Non-fragile multivariable PID controller design via system augmentation
Liu, Jinrong; Lam, James; Shen, Mouquan; Shu, Zhan
2017-07-01
In this paper, the issue of designing non-fragile H∞ multivariable proportional-integral-derivative (PID) controllers with derivative filters is investigated. In order to obtain the controller gains, the original system is associated with an extended system such that the PID controller design can be formulated as a static output-feedback control problem. By taking the system augmentation approach, the conditions with slack matrices for solving the non-fragile H∞ multivariable PID controller gains are established. Based on the results, linear matrix inequality -based iterative algorithms are provided to compute the controller gains. Simulations are conducted to verify the effectiveness of the proposed approaches.
Multivariable PID controller design tuning using bat algorithm for activated sludge process
Atikah Nor’Azlan, Nur; Asmiza Selamat, Nur; Mat Yahya, Nafrizuan
2018-04-01
The designing of a multivariable PID control for multi input multi output is being concerned with this project by applying four multivariable PID control tuning which is Davison, Penttinen-Koivo, Maciejowski and Proposed Combined method. The determination of this study is to investigate the performance of selected optimization technique to tune the parameter of MPID controller. The selected optimization technique is Bat Algorithm (BA). All the MPID-BA tuning result will be compared and analyzed. Later, the best MPID-BA will be chosen in order to determine which techniques are better based on the system performances in terms of transient response.
A design method of compensators for multi-variable control system with PID controllers 'CHARLY'
International Nuclear Information System (INIS)
Fujiwara, Toshitaka; Yamada, Katsumi
1985-01-01
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)
International Nuclear Information System (INIS)
Menhas, Muhammad Ilyas; Fei Minrui; Wang Ling; Qian Lin
2012-01-01
Highlights: ► We extend the concept of co-operation and co-evolution in some PSO variants. ► We use developed co-operative PSOs in multivariable PID controller design/tuning. ► We find that co-operative PSOs converge faster and give high quality solutions. ► Dividing the search space among swarms improves search efficiency. ► The proposed methods allow the practitioner for heterogeneous problem formulation. - Abstract: In this paper, multivariable PID controller design based on cooperative and coevolving multiple swarms is demonstrated. A simplified multi-variable MIMO process model of a ball mill pulverizing system with steady state decoupler is considered. In order to formulate computational models of cooperative and coevolving multiple swarms three different algorithms like real coded PSO, discrete binary PSO (DBPSO) and probability based discrete binary PSO (PBPSO) are employed. Simulations are carried out on three composite functions simultaneously considering multiple objectives. The cooperative and coevolving multiple swarms based results are compared with the results obtained through single swarm based methods like real coded particle swarm optimization (PSO), discrete binary PSO (DBPSO), and probability based discrete binary PSO (PBPSO) algorithms. The cooperative and coevolving swarms based techniques outperform the real coded PSO, PBPSO, and the standard discrete binary PSO (DBPSO) algorithm in escaping from local optima. Furthermore, statistical analysis of the simulation results is performed to calculate the comparative reliability of various techniques. All of the techniques employed are suitable for controller tuning, however, the multiple cooperative and coevolving swarms based results are considerably better in terms of mean fitness, variance of fitness, and success rate in finding a feasible solution in comparison to those obtained using single swarm based methods.
Directory of Open Access Journals (Sweden)
Márcio Mendonça
2015-10-01
Full Text Available In this work, it is analyzed a multivariate system control of an alcoholic fermentation process with no minimum phase. The control is made with PID classic controllers associated with a supervisory system based on Fuzzy Systems. The Fuzzy system, a priori, send set-points to PID controllers, but also adds protection functions, such as if the biomass valued is at zero or very close. The Fuzzy controller changes the campaign to prevent or mitigate the paralyzation of the process. Three control architectures based on Fuzzy Control Systems are presented and compared in performance with classic control in different campaigns. The third architecture, in particular, adds an adaptive function. A brief summary of Fuzzy theory and correlated works will be presented. And, finally simulations results, conclusions and future works end the article.
Tuning method for multi-variable control system with PID controllers
International Nuclear Information System (INIS)
Fujiwara, Toshitaka
1983-01-01
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.)
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…
Optimal Pid Controller Design Using Adaptive Vurpso Algorithm
Zirkohi, Majid Moradi
2015-04-01
The purpose of this paper is to improve theVelocity Update Relaxation Particle Swarm Optimization algorithm (VURPSO). The improved algorithm is called Adaptive VURPSO (AVURPSO) algorithm. Then, an optimal design of a Proportional-Integral-Derivative (PID) controller is obtained using the AVURPSO algorithm. An adaptive momentum factor is used to regulate a trade-off between the global and the local exploration abilities in the proposed algorithm. This operation helps the system to reach the optimal solution quickly and saves the computation time. Comparisons on the optimal PID controller design confirm the superiority of AVURPSO algorithm to the optimization algorithms mentioned in this paper namely the VURPSO algorithm, the Ant Colony algorithm, and the conventional approach. Comparisons on the speed of convergence confirm that the proposed algorithm has a faster convergence in a less computation time to yield a global optimum value. The proposed AVURPSO can be used in the diverse areas of optimization problems such as industrial planning, resource allocation, scheduling, decision making, pattern recognition and machine learning. The proposed AVURPSO algorithm is efficiently used to design an optimal PID controller.
Designing PID-Fuzzy Controller for Pendubot System
Directory of Open Access Journals (Sweden)
Ho Trong Nguyen
2017-12-01
Full Text Available In the paper, authors analize dynamic equation of a pendubot system. Familiar kinds of controller – PID, fuzzy controllers – are concerned. Then, a structure of PID-FUZZY is presented. The comparison of three kinds of controllers – PID, fuzzy and PID-FUZZY shows the better response of system under PID-FUZZY controller. Then, the experiments on the real model also prove the better stabilization of the hybrid controller which is combined between linear and intelligent controller.
Design of PID Controller Simulator based on Genetic Algorithm
Directory of Open Access Journals (Sweden)
Fahri VATANSEVER
2013-08-01
Full Text Available PID (Proportional Integral and Derivative controllers take an important place in the field of system controlling. Various methods such as Ziegler-Nichols, Cohen-Coon, Chien Hrones Reswick (CHR and Wang-Juang-Chan are available for the design of such controllers benefiting from the system time and frequency domain data. These controllers are in compliance with system properties under certain criteria suitable to the system. Genetic algorithms have become widely used in control system applications in parallel to the advances in the field of computer and artificial intelligence. In this study, PID controller designs have been carried out by means of classical methods and genetic algorithms and comparative results have been analyzed. For this purpose, a graphical user interface program which can be used for educational purpose has been developed. For the definite (entered transfer functions, the suitable P, PI and PID controller coefficients have calculated by both classical methods and genetic algorithms and many parameters and responses of the systems have been compared and presented numerically and graphically
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.
Fault tolerant control of multivariable processes using auto-tuning PID controller.
Yu, Ding-Li; Chang, T K; Yu, Ding-Wen
2005-02-01
Fault tolerant control of dynamic processes is investigated in this paper using an auto-tuning PID controller. A fault tolerant control scheme is proposed composing an auto-tuning PID controller based on an adaptive neural network model. The model is trained online using the extended Kalman filter (EKF) algorithm to learn system post-fault dynamics. Based on this model, the PID controller adjusts its parameters to compensate the effects of the faults, so that the control performance is recovered from degradation. The auto-tuning algorithm for the PID controller is derived with the Lyapunov method and therefore, the model predicted tracking error is guaranteed to converge asymptotically. The method is applied to a simulated two-input two-output continuous stirred tank reactor (CSTR) with various faults, which demonstrate the applicability of the developed scheme to industrial processes.
Design of distributed PID-type dynamic matrix controller for fractional-order systems
Wang, Dawei; Zhang, Ridong
2018-01-01
With the continuous requirements for product quality and safety operation in industrial production, it is difficult to describe the complex large-scale processes with integer-order differential equations. However, the fractional differential equations may precisely represent the intrinsic characteristics of such systems. In this paper, a distributed PID-type dynamic matrix control method based on fractional-order systems is proposed. First, the high-order approximate model of integer order is obtained by utilising the Oustaloup method. Then, the step response model vectors of the plant is obtained on the basis of the high-order model, and the online optimisation for multivariable processes is transformed into the optimisation of each small-scale subsystem that is regarded as a sub-plant controlled in the distributed framework. Furthermore, the PID operator is introduced into the performance index of each subsystem and the fractional-order PID-type dynamic matrix controller is designed based on Nash optimisation strategy. The information exchange among the subsystems is realised through the distributed control structure so as to complete the optimisation task of the whole large-scale system. Finally, the control performance of the designed controller in this paper is verified by an example.
Design and optimization of fuzzy-PID controller for the nuclear reactor power control
International Nuclear Information System (INIS)
Liu Cheng; Peng Jinfeng; Zhao Fuyu; Li Chong
2009-01-01
This paper introduces a fuzzy proportional-integral-derivative (fuzzy-PID) control strategy, and applies it to the nuclear reactor power control system. At the fuzzy-PID control strategy, the fuzzy logic controller (FLC) is exploited to extend the finite sets of PID gains to the possible combinations of PID gains in stable region and the genetic algorithm to improve the 'extending' precision through quadratic optimization for the membership function (MF) of the FLC. Thus the FLC tunes the gains of PID controller to adapt the model changing with the power. The fuzzy-PID has been designed and simulated to control the reactor power. The simulation results show the favorable performance of the fuzzy-PID controller.
Directory of Open Access Journals (Sweden)
Laith Jasim Saud
2017-07-01
Full Text Available This work is concerned with designing two types of controllers, a PID and a Fuzzy PID, to be used for flying and stabilizing a quadcopter. The designed controllers have been tuned, tested, and compared using two performance indices which are the Integral Square Error (ISE and the Integral Absolute Error (IAE, and also some response characteristics like the rise time, overshoot, settling time, and the steady state error. To try and test the controllers, a quadcopter mathematical model has been developed. The model concentrated on the rotational dynamics of the quadcopter, i.e. the roll, pitch, and yaw variables. The work has been simulated with “MATLAB”. To make testing the simulated model and the controllers more realistic, the testing signals have been applied by a user through a joystick interfaced to the computer. The results obtained indicated a general superiority in performance for the Fuzzy PID controller over the PID controller used in this work. This conclusion is based by the following figures:lesser ISA for the roll, pitch, and yaw consequently, lesser IAE for the roll, pitch, and yaw consequently, lesser rise time and settling time for the roll and pitch consequently, and lesser settling time for the yaw. Moreover, the FPID gave zero overshoot versus and in the PID case for the roll, pitch, and yaw consequently. Both controllers gave zero steady state error with close rise times for the yaw. This superiority of the FPID controller is gained as the fuzzy part of it continuously and online adapts the parameters of the PID part.
Improved fuzzy PID controller design using predictive functional control structure.
Wang, Yuzhong; Jin, Qibing; Zhang, Ridong
2017-11-01
In conventional PID scheme, the ensemble control performance may be unsatisfactory due to limited degrees of freedom under various kinds of uncertainty. To overcome this disadvantage, a novel PID control method that inherits the advantages of fuzzy PID control and the predictive functional control (PFC) is presented and further verified on the temperature model of a coke furnace. Based on the framework of PFC, the prediction of the future process behavior is first obtained using the current process input signal. Then, the fuzzy PID control based on the multi-step prediction is introduced to acquire the optimal control law. Finally, the case study on a temperature model of a coke furnace shows the effectiveness of the fuzzy PID control scheme when compared with conventional PID control and fuzzy self-adaptive PID control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Design of PID temperature control system based on STM32
Zhang, Jianxin; Li, Hailin; Ma, Kai; Xue, Liang; Han, Bianhua; Dong, Yuemeng; Tan, Yue; Gu, Chengru
2018-03-01
A rapid and high-accuracy temperature control system was designed using proportional-integral-derivative (PID) control algorithm with STM32 as micro-controller unit (MCU). The temperature control system can be applied in the fields which have high requirements on the response speed and accuracy of temperature control. The temperature acquisition circuit in system adopted Pt1000 resistance thermometer as temperature sensor. Through this acquisition circuit, the monitoring actual temperature signal could be converted into voltage signal and transmitted into MCU. A TLP521-1 photoelectric coupler was matched with BD237 power transistor to drive the thermoelectric cooler (TEC) in FTA951 module. The effective electric power of TEC was controlled by the pulse width modulation (PWM) signals which generated by MCU. The PWM signal parameters could be adjusted timely by PID algorithm according to the difference between monitoring actual temperature and set temperature. The upper computer was used to input the set temperature and monitor the system running state via serial port. The application experiment results show that the temperature control system is featured by simple structure, rapid response speed, good stability and high temperature control accuracy with the error less than ±0.5°C.
Adaptive robust PID controller design based on a sliding mode for uncertain chaotic systems
International Nuclear Information System (INIS)
Chang Weider; Yan Junjuh
2005-01-01
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
CAS algorithm-based optimum design of PID controller in AVR system
International Nuclear Information System (INIS)
Zhu Hui; Li Lixiang; Zhao Ying; Guo Yu; Yang Yixian
2009-01-01
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.
US Agency for International Development — PIDS is the web-based system designed to allow data input and consultative sessions by USAID/Liberia's IPs and USAID personnel. It is established and maintained by...
Comparison of tuning methods for design of PID controller as an A VR
International Nuclear Information System (INIS)
Sheikh, S.A.; Ahmed, I.; Unar, M.A.
2009-01-01
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.
The Design of Optimal PID Control Method for Quadcopter Movement Control
Directory of Open Access Journals (Sweden)
Hanum Arrosida
2018-02-01
Full Text Available Nowadays, quadcopter motion control has become a popular research topic because of its versatile ability as an unmanned aircraft can be used to alleviate human labor and also be able to reach dangerous areas or areas which is unreachable to humans. On the other hand, the Optimal PID control method, which incorporates PID and Linear Quadratic Regulator (LQR control methods, has also been widely used in industry and research field because it has advantages that are easy to operate, easy design, and a good level of precision. In the PID control method, the main problem to be solved is the accuracy of the gain value Kp, Ki, and Kd because the inappropriateness of those value will result in an imprecise control action. Based on these problems and referring to the previous study, the optimal PID control method was developed by using PID controller structure with tuning gain parameter of PID through Linear Quadratic Regulator (LQR method. Through the integration of these two control methods, the optimum solutions can be obtained: easier controller design process for quadcopter control when crossing the determined trajectories, steady state error values less than 5% and a stable quadcopter movement with roll and pitch angle stabilization at position 0 radians with minimum energy function.
Design of a self-adaptive fuzzy PID controller for piezoelectric ceramics micro-displacement system
Zhang, Shuang; Zhong, Yuning; Xu, Zhongbao
2008-12-01
In order to improve control precision of the piezoelectric ceramics (PZT) micro-displacement system, a self-adaptive fuzzy Proportional Integration Differential (PID) controller is designed based on the traditional digital PID controller combining with fuzzy control. The arithmetic gives a fuzzy control rule table with the fuzzy control rule and fuzzy reasoning, through this table, the PID parameters can be adjusted online in real time control. Furthermore, the automatic selective control is achieved according to the change of the error. The controller combines the good dynamic capability of the fuzzy control and the high stable precision of the PID control, adopts the method of using fuzzy control and PID control in different segments of time. In the initial and middle stage of the transition process of system, that is, when the error is larger than the value, fuzzy control is used to adjust control variable. It makes full use of the fast response of the fuzzy control. And when the error is smaller than the value, the system is about to be in the steady state, PID control is adopted to eliminate static error. The problems of PZT existing in the field of precise positioning are overcome. The results of the experiments prove that the project is correct and practicable.
Optimal design of PID controller for second order plus time delay systems
International Nuclear Information System (INIS)
Srivastava, S.; Misra, A.; Kumar, Y.; Thakur, S.K.
2015-01-01
It is well known that the effect of time delay in the forward path of control loop deteriorates the system performance and at the same time makes it difficult to compute the optimum PID controller parameters of the feedback control systems. PI/PID controller is most popular and used more than 80% in industries as well as in accelerators lab due to its simple structure and appropriate robustness. At VECC we have planned to use a PID controller for the speed control of DC motor which will be used to adjust the solenoid coil position of the 2.45 GHz microwave ion source for optimum performance during the online operation. In this paper we present a comparison of the two methods which have been used to design the optimum PID controller parameters: one by optimizing different time domain performance indices such as lAE, ITSE etc. and other using analytical formulation based on Linear Quadratic Regulator (LQR). We have performed numerical simulations using MATLAB and compare the closed loop time response performance measures using the PID parameters obtained from above mentioned two methods on a second order transfer function of a DC motor with time delay. (author)
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. © 2013 Published by ISA on behalf of ISA.
