency signal. The output control signal is determined from the knowledge base and the fuzzy inference. The input-derivative gain and the output-integral gain of the PAPIDfc are tuned online. To ensure safe battery operating limits, we also propose a protection scheme called intelligent battery protection (IBP). Several simulation experiments are performed by using MATLAB®/SimPowersystems™. Next, to verify the scheme's effectiveness, the simulation results are compared with the results of conventional controllers. The results demonstrate the effectiveness of the PAPIDfc scheme to control a grid-supporting inverter of the battery in the reduction of frequency fluctuations.
Modelling and Controller Design of Inverted Pendulum
Pankaj Kumar, Kunalchakraborty
2013-01-01
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 t...
International Nuclear Information System (INIS)
This paper proposes an improved evolutionary programming (EP) method with deterministic mutation factor for on line PID parameters optimization of hydro-turbine governing systems. The mutation factors are usually generated with Gaussian or Cauchy random series in conventional evolutionary programming algorithms. Considering the difficulties of on line optimal parameters settings resulting from nonlinear time-variant hydro-turbine governing systems, this paper introduces deterministic chaos dynamics into the mutation operation of EP and provides a deterministic chaotic mutation evolutionary programming (DCMEP) method. The improved method develops the traditional concept that implements mutation operation with a fixed random distribution using a quasi-random deterministic way to generate the mutation factor. The test result of the two real hydro-turbine governing systems shows that the improved method can optimize the PID parameters efficiently, and the system has the characteristics of stability; low overshoot level and fast response
The Design for Feed Water System of Boiler Based on Fuzzy Immune Smith Control
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GuiLi Yuan
2012-01-01
Full Text Available Aiming at the uncertainty of model parameters and dominate time delay of the controlled object in feed water system of boiler, combined with improved Smith predictor control method and fuzzy immune PID control method, improved Smith predicting controller based on fuzzy immune is designed.Fuzzy Immune PID controller can self-tune parameters, and has adaptive capacity to the diversification of controlled object parameters. When there is the phenomenon of large delay, the predictor estimates in advance the dynamic characteristics of the process under basic disturbance, so that regulator takes action ahead of time to reduce the overshoot. The designed controller is applied to the feed water cascade control system, and is simulated by Matlab under different operating conditions. Simulation results show that the designed control system has strong adaptive ability to the diversification of model parameters. And its stability, accuracy are superior to that of conventional Smith control system. The effectiveness of this designed controller has been confirmed.
Robust control design for the plasma horizontal position control on J-TEXT Tokamak
International Nuclear Information System (INIS)
It is extremely important for tokamak to control the plasma position during routine discharge. However, the model of plasma in tokamak usually contains much of the uncertainty, such as structured uncertainties and unmodeled dynamics. Compared with the traditional PID control approach, robust control theory is more suitable to handle this problem. In the paper, we propose a H? robust control scheme to control the horizontal position of plasma during the flat-top phase of discharge on Joint Texas Experimental Tokamak (J-TEXT) tokamak. First, the model of our plant for plasma horizontal position control is obtained from the position equilibrium equations. Then the H? robust control framework is used to synthesize the controller. Based on this, an H? controller is designed to minimize the regulation/tracking error. Finally, a comparison study is conducted between the optimized H? robust controller and the traditional PID controller in simulations. The simulation results of the H? robust controller show a significant improvement of the performance with respect to those obtained with traditional PID controller, which is currently used on our machine
Design and Implementation of the Servo Control System Based on DSP
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Chaoji Chen
2010-10-01
Full Text Available To enhance the tracking accuracy of servo control system of a testing platform, the AC servo control system digital controller based on DSP is designed, and the structure and the working principle of the system are introduced in this article. For system hardware, TMS320F28335 is the control core, and for the software, complex control strategy of PID control and feed-forward control is adopted. The testing result shows that the control of the system is effective.
Pérez-Molina, Manuel; Pérez-Polo, Manuel F.
2014-10-01
This paper analyzes a controlled servomechanism with feedback and a cubic nonlinearity by means of the Bogdanov-Takens and Andronov-Poincaré-Hopf bifurcations, from which steady-state, self-oscillating and chaotic behaviors will be investigated using the center manifold theorem. The system controller is formed by a Proportional plus Integral plus Derivative action (PID) that allows to stabilize and drive to a prescribed set point a body connected to the shaft of a DC motor. The Bogdanov-Takens bifurcation is analyzed through the second Lyapunov stability method and the harmonic-balance method, whereas the first Lyapunov value is used for the Andronov-Poincaré-Hopf bifurcation. On the basis of the results deduced from the bifurcation analysis, we show a procedure to select the parameters of the PID controller so that an arbitrary steady-state position of the servomechanism can be reached even in presence of noise. We also show how chaotic behavior can be obtained by applying a harmonical external torque to the device in self-oscillating regime. The advantage of achieving chaotic behavior is that it can be used so that the system reaches a set point inside a strange attractor with a small control effort. The analytical calculations have been verified through detailed numerical simulations.
Study on Design of Control Module and Fuzzy Control System
International Nuclear Information System (INIS)
Performance of control unit is improved by introduction of fuzzy control theory and compensation for input of control unit as FLC(Fuzzy Logic Controller). Here, FLC drives thermal control system by linguistic rule-base. Hence, In case of using compensative PID control unit, it doesn't need to revise or compensate for PID control unit. Consequently, this study shows proof that control system which implements H/W module and then uses fuzzy algorism in this system is stable and has reliable performance
Tail motion model identification for control design of an unmanned helicopter
Morcego Seix, Bernardo; Saldi?var, Eleazar; Nejjari Akhi-elarab, Fatiha
2011-01-01
This paper explains the methodology developed to design the yaw control system (heading control system) of the ?-SAC UAV. The problem of modeling and controlling the tail motion of this UAV along a desired trajectory is considered. First, the response data of the system are collected during special flight test and a linear time invariant model is extracted by identification techniques. Then, the control system is designed and implemented using a PID feedback/feedforward control method. The t...
Analysis and design of hybrid control systems
Energy Technology Data Exchange (ETDEWEB)
Malmborg, J.
1998-05-01
Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales. The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool. To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method 78 refs, 51 figs, 2 tabs
Pelvic inflammatory disease (PID)
... your womb to test for cancer) Getting an intrauterine device (IUD) Miscarriage Abortion In the U.S., nearly 1 million ... recently had PID You have recently gotten an IUD You have had sex before age 20
Optimal Tuning of PID Parameters Using Iterative Learning Approach
Xu, Jian-Xin; Huang, Deqing; Pindi, Srinivas
Proportional-integral-derivative (PID) controller is the most predominant industrial controller that constitutes more than 90% feedback loops. Time domain performance of PID, including peak overshoot, settling time and rise time, is directly relevant to PID parameters. In this work we propose an iterative learning tuning method (ILT) - an optimal tuning method for PID parameters by means of iterative learning. PID parameters are updated whenever the same control task is repeated. The first novel property of the new tuning method is that the time domain performance or requirements can be incorporated directly into the objective function to be minimized. The second novel property is that the optimal tuning does not require as much the plant model knowledge as other PID tuning methods. The new tuning method is essentially applicable to any plants that are stabilizable by PID controllers. The third novel property is that any existing PID auto-tuning methods can be used to provide the initial setting of PID parameters, and the iterative learning process guarantees that a better PID controller can be achieved. The fourth novel property is that the iterative learning of PID parameters can be applied straightforward to discrete-time or sampled-data systems, in contrast to existing PID auto-tuning methods which are dedicated to continuous-time plants. In this paper, we further exploit efficient searching methods for the optimal tuning of PID parameters. Through theoretical analysis, comprehensive investigations on benchmarking examples, and real-time experiments on the level control of a coupled-tank system, the effectiveness of the proposed method is validated.