Zhang, Jianming
2017-03-01
An improved proportional-integral-derivative (PID) controller based on predictive functional control (PFC) is proposed and tested on the chamber pressure in an industrial coke furnace. The proposed design is motivated by the fact that PID controllers for industrial processes with time delay may not achieve the desired control performance because of the unavoidable model/plant mismatches, while model predictive control (MPC) is suitable for such situations. In this paper, PID control and PFC algorithm are combined to form a new PID controller that has the basic characteristic of PFC algorithm and at the same time, the simple structure of traditional PID controller. The proposed controller was tested in terms of set-point tracking and disturbance rejection, where the obtained results showed that the proposed controller had the better ensemble performance compared with traditional PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Design of PID controller as an AVR in frequency-domain
International Nuclear Information System (INIS)
Shaikh, S.A.; Ahmed, I.
2008-01-01
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)
A new PID controller design for automatic generation control of hydro power systems
Energy Technology Data Exchange (ETDEWEB)
Khodabakhshian, A.; Hooshmand, R. [Electrical Engineering Department, University of Isfahan (Iran)
2010-06-15
This paper presents a new robust PID controller for automatic generation control (AGC) of hydro turbine power systems. The method is mainly based on a maximum peak resonance specification that is graphically supported by the Nichols chart. The open-loop frequency response curve is tangent to a specified ellipse and this makes the method to be efficient for controlling the overshoot, the stability and the dynamics of the system. Comparative results of this new load frequency controller with a conventional PI one and also with another PID controller design tested on a multimachine power system show the improvement in system damping remarkably. The region of acceptable performance of the new PID controller covers a wide range of operating and system conditions. (author)
Designing of new structure PID controller of boost converter for solar photovoltaic stability
Shabrina, Hanifati Nur; Setiawan, Eko Adhi; Sabirin, Chip Rinaldi
2017-03-01
Nowadays, the utilization of renewable energy as the source on distributed generation system is increasing. It aims to reduce reliance and power losses from utility grid and improve power stability in near loads. One example of renewable energy technology that have been highly proven on the market is solar photovoltaic (PV). This technology converts photon from sunlight into electricity. However, the fluctuation of solar radiation that often occurs become the main problem for this system. Due to this condition, the power conversion is needed to convert the change frequently in photovoltaic panel into a stable voltage to the system. Developing control of boost converter has important role to keep ability of system stabilization. A conventional PID (Proportional, Integral, Derivative) control is mostly used to achieve this goal. In this research, a design of new structure PID controller of boost converter is offered to better optimize system stability comparing to the conventional PID. Parameters obtained from this PID structure have been successfully yield a stable boost converter output at 200 V with 10% overshoot, 1.5 seconds of settling time, and 1.5% of steady-state error.
A design of LED adaptive dimming lighting system based on incremental PID controller
He, Xiangyan; Xiao, Zexin; He, Shaojia
2010-11-01
As a new generation energy-saving lighting source, LED is applied widely in various technology and industry fields. The requirement of its adaptive lighting technology is more and more rigorous, especially in the automatic on-line detecting system. In this paper, a closed loop feedback LED adaptive dimming lighting system based on incremental PID controller is designed, which consists of MEGA16 chip as a Micro-controller Unit (MCU), the ambient light sensor BH1750 chip with Inter-Integrated Circuit (I2C), and constant-current driving circuit. A given value of light intensity required for the on-line detecting environment need to be saved to the register of MCU. The optical intensity, detected by BH1750 chip in real time, is converted to digital signal by AD converter of the BH1750 chip, and then transmitted to MEGA16 chip through I2C serial bus. Since the variation law of light intensity in the on-line detecting environment is usually not easy to be established, incremental Proportional-Integral-Differential (PID) algorithm is applied in this system. Control variable obtained by the incremental PID determines duty cycle of Pulse-Width Modulation (PWM). Consequently, LED's forward current is adjusted by PWM, and the luminous intensity of the detection environment is stabilized by self-adaptation. The coefficients of incremental PID are obtained respectively after experiments. Compared with the traditional LED dimming system, it has advantages of anti-interference, simple construction, fast response, and high stability by the use of incremental PID algorithm and BH1750 chip with I2C serial bus. Therefore, it is suitable for the adaptive on-line detecting applications.
Design and implementation of a new fuzzy PID controller for networked control systems.
Fadaei, A; Salahshoor, K
2008-10-01
This paper presents a practical network platform to design and implement a networked-based cascade control system linking a Smar Foundation Fieldbus (FF) controller (DFI-302) and a Siemens programmable logic controller (PLC-S7-315-2DP) through Industrial Ethernet to a laboratory pilot plant. In the presented network configuration, the Smar OPC tag browser and Siemens WinCC OPC Channel provide the communicating interface between the two controllers. The paper investigates the performance of a PID controller implemented in two different possible configurations of FF function block (FB) and networked control system (NCS) via a remote Siemens PLC. In the FB control system implementation, the desired set-point is provided by the Siemens Human-Machine Interface (HMI) software (i.e, WinCC) via an Ethernet Modbus link. While, in the NCS implementation, the cascade loop is realized in remote Siemens PLC station and the final element set-point is sent to the Smar FF station via Ethernet bus. A new fuzzy PID control strategy is then proposed to improve the control performances of the networked-based control systems due to an induced transmission delay degradation effect. The proposed strategy utilizes an innovative idea based on sectionalizing the error signal of the step response into three different functional zones. The supporting philosophy behind these three functional zones is to decompose the desired control objectives in terms of rising time, settling time and steady-state error measures maintained by an appropriate PID-type controller in each zone. Then, fuzzy membership factors are defined to configure the control signal on the basis of the fuzzy weighted PID outputs of all three zones. The obtained results illustrate the effectiveness of the proposed fuzzy PID control scheme in improving the performances of the implemented NCS for different transportation delays.
Design of Intelligent Hydraulic Excavator Control System Based on PID Method
Zhang, Jun; Jiao, Shengjie; Liao, Xiaoming; Yin, Penglong; Wang, Yulin; Si, Kuimao; Zhang, Yi; Gu, Hairong
Most of the domestic designed hydraulic excavators adopt the constant power design method and set 85%~90% of engine power as the hydraulic system adoption power, it causes high energy loss due to mismatching of power between the engine and the pump. While the variation of the rotational speed of engine could sense the power shift of the load, it provides a new method to adjust the power matching between engine and pump through engine speed. Based on negative flux hydraulic system, an intelligent hydraulic excavator control system was designed based on rotational speed sensing method to improve energy efficiency. The control system was consisted of engine control module, pump power adjusted module, engine idle module and system fault diagnosis module. Special PLC with CAN bus was used to acquired the sensors and adjusts the pump absorption power according to load variation. Four energy saving control strategies with constant power method were employed to improve the fuel utilization. Three power modes (H, S and L mode) were designed to meet different working status; Auto idle function was employed to save energy through two work status detected pressure switches, 1300rpm was setting as the idle speed according to the engine consumption fuel curve. Transient overload function was designed for deep digging within short time without spending extra fuel. An increasing PID method was employed to realize power matching between engine and pump, the rotational speed's variation was taken as the PID algorithm's input; the current of proportional valve of variable displacement pump was the PID's output. The result indicated that the auto idle could decrease fuel consumption by 33.33% compared to work in maximum speed of H mode, the PID control method could take full use of maximum engine power at each power mode and keep the engine speed at stable range. Application of rotational speed sensing method provides a reliable method to improve the excavator's energy efficiency and
Robust PID based power system stabiliser: Design and real-time implementation
Energy Technology Data Exchange (ETDEWEB)
Bevrani, Hassan [Department of Electrical and Computer Eng., University of Kurdistan, Sanandaj (Iran, Islamic Republic of); Hiyama, Takashi [Department of Electrical and Computer Eng., Kumamoto University, Kumamoto (Japan); Bevrani, Hossein [Department of Statistics, University of Tabriz, Tabriz (Iran, Islamic Republic of)
2011-02-15
This paper addresses a new robust control strategy to synthesis of robust proportional-integral-derivative (PID) based power system stabilisers (PSS). The PID based PSS design problem is reduced to find an optimal gain vector via an H{infinity} static output feedback control (H{infinity}-SOF) technique, and the solution is easily carried out using a developed iterative linear matrix inequalities algorithm. To illustrate the developed approach, a real-time experiment has been performed for a longitudinal four-machine infinite-bus system using the Analog Power System Simulator at the Research Laboratory of the Kyushu Electric Power Company. The results of the proposed control strategy are compared with full-order H{infinity} and conventional PSS designs. The robust PSS is shown to maintain the robust performance and minimise the effect of disturbances properly. (author)
Systematic design approach of fuzzy PID stabilizer for DC-DC converters
International Nuclear Information System (INIS)
Guesmi, K.; Essounbouli, N.; Hamzaoui, A.
2008-01-01
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
Systematic design approach of fuzzy PID stabilizer for DC-DC converters
Energy Technology Data Exchange (ETDEWEB)
Guesmi, K.; Essounbouli, N.; Hamzaoui, A. [CReSTIC, IUT de Troyes 09, rue de Quebec BP. 396, 10026 Troyes (France)
2008-10-15
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. (author)
Design and Simulation of a PID Controller for Motion Control Systems
Hassan Abdullahi, Zakariyya; Danzomo, Bashir Ahmed; Suleiman Abdullahi, Zainab
2018-04-01
Motion control system plays important role in many industrial applications among which are in robot system, missile launching, positioning systems etc. However, the performance requirement for these applications in terms of high accuracy, high speed, insignificant or no overshoot and robustness have generated continuous challenges in the field of motion control system design and implementation. To compensate this challenge, a PID controller was design using mathematical model of a DC motor based on classical root-locus approach. The reason for adopting root locus design is to remodel the closed-loop response by putting the closed-loop poles of the system at desired points. Adding poles and zeros to the initial open-loop transfer function through the controller provide a way to transform the root locus in order to place the closed-loop poles at the required points. This process can also be used for discrete-time models. The Advantages of root locus over other methods is that, it gives the better way of pinpointing the parameters and can easily predict the fulfilment of the whole system. The controller performance was simulated using MATLAB code and a reasonable degree of accuracy was obtained. Implementation of the proposed model was conducted using-Simulink and the result obtained shows that the PID controller met the transient performance specifications with both settling time and overshoot less than 0.1s and 5% respectively. In terms of steady state error, the PID controller gave good response for both step input and ramp.
Design and Research on Vehicles Motor Testing System Based on Improvement PID
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Fan Kuangang
2014-08-01
Full Text Available Motor is the important parts in vehicles. It is the key parts for achieving automation. It is the critical technology to test vehicle motors. We take the PID (Proportion Integration Differentiation as based fundamental controlling algorithm, and we test motor parameters through LabVIEW for single-chip AT89C52. According to practical working condition, we build circuit electric field boundary, and analyze electric field distribution of hard circuit. In addition, we also design filtering circuit for main interrupt frequency (below 1 kHz, and we improved PID for direct motor speed which is controlled by PWM (pulse-width modulation to reach speed astatic regulation. At the same time, the system achieves soft start-up.
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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Design of Multiregional Supervisory Fuzzy PID Control of pH Reactors
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Shebel AlSabbah
2015-01-01
Full Text Available This work concerns designing multiregional supervisory fuzzy PID (Proportional-Integral-Derivative control for pH reactors. The proposed work focuses, mainly, on two themes. The first one is to propose a multiregional supervisory fuzzy-based cascade control structure. It would enable modifying dynamics and enhance system’s stability. The fuzzy system (master loop has been chosen as a tuner for PID controller (slave loop. It takes into consideration parameters uncertainties and reference tracking. The second theme concerns designing a hybrid neural network-based pH estimator. The proposed estimator would overcome the industrial drawbacks, that is, cost and size, found with conventional methods for pH measurement. The final end-user-interface (EUI front panel and the results that evaluate the performance of the supervisory fuzzy PID-based control system and hybrid NN-based estimator have been presented using the compatibility found between LabView and MatLab. They lead to conclude that the proposed algorithms are appropriate to systems nonlinearities encountered with pH reactors.
Tahoun, A H
2017-01-01
In this paper, the stabilization problem of actuators saturation in uncertain chaotic systems is investigated via an adaptive PID control method. The PID control parameters are auto-tuned adaptively via adaptive control laws. A multi-level augmented error is designed to account for the extra terms appearing due to the use of PID and saturation. The proposed control technique uses both the state-feedback and the output-feedback methodologies. Based on Lyapunov׳s stability theory, new anti-windup adaptive controllers are proposed. Demonstrative examples with MATLAB simulations are studied. The simulation results show the efficiency of the proposed adaptive PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Singh, Jay; Chattterjee, Kalyan; Vishwakarma, C B
2018-01-01
Load frequency controller has been designed for reduced order model of single area and two-area reheat hydro-thermal power system through internal model control - proportional integral derivative (IMC-PID) control techniques. The controller design method is based on two degree of freedom (2DOF) internal model control which combines with model order reduction technique. Here, in spite of taking full order system model a reduced order model has been considered for 2DOF-IMC-PID design and the designed controller is directly applied to full order system model. The Logarithmic based model order reduction technique is proposed to reduce the single and two-area high order power systems for the application of controller design.The proposed IMC-PID design of reduced order model achieves good dynamic response and robustness against load disturbance with the original high order system. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
A robust fractional-order PID controller design based on active queue management for TCP network
Hamidian, Hamideh; Beheshti, Mohammad T. H.
2018-01-01
In this paper, a robust fractional-order controller is designed to control the congestion in transmission control protocol (TCP) networks with time-varying parameters. Fractional controllers can increase the stability and robustness. Regardless of advantages of fractional controllers, they are still not common in congestion control in TCP networks. The network parameters are time-varying, so the robust stability is important in congestion controller design. Therefore, we focused on the robust controller design. The fractional PID controller is developed based on active queue management (AQM). D-partition technique is used. The most important property of designed controller is the robustness to the time-varying parameters of the TCP network. The vertex quasi-polynomials of the closed-loop characteristic equation are obtained, and the stability boundaries are calculated for each vertex quasi-polynomial. The intersection of all stability regions is insensitive to network parameter variations, and results in robust stability of TCP/AQM system. NS-2 simulations show that the proposed algorithm provides a stable queue length. Moreover, simulations show smaller oscillations of the queue length and less packet drop probability for FPID compared to PI and PID controllers. We can conclude from NS-2 simulations that the average packet loss probability variations are negligible when the network parameters change.
PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance
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Hossein Rouhani
2017-06-01
Full Text Available Closed-loop controlled functional electrical stimulation (FES applied to the lower limb muscles can be used as a neuroprosthesis for standing balance in neurologically impaired individuals. The objective of this study was to propose a methodology for designing a proportional-integral-derivative (PID controller for FES applied to the ankle muscles toward maintaining standing balance for several minutes and in the presence of perturbations. First, a model of the physiological control strategy for standing balance was developed. Second, the parameters of a PID controller that mimicked the physiological balance control strategy were determined to stabilize the human body when modeled as an inverted pendulum. Third, this PID controller was implemented using a custom-made Inverted Pendulum Standing Apparatus that eliminated the effect of visual and vestibular sensory information on voluntary balance control. Using this setup, the individual-specific FES controllers were tested in able-bodied individuals and compared with disrupted voluntary control conditions in four experimental paradigms: (i quiet-standing; (ii sudden change of targeted pendulum angle (step response; (iii balance perturbations that simulate arm movements; and (iv sudden change of targeted angle of a pendulum with individual-specific body-weight (step response. In paradigms (i to (iii, a standard 39.5-kg pendulum was used, and 12 subjects were involved. In paradigm (iv 9 subjects were involved. Across the different experimental paradigms and subjects, the FES-controlled and disrupted voluntarily-controlled pendulum angle showed root mean square errors of <1.2 and 2.3 deg, respectively. The root mean square error (all paradigms, rise time, settle time, and overshoot [paradigms (ii and (iv] in FES-controlled balance were significantly smaller or tended to be smaller than those observed with voluntarily-controlled balance, implying improved steady-state and transient responses of FES
PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance.
Rouhani, Hossein; Same, Michael; Masani, Kei; Li, Ya Qi; Popovic, Milos R
2017-01-01
Closed-loop controlled functional electrical stimulation (FES) applied to the lower limb muscles can be used as a neuroprosthesis for standing balance in neurologically impaired individuals. The objective of this study was to propose a methodology for designing a proportional-integral-derivative (PID) controller for FES applied to the ankle muscles toward maintaining standing balance for several minutes and in the presence of perturbations. First, a model of the physiological control strategy for standing balance was developed. Second, the parameters of a PID controller that mimicked the physiological balance control strategy were determined to stabilize the human body when modeled as an inverted pendulum. Third, this PID controller was implemented using a custom-made Inverted Pendulum Standing Apparatus that eliminated the effect of visual and vestibular sensory information on voluntary balance control. Using this setup, the individual-specific FES controllers were tested in able-bodied individuals and compared with disrupted voluntary control conditions in four experimental paradigms: (i) quiet-standing; (ii) sudden change of targeted pendulum angle (step response); (iii) balance perturbations that simulate arm movements; and (iv) sudden change of targeted angle of a pendulum with individual-specific body-weight (step response). In paradigms (i) to (iii), a standard 39.5-kg pendulum was used, and 12 subjects were involved. In paradigm (iv) 9 subjects were involved. Across the different experimental paradigms and subjects, the FES-controlled and disrupted voluntarily-controlled pendulum angle showed root mean square errors of controlled balance were significantly smaller or tended to be smaller than those observed with voluntarily-controlled balance, implying improved steady-state and transient responses of FES-controlled balance. At the same time, the FES-controlled balance required similar torque levels (no significant difference) as voluntarily
PID Controllers Design Applied to Positioning of Ball on the Stewart Platform
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Koszewnik Andrzej
2014-12-01
Full Text Available The paper presents the design and practical implementation of PID controllers for a Stewart platform. The platform uses a resistance touch panel as a sensor and servo motors as actuators. The complete control system stabilizing the ball on the platform is realized with the Arduino microcontroller and the Matlab/Simulink software. Two processes required to acquire measurement signals from the touch panel in two perpendicular directions X and Y, are discussed. The first process includes the calibration of the touch panel, and the second process - the filtering of measurement signals with the low pass Butterworth filter. The obtained signals are used to design the algorithm of the ball stabilization by decoupling the global system into two local subsystems. The algorithm is implemented in a soft real time system. The parameters of both PID controllers (PIDx and PIDy are tuned by the trial-error method and implemented in the microcontroller. Finally, the complete control system is tested at the laboratory stand.
Design Of A Novel Online Experiment Setup For PID Controller Applications
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Sezgin Kaçar
2017-02-01
Full Text Available In this study, an internet based remote access experiment setup was developed for induction direct current motor speed control with PID controller which can be used as a support material in engineering education. The experiment setup is wireless and communicates with the remote server using transfer control protocol/internet protocol through a wireless ADSL modem. Users can perform the experiments as real time accessing the web pages in the remote server by using any computer which has internet connection. By means of interactively-designed web pages, users can monitor the speed change executing alterations of the PID controller parameter and motor reference speed. Also users can save the measured values on their own computers. In addition to this, with the support of a webcam, the running of the experimental set can be monitored on the web page. Additionally, for the experimental set, preparing the peripheral units card, the interaction was expanded between the user and the experimental set. Relatively to this, the user can monitor the ambient temperature of the experimental set’s current place on the web page and can make his/her own message write on LCD of the experimental set and can enlighten it if he/she wants.
Design and development of the Macpherson Proton Preve Magneto rheological damper with PID controller
Amiruddin, I. M.; Pauziah, M.; Aminudin, A.; Unuh, M. H.
2017-10-01
Since the creation of the first petrol-fuelled vehicle by Karl Benz in the late nineteenth century, car industry has grown considerably to meet the industrial demands. Luxurious looks and agreeable rides are the primary needs of drivers. The Magneto-rheological damper balanced their damping trademark progressively by applying the damping coefficient depending on the control system. In this research, the control calculations are assessed by utilizing the MR damper. The capacity and reliably of the target force for the damper speed is investigated from control algorithm. This is imperative to defeat the damper limitation. In this study, the simulation results of the semi-dynamic MR damper with the PID controller shows better performance in sprung mass acceleration, unsprung mass acceleration and suspension dislodging with permitting over the top tyre acceleration. The altered model of the MR damper is specially designed for Proton Preve specifications and semi-active PID control. The procedure for the advancement incorporates the numerical model to graphically recreate and break down the dynamic framework by utilizing Matlab.
Nemirsky, Kristofer Kevin
In this thesis, the history and evolution of rotor aircraft with simulated annealing-based PID application were reviewed and quadcopter dynamics are presented. The dynamics of a quadcopter were then modeled, analyzed, and linearized. A cascaded loop architecture with PID controllers was used to stabilize the plant dynamics, which was improved upon through the application of simulated annealing (SA). A Simulink model was developed to test the controllers and verify the functionality of the proposed control system design. In addition, the data that the Simulink model provided were compared with flight data to present the validity of derived dynamics as a proper mathematical model representing the true dynamics of the quadcopter system. Then, the SA-based global optimization procedure was applied to obtain optimized PID parameters. It was observed that the tuned gains through the SA algorithm produced a better performing PID controller than the original manually tuned one. Next, we investigated the uncertain dynamics of the quadcopter setup. After adding uncertainty to the gyroscopic effects associated with pitch-and-roll rate dynamics, the controllers were shown to be robust against the added uncertainty. A discussion follows to summarize SA-based algorithm PID controller design and performance outcomes. Lastly, future work on SA application on multi-input-multi-output (MIMO) systems is briefly discussed.
Design and Simulation of PID parameters self-tuning based on DC speed regulating system
Directory of Open Access Journals (Sweden)
Feng Wei Jie
2016-01-01
Full Text Available The DC speed regulating system has many difficult issues such as system parameters and PID control parameters are difficult to determine. On the basis of model for a single closed-loop DC speed regulating system, this paper puts forward a method of PID parameters self-tuning based on the step response detection and reduced order equivalent. First, detect system step response and get response parameters. Then equal it to a second order system model, and achieve optimal PID control parameters based on optimal second order system to realize of PID parameters self-tuning. The PID parameters self-tuning process of DC speed regulating system is simulated with the help of MATLAB/Simulink. The simulation results show that the method is simple and effective. The system can obtain good dynamic and static performance when the PID parameters are applied to DC speed regulating system.
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.
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. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Automatic PID Control Loops Design for Performance Improvement of Cryogenic Turboexpander
International Nuclear Information System (INIS)
Joshi, D.M.; Patel, H.K.; Shah, D.K.
2015-01-01
Cryogenics field involves temperature below 123 K which is much less than ambient temperature. In addition, many industrially important physical processes—from fulfilling the needs of National Thermonuclear Fusion programs, superconducting magnets to treatment of cutting tools and preservation of blood cells, require extreme low temperature. The low temperature required for liquefaction of common gases can be obtained by several processes. Liquefaction is the process of cooling or refrigerating a gas to a temperature below its critical temperature so that liquid can be formed at some suitable pressure which is below the critical pressure. Helium liquefier is used for the liquefaction process of helium gas. In general, the Helium Refrigerator/Liquefier (HRL) needs turboexpander as expansion machine to produce cooling effect which is further used for the production of liquid helium. Turboexpanders, a high speed device that is supported on gas bearings, are the most critical component in many helium refrigeration systems. A very minor fault in the operation and manufacturing or impurities in the helium gas can destroy the turboexpander. However, since the performance of expanders is dependent on a number of operating parameters and the relations between them are quite complex, the instrumentation and control system design for turboexpander needs special attention. The inefficiency of manual control leads to the need of designing automatic control loops for turboexpander. Proper design and implementation of the control loops plays an important role in the successful operation of the cryogenic turboexpander. The PID control loops has to be implemented with accurate interlocks and logic to enhance the performance of the cryogenic turboexpander. For different normal and off-normal operations, speeds will be different and hence a proper control method for critical rotational speed avoidance is must. This paper presents the design of PID control loops needed for the
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Alrijadjis .
2014-12-01
Full Text Available The proportional integral derivative (PID controllers have been widely used in most process control systems for a long time. However, it is a very important problem how to choose PID parameters, because these parameters give a great influence on the control performance. Especially, it is difficult to tune these parameters for nonlinear systems. In this paper, a new modified particle swarm optimization (PSO is presented to search for optimal PID parameters for such system. The proposed algorithm is to modify constriction coefficient which is nonlinearly decreased time-varying for improving the final accuracy and the convergence speed of PSO. To validate the control performance of the proposed method, a typical nonlinear system control, a continuous stirred tank reactor (CSTR process, is illustrated. The results testify that a new modified PSO algorithm can perform well in the nonlinear PID control system design in term of lesser overshoot, rise-time, settling-time, IAE and ISE. Keywords: PID controller, Particle Swarm Optimization (PSO,constriction factor, nonlinear system.
Lectures in feedback design for multivariable systems
Isidori, Alberto
2017-01-01
This book focuses on methods that relate, in one form or another, to the “small-gain theorem”. It is aimed at readers who are interested in learning methods for the design of feedback laws for linear and nonlinear multivariable systems in the presence of model uncertainties. With worked examples throughout, it includes both introductory material and more advanced topics. Divided into two parts, the first covers relevant aspects of linear-systems theory, the second, nonlinear theory. In order to deepen readers’ understanding, simpler single-input–single-output systems generally precede treatment of more complex multi-input–multi-output (MIMO) systems and linear systems precede nonlinear systems. This approach is used throughout, including in the final chapters, which explain the latest advanced ideas governing the stabilization, regulation, and tracking of nonlinear MIMO systems. Two major design problems are considered, both in the presence of model uncertainties: asymptotic stabilization with a “...
Kumar, Anupam; Kumar, Vijay
2017-05-01
In this paper, a novel concept of an interval type-2 fractional order fuzzy PID (IT2FO-FPID) controller, which requires fractional order integrator and fractional order differentiator, is proposed. The incorporation of Takagi-Sugeno-Kang (TSK) type interval type-2 fuzzy logic controller (IT2FLC) with fractional controller of PID-type is investigated for time response measure due to both unit step response and unit load disturbance. The resulting IT2FO-FPID controller is examined on different delayed linear and nonlinear benchmark plants followed by robustness analysis. In order to design this controller, fractional order integrator-differentiator operators are considered as design variables including input-output scaling factors. A new hybridized algorithm named as artificial bee colony-genetic algorithm (ABC-GA) is used to optimize the parameters of the controller while minimizing weighted sum of integral of time absolute error (ITAE) and integral of square of control output (ISCO). To assess the comparative performance of the IT2FO-FPID, authors compared it against existing controllers, i.e., interval type-2 fuzzy PID (IT2-FPID), type-1 fractional order fuzzy PID (T1FO-FPID), type-1 fuzzy PID (T1-FPID), and conventional PID controllers. Furthermore, to show the effectiveness of the proposed controller, the perturbed processes along with the larger dead time are tested. Moreover, the proposed controllers are also implemented on multi input multi output (MIMO), coupled, and highly complex nonlinear two-link robot manipulator system in presence of un-modeled dynamics. Finally, the simulation results explicitly indicate that the performance of the proposed IT2FO-FPID controller is superior to its conventional counterparts in most of the cases. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
CONTROL SYSTEM DESIGN WITH FUZZY LOGIC PID-СONTROLLER TYPE 2
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A. Tунік
2011-04-01
Full Text Available This paper presents a fuzzy logic PID-controller synthesis method for solid body guidance. Formany nonlinear systems with nonlinearities and uncertainties, the performance of fuzzy controllertype 1 may not be satisfactory. Therefore, in this work, fuzzy logic type 2 controller design isintroduced. These controllers capture the advantage of a linear controller in terms of simplicity andalso can handle nonlinearity because of their inference mechanism.The main feature of the proposedmethod constitutes in a membership functions type 2 applications. The membership function type 2is represented by upper and lower membership functions of type 1. The interval between these twofunctions represent the footprint of uncertainty, which give an opportunity to synthesize commonregulator for set of a models. The structure of fuzzy logic controller for solid body control isgrounded. Simulation results confirm the effectiveness of the proposed approach.
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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
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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.
Hou, Yi-You
2017-09-01
This article addresses an evolutionary programming (EP) algorithm technique-based and proportional-integral-derivative (PID) control methods are established to guarantee synchronization of the master and slave Rikitake chaotic systems. For PID synchronous control, the evolutionary programming (EP) algorithm is used to find the optimal PID controller parameters k p , k i , k d by integrated absolute error (IAE) method for the convergence conditions. In order to verify the system performance, the basic electronic components containing operational amplifiers (OPAs), resistors, and capacitors are used to implement the proposed chaotic Rikitake systems. Finally, the experimental results validate the proposed Rikitake chaotic synchronization approach. Copyright © 2017. Published by Elsevier Ltd.
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Xingguo Lu
2016-05-01
Full Text Available In this work, we propose a new method for the optimal design and tuning of a Proportional-Integral-Derivative type (PID-type interval type-2 fuzzy logic controller (IT2 FLC for Delta parallel robot trajectory tracking control. The presented methodology starts with an optimal design problem of IT2 FLC. A group of IT2 FLCs are obtained by blurring the membership functions using a variable called blurring degree. By comparing the performance of the controllers, the optimal structure of IT2 FLC is obtained. Then, a multi-objective optimization problem is formulated to tune the scaling factors of the PID-type IT2 FLC. The Non-dominated Sorting Genetic Algorithm (NSGA-II is adopted to solve the constrained nonlinear multi-objective optimization problem. Simulation results of the optimized controller are presented and discussed regarding application in the Delta parallel robot. The proposed method provides an effective way to design and tune the PID-type IT2 FLC with a desired control performance.
A fast PID controller Design for Modern PLC for Process Control Application
International Nuclear Information System (INIS)
Mirza, A.; Nafis, A.; Anees, R.M.; Idris, S.
2004-01-01
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)
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Cheng-Yu Yeh
2012-01-01
Full Text Available This study aimed at the implementation and synchronization control of cardiac circuit. First, the MATLAB-Simulink was used to simulate the dynamic behavior of cardiac chaotic circuit, and simple electronic modules were used to implement the cardiac system. Then the Particle Swarm Optimization (PSO was used to seek for the proportional, integral, and derivative gains of optimal PID controller, and the PID controller which could synchronize the slave cardiac circuit and the master cardiac circuit was obtained, in order to synchronize the master/slave chaotic cardiac circuits. This method can be provided for cardiac doctors to diagnose and medicate cardiac abnormality.
Li, Mingjie; Zhou, Ping; Zhao, Zhicheng; Zhang, Jinggang
2016-03-01
Recently, fractional order (FO) processes with dead-time have attracted more and more attention of many researchers in control field, but FO-PID controllers design techniques available for the FO processes with dead-time suffer from lack of direct systematic approaches. In this paper, a simple design and parameters tuning approach of two-degree-of-freedom (2-DOF) FO-PID controller based on internal model control (IMC) is proposed for FO processes with dead-time, conventional one-degree-of-freedom control exhibited the shortcoming of coupling of robustness and dynamic response performance. 2-DOF control can overcome the above weakness which means it realizes decoupling of robustness and dynamic performance from each other. The adjustable parameter η2 of FO-PID controller is directly related to the robustness of closed-loop system, and the analytical expression is given between the maximum sensitivity specification Ms and parameters η2. In addition, according to the dynamic performance requirement of the practical system, the parameters η1 can also be selected easily. By approximating the dead-time term of the process model with the first-order Padé or Taylor series, the expressions for 2-DOF FO-PID controller parameters are derived for three classes of FO processes with dead-time. Moreover, compared with other methods, the proposed method is simple and easy to implement. Finally, the simulation results are given to illustrate the effectiveness of this method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
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.
A GA-based PID active queue management control design for TCP/IP networks
Energy Technology Data Exchange (ETDEWEB)
Kuo, H-H; Chen, C-K; Liao, T-L [Department of Engineering Science, National Cheng Kung University, Tainan 701, Taiwan (China); Yan, J-J [Department of Computer and Communication, Shu-Te University, Kaohsiung 824, Taiwan (China)], E-mail: tlliao@mail.ncku.edu.tw
2008-02-15
In this paper, a genetic algorithm-based (GA-based) proportional-integral-derivative (PID) controller as an active queue manager for Internet routers is proposed to reduce packet loss and improve network utilization in TCP/IP networks. Based on the window-based nonlinear dynamics, the TCP network was modeled as a time-delayed system with a saturated input due to the limitations of packet-dropping probability and the effects of propagation delays in TCP networks. An improved genetic algorithm is employed to derive optimal or near optimal PID control gains such that a performance index of integrated-absolute error (IAE) in terms of the error between the router queue length and the desired queue length is minimized. The performance of the proposed control scheme was evaluated in various network scenarios via a series of numerical simulations. The simulation results confirm that the proposed scheme outperforms other AQM schemes.