A Study on the Control Methods Based on 3-DOF Helicopter Model
Directory of Open Access Journals (Sweden)
Junshan Gao
2012-10-01
Full Text Available The 3 degree of freedom (3-DOF helicopter system is a typical higher-order times, instability, multi-variable, nonlinear and strong coupling control system. This paper presents the analysis of the mathematical model and the basic principle of PID control and fuzzy PID control, which are based on 3-DOF helicopter systems. In allusion to balance control of 3-DOF helicopter system, PID controller and fuzzy PID controller are designed respectively to control the model. The MATLAB simulation results demonstrate the control effects of both controllers achieve the requirements in this system, and fuzzy self-tuning PID shows more advantages.
A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs
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Anton Civit-Balcells
2012-03-01
Full Text Available In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN, which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control.
A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs
Jimenez-Fernandez, Angel; Jimenez-Moreno, Gabriel; Linares-Barranco, Alejandro; Dominguez-Morales, Manuel J.; Paz-Vicente, Rafael; Civit-Balcells, Anton
2012-01-01
In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control. PMID:22666004
A neuro-inspired spike-based PID motor controller for multi-motor robots with low cost FPGAs.
Jimenez-Fernandez, Angel; Jimenez-Moreno, Gabriel; Linares-Barranco, Alejandro; Dominguez-Morales, Manuel J; Paz-Vicente, Rafael; Civit-Balcells, Anton
2012-01-01
In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control. PMID:22666004
Ge?douin, Pierre-antoine; Delaleau, Emmanuel; Bourgeot, Jean-matthieu; Join, Ce?dric; Arbab-chirani, Shabnam; Calloch, Sylvain
2011-01-01
Shape memory alloys (sma) are more and more integrated in engineering applications. These materials with their shape memory effect permit to simplify mechanisms and to reduce the size of actuators. sma parts can easily be activated by Joule effect but their modelling and consequently their control remains difficult, it is principally due to their hysteretic thermomechanical behaviour. Most of successful control strategy applied to sma actuator are not often suitable for industrial application...
Design and Implementation of a Fuzzy Logic Controller for Synchronous Generator
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Naeim Farouk
2012-09-01
Full Text Available The electrical power generation and distribution in power plant suffers from so many problems, such as instability of demand and generation. These lead to increase of generation cost. In this study, self-tuning fuzzy PID controller is developed to improve the performance of automated voltage regulation of a synchronous generator. The controller is designed based on the mathematical model of the system, which is estimated by using system identification technique. Simulation was carried out using Matlab Program to get the output response of the system. In addition, we used root locus methods before and after adding the PID controller. From the results, we conclude that the overall system response was improved significantly when using selftuning fuzzy PID controller.
A PID autotuner utilizing GPC and constraint optimization
Henningsen, Arne; Christensen, Anders; Ravn, Ole
1990-01-01
A solution to the PID autotuning problem is presented which involves constraining the parameters of a discrete second-order discrete-time controller. The integrator is forced into the regulator by using a CARIMA model. The discrete-time regulator parameters are calculated by optimizing a generalized predictive control criterion, and the PID structure is ensured by constraining the parameters to a feasible set defined by the discrete-time Euler approximation of the ideal continuous-time PID co...
Design and Simulation of Control Systems for a Field Survey Mobile Robot Platform
Ramin Shamshiri; Wan Ishak Wan Ismail
2013-01-01
The aim of this study was to design automatic and accurate control systems for wheel speed and steering of an agricultural mobile robot. Three controllers, including lead-lag compensator, Proportional-Integral-Derivative (PID) and fuzzy logic controller were designed and simulated in this study to control the angular rate of the shaft of a DC motor actuator for a field survey mobile robot that moves between plants rows to perform image acquisition task through a digital camera mounted on a tw...
Variable Structure Control Design for Isothermal Chemical Reactor: Sliding Mode Approach
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Rakesh P. Borase, Bhagsen J. Parvat
2013-05-01
Full Text Available This paper deals with basic concepts, mathematics, and design aspects of variable structure controller based on sliding mode as a principle operation approach. Here this approach is presented for Isothermal Chemical Reactor model used to control the concentration of chemical by manipulation of reactant flow. The scheme is then designed and tested using Matlab Simulink. Simulation results are presented and have shown that VSS control is better and more versatile as compared with the conventional approach using PID controller.
Control design for the SISO system with the unknown order and the unknown relative degree.
Zhao, Chunzhe; Li, Donghai
2014-07-01
For the uncertain system whose order, relative degree and parameters are unknown in the control design, new research is still in need on the parameter tuning and close-loop stability. During the last 10 years, much progress is made in the application and theory research of the active disturbance rejection control (ADRC) for the uncertain system. In this study, the necessary and sufficient conditions are established for building the ADRC for the minimum-phase system and the open-loop stable system when the plant parameters, orders and relative degrees are unknown, the corresponding ideal dynamics are analyzed, and the theoretical results are verified by the simulations. Considering the wide application and the long history of the PID/PI controller, a method is given to design ADRC quickly based on the existing (generalized or conventional) PID/PI controller. A plenty of simulations are made to illustrate this PID/PI-based design method and the corresponding close-loop performances. The simulation examples include the minimum/nonminimum-phase plants, the stable/integrating plants, the high/low-order plant, and the plants with time delays. Such plants are from a wider scope than the theoretical result, and representative of many kinds of the industrial processes. That leads to a new way to simplify the ADRC design via absorbing the engineering experience in designing the PID/PI controller. PMID:24238360
Pan, Indranil
2012-01-01
In this paper, a fractional order (FO) PI{\\lambda}D\\mu controller is designed to take care of various contradictory objective functions for an Automatic Voltage Regulator (AVR) system. An improved evolutionary Non-dominated Sorting Genetic Algorithm II (NSGA II), which is augmented with a chaotic map for greater effectiveness, is used for the multi-objective optimization problem. The Pareto fronts showing the trade-off between different design criteria are obtained for the PI{\\lambda}D\\mu and PID controller. A comparative analysis is done with respect to the standard PID controller to demonstrate the merits and demerits of the fractional order PI{\\lambda}D\\mu controller.
Inoue, Tsuyoshi; Sugawara, Yasuhiko
Active magnetic bearing (AMB) becomes to be widely used in various kinds of rotating machinery. However, as the magnetic force is nonlinear, nonlinear phenomena may occur when the rotational speed becomes higher and the delay of control force relatively increases. In this paper, the magnetic force is modeled by considering both the second order delay of the electric current and the first order delay of the magnetic flux. The AMB force is represented by a power series function of the electric current and shaft displacement. The nonlinear theoretical analysis of the vertical rigid rotor supported by the AMB with the PID control theory is demonstrated. The effects of the gain of the integral feedback on the nonlinear phenomena are clarified theoretically and experimentally.
Design of controller for control rod of research reactors
International Nuclear Information System (INIS)
Designing and testing digital control system for any nuclear research reactor can be costly and time consuming. In this thesis, a rapid, low-cost proto typing and testing procedure for digital controller design is proposed using the concept of Hardware-In-The-Loop (HIL). Some of the control loop components are real hardware components and the others are simulated. First, the whole system is modeled and tested by Real-Time Simulation (RTS) using conventional simulation techniques such as MATLAB / SIMULINK. Second the Hardware-in-the-loop simulation is tested using Real-Time Windows Target in MATLAB and Visual C++. The control parts are included as hardware components which are the reactor control rod and its drivers. Three kinds of controllers are studied, Proportional-Derivative (PD), Proportional-Integral-Derivative (PID) and Fuzzy controller. An experimental setup for the hardware used in HIL concept for the control of the nuclear research reactor has been realized. Experimental results are obtained and compared with the simulation results. The experimental results indicate the validation of HIL method in this domain.
Littlejohn, Tim.
The Protist Image Data (PID) Website provides up-to-date images and online information on the morphology, taxonomy, and phylogenetic relationships of "selected protist genera, especially those genera whose species are frequently used as experimental organisms or are important in studies of organismal evolution." Spearheaded by researchers Charles O'Kelly and Tim Littlejohn and maintained at the University of Montreal's Molecular Evolution & Organelle Genomics program, the site contains a brief overview of the PID initiative and features dozens of annotated images and descriptive summaries of protists. Also provided at the site are links to recommended online databases and further resources on protistology.
Longitudinal Control of an Aircraft Using Artificial Intelligence
Deepa, S. N.; Sudha G
2014-01-01
In industrial control processes and in flight control systems PID have been widely used because of their simple structure and robust performance in a wide range of operating conditions. Along with classical controller artificial intelligence such as Fuzzy Logic Controller (FLC) algorithms have been used for the optimum design of PID controllers. In this paper, Hybrid Fuzzy PID controller is developed to improve the performance for longitudinal control of an aircraft dynamics. The hybrid co...
COMPARATIVEANALYSIS OF ADVANCED CONTROLLERS IN A HEAT EXCHANGER
Sivakumar, P.
2013-01-01
Temperature control of the shell and tube heat exchanger is characteristics of nonlinear, time varying and time lag. Since the temperature control with conventional PID controller cannot meet a wide range of precision temperature control requirement, we design temperature control system of the shell and tube heat exchanger by combining fuzzy and PID control methods in this paper. The simulation and experiments are carried out; making a comparison with conventional PID control showing that fuz...
Synthesis water level control by fuzzy logic
Berk, P.; Stajnko, D.; Vindis, P.; Mursec, B.; Lakota, M.
2011-01-01
Purpose: This paper focuses on evolving of two types fuzzy and classical PID liquid level controller and examining whether they are better able to handle modelling uncertainties. A two stage strategy is employed to design the synthesis fuzzy and classical PID controller with the process of the first and second order and implements disorder (quadratic function).Design/methodology/approach: The synthesis of fuzzy and classical PID liquid level controller was realized with the HP laptop 6830s Co...
Pelvic Inflammatory Disease (PID)
... STDs. He or she may also do a pregnancy test. Sometimes health providers take blood or urine tests to look for signs of infection, including STDs like chlamydia and gonorrhea. Sometimes doctors need an ultrasound ... diagnose a TOA or ectopic pregnancy. If it's found that a girl has PID, ...
Energy Technology Data Exchange (ETDEWEB)
Haber Guerra, R.; Alique Lopez, J. R.; Haber Haber, R.; Villena Salinas, P.
2008-07-01
This paper shows a method for fast design implementation of intelligent controllers in hard real-time applications. The method is applied for designing and implementing a fuzzy control system to optimize a high-performance machining process (drilling). The design is based on computer aided design software and a computerized numerical control (CNC) with open architecture. the open CNC and the (profibus) facilitate the implementation and validation of this prototype. Positive tests results are yielded in experimental identification and fuzzy logic-based control of cutting force by the suggested technique compared with a PID controller designed using the Ziegler-Nichols method. (Author) 15 refs.
Induction motor control design
Marino, Riccardo; Verrelli, Cristiano M
2010-01-01
""Nonlinear and Adaptive Control Design for Induction Motors"" is a unified exposition of the most important steps and concerns in the design of estimation and control algorithms for induction motors. A single notation and modern nonlinear control terminology is used to make the book accessible to readers who are not experts in electric motors at the same time as giving a more theoretical control viewpoint to those who are. In order to increase readability, the book concentrates on the induction motor, eschewing the much more complex and less-well-understood control of asynchronous motors. The
Wilson, David G. (Tijeras, NM); Robinett, III, Rush D. (Tijeras, NM)
2012-02-21
A control system design method and concomitant control system comprising representing a physical apparatus to be controlled as a Hamiltonian system, determining elements of the Hamiltonian system representation which are power generators, power dissipators, and power storage devices, analyzing stability and performance of the Hamiltonian system based on the results of the determining step and determining necessary and sufficient conditions for stability of the Hamiltonian system, creating a stable control system based on the results of the analyzing step, and employing the resulting control system to control the physical apparatus.
Bonesini, M.
2008-01-01
The international Muon Ionization Cooling Experiment (MICE) will carry out a systematic investigation of ionization cooling of a muon beam. As the emittance measurement will be done on a particle-by-particle basis, sophisticated beam instrumentation is needed to measure particle coordinates and timing vs RF. A PID system based on three time-of-flight stations, two Aerogel Cerenkov detectors and a KLOE-like calorimeter has been constructed in order to keep beam contamination ...
Yen, John; Wang, Haojin; Daugherity, Walter C.
1992-01-01
Fuzzy logic controllers have some often-cited advantages over conventional techniques such as PID control, including easier implementation, accommodation to natural language, and the ability to cover a wider range of operating conditions. One major obstacle that hinders the broader application of fuzzy logic controllers is the lack of a systematic way to develop and modify their rules; as a result the creation and modification of fuzzy rules often depends on trial and error or pure experimentation. One of the proposed approaches to address this issue is a self-learning fuzzy logic controller (SFLC) that uses reinforcement learning techniques to learn the desirability of states and to adjust the consequent part of its fuzzy control rules accordingly. Due to the different dynamics of the controlled processes, the performance of a self-learning fuzzy controller is highly contingent on its design. The design issue has not received sufficient attention. The issues related to the design of a SFLC for application to a petrochemical process are discussed, and its performance is compared with that of a PID and a self-tuning fuzzy logic controller.