A GA-based PID active queue management control design for TCP/IP networks
International Nuclear Information System (INIS)
Kuo, H-H; Chen, C-K; Liao, T-L; Yan, J-J
2008-01-01
In this paper, a genetic algorithm-based (GA-based) proportional-integral-derivative (PID) controller as an active queue manager for Internet routers is proposed to reduce packet loss and improve network utilization in TCP/IP networks. Based on the window-based nonlinear dynamics, the TCP network was modeled as a time-delayed system with a saturated input due to the limitations of packet-dropping probability and the effects of propagation delays in TCP networks. An improved genetic algorithm is employed to derive optimal or near optimal PID control gains such that a performance index of integrated-absolute error (IAE) in terms of the error between the router queue length and the desired queue length is minimized. The performance of the proposed control scheme was evaluated in various network scenarios via a series of numerical simulations. The simulation results confirm that the proposed scheme outperforms other AQM schemes
Experimental results on the design for the APS PID global orbit control system
International Nuclear Information System (INIS)
Chung, Y.; Kirchman, J. A.
1997-01-01
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
Optimal Design for PID Controller Based on DE Algorithm in Omnidirectional Mobile Robot
Directory of Open Access Journals (Sweden)
Wu Peizhang
2017-01-01
Full Text Available This paper introduces a omnidirectional mobile robot based on Mecanum wheel, which is used for conveying heavy load in a small space of the automatic warehousing logistics center. Then analyzes and establishes the omnidirectional chassis inverse and forward kinematic model. In order to improve the performance of motion, the paper proposes the optimal PID controller based on differential evolution algorithm. Finally, through MATLAB simulation, the results show that the kinematic model of mobile robot chassis is correct, further more the controller optimized by the DE algorithm working better than the traditional Z-N PID tuned. So the optimal scheme is reasonable and feasible, which has a value for engineering applications.
Design Of Feedforward Controllers For Multivariable Plants
Seraji, Homayoun
1989-01-01
Controllers based on simple low-order transfer functions. Mathematical criteria derived for design of feedforward controllers for class of multiple-input/multiple-output linear plants. Represented by simple low-order transfer functions, obtained without reconstruction of states of commands and disturbances. Enables plant to track command while remaining unresponsive to disturbance in steady state. Feedback controller added independently to stabilize plant or to make control system less susceptible to variations in parameters of plant.
International Nuclear Information System (INIS)
Chen, Zhihuan; Yuan, Xiaohui; Ji, Bin; Wang, Pengtao; Tian, Hao
2014-01-01
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 {λ,μ}, 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
Multivariable feedback design: concepts for a classical/modern synthesis
Energy Technology Data Exchange (ETDEWEB)
Doyle, J C; Stein, G
1980-01-01
A practical design perspective on multivariable feedback control problems is presented. The basic issue - feedback design in the face of uncertainites - is reviewed and known SISO statements and constraints of the design problem to MIMO cases are generalized. Two major MIMO design approaches are then evaluated in the context of these results.
Zamani, Abbasali; Barakati, S Masoud; Yousofi-Darmian, Saeed
2016-09-01
Load-frequency control is one of the most important issues in power system operation. In this paper, a Fractional Order PID (FOPID) controller based on Gases Brownian Motion Optimization (GBMO) is used in order to mitigate frequency and exchanged power deviation in two-area power system with considering governor saturation limit. In a FOPID controller derivative and integrator parts have non-integer orders which should be determined by designer. FOPID controller has more flexibility than PID controller. The GBMO algorithm is a recently introduced search method that has suitable accuracy and convergence rate. Thus, this paper uses the advantages of FOPID controller as well as GBMO algorithm to solve load-frequency control. However, computational load will higher than conventional controllers due to more complexity of design procedure. Also, a GBMO based fuzzy controller is designed and analyzed in detail. The performance of the proposed controller in time domain and its robustness are verified according to comparison with other controllers like GBMO based fuzzy controller and PI controller that used for load-frequency control system in confronting with model parameters variations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
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Lakhdar Chaib
2017-06-01
Full Text Available This paper proposes a novel robust power system stabilizer (PSS, based on hybridization of fractional order PID controller (PIλDμ and PSS for optimal stabilizer (FOPID-PSS for the first time, using a new metaheuristic optimization Bat algorithm (BA inspired by the echolocation behavior to improve power system stability. The problem of FOPID-PSS design is transformed as an optimization problem based on performance indices (PI, including Integral Absolute Error (IAE, Integral Squared Error (ISE, Integral of the Time-Weighted Absolute Error (ITAE and Integral of Time multiplied by the Squared Error (ITSE, where, BA is employed to obtain the optimal stabilizer parameters. In order to examine the robustness of FOPID-PSS, it has been tested on a Single Machine Infinite Bus (SMIB power system under different disturbances and operating conditions. The performance of the system with FOPID-PSS controller is compared with a PID-PSS and PSS. Further, the simulation results obtained with the proposed BA based FOPID-PSS are compared with those obtained with FireFly algorithm (FFA based FOPID-PSS. Simulation results show the effectiveness of BA for FOPID-PSS design, and superior robust performance for enhancement power system stability compared to other with different cases.
Ghousiya Begum, K; Seshagiri Rao, A; Radhakrishnan, T K
2017-05-01
Internal model control (IMC) with optimal H 2 minimization framework is proposed in this paper for design of proportional-integral-derivative (PID) controllers. The controller design is addressed for integrating and double integrating time delay processes with right half plane (RHP) zeros. Blaschke product is used to derive the optimal controller. There is a single adjustable closed loop tuning parameter for controller design. Systematic guidelines are provided for selection of this tuning parameter based on maximum sensitivity. Simulation studies have been carried out on various integrating time delay processes to show the advantages of the proposed method. The proposed controller provides enhanced closed loop performances when compared to recently reported methods in the literature. Quantitative comparative analysis has been carried out using the performance indices, Integral Absolute Error (IAE) and Total Variation (TV). Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
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Huan Wang
2017-10-01
Full Text Available Fractional order proportional-integral-derivative(FOPID controllers have attracted increasing attentions recently due to their better control performance than the traditional integer-order proportional-integral-derivative (PID controllers. However, there are only few studies concerning the fractional order control of microgrids based on evolutionary algorithms. From the perspective of multi-objective optimization, this paper presents an effective FOPID based frequency controller design method called MOEO-FOPID for an islanded microgrid by using a Multi-objective extremal optimization (MOEO algorithm to minimize frequency deviation and controller output signal simultaneously in order to improve finally the efficient operation of distributed generations and energy storage devices. Its superiority to nondominated sorting genetic algorithm-II (NSGA-II based FOPID/PID controllers and other recently reported single-objective evolutionary algorithms such as Kriging-based surrogate modeling and real-coded population extremal optimization-based FOPID controllers is demonstrated by the simulation studies on a typical islanded microgrid in terms of the control performance including frequency deviation, deficit grid power, controller output signal and robustness.
Khulood A. Dagher; Ahmed S. Al-Araji
2013-01-01
A particle swarm optimization algorithm and neural network like self-tuning PID controller for CSTR system is presented. The scheme of the discrete-time PID control structure is based on neural network and tuned the parameters of the PID controller by using a particle swarm optimization PSO technique as a simple and fast training algorithm. The proposed method has advantage that it is not necessary to use a combined structure of identification and decision because it used PSO. Simulation resu...
PID control design for chaotic synchronization using a tribes optimization approach
Energy Technology Data Exchange (ETDEWEB)
Santos Coelho, Leandro dos [Industrial and Systems Engineering Graduate Program, LAS/PPGEPS, Pontifical Catholic University of Parana, PUCPR, Imaculada Conceicao, 1155, 80215-901 Curitiba, Parana (Brazil)], E-mail: leandro.coelho@pucpr.br; Andrade Bernert, Diego Luis de [Industrial and Systems Engineering Graduate Program, LAS/PPGEPS, Pontifical Catholic University of Parana, PUCPR, Imaculada Conceicao, 1155, 80215-901 Curitiba, Parana (Brazil)], E-mail: dbernert@gmail.com
2009-10-15
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.
PID control design for chaotic synchronization using a tribes optimization approach
International Nuclear Information System (INIS)
Santos Coelho, Leandro dos; Andrade Bernert, Diego Luis de
2009-01-01
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.
Directory of Open Access Journals (Sweden)
Chen Siyu
2017-01-01
Full Text Available Patrol UAV has poor aerial posture stability and is largely affected by anthropic factors, which lead to some shortages such as low power cable tracking precision, captured image loss and inconvenient temperature measurement, etc. In order to solve these disadvantages, this article puts forward a power cable intelligent patrol system. The core innovation of the system is a 360° platform. This collects the position information of power cables by using far infrared sensors and carries out real-time all-direction adjustment of UAV lifting platform through the adaptive Kalman filter fuzzy PID control algorithm, so that the precise tracking of power cables is achieved. An intelligent patrol system is established to detect the faults more accurately, so that a high intelligence degree of power cable patrol system is realized.
O'Dwyer, Aidan
2001-01-01
This paper will discuss the design of PI and PID controller tuning rules to compensate processes with delay, that are modelled in a number of ways. The rules allow the achievement of constant gain and phase margins as the delay varies.
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.
Multiobjective Optimization Design of a Fractional Order PID Controller for a Gun Control System
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Qiang Gao
2013-01-01
Full Text Available 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.
Multivariable control in nuclear power stations -survey of design methods
International Nuclear Information System (INIS)
Mcmorran, P.D.
1979-12-01
The development of larger nuclear generating stations increases the importance of dynamic interaction between controllers, because each control action may affect several plant outputs. Multivariable control provides the techniques to design controllers which perform well under these conditions. This report is a foundation for further work on the application of multivariable control in AECL. It covers the requirements of control and the fundamental mathematics used, then reviews the most important linear methods, based on both state-space and frequency-response concepts. State-space methods are derived from analysis of the system differential equations, while frequency-response methods use the input-output transfer function. State-space methods covered include linear-quadratic optimal control, pole shifting, and the theory of state observers and estimators. Frequency-response methods include the inverse Nyquist array method, and classical non-interactive techniques. Transfer-function methods are particularly emphasized since they can incorporate ill-defined design criteria. The underlying concepts, and the application strengths and weaknesses of each design method are presented. A review of significant applications is also given. It is concluded that the inverse Nyquist array method, a frequency-response technique based on inverse transfer-function matrices, is preferred for the design of multivariable controllers for nuclear power plants. This method may be supplemented by information obtained from a modal analysis of the plant model. (auth)
Multivariant design and multiple criteria analysis of building refurbishments
Energy Technology Data Exchange (ETDEWEB)
Kaklauskas, A.; Zavadskas, E. K.; Raslanas, S. [Faculty of Civil Engineering, Vilnius Gediminas Technical University, Vilnius (Lithuania)
2005-07-01
In order to design and realize an efficient building refurbishment, it is necessary to carry out an exhaustive investigation of all solutions that form it. The efficiency level of the considered building's refurbishment depends on a great many of factors, including: cost of refurbishment, annual fuel economy after refurbishment, tentative pay-back time, harmfulness to health of the materials used, aesthetics, maintenance properties, functionality, comfort, sound insulation and longevity, etc. Solutions of an alternative character allow for a more rational and realistic assessment of economic, ecological, legislative, climatic, social and political conditions, traditions and for better the satisfaction of customer requirements. They also enable one to cut down on refurbishment costs. In carrying out the multivariant design and multiple criteria analysis of a building refurbishment much data was processed and evaluated. Feasible alternatives could be as many as 100,000. How to perform a multivariant design and multiple criteria analysis of alternate alternatives based on the enormous amount of information became the problem. Method of multivariant design and multiple criteria of a building refurbishment's analysis were developed by the authors to solve the above problems. In order to demonstrate the developed method, a practical example is presented in this paper. (author)
Pelvic Inflammatory Disease (PID)
... a serious condition, in women. 1 in 8 women with a history of PID experience difficulties getting pregnant. You can prevent PID if you know how to protect yourself. What is PID? Pelvic inflammatory disease is an infection of a woman’s reproductive organs. It is a complication often caused ...
Directory of Open Access Journals (Sweden)
Muharrem Imal
2015-01-01
Full Text Available Energy efficiency in heating, ventilating, and air-conditioning (HVAC systems is a primary concern in process projects, since the energy consumption has the highest percentage in HVAC for all processes. Without sacrifice of thermal comfort, to reset the suitable operating parameters, such as the humidity and air temperature, would have energy saving with immediate effect. In this paper, the simulation-optimization approach described the effective energy efficiency for HVAC systems which are used in industrial process. Due to the complex relationship of the HVAC system parameters, it is necessary to suggest optimum settings for different operations in response to the dynamic cooling loads and changing weather conditions during a year. Proportional-integral-derivative (PID programming was developed which can effectively handle the discrete, nonlinear and highly constrained optimization problems. Energy efficiency process has been made by controlling of alternative current (AC drivers for ventilation and exhaust fans, according to supplied air flow capacity and differential air pressure between supplied and exhaust air. Supervisory controller software was developed by using programmable controllers and human machine interface (HMI units. The new designed HVAC control system would have a saving potential of about 40% as compared to the existing operational settings, without any extra cost.
International Nuclear Information System (INIS)
Wei, Xinyu; Wang, Pengfei; Zhao, Fuyu
2016-01-01
Highlights: • We establish a disperse dynamic model for AP1000 reactor core. • A digital PID control based on QDRNN is used to design a decoupling control system. • The decoupling performance is verified and discussed. • The decoupling control system is simulated under the load following operation. - Abstract: The control system of the AP1000 reactor core uses the mechanical shim (MSHIM) strategy, which includes a power control subsystem and an axial power distribution control subsystem. To address the strong coupling between the two subsystems, an interlock between the two subsystems is used, which can only alleviate but not eliminate the coupling. Therefore, sometimes the axial offset (AO) cannot be controlled tightly, and the flexibility of load-following operation is limited. Thus, the decoupling of the original AP1000 reactor core control system is the focus of this paper. First, a two-node disperse dynamic model is established for the AP1000 reactor core to use PID control. Then, a digital PID control system based on a quasi-diagonal recurrent neural network (QDRNN) is designed to decouple the original system. Finally, the decoupling of the control system is verified by the step signal and load-following condition. The results show that the designed control system can decouple the original system as expected and the AO can be controlled much more tightly. Moreover, the flexibility of the load following is increased.
Energy Technology Data Exchange (ETDEWEB)
Wei, Xinyu, E-mail: xyuwei@mail.xjtu.edu.cn; Wang, Pengfei, E-mail: pengfeixiaoli@yahoo.cn; Zhao, Fuyu, E-mail: fuyuzhao_xj@163.com
2016-08-01
Highlights: • We establish a disperse dynamic model for AP1000 reactor core. • A digital PID control based on QDRNN is used to design a decoupling control system. • The decoupling performance is verified and discussed. • The decoupling control system is simulated under the load following operation. - Abstract: The control system of the AP1000 reactor core uses the mechanical shim (MSHIM) strategy, which includes a power control subsystem and an axial power distribution control subsystem. To address the strong coupling between the two subsystems, an interlock between the two subsystems is used, which can only alleviate but not eliminate the coupling. Therefore, sometimes the axial offset (AO) cannot be controlled tightly, and the flexibility of load-following operation is limited. Thus, the decoupling of the original AP1000 reactor core control system is the focus of this paper. First, a two-node disperse dynamic model is established for the AP1000 reactor core to use PID control. Then, a digital PID control system based on a quasi-diagonal recurrent neural network (QDRNN) is designed to decouple the original system. Finally, the decoupling of the control system is verified by the step signal and load-following condition. The results show that the designed control system can decouple the original system as expected and the AO can be controlled much more tightly. Moreover, the flexibility of the load following is increased.
On the return period and design in a multivariate framework
Directory of Open Access Journals (Sweden)
G. Salvadori
2011-11-01
Full Text Available Calculating return periods and design quantiles in a multivariate environment is a difficult problem: this paper tries to make the issue clear. First, we outline a possible way to introduce a consistent theoretical framework for the calculation of the return period in a multi-dimensional environment, based on Copulas and the Kendall's measure. Secondly, we introduce several approaches for the identification of suitable design events: these latter quantities are of utmost importance in practical applications, but their calculation is yet limited, due to the lack of an adequate theoretical environment where to embed the problem. Throughout the paper, a case study involving the behavior of a dam is used to illustrate the new concepts outlined in this work.