Lee, Ji Min; Park, Sung Hwan; Kim, Jong Shik
2013-01-01
A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. PMID:23983640
Optimization and composition control of Distillation column using MPC
Manimaran, M.; Arumugam, A.; Balasubramanian, G.; Ramkumar, K.
2013-01-01
This paper proposes the Model Predictive Control (MPC) scheme in a bubble cap distillation column . Even though PID controllers are widely used for the control of nonlinear system,there is a need for optimizing and conservation of energy. Here, MPC scheme is designed and it is used for controlling the composition in distillation columns.The tuning of PID controller is done using Sundaresan-Krishnaswamy method. The MATLAB platform is used for the implementation of MPC and the conventional PID ...
Performance Enhancement of PID Tuning of DC Servomotor using Metaheuristic Algorithm
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M. Gunalan, I. Elamvazuthi*, NH. Hamid , T. Ganesan
2014-07-01
Full Text Available The use of DC servomotor in automated systems is common nowadays in various applications. Specifically, DC servomotors have played a vital role in the development of surface mount technology (SMT placement machines that have the ability to quickly place components onto the printed circuit boards (PCBs. The design of controllers for DC servomotors has increasingly become an interesting area for researchers from all over the world. Although the Proportional-Integral-Derivative (PID controller is regarded as the workhorse of the control industry and it is used for DC servomotor, one of its main short-comings is that there is no efficient tuning method. This paper discusses the development of an algorithm that improves the performance of PID tuning based on Metaheuristic Algorithm; particularly, the Inertia Weight Particle Swarm Optimization (iw-PSO algorithm. The research findings show the effectiveness of the PSO algorithm compared with the conventional PID controller. Overall, the iw-PSO-PID successfully eliminated the overshoot and at the same time produced faster response. Furthermore, it was able to control the convergence by indicating smaller value of MSE.
Das, Saptarshi; Das, Shantanu; Gupta, Amitava; 10.1109/PACC.2011.5978962
2012-01-01
Genetic Algorithm (GA) has been used in this paper for a new Nyquist based sub-optimal model reduction and optimal time domain tuning of PID and fractional order (FO) PI{\\lambda}D{\\mu} controllers. Comparative studies show that the new model reduction technique outperforms the conventional H2-norm based reduced order modeling techniques. Optimum tuning rule has been developed next with a test-bench of higher order processes via Genetic Programming (GP) with minimum value of weighted integral error index and control signal. From the Pareto optimal front which is a trade-off between the complexity of the formulae and control performance, an efficient set of tuning rules has been generated for time domain optimal PID and PI{\\lambda}D{\\mu} controllers.
A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs
Anton Civit-Balcells; Rafael Paz-Vicente; Dominguez-morales, Manuel J.; Alejandro Linares-Barranco; Gabriel Jimenez-Moreno; Angel Jimenez-Fernandez
2012-01-01
In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and s...
Design of Robust PID Controller Using Hybrid Algorithm for Reduced Order Interval System
Babu Thirumalaimuthu; Pappa Natarajan
2012-01-01
A system with parameter variation within bound creates interval in coefficients in the system polynomial and hence it is called as interval system. In this study, a model order reduction for linear interval system is attempted. A convergence technique is attempted to reduce the numerator polynomial. The denominator polynomial is reduced by using the methods such as retention of Markov parameter and time moments technique. A numerical approach is proposed to compute the reduced order interval ...
Designing an Energy Storage System Fuzzy PID Controller for Microgrid Islanded Operation
Jin-Hong Jeon; Hak-Man Kim; Seul-Ki Kim; Heung-Kwan Choi; Jong-Yul Kim
2011-01-01
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...
Architectures of Computational Verb Controllers: Towards a New Paradigm of Intelligent Control
Tao Yang
2005-01-01
There are at least two kinds of methods of designing(computational) verb proportional-integral-derivative(PID) controllers.The first one is to generalize fuzzy PID controllersby substituting “BE” in fuzzy control rules with non-staticcomputational verbs. The second one is to directly constructevolving functions of verbs in human experiences of dynamicprocesses. These methods will lead to different architectures ofverb PID controllers because computational verb theory can beused in differe...
Soltesz, Kristian; Hahn, Jin-oh; Dumont, Guy A.; Ansermino, J. Mark
2011-01-01
This paper proposes a closed-loop propofol admission strategy for depth of hypnosis control in anesthesia. A population-based, robustly tuned controller brings the patient to a desired level of hypnosis. The novelty lies in individualizing the controller once a stable level of hypnosis is reached. This is based on the identified patient parameters and enhances suppression of output disturbances, representing surgical stimuli. The system was evaluated in simulation on models of 44 patients obt...
Jubiao Yao; Keyu Jiang; Chaoyi Yao
2010-01-01
This paper puts forward one kind of air-fuel ration control method which integrates improved Elman neural network with normal PI control.It constructs a model of the single LPG electro-plating engine and simulation platform for air-fuel ration controlling with GT-Power software which seamless connect to Matlab/Simulink based on JL1P39FMB single cylinder engine and develop the electronic fuel-injected controller based on Intel MCS-96. It also constructs mini LPG electro-plating engine experime...
Directory of Open Access Journals (Sweden)
Jubiao Yao
2010-01-01
Full Text Available This paper puts forward one kind of air-fuel ration control method which integrates improved Elman neural network with normal PI control.It constructs a model of the single LPG electro-plating engine and simulation platform for air-fuel ration controlling with GT-Power software which seamless connect to Matlab/Simulink based on JL1P39FMB single cylinder engine and develop the electronic fuel-injected controller based on Intel MCS-96. It also constructs mini LPG electro-plating engine experiment system for air-fuel ration to the LPG Injection System and adopt the new inlet channel injection type of duty ratio controlling injector. Help the throttle percentage-rev- duty cycle pulse spectrum diagram after the calibration bench experiment for the best duty cycle of mini electronic LPG-injected under the steady working conditions. It predicts the air-fuel ration signals of nontransmission delay through the Elman neural network. The normal PI controller which deals with the predictive signals implements the concurrent control of air-fuel ration under transient conditions. The bench test and the simulation result indicate that the control methods have the strong adaptation, which can make the statism of air-fuel ration under transient conditions on ±5%.
International Nuclear Information System (INIS)
This next contains the following subjects. (1) Introduction, (2) Low level RF (LLRF) system of linear accelerator with superconducting cavities, (2-1) Components of LLRF employing digital feedback control, (2-2) Origins of RF fluctuations, (3) Control theory of continuous signal system, (3-1) System and control, (3-2) Transfer function, (3-3) State equation, (4) Feedback control, (4-1) Open loop and closed loop, (4-2) Proportional Integral Derivative (PID) control, (4-3) An example of feedback control of RF source for linear accelerator, (5) Modeling of RF cavities, (5-1) Fundamental equation for RF cavities, (5-2) State equation for RF cavities, (5-3) Transfer function for RF cavities, (5-4) Modeling of Lorentz force detuning, (5-5) Simulation by MATLAB/Simulink, (6) Control in discrete signal system, (6-1) Modification of Continuous signal system to discrete signal system, (6-2) Making transfer function to be discrete, (6-3) Making state equation to be discrete, (6-4) Making state equation of RF cavities to be discrete, (6-5) Cavity simulator, (7) LLRF system of STF-Phase 1, and (7-1) Digital control system in STF-Phase 1. (K.Y.)
A Unified Analytical Design Method of Standard Controllers using Inversion Formulae
Ntogramatzidis, Lorenzo; Zanasi, Roberto; Cuoghi, Stefania
2012-01-01
The aim of this paper is to present a comprehensive range of design techniques for the synthesis of the standard compensators (Lead and Lag networks as well as PID controllers) that in the last twenty years have proved to be of great educational value in a vast number of undergraduate and postgraduate courses in Control throughout Italy, but that to-date remain mostly confined within this country. These techniques hinge upon a set of simple closed-form formulae for the compu...
Design and Implementation of a Fuzzy Logic Controller for Synchronous Generator
Naeim Farouk; Liu Sheng
2012-01-01
The electrical power generation and distribution in power plant suffers from so many problems, such as instability of demand and generation. These lead to increase of generation cost. In this study, self-tuning fuzzy PID controller is developed to improve the performance of automated voltage regulation of a synchronous generator. The controller is designed based on the mathematical model of the system, which is estimated by using system identification technique. Simulation was carried out usi...
Practical Loop-Shaping Design of Feedback Control Systems
Kopasakis, George
2010-01-01
An improved methodology for designing feedback control systems has been developed based on systematically shaping the loop gain of the system to meet performance requirements such as stability margins, disturbance attenuation, and transient response, while taking into account the actuation system limitations such as actuation rates and range. Loop-shaping for controls design is not new, but past techniques do not directly address how to systematically design the controller to maximize its performance. As a result, classical feedback control systems are designed predominantly using ad hoc control design approaches such as proportional integral derivative (PID), normally satisfied when a workable solution is achieved, without a good understanding of how to maximize the effectiveness of the control design in terms of competing performance requirements, in relation to the limitations of the plant design. The conception of this improved methodology was motivated by challenges in designing control systems of the types needed for supersonic propulsion. But the methodology is generally applicable to any classical control-system design where the transfer function of the plant is known or can be evaluated. In the case of a supersonic aerospace vehicle, a major challenge is to design the system to attenuate anticipated external and internal disturbances, using such actuators as fuel injectors and valves, bypass doors, and ramps, all of which are subject to limitations in actuator response, rates, and ranges. Also, for supersonic vehicles, with long slim type of structures, coupling between the engine and the structural dynamics can produce undesirable effects that could adversely affect vehicle stability and ride quality. In order to design distributed controls that can suppress these potential adverse effects, within the full capabilities of the actuation system, it is important to employ a systematic control design methodology such as this that can maximize the effectiveness of the control design in a methodical and quantifiable way. The emphasis is in generating simple but rather powerful design techniques that will allow even designers with a layman s knowledge in controls to develop effective feedback control designs. Unlike conventional ad hoc methodologies of feedback control design, in this approach actuator rates are incorporated into the design right from the start: The relation between actuator speeds and the desired control bandwidth of the system is established explicitly. The technique developed is demonstrated via design examples in a step-by-step tutorial way. Given the actuation system rates and range limits together with design specifications in terms of stability margins, disturbance rejection, and transient response, the procedure involves designing the feedback loop gain to meet the requirements and maximizing the control system effectiveness, without exceeding the actuation system limits and saturating the controller. Then knowing the plant transfer function, the procedure involves designing the controller so that the controller transfer function together with the plant transfer function equate to the designed loop gain. The technique also shows what the limitations of the controller design are and how to trade competing design requirements such as stability margins and disturbance rejection. Finally, the technique is contrasted against other more familiar control design techniques, like PID control, to show its advantages.
Design of proportional-integral-derivative type optimal controller for a nuclear reactor
International Nuclear Information System (INIS)
A theoretic approach to the design of a proportional integral derivative (PID) type optimal controller for a nuclear reactor is considered. A linearized version of the state-space model of a nuclear-reactor-plant is investigated which shows very 'sluggish' response (settling time of the order of 600 seconds) to changes in the power demand and frequency. It is shown that with a judicious choice of state variables a PID type optimal controller realisation is possible. A controller is designed to minimise the effects of (a) a sudden increase or decrease in the electrical power demand (b) change in frequency at grid. The above controller, designed for a tracking problem, reduces the steady-state error (in response to a step input) to zero and the dynamics of the system become 'faster' (setting time of the order of 100 seconds). The controller is also insensitive to changes in system parameters. The superiority in the performance of the system with the optimal PID controller as compared with that of the conventional regulator is conclusively established. (author)
Power System Stabilizer Design Based on Model Reference Robust Fuzzy Control
Directory of Open Access Journals (Sweden)
Mohammad Reza Yazdchi
2012-04-01
Full Text Available Power System Stabilizers (PSS are used to generate supplementary damping control signals for the excitation system in order to damp the Low Frequency Oscillations (LFO of the electric power system. The PSS is usually designed based on classical control approaches but this Conventional PSS (CPSS has some problems in power system control and stability enhancement. To overcome the drawbacks of CPSS, numerous techniques have been proposed in literatures. In this study a new method based on Model Reference Robust Fuzzy Control (MRRFC is considered to design PSS. In this new approach, in first an optimal PSS is designed in the nominal operating condition and then power system identification is used to obtain model reference of power system including optimal PSS. With changing system operating condition from the nominal condition, the error between obtained model reference and power system response in sent to a fuzzy controller and this fuzzy controller provides the stabilizing signal for damping power system oscillations just like PSS. In order to model reference identification a PID type PSS (PID-PSS is considered for damping electric power system oscillations. The parameters of this PID-PSS are tuned based on hybrid Genetic Algorithms (GA optimization method. The proposed MRRFC is evaluated against the CPSS at a single machine infinite bus power system considering system parametric uncertainties. The simulation results clearly indicate the effectiveness and validity of the proposed method.