Liu, Xilin; Zhang, Milin; Richardson, Andrew G; Lucas, Timothy H; Van der Spiegel, Jan
2017-08-01
This paper presents a bidirectional brain machine interface (BMI) microsystem designed for closed-loop neuroscience research, especially experiments in freely behaving animals. The system-on-chip (SoC) consists of 16-channel neural recording front-ends, neural feature extraction units, 16-channel programmable neural stimulator back-ends, in-channel programmable closed-loop controllers, global analog-digital converters (ADC), and peripheral circuits. The proposed neural feature extraction units includes 1) an ultra low-power neural energy extraction unit enabling a 64-step natural logarithmic domain frequency tuning, and 2) a current-mode action potential (AP) detection unit with time-amplitude window discriminator. A programmable proportional-integral-derivative (PID) controller has been integrated in each channel enabling a various of closed-loop operations. The implemented ADCs include a 10-bit voltage-mode successive approximation register (SAR) ADC for the digitization of the neural feature outputs and/or local field potential (LFP) outputs, and an 8-bit current-mode SAR ADC for the digitization of the action potential outputs. The multi-mode stimulator can be programmed to perform monopolar or bipolar, symmetrical or asymmetrical charge balanced stimulation with a maximum current of 4 mA in an arbitrary channel configuration. The chip has been fabricated in 0.18 μ m CMOS technology, occupying a silicon area of 3.7 mm 2 . The chip dissipates 56 μW/ch on average. General purpose low-power microcontroller with Bluetooth module are integrated in the system to provide wireless link and SoC configuration. Methods, circuit techniques and system topology proposed in this work can be used in a wide range of relevant neurophysiology research, especially closed-loop BMI experiments.
Xiao, Nan; Gao, Wei; Song, Zongxi
2017-10-01
With the rapid development of adaptive optics technology, it is widely used in the fields of astronomical telescope imaging, laser beam shaping, optical communication and so on. As the key component of adaptive optics systems, the deformable mirror plays a role in wavefront correction. In order to achieve the high speed and high precision of deformable mirror system tracking control, it is necessary to find out the influence of each link on the system performance to model the system and design the controller. This paper presents a method about the piezoelectric deformable mirror driving control system.
Zamani, Abbas-Ali; Tavakoli, Saeed; Etedali, Sadegh
2017-03-01
Fractional order PID (FOPID) controllers are introduced as a general form of classical PID controllers using fractional calculus. As this controller provides good disturbance rejection and is robust against plant uncertainties it is appropriate for the vibration mitigation in structures. In this paper, an FOPID controller is designed to adjust the contact force of piezoelectric friction dampers for semi-active control of base-isolated structures during far-field and near-field earthquake excitations. A multi-objective cuckoo search algorithm is employed to tune the controller parameters. Considering the resulting Pareto optimal front, the best input for the FOPID controller is selected. For seven pairs of earthquakes and nine performance indices, the performance of the proposed controller is compared with those provided by several well-known control techniques. According to the simulation results, the proposed controller performs better than other controllers in terms of simultaneous reduction of the maximum base displacement and story acceleration for various types of earthquakes. Also, it provides acceptable responses in terms of inter-story drifts, root mean square of base displacements and floor acceleration. In addition, the evaluation of robustness for a stiffness uncertainty of ±10% indicates that the proposed controller gives a robust performance against such modeling errors. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Hualong Xie
2015-04-01
Full Text Available A biped robot with heterogeneous legs (BRHL is proposed to provide an ideal test-bed for intelligent bionic legs (IBL. To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of freedom of a knee joint driven by PAM is analyzed. A control simulation of an artificial leg based on PID control algorithm is carried out and the simulation results indicate that the artificial leg can simulate precisely a normal human walking gait.
Energy Technology Data Exchange (ETDEWEB)
Bonne, François; Bonnay, Patrick [INAC, SBT, UMR-E 9004 CEA/UJF-Grenoble, 17 rue des Martyrs, 38054 Grenoble (France); Alamir, Mazen [Gipsa-Lab, Control Systems Department, CNRS-University of Grenoble, 11, rue des Mathématiques, BP 46, 38402 Saint Martin d' Hères (France); Bradu, Benjamin [CERN, CH-1211 Genève 23 (Switzerland)
2014-01-29
In this paper, a multivariable model-based non-linear controller for Warm Compression Stations (WCS) is proposed. The strategy is to replace all the PID loops controlling the WCS with an optimally designed model-based multivariable loop. This new strategy leads to high stability and fast disturbance rejection such as those induced by a turbine or a compressor stop, a key-aspect in the case of large scale cryogenic refrigeration. The proposed control scheme can be used to have precise control of every pressure in normal operation or to stabilize and control the cryoplant under high variation of thermal loads (such as a pulsed heat load expected to take place in future fusion reactors such as those expected in the cryogenic cooling systems of the International Thermonuclear Experimental Reactor ITER or the Japan Torus-60 Super Advanced fusion experiment JT-60SA). The paper details how to set the WCS model up to synthesize the Linear Quadratic Optimal feedback gain and how to use it. After preliminary tuning at CEA-Grenoble on the 400W@1.8K helium test facility, the controller has been implemented on a Schneider PLC and fully tested first on the CERN's real-time simulator. Then, it was experimentally validated on a real CERN cryoplant. The efficiency of the solution is experimentally assessed using a reasonable operating scenario of start and stop of compressors and cryogenic turbines. This work is partially supported through the European Fusion Development Agreement (EFDA) Goal Oriented Training Program, task agreement WP10-GOT-GIRO.
Control Multivariable por Desacoplo
Directory of Open Access Journals (Sweden)
Fernando Morilla
2013-01-01
Full Text Available Resumen: La interacción entre variables es una característica inherente de los procesos multivariables, que dificulta su operación y el diseño de sus sistemas de control. Bajo el paradigma de Control por desacoplo se agrupan un conjunto de metodologías, que tradicionalmente han estado orientadas a eliminar o reducir la interacción, y que recientemente algunos investigadores han reorientado con objetivos de solucionar un problema tan complejo como es el control multivariable. Parte del material descrito en este artículo es bien conocido en el campo del control de procesos, pero la mayor parte de él son resultados de varios años de investigación de los autores en los que han primado la generalización del problema, la búsqueda de soluciones de fácil implementación y la combinación de bloques elementales de control PID. Esta conjunción de intereses provoca que no siempre se pueda conseguir un desacoplo perfecto, pero que sí se pueda conseguir una considerable reducción de la interacción en el nivel básico de la pirámide de control, en beneficio de otros sistemas de control que ocupan niveles jerárquicos superiores. El artículo resume todos los aspectos básicos del Control por desacoplo y su aplicación a dos procesos representativos: una planta experimental de cuatro tanques acoplados y un modelo 4×4 de un sistema experimental de calefacción, ventilación y aire acondicionado. Abstract: The interaction between variables is inherent in multivariable processes and this fact may complicate their operation and control system design. Under the paradigm of decoupling control, several methodologies that traditionally have been addressed to cancel or reduce the interactions are gathered. Recently, this approach has been reoriented by several researchers with the aim to solve such a complex problem as the multivariable control. Parts of the material in this work are well known in the process control field; however, most of them are
Robust Multivariable Optimization and Performance Simulation for ASIC Design
DuMonthier, Jeffrey; Suarez, George
2013-01-01
Application-specific-integrated-circuit (ASIC) design for space applications involves multiple challenges of maximizing performance, minimizing power, and ensuring reliable operation in extreme environments. This is a complex multidimensional optimization problem, which must be solved early in the development cycle of a system due to the time required for testing and qualification severely limiting opportunities to modify and iterate. Manual design techniques, which generally involve simulation at one or a small number of corners with a very limited set of simultaneously variable parameters in order to make the problem tractable, are inefficient and not guaranteed to achieve the best possible results within the performance envelope defined by the process and environmental requirements. What is required is a means to automate design parameter variation, allow the designer to specify operational constraints and performance goals, and to analyze the results in a way that facilitates identifying the tradeoffs defining the performance envelope over the full set of process and environmental corner cases. The system developed by the Mixed Signal ASIC Group (MSAG) at the Goddard Space Flight Center is implemented as a framework of software modules, templates, and function libraries. It integrates CAD tools and a mathematical computing environment, and can be customized for new circuit designs with only a modest amount of effort as most common tasks are already encapsulated. Customization is required for simulation test benches to determine performance metrics and for cost function computation.
Computer simulation system of neural PID control on nuclear reactor
International Nuclear Information System (INIS)
Chen Yuzhong; Yang Kaijun; Shen Yongping
2001-01-01
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
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 2.1μm to 3μm 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.
International Nuclear Information System (INIS)
Pei, L.; Klebaner, A.; Theilacker, J.; Soyars, W.; Martinez, A.; Bossert, R.; DeGraff, B.; Darve, C.
2011-01-01
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.
TMVA(Toolkit for Multivariate Analysis) new architectures design and implementation.
Zapata Mesa, Omar Andres
2016-01-01
Toolkit for Multivariate Analysis(TMVA) is a package in ROOT for machine learning algorithms for classification and regression of the events in the detectors. In TMVA, we are developing new high level algorithms to perform multivariate analysis as cross validation, hyper parameter optimization, variable importance etc... Almost all the algorithms are expensive and designed to process a huge amount of data. It is very important to implement the new technologies on parallel computing to reduce the processing times.
Directory of Open Access Journals (Sweden)
Javad Morsali
2017-02-01
Full Text Available In this paper, fractional order proportional-integral-differential (FOPID controller is employed in the design of thyristor controlled series capacitor (TCSC-based damping controller in coordination with the secondary integral controller as automatic generation control (AGC loop. In doing so, the contribution of the TCSC in tie-line power exchange is extracted mathematically for small load disturbance. Adjustable parameters of the proposed FOPID-based TCSC damping controller and the AGC loop are optimized concurrently via an improved particle swarm optimization (IPSO algorithm which is reinforced by chaotic parameter and crossover operator to obtain a globally optimal solution. The powerful FOMCON toolbox is used along with MATLAB for handling fractional order modeling and control. An interconnected multi-source power system is simulated regarding the physical constraints of generation rate constraint (GRC nonlinearity and governor dead band (GDB effect. Simulation results using FOMCON toolbox demonstrate that the proposed FOPID-based TCSC damping controller achieves the greatest dynamic performance under different load perturbation patterns in comparison with phase lead-lag and classical PID-based TCSC damping controllers, all in coordination with the integral AGC. Moreover, sensitivity analyses are performed to show the robustness of the proposed controller under various uncertainty scenarios.
A coordinated multivariable control system design for a HVDC linked remote ABWR nuclear power park
International Nuclear Information System (INIS)
Hara, T.; Kurita, A.; Younkins, T.D.; Sanchez-Gasca, J.J.; Chow, J.H.
1987-01-01
This paper presents a conceptual design of a coordinated output feedback multivariable control system for a remote nuclear generation park connected to a load area with an HVDC link. The control design presented in this paper is for both normal operation (e.g., load following and frequency regulation) and contingencies (e.g., loss of a dc bipole or loss of two nuclear reactors). The design is simple and compact: four control signals, five measurements, and the integrals of two measurements are used to meet all the objectives and constraints for normal operation and contingencies. The multivariable control coordinates the measurements and controls according to the time frame of response and the amount of interactions between variables. This paper describes the model of the system, the multivariable control design, and the nonlinear time domain simulation of the overall system performance
Huang, Jun; Kaul, Goldi; Cai, Chunsheng; Chatlapalli, Ramarao; Hernandez-Abad, Pedro; Ghosh, Krishnendu; Nagi, Arwinder
2009-12-01
To facilitate an in-depth process understanding, and offer opportunities for developing control strategies to ensure product quality, a combination of experimental design, optimization and multivariate techniques was integrated into the process development of a drug product. A process DOE was used to evaluate effects of the design factors on manufacturability and final product CQAs, and establish design space to ensure desired CQAs. Two types of analyses were performed to extract maximal information, DOE effect & response surface analysis and multivariate analysis (PCA and PLS). The DOE effect analysis was used to evaluate the interactions and effects of three design factors (water amount, wet massing time and lubrication time), on response variables (blend flow, compressibility and tablet dissolution). The design space was established by the combined use of DOE, optimization and multivariate analysis to ensure desired CQAs. Multivariate analysis of all variables from the DOE batches was conducted to study relationships between the variables and to evaluate the impact of material attributes/process parameters on manufacturability and final product CQAs. The integrated multivariate approach exemplifies application of QbD principles and tools to drug product and process development.
Directory of Open Access Journals (Sweden)
B. Gräler
2013-04-01
Full Text Available Most of the hydrological and hydraulic studies refer to the notion of a return period to quantify design variables. When dealing with multiple design variables, the well-known univariate statistical analysis is no longer satisfactory, and several issues challenge the practitioner. How should one incorporate the dependence between variables? How should a multivariate return period be defined and applied in order to yield a proper design event? In this study an overview of the state of the art for estimating multivariate design events is given and the different approaches are compared. The construction of multivariate distribution functions is done through the use of copulas, given their practicality in multivariate frequency analyses and their ability to model numerous types of dependence structures in a flexible way. A synthetic case study is used to generate a large data set of simulated discharges that is used for illustrating the effect of different modelling choices on the design events. Based on different uni- and multivariate approaches, the design hydrograph characteristics of a 3-D phenomenon composed of annual maximum peak discharge, its volume, and duration are derived. These approaches are based on regression analysis, bivariate conditional distributions, bivariate joint distributions and Kendall distribution functions, highlighting theoretical and practical issues of multivariate frequency analysis. Also an ensemble-based approach is presented. For a given design return period, the approach chosen clearly affects the calculated design event, and much attention should be given to the choice of the approach used as this depends on the real-world problem at hand.
APPLICATION OF NONLINEAR PID CONTROLLER IN SUPERCONDUCTING MAGNETIC ENERGY STORAGE
PENG, Xiaotao; CHENG, Shijie
2011-01-01
As a new control strategy, Nonlinear PID(NLPID) controller has been introduced in the power system successfully. The controller is free of planting model foundation in the design procedure and realized simply. In this paper, a nonlinear PID controller used for superconducting magnetic energy storage (SMES) unit connected to a power system is proposed. Purpose of designing such controller is to improve the stability of the power system in a relatively wide operation range. The design procedure...
D'Amico, E J; Neilands, T B; Zambarano, R
2001-11-01
Although power analysis is an important component in the planning and implementation of research designs, it is often ignored. Computer programs for performing power analysis are available, but most have limitations, particularly for complex multivariate designs. An SPSS procedure is presented that can be used for calculating power for univariate, multivariate, and repeated measures models with and without time-varying and time-constant covariates. Three examples provide a framework for calculating power via this method: an ANCOVA, a MANOVA, and a repeated measures ANOVA with two or more groups. The benefits and limitations of this procedure are discussed.
Seltzer, S. M.
1976-01-01
The problem discussed is to design a digital controller for a typical satellite. The controlled plant is considered to be a rigid body acting in a plane. The controller is assumed to be a digital computer which, when combined with the proposed control algorithm, can be represented as a sampled-data system. The objective is to present a design strategy and technique for selecting numerical values for the control gains (assuming position, integral, and derivative feedback) and the sample rate. The technique is based on the parameter plane method and requires that the system be amenable to z-transform analysis.
Design of multivariable controller for a 600 MWe CANDU nuclear power plant
International Nuclear Information System (INIS)
Mensah, S.; McMorran, P.D.
1982-04-01
This paper reports the results of a case study on the design of a multivariable regulator for a nuclear power station of the Gentilly-2 type. In this study, a design model was derived by simplifying and linearizing equations in the G2SIM non-linear model. Open-loop simulation showed good agreement between transient responses of both models. After a critical review of multivariable design techniques, the authors explored pole shifting with output feedback. A comprehensive set of application-oriented algorithms for closed-loop pole shifting, implemented via modules in the MVPACK computer-aided design package were derived. A controller was designed for the linear model, then implemented on the non-linear simulation. After adjustment of controller gains, mainly in the dynanamic section of the feedback, simulation results showed that the performance of the multivariable controller on G2SIM is satisfactory. The results demonstrate the relative superiority of the multi-variable controller over the existing conventional controller
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.
Two degree of freedom PID based inferential control of continuous bioreactor for ethanol production.
Pachauri, Nikhil; Singh, Vijander; Rani, Asha
2017-05-01
This article presents the development of inferential control scheme based on Adaptive linear neural network (ADALINE) soft sensor for the control of fermentation process. The ethanol concentration of bioreactor is estimated from temperature profile of the process using soft sensor. The prediction accuracy of ADALINE is enhanced by retraining it with immediate past measurements. The ADALINE and retrained ADALINE are used along with PID and 2-DOF-PID leading to APID, A2PID, RAPID and RA2PID inferential controllers. Further the parameters of 2-DOF-PID are optimized using Non-dominated sorted genetic algorithm-II and used with retrained ADALINE soft sensor which leads to RAN2PID inferential controller. Simulation results demonstrate that performance of proposed RAN2PID controller is better in comparison to other designed controllers in terms of qualitative and quantitative performance indices. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
International Nuclear Information System (INIS)
Hinds, H.W.