Allan, Brian; Owens, Lewis
2010-01-01
In support of the Blended-Wing-Body aircraft concept, a new flow control hybrid vane/jet design has been developed for use in a boundary-layer-ingesting (BLI) offset inlet in transonic flows. This inlet flow control is designed to minimize the engine fan-face distortion levels and the first five Fourier harmonic half amplitudes while maximizing the inlet pressure recovery. This concept represents a potentially enabling technology for quieter and more environmentally friendly transport aircraft. An optimum vane design was found by minimizing the engine fan-face distortion, DC60, and the first five Fourier harmonic half amplitudes, while maximizing the total pressure recovery. The optimal vane design was then used in a BLI inlet wind tunnel experiment at NASA Langley's 0.3-meter transonic cryogenic tunnel. The experimental results demonstrated an 80-percent decrease in DPCPavg, the reduction in the circumferential distortion levels, at an inlet mass flow rate corresponding to the middle of the operational range at the cruise condition. Even though the vanes were designed at a single inlet mass flow rate, they performed very well over the entire inlet mass flow range tested in the wind tunnel experiment with the addition of a small amount of jet flow control. While the circumferential distortion was decreased, the radial distortion on the outer rings at the aerodynamic interface plane (AIP) increased. This was a result of the large boundary layer being distributed from the bottom of the AIP in the baseline case to the outer edges of the AIP when using the vortex generator (VG) vane flow control. Experimental results, as already mentioned, showed an 80-percent reduction of DPCPavg, the circumferential distortion level at the engine fan-face. The hybrid approach leverages strengths of vane and jet flow control devices, increasing inlet performance over a broader operational range with significant reduction in mass flow requirements. Minimal distortion level requirements are met using vanes alone, avoiding engine stall and increasing robustness of this hybrid inlet flow control approach. This design applies to aerospace applications needing flush-mounted boundary-layer-ingesting inlets.
Bonesini, M
2008-01-01
The international Muon Ionization Cooling Experiment (MICE) will carry out a systematic investigation of ionization cooling of a muon beam. As the emittance measurement will be done on a particle-by-particle basis, sophisticated beam instrumentation is needed to measure particle coordinates and timing vs RF. A PID system based on three time-of-flight stations, two Aerogel Cerenkov detectors and a KLOE-like calorimeter has been constructed in order to keep beam contamination ($e, \\pi$) well below 1%. The MICE time-of-flight system will measure timing with a resolution better than 70 ps per plane, in a harsh environment due to high particle rates, fringe magnetic fields and electron backgrounds from RF dark current.
Fractional order phase shaper design with Bode's integral for iso-damped control system.
Saha, Suman; Das, Saptarshi; Ghosh, Ratna; Goswami, Bhaswati; Balasubramanian, R; Chandra, A K; Das, Shantanu; Gupta, Amitava
2010-04-01
The phase curve of an open loop system is flat in nature if the derivative of its phase with respect to frequency is zero. With a flat-phase curve, the corresponding closed loop system exhibits an iso-damped property i.e. maintains constant overshoot with the change of gain. This implies enhanced parametric robustness e.g. to variation in system gain. In the recent past, fractional order (FO) phase shapers have been proposed by contemporary researchers to achieve enhanced parametric robustness. In this paper, a simple methodology is proposed to design an appropriate FO phase shaper to achieve phase flattening in a control loop, comprising a plant controlled by a classical Proportional Integral Derivative (PID) controller. The methodology is demonstrated with MATLAB simulation of representative plants and accompanying PID controllers. PMID:20045750
STATCOM ANALYSIS WITH CLOSED LOOP PID AND WITH OPEN LOOP ON POWER SYSTEM
D V V V Ch Mouli, K. Dhanvanthri
2013-01-01
Static synchronous compensator (STATCOM) is used in power system for better voltage control. The controlshould be possible using closed loop as well as open loop control. The closed loop control keeps precise voltage on thesystem during load variations. The Proportionate integrate derivative (PID) regulator used in closed loop is very significantfor better control. The PID performance depends on its tuning parameters. This paper presents the PID parameters tuningusing pole placement and fuzzy...
Evaluation of PID Tuning Methods on Direct Gas-Fired Oven
Aborisade, D. O.; Adewuyi, P. A.
2014-01-01
This paper studies the temperature control of gas-fired oven using PID controller. Oven control system has the characteristics of non-linearity, time delays and setpoint response. It is difficult to overcome the effects of these factors and get the satisfactory results without appropriately tuning of the PID controller gains required for stability and good transient performance. The Ziegler-Nichols closed loop, Good Gain and Skogestad’s are the PID tuning methods implemented...
FPGA-BASED CONTROL OF THERMOELECTRIC COOLERS FOR LASER DIODE TEMPERATURE REGULATION
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AHTESHAM ALI
2012-04-01
Full Text Available The proportional-integral-derivative (PID controller is the most used controller in the industry. Field programmable gate arrays (FPGAs allow efficient implementation of PID controllers. This paper presents the temperature regulation of a 48W laser diode through thermoelectric coolers (TECs. The temperature regulation system is designed and tested. The results demonstrate the feasibility and applicability of PID control through FPGA.
PID Parameters Optimization by Using Genetic Algorithm
Mirzal, Andri; Furukawa, Masashi
2012-01-01
Time delays are components that make time-lag in systems response. They arise in physical, chemical, biological and economic systems, as well as in the process of measurement and computation. In this work, we implement Genetic Algorithm (GA) in determining PID controller parameters to compensate the delay in First Order Lag plus Time Delay (FOLPD) and compare the results with Iterative Method and Ziegler-Nichols rule results.
Rajesh, T.; Thirumurugan, P.; Saravana Balaji, M.
2013-01-01
In this paper, Model based Predictive Control (MPC) and fuzzy logic controller (FLC) for temperature process station was proposed. This controller design gives an optimum performance even under process disturbances. Conventional controllers like P, PI, and PID controllers fail to control the process effectively under disturbances, conventionally accurate model of the process and complex algorithms are needed to design the self tuning of PID controller. Here an attempt was made to implement MP...
Continuous Drug Infusion for Diabetes Therapy: A Closed-Loop Control System Design
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Jiming Chen
2008-03-01
Full Text Available While a typical way for diabetes therapy is discrete insulin infusion based on long-time interval measurement, in this paper, we design a closed-loop control system for continuous drug infusion to improve the traditional discrete methods and make diabetes therapy automatic in practice. By exploring the accumulative function of drug to insulin, a continuous injection model is proposed. Based on this model, proportional-integral-derivative (PID and fuzzy logic controllers are designed to tackle a control problem of the resulting highly nonlinear plant. Even with serious disturbance of glucose, such as nutrition absorption at meal time, the proposed scheme can perform well in simulation experiments.
Controller design for interval plants
International Nuclear Information System (INIS)
We make use of celebrated Kharitoniv theorem to come up with a design procedure for the stabilization of uncertain systems in the parameters using low order controllers. The proposed design is based on classical design methods. A Non-linear programming (NLP) approach for the design of higher order controllers is also presented. We present our results and give illustrating examples. (author)
The robust level control system of the nuclear steam generator
International Nuclear Information System (INIS)
The nuclear steam generator level control system is designed by the robust control methods. The design is divided into two steps. First, the feedwater controller is designed by the H?. Then the feedwater controller located on the feedback loop is designed both by a classical PID and by robust techniques. It is found that the controller of simple PID whose coefficients vary with the power is proper for the system performance. The simulations show that the hybrid system of H? and PID has a good performance with proper stability margins
Application of a new type fuzzy controller in power control system for nuclear reactors
International Nuclear Information System (INIS)
The paper introduces a new type general fuzzy controller, and its application in the design of a small research reactor power control system. The algorithm formula covers all regulating means of the old-time fuzzy controller. The paper compares it with the conventional PID controller. Simulation results with a new type fuzzy controller and with a conventional PID controller show that the new type fuzzy control system has greatly improved the performance of reactor power control system, and its disturbance resistance is better than that of common PID controller. (authors)
Neuro-fuzzy Control of Integrating Processes
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Anna Vasi?kaninová
2011-11-01
Full Text Available Fuzzy technology is adaptive and easily applicable in different areas.Fuzzy logic provides powerful tools to capture the perceptionof natural phenomena. The paper deals with tuning of neuro-fuzzy controllers for integrating plant and for integrating plantswith time delay. The designed approach is verified on three examples by simulations and compared plants with classical PID control.Designed fuzzy controllers lead to better closed-loop control responses then classical PID controllers.