1985-05-01
MVPACK is a user-friendly software package that combines a powerful capability to design and analyze complex multivariable control systems, both in state space and transfer function form, with an ease of application. MVPACK is a set of interactive modules that appears to the user as a high-level calculator. It is composed of a database, interaction methods, a mathematical library, and an extensive collection of design algorithms including: order reduction of linear models; pole shifting with output feedback; modal control; optimal control with stochastic state estimation; and the inverse Nyquist array method. The subject of this paper is the design of multivariable controllers for a nuclear steam generator. The available outputs of the 15th-order model are steam pressure and water level; control inputs are steam and feedwater flows. Four of the design techniques implemented in the MVPACK module are outlined and then applied to this model
PID controller simulator software for DC motor of gamma scanning
International Nuclear Information System (INIS)
Arjoni Amir
2008-01-01
Mostly PID controller (Proportional-Integral-Derivative) has been used in industry. For certain applications, it can be used as a Proportional (P) model only, or as a Proportional-Integral (PI) model. The aim of this paper is to design a PID controller simulator software for DC motor which is used in gamma scanning system. A DC motor is described as a plant of SISO (Single Input Single Output) which is used for pulling down the load (detector + casing) and gamma radiation source (Co-60 + container) by using sling cable. A DC motor consist of an armature and a rotor, the equivalent circuit of DC motor is shown in a transfer function equation between output parameter (angular speed DC motor) and input parameter (voltage of DC motor). Methods used for the process of PID controller design is to arrange the PID controller parameter (Kc, Ti, Td) so that there are more PID controller transfer function model which are able to control angular speed of DC motor in stable condition, as design criteria requirement is needed. Design criteria requirement for control system are the settling time < 3 second, overshoot < 5%, rise time = 0.25 second, steady state gain = 1 and peak time < 3 second with step response reference 1 rad/second. The result of simulation gives several models of PID controller in function transfer equation which is similar with design criteria requirement in a equation of function transfer of order 2 for numerator and order 1 for denominator. (author)
Tuning of PID load frequency controller for power systems
International Nuclear Information System (INIS)
Tan Wen
2009-01-01
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.
Directory of Open Access Journals (Sweden)
Subrata CHATTOPADHYAY
2008-01-01
Full Text Available A single PID controller in a process control loop may suffer from high frequency oscillations without offset or low frequency oscillation with offset. An inverse derivative control action can eliminate both of these errors. In the present paper, a low cost operational amplifier based PID controller with inverse derivative control action has been described. Its transfer function has been derived and is found to be identical with the form already derived by other workers. It has been tested with a process plant analogue and implemented in the voltage control system of a DC generator. Its transfer function along with its characteristics in a process plant analogue and the load characteristics of DC generator with and without this controller have been determined experimentally and reported in this paper.
Neural PID Control Strategy for Networked Process Control
Directory of Open Access Journals (Sweden)
Jianhua Zhang
2013-01-01
Full Text Available A new method with a two-layer hierarchy is presented based on a neural proportional-integral-derivative (PID iterative learning method over the communication network for the closed-loop automatic tuning of a PID controller. It can enhance the performance of the well-known simple PID feedback control loop in the local field when real networked process control applied to systems with uncertain factors, such as external disturbance or randomly delayed measurements. The proposed PID iterative learning method is implemented by backpropagation neural networks whose weights are updated via minimizing tracking error entropy of closed-loop systems. The convergence in the mean square sense is analysed for closed-loop networked control systems. To demonstrate the potential applications of the proposed strategies, a pressure-tank experiment is provided to show the usefulness and effectiveness of the proposed design method in network process control systems.
Enhanced pid vs model predictive control applied to bldc motor
Gaya, M. S.; Muhammad, Auwal; Aliyu Abdulkadir, Rabiu; Salim, S. N. S.; Madugu, I. S.; Tijjani, Aminu; Aminu Yusuf, Lukman; Dauda Umar, Ibrahim; Khairi, M. T. M.
2018-01-01
BrushLess Direct Current (BLDC) motor is a multivariable and highly complex nonlinear system. Variation of internal parameter values with environment or reference signal increases the difficulty in controlling the BLDC effectively. Advanced control strategies (like model predictive control) often have to be integrated to satisfy the control desires. Enhancing or proper tuning of a conventional algorithm results in achieving the desired performance. This paper presents a performance comparison of Enhanced PID and Model Predictive Control (MPC) applied to brushless direct current motor. The simulation results demonstrated that the PSO-PID is slightly better than the PID and MPC in tracking the trajectory of the reference signal. The proposed scheme could be useful algorithms for the system.
International Nuclear Information System (INIS)
Han, Sung Hyun
1993-01-01
This paper proposes a new approach to the design of multivariable control schemes for assembly robot manipulator to achieve accuracy trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and a feedback controller. In this control scheme, the feedback controller is proportional integral-derivative type and is designed to achieve the pole placement. The feedforward controller is the inverse of the linealized model of robot manipulator dynamics. The feedback controller ensures that each joint tracks any reference trajectory. The proposed robot controller scheme has a computationally efficient schemes for either offline gain scheduling or online gain computation to account for variations in the linealized robot dynamic model due to changes in operating point. The simulation results demonstrate that the proposed control schemesperporms remarkably well for parameter uncertainties and load variations. (Author)
Structural analysis and design of multivariable control systems: An algebraic approach
Tsay, Yih Tsong; Shieh, Leang-San; Barnett, Stephen
1988-01-01
The application of algebraic system theory to the design of controllers for multivariable (MV) systems is explored analytically using an approach based on state-space representations and matrix-fraction descriptions. Chapters are devoted to characteristic lambda matrices and canonical descriptions of MIMO systems; spectral analysis, divisors, and spectral factors of nonsingular lambda matrices; feedback control of MV systems; and structural decomposition theories and their application to MV control systems.
Troudet, T.; Garg, S.; Merrill, W.
1992-01-01
The design of a dynamic neurocontroller with good robustness properties is presented for a multivariable aircraft control problem. The internal dynamics of the neurocontroller are synthesized by a state estimator feedback loop. The neurocontrol is generated by a multilayer feedforward neural network which is trained through backpropagation to minimize an objective function that is a weighted sum of tracking errors, and control input commands and rates. The neurocontroller exhibits good robustness through stability margins in phase and vehicle output gains. By maintaining performance and stability in the presence of sensor failures in the error loops, the structure of the neurocontroller is also consistent with the classical approach of flight control design.
Potential benefits of a CAD package for designing multivariable control systems
International Nuclear Information System (INIS)
Mensah, S.
1983-01-01
An open-ended CAD package, MVPACK, has been developed and implemented on a PDP-11/45 minicomputer at the Chalk River Nuclear Laboratories. The package is fully interactive, and includes a comprehensive state-of-the-art methematical library to support development of complex multi-variable control algorithms. Coded in RATFOR, MVPACK operates with a flexible data structure which makes efficient use of minicomputer resources and provides a standard framework for program generation. The existence of a help mechanism enhances the simplicity of package utilization. The capability of the package as a tool for designing control systems is illustrated with the design of a regulating system for an evaporator
Application of MVPACK to the design of multivariable control systems for a nuclear steam generator
International Nuclear Information System (INIS)
Hinds, H.W.
1986-01-01
Control systems for most nuclear power plants are designed using conventional single-variable methods which treat each control loop independently. Interactions between loops are accounted for empirically by tuning the controllers to achieve the desired results. As plants increase in size and complexity, and are required to operate closer to maximum capability for greatest economic returns, these dynamic interactions become more important and render the extrapolation of these techniques unreliable. MVPACK is a user-friendly software package that combines a powerful capability to design and analyze complex multivariable control systems, both in state space and transfer function form, with an ease of application. MVPACK is a set of interactive modules that appears to the user as a high-level calculator. It is composed of a database, interaction methods, a mathematical library, and an extensive collection of design algorithms including: order reduction of linear models; pole shifting with output feedback; modal control; optimal control with stochastic state estimation; and the inverse Nyquist array method. The design of multivariable controllers for a nuclear steam generator is discussed. The available outputs of the 15th-order model are steam pressure and water level; control inputs are steam and feedwater flows. Four of the design techniques implemented in the MVPACK module are outlined and then applied to this model
Zhou, Liang; Hansen, Charles
2013-01-01
Multivariate volumetric datasets are important to both science and medicine. We propose a transfer function (TF) design approach based on user selected samples in the spatial domain to make multivariate volumetric data visualization more accessible for domain users. Specifically, the user starts the visualization by probing features of interest on slices and the data values are instantly queried by user selection. The queried sample values are then used to automatically and robustly generate high dimensional transfer functions (HDTFs) via kernel density estimation (KDE). Alternatively, 2D Gaussian TFs can be automatically generated in the dimensionality reduced space using these samples. With the extracted features rendered in the volume rendering view, the user can further refine these features using segmentation brushes. Interactivity is achieved in our system and different views are tightly linked. Use cases show that our system has been successfully applied for simulation and complicated seismic data sets. © 2013 IEEE.
Zhou, Liang
2013-02-01
Multivariate volumetric datasets are important to both science and medicine. We propose a transfer function (TF) design approach based on user selected samples in the spatial domain to make multivariate volumetric data visualization more accessible for domain users. Specifically, the user starts the visualization by probing features of interest on slices and the data values are instantly queried by user selection. The queried sample values are then used to automatically and robustly generate high dimensional transfer functions (HDTFs) via kernel density estimation (KDE). Alternatively, 2D Gaussian TFs can be automatically generated in the dimensionality reduced space using these samples. With the extracted features rendered in the volume rendering view, the user can further refine these features using segmentation brushes. Interactivity is achieved in our system and different views are tightly linked. Use cases show that our system has been successfully applied for simulation and complicated seismic data sets. © 2013 IEEE.
Soft sensor design by multivariate fusion of image features and process measurements
DEFF Research Database (Denmark)
Lin, Bao; Jørgensen, Sten Bay
2011-01-01
This paper presents a multivariate data fusion procedure for design of dynamic soft sensors where suitably selected image features are combined with traditional process measurements to enhance the performance of data-driven soft sensors. A key issue of fusing multiple sensor data, i.e. to determine...... with a multivariate analysis technique from RGB pictures. The color information is also transformed to hue, saturation and intensity components. Both sets of image features are combined with traditional process measurements to obtain an inferential model by partial least squares (PLS) regression. A dynamic PLS model...... oxides (NOx) emission of cement kilns. On-site tests demonstrate improved performance over soft sensors based on conventional process measurements only....
Didactic System for the Experimental Study of Digital PID Control Structures
Stelian-Emilian OLTEAN; Mircea DULĂU; Adrian-Vasile DUKA
2016-01-01
The proportional integral derivative (PID) controller has a known structure used in feedback control of industrial processes. One of the most common applications is the control of the DC motor. The paper presents a didactic system designed for educational purposes used for studying various conventional PID structures and the influence of the PID components in the control process of the DC motor’s speed. The system contains a low cost acquisition board based on PIC 16F628A microcontroller. The...
The Parrot UAV Controlled by PID Controllers
Koszewnik Andrzej
2014-01-01
The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered dire...
The Parrot UAV Controlled by PID Controllers
Directory of Open Access Journals (Sweden)
Koszewnik Andrzej
2014-08-01
Full Text Available The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered directions.
Differential Evolution-Based PID Control of Nonlinear Full-Car Electrohydraulic Suspensions
Directory of Open Access Journals (Sweden)
Jimoh O. Pedro
2013-01-01
Full Text Available This paper presents a differential-evolution- (DE- optimized, independent multiloop proportional-integral-derivative (PID controller design for full-car nonlinear, electrohydraulic suspension systems. The multiloop PID control stabilises the actuator via force feedback and also improves the system performance. Controller gains are computed using manual tuning and through DE optimization to minimise a performance index, which addresses suspension travel, road holding, vehicle handling, ride comfort, and power consumption constraints. Simulation results showed superior performance of the DE-optimized PID-controlled active vehicle suspension system (AVSS over the manually tuned PID-controlled AVSS and the passive vehicle suspension system (PVSS.
Fuzzy PID control algorithm based on PSO and application in BLDC motor
Lin, Sen; Wang, Guanglong
2017-06-01
A fuzzy PID control algorithm is studied based on improved particle swarm optimization (PSO) to perform Brushless DC (BLDC) motor control which has high accuracy, good anti-jamming capability and steady state accuracy compared with traditional PID control. The mathematical and simulation model is established for BLDC motor by simulink software, and the speed loop of the fuzzy PID controller is designed. The simulation results show that the fuzzy PID control algorithm based on PSO has higher stability, high control precision and faster dynamic response speed.
Ostroff, A. J.; Hueschen, R. M.
1984-01-01
The ability of a pilot to reconfigure the control surfaces on an airplane after a failure, allowing the airplane to recover to a safe condition for landing, becomes more difficult with increasing airplane complexity. Techniques are needed to stabilize and control the airplane immediately after a failure, allowing the pilot time to make longer range decisions. This paper shows a design of a discrete multivariable control law using four controls for the longitudinal channel of a B-737. Single control element failures are allowed in three of the four controls. The four controls design and failure cases are analyzed by means of a digital airplane simulation, with regard to tracking capability and ability to overcome severe windshear and turbulence during the aproach and landing phase of flight.
Azmi, Nur Iffah Mohamed; Arifin Mat Piah, Kamal; Yusoff, Wan Azhar Wan; Romlay, Fadhlur Rahman Mohd
2018-03-01
Controller that uses PID parameters requires a good tuning method in order to improve the control system performance. Tuning PID control method is divided into two namely the classical methods and the methods of artificial intelligence. Particle swarm optimization algorithm (PSO) is one of the artificial intelligence methods. Previously, researchers had integrated PSO algorithms in the PID parameter tuning process. This research aims to improve the PSO-PID tuning algorithms by integrating the tuning process with the Variable Weight Grey- Taguchi Design of Experiment (DOE) method. This is done by conducting the DOE on the two PSO optimizing parameters: the particle velocity limit and the weight distribution factor. Computer simulations and physical experiments were conducted by using the proposed PSO- PID with the Variable Weight Grey-Taguchi DOE and the classical Ziegler-Nichols methods. They are implemented on the hydraulic positioning system. Simulation results show that the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE has reduced the rise time by 48.13% and settling time by 48.57% compared to the Ziegler-Nichols method. Furthermore, the physical experiment results also show that the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE tuning method responds better than Ziegler-Nichols tuning. In conclusion, this research has improved the PSO-PID parameter by applying the PSO-PID algorithm together with the Variable Weight Grey-Taguchi DOE method as a tuning method in the hydraulic positioning system.
Adaptive fuzzy PID control for a quadrotor stabilisation
Cherrat, N.; Boubertakh, H.; Arioui, H.
2018-02-01
This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.
LMI designmethod for networked-based PID control
Souza, Fernando de Oliveira; Mozelli, Leonardo Amaral; de Oliveira, Maurício Carvalho; Palhares, Reinaldo Martinez
2016-10-01
In this paper, we propose a methodology for the design of networked PID controllers for second-order delayed processes using linear matrix inequalities. The proposed procedure takes into account time-varying delay on the plant, time-varying delays induced by the network and packed dropouts. The design is carried on entirely using a continuous-time model of the closed-loop system where time-varying delays are used to represent sampling and holding occurring in a discrete-time digital PID controller.
MVPACK: a computer-aided design tool for multivariable control systems
International Nuclear Information System (INIS)
Mensah, S.; Frketich, G.
1985-10-01
The design and analysis of high-performance controllers for complex plants require a collection of interactive, powerful computer software. MVPACK, an open-ended package for the computer-aided design of control systems, has been developed in the Reactor Control Branch of the Chalk River Nuclear Laboratories. The package is fully interactive and includes a comprehensive state-of-the-art mathematical library to support development of complex, multivariable, control algorithms. Coded in RATFOR, MVPACK is portable with minimal changes. It operates with a flexible data structure which makes efficient use of minicomputer resources and provides a standard framework for program generation. The existence of a help mechanism enhances the simplicity of package utilization. This paper provides a brief tutorial overview of the package. It reviews the specifications used in the design and implementation of the package and briefly describes the database structure, supporting libraries and some design and analysis modules of MVPACK. Several application examples to illustrate the capability of the package are given. Experience with MVPACK shows that the package provides a synergistic environment for the design of control and regulation systems, and that it is a unique tool for training of control system engineers
MVPACK: a package for the computer-aided design of multivariable control systems
International Nuclear Information System (INIS)
Mensah, S.
1984-01-01
The design and analysis of high performing controllers for large complex plants require a collection of interactive, powerful computer software. MVPACK, an open-ended package for the computer aided design of control systems has been developed in the Reactor Control Branch of the Chalk River Nuclear Laboratories. The package is fully interactive, and includes a comprehensive state-of-the-art mathematical library to support development of complex multivariable control algorithms. Coded in RATFOR, MVPACK operates with a flexible data structure which makes efficient use of minicomputer resources and provides a standard framework for program generation. The existence of a help mechanism enhances the simplicity of package utilization. This report provides the technical description of the package. It reviews the specifications used in the design and implementation of the package. The database structure, the supporting libraries and the design and analysis modules of MVPACK are described. The report includes several application examples to illustrate the capability of the package. Experience with MVPACK shows that the package provides a synergistic environment for control and regulation systems design, and that it is a unique tool in training of control system engineers
A set of decentralized PID controllers for an n–link robot manipulator
Indian Academy of Sciences (India)
A class of stabilizing decentralized proportional integral derivative (PID) controllers for an -link robot manipulator system is proposed. The range of decentralized PID controller parameters for an -link robot manipulator is obtained using Kharitonov theorem and stability boundary equations. Basically, the proposed design ...
Automatic Tuning of PID Controller for a 1-D Levitation System Using a Genetic Algorithm
DEFF Research Database (Denmark)
Yang, Zhenyu; Pedersen, Gerulf K.m.
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...
Perancangan Kendali Pid Dengan Matlab
Sukamta, Sri
2010-01-01
Perancangan PID Controller selama ini menggunakan metoda trial and error dengan perhitungan yangmemakan waktu lama. MatLab yang dilengkapi Control Toolbox, membantu perancang untuk melihatrespon berbagai kombinasi konstanta dengan variasi input yang berbeda. Penggunaan MatLab ini sangatmembantu perancang dalam menentukan kombinasi di antara P, I, dan D Controller untuk menghasilkansistem pengaturan yang baik dan sederhana.
Multivariate genetic analysis of brain structure in an extended twin design
DEFF Research Database (Denmark)
Posthuma, D; de Geus, E.J.; Neale, M.C.
2000-01-01
quantitative scale and thus can be assessed in affected and unaffected individuals. Continuous measures increase the statistical power to detect genetic effects (Neale et al., 1994), and allow studies to be designed to collect data from informative subjects such as extreme concordant or discordant pairs....... Intermediate phenotypes for discrete traits, such as psychiatric disorders, can be neurotransmitter levels, brain function, or structure. In this paper we conduct a multivariate analysis of data from 111 twin pairs and 34 additional siblings on cerebellar volume, intracranial space, and body height....... The analysis is carried out on the raw data and specifies a model for the mean and the covariance structure. Results suggest that cerebellar volume and intracranial space vary with age and sex. Brain volumes tend to decrease slightly with age, and males generally have a larger brain volume than females...
Cylinder Position Servo Control Based on Fuzzy PID
Directory of Open Access Journals (Sweden)
Shibo Cai
2013-01-01
Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.
Mo, Qingkai; Zhang, Tao; Yan, Yining
2016-10-01
There are contradictions among speediness, anti-disturbance performance, and steady-state accuracy caused by traditional PID controller in the existing light source systems of thermal frequency stabilizing laser with double longitudinal modes. In this paper, a new kind of fuzzy adaptive PID controller was designed by combining fuzzy PID control technology and expert system to make frequency stabilizing system obtain the optimal performance. The experiments show that the frequency stability of the designed PID controller is similar to the existing PID controller (the magnitude of frequency stability is less than 10-9 in constant temperature and 10-7 in open air). But the preheating time is shortened obviously (from 10 minutes to 5 minutes) and the anti-disturbance capability is improved significantly (the recovery time needed after strong interference is reduced from 1 minute to 10 seconds).
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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
International Nuclear Information System (INIS)
Mansouri, S.
1985-06-01
This work has been consecrated to the modular simulation of a PWR 925 MWe power plant's dynamic and to the design of a multivariable algorithm control: a mathematical model of a plant type was developed. The programs were written on a structured manner in order to maximize flexibility. A multivariable control algorithm based on pole placement with output feedback was elaborated together with its correspondent program. The simulation results for different normal transients were shown and the capabilities of the new method of multivariable control are illustrated through many examples
MULTI-LOOP CONTROL DESIGN IN MULTIVARIABLE (2X2 CONTINUOUS STIRRED TANK REACTOR
Directory of Open Access Journals (Sweden)
Abdul Wahid
2015-06-01
Full Text Available With this study, the design and tuning of multi-loop for multivariable (2x2 CSTR will be made in order to achieve optimum CSTR control performance. This study used Bequette model reactor and MATLAB software and is expected to be able to cope with disturbances in the reactor so that the reactor system is able to stabilize quickly despite the distractions. In this study, the design will be made using multi-loop approach, along with PI controller as the next step. Then, BLT and auto-tune tuning method will be used in PI controller and given disturbances to both of tuning method. The controller performances are then compared. Results of the study are then analyzed for discussions and conclusions. Results from this study have shown that in terms of disturbance rejection, BLT is better than auto-tune based on comparison between both of controller performances. For IAE for the case of temperature, BLT is 30% better than auto-tune, but it is almost the same for the case of concentration. For settling time for the case of concentration, BLT is 30% better than auto-tune, and for the case of temperature, BLT is 18% better than auto-tune. For rise time for the case of concentration and temperature, BLT is 30% better than auto-tune.
Dhat, Shalaka; Pund, Swati; Kokare, Chandrakant; Sharma, Pankaj; Shrivastava, Birendra
2017-01-01
Rapidly evolving technical and regulatory landscapes of the pharmaceutical product development necessitates risk management with application of multivariate analysis using Process Analytical Technology (PAT) and Quality by Design (QbD). Poorly soluble, high dose drug, Satranidazole was optimally nanoprecipitated (SAT-NP) employing principles of Formulation by Design (FbD). The potential risk factors influencing the critical quality attributes (CQA) of SAT-NP were identified using Ishikawa diagram. Plackett-Burman screening design was adopted to screen the eight critical formulation and process parameters influencing the mean particle size, zeta potential and dissolution efficiency at 30min in pH7.4 dissolution medium. Pareto charts (individual and cumulative) revealed three most critical factors influencing CQA of SAT-NP viz. aqueous stabilizer (Polyvinyl alcohol), release modifier (Eudragit® S 100) and volume of aqueous phase. The levels of these three critical formulation attributes were optimized by FbD within established design space to minimize mean particle size, poly dispersity index, and maximize encapsulation efficiency of SAT-NP. Lenth's and Bayesian analysis along with mathematical modeling of results allowed identification and quantification of critical formulation attributes significantly active on the selected CQAs. The optimized SAT-NP exhibited mean particle size; 216nm, polydispersity index; 0.250, zeta potential; -3.75mV and encapsulation efficiency; 78.3%. The product was lyophilized using mannitol to form readily redispersible powder. X-ray diffraction analysis confirmed the conversion of crystalline SAT to amorphous form. In vitro release of SAT-NP in gradually pH changing media showed 95%) in pH7.4 in next 3h, indicative of burst release after a lag time. This investigation demonstrated effective application of risk management and QbD tools in developing site-specific release SAT-NP by nanoprecipitation. Copyright © 2016 Elsevier B.V. All
Directory of Open Access Journals (Sweden)
Ahmed Sabah Al-Araji
2017-08-01
Full Text Available This paper presents a new development of an on-line hybrid self-tuning control algorithm of the Field Programmable Gate Array - Proportional Integral Derivative - Pulse Width Modulation (FPGA-PID-PWM controller for DC-DC buck converter which is used in battery operation of mobile applications. The main goal in this work is to propose structure of the hybrid Bees-PSO tuning control algorithm which has a capability of quickly and precisely searching in the global regions in order to obtain optimal gain parameters for the proposed controller to generate the best voltage control action to achieve the desired performance of the Buck converter output. Matlab simulation results and Xilinx development tool Integrated Software Environment (ISE experimental work show the robustness and effectiveness of the proposed on-line hybrid Bees-PSO tuning control algorithm in terms of obtaining smooth and unsaturated state voltage control action and minimizing the tracking voltage error of the Buck converter output. Moreover, the fitness evaluation number is reduced.
PID motion control tuning rules in a damping injection framework
Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano
2013-01-01
This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety
Verma, Samridhi; Singh, Sandeep Kumar; Verma, Priya Ranjan Prasad
2016-01-01
In this investigation, multivariate design approach was employed to develop self-nanoemulsifying drug delivery system (SNEDDS) of loratadine and to exploit its potential for intestinal permeability. Drug solubility was determined in various vehicles and existence of self-nanoemulsifying region was evaluated by phase diagram studies. The influence of formulation variables X1 (Capmul MCM C8) and X2 (Solutol HS15) on SNEDDS was assessed for mean globule sizes in different media (Y1-Y3), emulsification time (Y4) and drug-release parameters (Y5-Y6), to improve quality attributes of SNEDDS. Significant models were generated, statistically analyzed by analysis of variance and validated using the residual and leverage plots. The interaction, contour and response plots explicitly demonstrated the influence of one factor on the other and displayed trend of factor-effect on responses. The pH-independent optimized formulation was obtained with appreciable global desirability (0.9266). The strenuous act of determining emulsification time is innovatively replaced by the use of oil-soluble dye to produce visibly distinct globules that otherwise may be deceiving. TEM images displayed non-aggregated state of spherical globules (size < 25 nm) and also revealed the structural transitions occurring during emulsification. Optimized formulation exhibited non-Newtonian flow justified by the model-fit and also presented the stability to dilution effects and thermodynamic stress testing. The ex vivo permeation study using confocal laser scanning microscopy indicate strong potential of rhodamine 123-loaded loratadine-SNEDDS to inhibit P-gp efflux and facilitate intestinal permeation. To conclude, the effectiveness of design yields a stable optimized SNEDDS with enhanced permeation potential, which is expected to improve oral bioavailability of loratadine.
PID and predictive control of electrical drives and power converters using MATLAB/Simulink
Wang, Liuping; Yoo, Dae; Gan, Lu; Ng, Ki
2015-01-01
A timely introduction to current research on PID and predictive control by one of the leading authors on the subject PID and Predictive Control of Electric Drives and Power Supplies using MATLAB/Simulink examines the classical control system strategies, such as PID control, feed-forward control and cascade control, which are widely used in current practice. The authors share their experiences in actual design and implementation of the control systems on laboratory test-beds, taking the reader from the fundamentals through to more sophisticated design and analysis. The book contains secti
Outdoor altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID
Wicaksono, H.; Yusuf, Y. G.; Kristanto, C.; Haryanto, L.
2017-11-01
This paper presents a design of altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID. This practical design is implemented outdoor. Barometric and sonar sensor were used in this experiment as an input for the controller YoHe. The throttle signal as a control input was provided by the controller to leveling QuadRotor in particular altitude and known well as altitude stabilization. The parameter of type-2 fuzzy and fuzzy PID was tuned in several heights to get the best control parameter for any height. Type-2 fuzzy produced better result than fuzzy PID but had a slow response in the beginning.
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. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Mjahed, M
2002-01-01
The binary decision tree method is used to separate between several multi-jet topologies in e sup + e sup - collisions. Instead of the univariate process usually taken, a new design procedure for constructing multivariate decision trees is proposed. The segmentation is obtained by considering some features functions, where linear and non-linear discriminant functions and a minimal distance method are used. The classification focuses on ALEPH simulated events, with multi-jet topologies. Compared to a standard univariate tree, the multivariate decision trees offer significantly better performance.
Model-reference robust tuning of PID controllers
Alfaro, Victor M
2016-01-01
This book presents a unified methodology for the design of PID controllers that encompasses the wide range of different dynamics to be found in industrial processes. This is extended to provide a coherent way of dealing with the tuning of PID controllers. The particular method at the core of the book is the so-called model-reference robust tuning (MoReRT), developed by the authors. MoReRT constitutes a novel and powerful way of thinking of a robust design and taking into account the usual design trade-offs encountered in any control design problem. The book starts by presenting the different two-degree-of-freedom PID control algorithm variations and their conversion relations as well as the indexes used for performance, robustness and fragility evaluation:the bases of the proposed model. Secondly, the MoReRT design methodology and normalized controlled process models and controllers used in the design are described in order to facilitate the formulation of the different design problems and subsequent derivati...
Didactic System for the Experimental Study of Digital PID Control Structures
Directory of Open Access Journals (Sweden)
Stelian-Emilian OLTEAN
2016-12-01
Full Text Available The proportional integral derivative (PID controller has a known structure used in feedback control of industrial processes. One of the most common applications is the control of the DC motor. The paper presents a didactic system designed for educational purposes used for studying various conventional PID structures and the influence of the PID components in the control process of the DC motor’s speed. The system contains a low cost acquisition board based on PIC 16F628A microcontroller. The experimental results are shown graphically using a PC application made in Matlab environment.
Wireless Intelligent Monitoring and Control System of Greenhouse Temperature Based on Fuzzy-PID
Directory of Open Access Journals (Sweden)
Mei ZHAN
2014-03-01
Full Text Available Control effect is not ideal for traditional control method and wired control system, since greenhouse temperature has such characteristics as nonlinear and longtime lag. Therefore, Fuzzy- PID control method was introduced and radio frequency chip CC1110 was applied to design greenhouse wireless intelligent monitoring and control system. The design of the system, the component of nodes and the developed intelligent management software system were explained in this paper. Then describe the design of the control algorithm Fuzzy-PID. By simulating the new method in Matlab software, the results showed that Fuzzy-PID method small overshoot and better dynamic performance compared with general PID control. It has shorter settling time and no steady-state error compared with fuzzy control. It can meet requirements in greenhouse production.
Design of a multivariable controller for a CANDU 600 MWe nuclear power plant using the INA method
International Nuclear Information System (INIS)
Roy, N.; Boisvert, J.; Mensah, S.
1984-04-01
The development of large and complex nuclear and process plants requires high-performance control systems, designed with rigorous multivariable techniques. This work is part of an analytical study demonstrating the real potential of multivariable methods. It covers every step in the design of a multi-variable controller for a Gentilly-2 type CANDU 600 MWe nuclear power plant using the Inverse Nyquist Array (INA) method. First the linear design model and its preliminary modifications are described. The design tools are reviewed and the operations required to achieve open-loop diagonal dominance are thoroughly described. Analysis of the closed-loop system is then performed and a feedback matrix is selected to meet the design specifications. The performance of the controller on the linear model is verified by simulation. Finally, the controller is implemented on the reference non-linear model to assess its overall performance. The results show that the INA method can be used successfully to design controllers for large and complex systems
Sellbom, Martin; Dhillon, Sonya; Bagby, R Michael
2018-05-01
Our aim in the current study was to develop a validity scale for the Personality Inventory for DSM-5 (PID-5) to detect noncredible overreported responding. To this end, we used a rare symptoms approach and identified extreme response options on PID-5 items that were infrequently endorsed by students in 3 different university samples (N = 1,370) and in a psychiatric patient sample (N = 194). The resulting 10-item scale (the PID-5-ORS) produced adequate-to-good estimates of internal reliability and was significantly correlated with the Minnesota Multiphasic Personality Inventory-2 Restructued Form (MMPI-2-RF) overreporting validity scales, providing evidence of concurrent validity. The criterion validity of the PID-5-ORS was demonstrated in an analog simulation design study. More specifically, university students instructed to overreport (n = 80) scored substantially higher on the PID-5-ORS relative to both a group of genuine psychiatric patients and students instructed to complete the PID-5 under standard (honest) instructions (n = 161); the effect size magnitudes associated with these differences were large. Classification accuracy analyses further revealed that high scores on the PID-5-ORS were associated with high specificity (and thus, low rates of false positive classifications) in differentiating overreporters from genuine patients, with sensitivity being somewhat weaker. (PsycINFO Database Record (c) 2018 APA, all rights reserved).
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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Wahid, A.; Putra, I. G. E. P.
2018-03-01
Dimethyl ether (DME) as an alternative clean energy has attracted a growing attention in the recent years. DME production via reactive distillation has potential for capital cost and energy requirement savings. However, combination of reaction and distillation on a single column makes reactive distillation process a very complex multivariable system with high non-linearity of process and strong interaction between process variables. This study investigates a multivariable model predictive control (MPC) based on two-point temperature control strategy for the DME reactive distillation column to maintain the purities of both product streams. The process model is estimated by a first order plus dead time model. The DME and water purity is maintained by controlling a stage temperature in rectifying and stripping section, respectively. The result shows that the model predictive controller performed faster responses compared to conventional PI controller that are showed by the smaller ISE values. In addition, the MPC controller is able to handle the loop interactions well.
A Copula Based Approach for Design of Multivariate Random Forests for Drug Sensitivity Prediction.
Haider, Saad; Rahman, Raziur; Ghosh, Souparno; Pal, Ranadip
2015-01-01
Modeling sensitivity to drugs based on genetic characterizations is a significant challenge in the area of systems medicine. Ensemble based approaches such as Random Forests have been shown to perform well in both individual sensitivity prediction studies and team science based prediction challenges. However, Random Forests generate a deterministic predictive model for each drug based on the genetic characterization of the cell lines and ignores the relationship between different drug sensitivities during model generation. This application motivates the need for generation of multivariate ensemble learning techniques that can increase prediction accuracy and improve variable importance ranking by incorporating the relationships between different output responses. In this article, we propose a novel cost criterion that captures the dissimilarity in the output response structure between the training data and node samples as the difference in the two empirical copulas. We illustrate that copulas are suitable for capturing the multivariate structure of output responses independent of the marginal distributions and the copula based multivariate random forest framework can provide higher accuracy prediction and improved variable selection. The proposed framework has been validated on genomics of drug sensitivity for cancer and cancer cell line encyclopedia database.