Fuzzy scheduled RTDA controller design.
Srinivasan, K; Anbarasan, K
2013-03-01
In this paper, the design and development of fuzzy scheduled robustness, tracking, disturbance rejection and overall aggressiveness (RTDA) controller design for non-linear processes are discussed. pH process is highly non-linear and the design of good controller for this process is always a challenging one due to large gain variation. Fuzzy scheduled RTDA controller design based on normalized integral square error (N_ISE) performance criteria for pH neutralization process is developed. The applicability of the proposed controller is tested for other different non-linear processes like type I diabetic process and conical tank process. The servo and regulatory performance of fuzzy scheduled RTDA controller design is compared with well-tuned internal model control (IMC) and dynamic matrix control (DMC)-based control schemes. PMID:23317662
Optimum Setting of Controller Using Soft Computing Techniques for a Chemical System
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G. Glandevadhas
2011-01-01
Full Text Available Problem statement: The aim of this study is to present an intelligent tuning technique for PID controller that are simple and still result in good closed loop behavior. The idea is to start with a tuned conventional PID controller, replace it with an equivalent intelligent controllers like Fuzzy, ANN, Genetic and PSO techniques implies fine tuned nonlinear PID controller which is most suitable for nonlinear process like Continuous stirred tank reactor. The performance of various optimization techniques and intelligent techniques are compared. Approach: In this study we present soft computing techniques to design and tune the PID controller. The objective is tominimise the steady state error and to obtain the optimum response. Results: The comparisons amoung the Conventional PID, Fuzzy Sliding PID, Simulated Anneling PID and PSO tuned PID controllers PSO PID implies better result for the nonlinear chemical process. Conclusion: With the nonlinear model of CSTR process the PSO tuned PID controller implies the optimum response for both setpoint and load variations.
A PID autotuner utilizing GPC and constraint optimization
DEFF Research Database (Denmark)
Henningsen, Arne; Christensen, Anders
1990-01-01
A solution to the PID autotuning problem is presented which involves constraining the parameters of a discrete second-order discrete-time controller. The integrator is forced into the regulator by using a CARIMA model. The discrete-time regulator parameters are calculated by optimizing a generalized predictive control criterion, and the PID structure is ensured by constraining the parameters to a feasible set defined by the discrete-time Euler approximation of the ideal continuous-time PID controller. The algorithm is extended by incorporating constraints on the amplitude and slew-rate of the control signal. Simulation studies for a system of coupled tanks have indicated that the method performs well, and that signal limitations can be included in a straightforward manner
Automatic Weight Selection Algorithm for Designing H Infinity controller for Active Magnetic Bearing
Directory of Open Access Journals (Sweden)
Sarath S Nair
2011-01-01
Full Text Available In recent times active magnetic bearing has got wide acceptance in industries and other special systems. Current researches focus on improving the disturbance rejection properties of magnetic bearings towork well in industrial environment. So far many controllers have been developed to control the system, of which the H? controller is found to guarantee robustness and performance. In this paper an automatic weight selection algorithm is proposed to design robust H Infinity controller automatically for active magnetic bearing system and detailed disturbance analysis is done. This paper focuses on the controller implementation point of view and analyses the variation in control current, peak responses and steady state error of the developed controller. Comparison with a well tuned PID controller shows the efficacy of H infinity controller designed using the proposed algorithm.
Flight Control Design using Backstepping
Ha?rkega?rd, Ola; Glad, Torkel
2000-01-01
Today the prevailing nonlinear design method for aircraft flight control is feedback linearization. This paper presents a new method to deal with the nonlinear aerodynamic forces and moments acting on the aircraft: backstepping. Specifically, we derive backstepping control laws for angle of attack and sideslip control that requireless knowledge of the lift and side forces compared to feedback linearization designs. The control laws are made adaptive to errors in the aerodynamic moment coeffic...
Design and Simulation of Different Controllers for Stabilizing Inverted Pendulum System
Directory of Open Access Journals (Sweden)
Rahul Kr. Rai
2014-07-01
Full Text Available The Inverted Pendulum system has been identified for implementing controllers as it is an inherently unstable system having nonlinear dynamics. The system has fewer control inputs than degrees of freedom which makes it fall under the class of under-actuated systems. It makes the control task more challenging making the inverted pendulum system a classical benchmark for the design, testing, evaluating and comparing. The inverted pendulum to be discussed in this paper is an inverted pendulum mounted on a motor driven cart. The aim is to stabilize the system such that the position of the cart on the track is controlled quickly and accurately so that the pendulum is always erected in its vertical position. In this paper the linearized model was obtained by Jacobian matrix method. The Matlab-Simulink models have been developed for simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using different control methods. The methods discussed in this paper are a double Proportional-Integral-Derivative (PID control method, a modern Linear Quadratic Regulator (LQR control method and a combination of PID and Linear Quadratic Regulator (LQR control methods. The dynamic and steady state performance are investigated and compared for the above controllers.
Design of central control system for large helical device (LHD)
International Nuclear Information System (INIS)
The world largest superconducting fusion machine LHD (Large Helical Device) is under construction in Japan, aiming at steady state operations. Its basic control system consists of UNIX computers, FDDI/Ethernet LANs, VME multiprocessors and VxWorks real-time OS. For flexible and reliable operations of the LHD machine a cooperative distributed system with more than 30 experimental equipments is controlled by the central computer and the main timing system, and is supervised by the main protective interlock system. Intelligent control systems, such as applications of fuzzy logic and neural networks, are planed to be adopted for flexible feedback controls of plasma configurations besides the classical PID control scheme. Design studies of its control system and related R and D programs with coil-plasma simulation systems are now being performed. The construction of the LHD Control Building in a new site will begin in 1995 after finishing the construction of the LHD Experimental Building, and the hardware construction of the LHD central control equipments will be started in 1996. A first plasma production by means of this control system is expected in 1997. (author)
Wang, Wei-Chih; Lee, Jer-Wei; Chen, Kuo-Shen; Liu, Yun-Hui
2014-05-01
Both fast positioning and eliminating relative vibration between automatic optical inspection devices and the associated workpieces are critical for enhancing the throughput of product inspection. Both goals can be achieved by proper control of the stage where the camera is mounted. In this work, a one-dimensional compliant stage, consist of a notch-based structure and a mechanical amplifier, is designed and controlled for fulfilling the above mentioned goals. Essential finite element simulation and structural testing are performed to further characterize the structure and to obtain the system dynamics for controller design. The fundamental natural frequency of the designed stage is approximately 410 Hz and a displacement amplification ratio of 1.21 is achieved. The stage is actuated by a PI-843.40 piezoelectric actuator and the motion is monitored by an ASP-10-CTR capacitance probe. The entire signal acquisition and control are performed under a NI LabView environment using a NI cRIO-9014 FPGA real time controller, where both PID and sliding motion controllers are implemented. The results indicate that a close loop bandwidth of 12 Hz or 29 Hz and a steady state resolution of 50 nm can be achieved after PID or sliding mode control. With such a response, the motion induced vibration may be suppressed for subsequent automatic optical inspection and other applications such as coordinate measurement systems.
Design issues for a reinforcement-based self-learning fuzzy controller
Yen, John; Wang, Haojin; Dauherity, Walter
1993-01-01
Fuzzy logic controllers have some often cited advantages over conventional techniques such as PID control: easy implementation, its accommodation to natural language, the ability to cover wider range of operating conditions and others. One major obstacle that hinders its broader application is the lack of a systematic way to develop and modify its rules and as result the creation and modification of fuzzy rules often depends on try-error or pure experimentation. One of the proposed approaches to address this issue is self-learning fuzzy logic controllers (SFLC) that use reinforcement learning techniques to learn the desirability of states and to adjust the consequent part of fuzzy control rules accordingly. Due to the different dynamics of the controlled processes, the performance of self-learning fuzzy controller is highly contingent on the design. The design issue has not received sufficient attention. The issues related to the design of a SFLC for the application to chemical process are discussed and its performance is compared with that of PID and self-tuning fuzzy logic controller.
Optimal Design of Neural Fuzzy Inference Network for Temperature Controller
Directory of Open Access Journals (Sweden)
Avinashi Kapoor
2011-01-01
Full Text Available In this study, a Neural Fuzzy Inference Network (NFIN for controlling the temperature of the system has been proposed. The NFIN is inherently a modified fuzzy rule based model possessing neural networks learning ability using hybrid learning algorithm which combines gradient descent and least mean square algorithm. In contrast to the general adaptive neural fuzzy networks where the rules should be decided in advance before parameter learning is performed, there are no rules initially in the NFIN. The rules in the NFIN are created and adapted as on-line learning proceeds via simultaneous structure and parameter identification. The NFIN has been applied to a practical water bath temperature control system, designed and developed around Atmels 89C51 microcontroller. In the above system, four experiments were conducted on water bath each for 250 and 500 mL min-1 flow of water for different volume of water and power of heater. The performance of NFIN has been compared with Fuzzy Logic Controller (FLC and conventional Proportional Integral Derivative (PID controller. The three control schemes are compared through experimental studies with respect to set point regulation. It is found that the proposed NFIN control scheme has the best control performance of the three control schemes.
Fundamentals of corrosion control design
Energy Technology Data Exchange (ETDEWEB)
Perrigo, L.D.; Jensen, G.A.
1979-03-01
The development of corrosion control design principles and practice is discussed. It is concluded that by applying simple and straightforward principles to the design of systems, buildings and equipment, operational corrosion problems may be reduced or avoided. These corrosion control design principles are concerned with promoting the use of orientation, layout, and configuration to avoid the holdup of solutions, abrupt flow changes, impingement and stagnant areas. Climatic conditions and terrain are important siting considerations in reducing atmospheric corrosion of buildings and facilities. A determined effort is needed to broaden the understanding of anticorrosion design measures and principles because these are not widely known and recognized by designers and architects.
RF control at SSCL - an object oriented design approach
International Nuclear Information System (INIS)
The Superconducting Super Collider (SSC) in Texas, the construction of which was stopped in 1994, would have represented a major challenge in accelerator research and development. This paper addresses the issues encountered in the parallel design and construction of the control systems for the RF equipment for the five accelerators comprising the SSC. An extensive analysis of the components of the RF control systems has been undertaken, based upon the Schlaer-Mellor object-oriented analysis and design (OOA/OOD) methodology. The RF subsystem components such as amplifiers, tubes, power supplies, PID loops, etc. were analyzed to produce OOA information, behavior and process models. Using these models, OOD was iteratively applied to develop a generic RF control system design. This paper describes the results of this analysis and the development of 'bridges' between the analysis objects, and the EPICS-based software and underlying VME-based hardware architectures. The application of this approach to several of the SSCL RF control systems is discussed. ((orig.))
Design and Implement of a Programmable Logic Controller (PLC for Classical Control Laboratory
Directory of Open Access Journals (Sweden)
Yousif I. Al Mashhadany
2012-02-01
Full Text Available The design and implementation of a classical control system laboratory based on PLC control system is introduced in this paper. To design and implement the system, two parts must be produced. The first is software for PLC and the second is hardware for experiments related to the programs. The PLC control system used in the design is LS industrial system company GM7-DR40A 24/16 Digital I/O and single Analog I/O module, two photoelectric sensors from Atonic company’: the first with the model BR100-DDT-P, and the second BEN10M-TFR. An approximate sensor with 5-sides is detected, four of CMOS BCD-7-Segment driven by CD4511B, two relays: 2-poles and 3-poles, six voltages and an ammeter measurement, DC motor and 24 VDC power supply and many connecters and pinions. Satisfactory results are obtained by executing twenty four experiments for classical control theory that fulfill the requirements of control theory in undergraduate stage and replace the old experiments executed by PID controller where the practice system is implemented by PLC control now.
Stabilizing sliding mode control design and application for a dc motor: Speed control
Rhif, Ahmed
2012-01-01
The regulation by sliding mode control (SMC) is recognized for its qualities of robustness and dynamic response. This article will briefly talk about the regulation principles by sliding mode as well as the application of this approach to the adjustment of a speed control DC motor bench using the TY36A/EV unit. This unit, from Electronica Veneta products, uses a PID controller to control the speed and position of the DC motor. Our purpose is to improve the set time answer and the robustness of the system when disturbances take place. The experimental results show very good performances of the proposed approach relatively to the PID.
Fendl, Monika
2001-01-01
Framework: The paper as an component of an extensive research project on design methods focuses on the question how architects could develop systematically goal-oriented architectural solutions (including innovative solutions) in the complex field of social and healthcare buildings. Questions: Within this framework, the paper, a component of the whole research project, is looking at two fundamental questions in terms of the indispensability of the contribution of architects during the plannin...
Convex Structured Controller Design
Dvijotham, Krishnamurthy; Todorov, Emanuel; Fazel, Maryam
2013-01-01
We consider the problem of synthesizing optimal linear feedback policies subject to arbitrary convex constraints on the feedback matrix. This is known to be a hard problem in the usual formulations ($\\Htwo,\\Hinf,\\LQR$) and previous works have focused on characterizing classes of structural constraints that allow efficient solution through convex optimization or dynamic programming techniques. In this paper, we propose a new control objective and show that this formulation ma...