Multivariate methods for particle identification
Visan, Cosmin
2013-01-01
The purpose of this project was to evaluate several MultiVariate methods in order to determine which one, if any, offers better results in Particle Identification (PID) than a simple n$\\sigma$ cut on the response of the ALICE PID detectors. The particles considered in the analysis were Pions, Kaons and Protons and the detectors used were TPC and TOF. When used with the same input n$\\sigma$ variables, the results show similar perfoance between the Rectangular Cuts Optimization method and the simple n$\\sigma$ cuts. The method MLP and BDT show poor results for certain ranges of momentum. The KNN method is the best performing, showing similar results for Pions and Protons as the Cuts method, and better results for Kaons. The extension of the methods to include additional input variables leads to poor results, related to instabilities still to be investigated.
Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor
Wang, Yannian; Wu, Peizhi; Liu, Chengtao
2017-09-01
To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.
Dominant pole placement with fractional order PID controllers: D-decomposition approach.
Mandić, Petar D; Šekara, Tomislav B; Lazarević, Mihailo P; Bošković, Marko
2017-03-01
Dominant pole placement is a useful technique designed to deal with the problem of controlling a high order or time-delay systems with low order controller such as the PID controller. This paper tries to solve this problem by using D-decomposition method. Straightforward analytic procedure makes this method extremely powerful and easy to apply. This technique is applicable to a wide range of transfer functions: with or without time-delay, rational and non-rational ones, and those describing distributed parameter systems. In order to control as many different processes as possible, a fractional order PID controller is introduced, as a generalization of classical PID controller. As a consequence, it provides additional parameters for better adjusting system performances. The design method presented in this paper tunes the parameters of PID and fractional PID controller in order to obtain good load disturbance response with a constraint on the maximum sensitivity and sensitivity to noise measurement. Good set point response is also one of the design goals of this technique. Numerous examples taken from the process industry are given, and D-decomposition approach is compared with other PID optimization methods to show its effectiveness. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Fractional order PID controller for load frequency control
International Nuclear Information System (INIS)
Sondhi, Swati; Hote, Yogesh V.
2014-01-01
Highlights: • The manuscript shows the design of FOPID controller for the load frequency control. • Performance of FOPID is given for non-reheated, reheated and hydro turbine. • Performance of FOPID is compared to IMC-PID and reduced order IMC-PID design scheme. • Performance of FOPID is better than the existing techniques. - Abstract: Load frequency control (LFC) plays a very important role in providing quality power both in the case of isolated as well as interconnected power systems. In order to maintain good quality power supply, the LFC should possess robustness toward the parametric uncertainty of the system and good disturbance rejection capability. The fractional order controller has the properties such as, eliminating steady state error, robustness toward plant gain variations and also good disturbance rejection. This makes the fractional order PID (FOPID) controller quite suitable for the LFC. Therefore, in this paper a FOPID is designed for single area LFC for all three types of turbines i.e., non-reheated, reheated and hydro turbines. It is observed that the FOPID controller shows better robustness toward ±50% parametric uncertainty and disturbance rejection capability than the existing techniques. Finally, the optimization of controller parameters and robustness evaluation of the control technique is done on the basis of the integral error criterion
Fractional order PID controller for improvement of PMSM speed control in aerospace applications
Energy Technology Data Exchange (ETDEWEB)
Saraji, Ali Motalebi [Young Researchers and Elite Club, AliAbad Katoul Branch, Islamic Azad University, AliAbad Katoul (Iran, Islamic Republic of); Ghanbari, Mahmood [Department of Electrical Engineering, AliAbad Katoul Branch, Islamic Azad University, AliAbad Katoul (Iran, Islamic Republic of)
2014-12-10
Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear.
Research on reactor power controller based on artificial immune P and PID cascade control technology
International Nuclear Information System (INIS)
Cheng Shouyu; Peng Minjun; Liu Xinkai
2014-01-01
The Reactor Power control system usually adopts the traditional PID controller, the traditional PID controller can meet the operating requirements, but the control effect is not very good. In order to improve this condition, the paper proposes an immune P and PID cascade controller which based the immune mechanism of B-cell co-operating with T-cell, the nuclear power controller based on artificial immune is less reported. In order to verify and validate the control strategy, the designed controller debugs with the full-scope real-time simulation system of nuclear power plants. The simulation results shows that the immune controller can effectively improve the dynamic operating characteristics of the reactor system, and the immune controller is superior to the traditional PID controller in control performance. (authors)
Fractional order PID controller for improvement of PMSM speed control in aerospace applications
International Nuclear Information System (INIS)
Saraji, Ali Motalebi; Ghanbari, Mahmood
2014-01-01
Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear
Discrete PID Tuning Using Artificial Intelligence Techniques
Directory of Open Access Journals (Sweden)
Petr DOLEŽEL
2009-06-01
Full Text Available PID controllers are widely used in industry these days due to their useful properties such as simple tuning or robustness. While they are applicable to many control problems, they can perform poorly in some applications. Highly nonlinear system control with constrained manipulated variable can be mentioned as an example. The point of the paper is to string together convenient qualities of conventional PID control and progressive techniques based on Artificial Intelligence. Proposed control method should deal with even highly nonlinear systems. To be more specific, there is described new method of discrete PID controller tuning in this paper. This method tunes discrete PID controller parameters online through the use of genetic algorithm and neural model of controlled system in order to control successfully even highly nonlinear systems. After method description and some discussion, there is performed control simulation and comparison to one chosen conventional control method.
Longitudinal control of aircraft dynamics based on optimization of PID parameters
Deepa, S. N.; Sudha, G.
2016-03-01
Recent years many flight control systems and industries are employing PID controllers to improve the dynamic behavior of the characteristics. In this paper, PID controller is developed to improve the stability and performance of general aviation aircraft system. Designing the optimum PID controller parameters for a pitch control aircraft is important in expanding the flight safety envelope. Mathematical model is developed to describe the longitudinal pitch control of an aircraft. The PID controller is designed based on the dynamic modeling of an aircraft system. Different tuning methods namely Zeigler-Nichols method (ZN), Modified Zeigler-Nichols method, Tyreus-Luyben tuning, Astrom-Hagglund tuning methods are employed. The time domain specifications of different tuning methods are compared to obtain the optimum parameters value. The results prove that PID controller tuned by Zeigler-Nichols for aircraft pitch control dynamics is better in stability and performance in all conditions. Future research work of obtaining optimum PID controller parameters using artificial intelligence techniques should be carried out.
Wind turbine pitch control using ICPSO-PID algorithm
DEFF Research Database (Denmark)
Xu, Chang; Tian, Qiangqiang; Shen, Wen Zhong
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...... 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....
Series pid pitch controller of large wind turbines generator
Directory of Open Access Journals (Sweden)
Micić Aleksandar D.
2015-01-01
Full Text Available For this stable process with oscillatory dynamics, characterized with small damping ratio and dominant transport delay, design of the series PID pitch controller is based on the model obtained from the open-loop process step response, filtered with the second-order Butterworth filter Fbw. Performance of the series PID pitch controller, with the filter Fbw, is analyzed by simulations of the set-point and input/output disturbance responses, including simulations with a colored noise added to the control variable. Excellent performance/robustness tradeoff is obtained, compared to the recently proposed PI pitch controllers and to the modified internal model pitch controller, developed here, which has a natural mechanism to compensate effect of dominant transport delay. [Projekat Ministarstva nauke Republike Srbije, br. III 47016
A trust region approach with multivariate Padé model for optimal circuit design
Abdel-Malek, Hany L.; Ebid, Shaimaa E. K.; Mohamed, Ahmed S. A.
2017-11-01
Since the optimization process requires a significant number of consecutive function evaluations, it is recommended to replace the function by an easily evaluated approximation model during the optimization process. The model suggested in this article is based on a multivariate Padé approximation. This model is constructed using data points of ?, where ? is the number of parameters. The model is updated over a sequence of trust regions. This model avoids the slow convergence of linear models of ? and has features of quadratic models that need interpolation data points of ?. The proposed approach is tested by applying it to several benchmark problems. Yield optimization using such a direct method is applied to some practical circuit examples. Minimax solution leads to a suitable initial point to carry out the yield optimization process. The yield is optimized by the proposed derivative-free method for active and passive filter examples.
Simulation research on multivariable fuzzy model predictive control of nuclear power plant
International Nuclear Information System (INIS)
Su Jie
2012-01-01
To improve the dynamic control capabilities of the nuclear power plant, the algorithm of the multivariable nonlinear predictive control based on the fuzzy model was applied in the main parameters control of the nuclear power plant, including control structure and the design of controller in the base of expounding the math model of the turbine and the once-through steam generator. The simulation results show that the respond of the change of the gas turbine speed and the steam pressure under the algorithm of multivariable fuzzy model predictive control is faster than that under the PID control algorithm, and the output value of the gas turbine speed and the steam pressure under the PID control algorithm is 3%-5% more than that under the algorithm of multi-variable fuzzy model predictive control. So it shows that the algorithm of multi-variable fuzzy model predictive control can control the output of the main parameters of the nuclear power plant well and get better control effect. (author)
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. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
A novel auto-tuning PID control mechanism for nonlinear systems.
Cetin, Meric; Iplikci, Serdar
2015-09-01
In this paper, a novel Runge-Kutta (RK) discretization-based model-predictive auto-tuning proportional-integral-derivative controller (RK-PID) is introduced for the control of continuous-time nonlinear systems. The parameters of the PID controller are tuned using RK model of the system through prediction error-square minimization where the predicted information of tracking error provides an enhanced tuning of the parameters. Based on the model-predictive control (MPC) approach, the proposed mechanism provides necessary PID parameter adaptations while generating additive correction terms to assist the initially inadequate PID controller. Efficiency of the proposed mechanism has been tested on two experimental real-time systems: an unstable single-input single-output (SISO) nonlinear magnetic-levitation system and a nonlinear multi-input multi-output (MIMO) liquid-level system. RK-PID has been compared to standard PID, standard nonlinear MPC (NMPC), RK-MPC and conventional sliding-mode control (SMC) methods in terms of control performance, robustness, computational complexity and design issue. The proposed mechanism exhibits acceptable tuning and control performance with very small steady-state tracking errors, and provides very short settling time for parameter convergence. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller
Directory of Open Access Journals (Sweden)
Muzaffer Metin
2014-01-01
Full Text Available In this study, vertical rail vehicle vibrations are controlled by the use of conventional PID and parameters which are adaptive to PID controllers. A parameters adaptive PID controller is designed to improve the passenger comfort by intuitional usage of this method that renews the parameters online and sensitively under variable track inputs. Sinusoidal vertical rail misalignment and measured real rail irregularity are considered as two different disruptive effects of the system. Active vibration control is applied to the system through the secondary suspension. The active suspension application of rail vehicle is examined by using 5-DOF quarter-rail vehicle model by using Manchester benchmark dynamic parameters. The new parameters of adaptive controller are optimized by means of genetic algorithm toolbox of MATLAB. Simulations are performed at maximum urban transportation speed (90 km/h of the rail vehicle with ±5% load changes of rail vehicle body to test the robustness of controllers. As a result, superior performance of parameters of adaptive controller is determined in time and frequency domain.
Thimm, Jens C.; Jordan, Stian; Bach, Bo
2016-01-01
Background With the publication of the fifth edition of the Diagnostic and Statistical Manual of Mental Disorders (DSM-5), an alternative model for personality disorders based on personality dysfunction and pathological personality traits was introduced. The Personality Inventory for DSM-5 (PID-5) is a 220-item self-report inventory designed to assess the personality traits of this model. Recently, a short 100-item version of the PID-5 (PID-5-SF) has been developed. The aim of this study was ...
PIDs, Types and the Semantic Web
Schwardmann, Ulrich
2017-04-01
PID Information Types are becoming a crucial role in scientific data management because they can provide state (what) and binding (where) information about digital objects as attributes of the PID. This is a similar but much more flexible approach than the well known mime type characterization, because both of these types concepts allow to decide about preconditions for processes in advance and before touching the data. One aspect of this is the need for standards and correctness of the used types to ensure reliability for the processes operating on the digital objects. This requires registries and schemas for PID InfoTypes and suggests an automated schema generation process. Such a process in combination with data type registries will be described in more detail in the intended talk. Another aspect of PID InfoTypes is its intrinsic grammar as subject-predicate-object triple, with the PID as subject, the type as predicate and its value (often again a PID) as object in this relation. Given the registration of types and the proposed syntactical rigidness of the value, guaranteed by the schema, together with the use of PIDs in subject and predicate, the type concept has the ability to overcome the fuzziness and lack of reliability of semantic web categories with its URL references and possibly changing locations and content. The intended talk will also describe this approach in more detail, discusses the differences to linked data and describes some necessary technological developments for the type concept to keep up with the possibilities currently provided by the semantic web.
Monitoring System and Temperature Controlling on PID Based Poultry Hatching Incubator
Shafiudin, S.; Kholis, N.
2018-04-01
Poultry hatching cultivation is essential to be observed in terms of temperature stability by using artificial penetration incubator which applies On/Off control. The On/Off control produces relatively long response time to reach steady-state conditions. Moreover, how the system works makes the component worn out because the lamp is on-off periodically. Besides, the cultivation in the market is less suitable to be used in an environment which has fluctuating temperature because it may influence plant’s temperature stability. The study aims to design automatic poultry hatching cultivation that can repair the temperature’s response of plant incubator to keep stable and in line with the intended set-point temperature value by using PID controller. The method used in PID controlling is designed to identify plant using ARX (Auto Regressive eXogenous) MATLAB which is dynamic/non-linear to obtain mathematical model and PID constants value that is appropriate to system. The hardware design for PID-based egg incubator uses Arduino Uno R3, as the main controller that includes PID source, and PWM, to keep plant temperature stability, which is integrated with incandescent light actuators and sensors where DHTI 1 sensor as the reader as temperature condition and plant humidity. The result of the study showed that PID constants value of each plant is different. For parallel 15 Watt plant, Kp = 3.9956, Ki = 0.361, Kd = 0, while for parallel 25 Watt plant, the value of Kp = 5.714, Ki = 0.351, Kd = 0. The PID constants value were capable to produce stable system response which is based on set-point with steady state error’s value is around 5%, that is 2.7%. With hatching percentage of 70-80%, the hatching process is successful in air-conditioned environment (changeable).
Sain, M. K.; Antsaklis, P. J.; Gejji, R. R.; Wyman, B. F.; Peczkowski, J. L.
1981-01-01
Zames (1981) has observed that there is, in general, no 'separation principle' to guarantee optimality of a division between control law design and filtering of plant uncertainty. Peczkowski and Sain (1978) have solved a model matching problem using transfer functions. Taking into consideration this investigation, Peczkowski et al. (1979) proposed the Total Synthesis Problem (TSP), wherein both the command/output-response and command/control-response are to be synthesized, subject to the plant constraint. The TSP concept can be subdivided into a Nominal Design Problem (NDP), which is not dependent upon specific controller structures, and a Feedback Synthesis Problem (FSP), which is. Gejji (1980) found that NDP was characterized in terms of the plant structural matrices and a single, 'good' transfer function matrix. Sain et al. (1981) have extended this NDP work. The present investigation is concerned with a study of FSP for the unity feedback case. NDP, together with feedback synthesis, is understood as a Total Synthesis Problem.
Li, Zhe; Yang, Guang-Hong
2017-09-01
In this paper, an integrated data-driven fault-tolerant control (FTC) design scheme is proposed under the configuration of the Youla parameterization for multiple-input multiple-output (MIMO) systems. With unknown system model parameters, the canonical form identification technique is first applied to design the residual observer in fault-free case. In faulty case, with online tuning of the Youla parameters based on the system data via the gradient-based algorithm, the fault influence is attenuated with system performance optimization. In addition, to improve the robustness of the residual generator to a class of system deviations, a novel adaptive scheme is proposed for the residual generator to prevent its over-activation. Simulation results of a two-tank flow system demonstrate the optimized performance and effect of the proposed FTC scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Institute of Scientific and Technical Information of China (English)
谭冠政; 曾庆冬; 李文斌
2004-01-01
A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller,by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*p , Ti* and T*d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , Ti*and Td* and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.
Robust PID Controller for a Pneumatic Actuator
Directory of Open Access Journals (Sweden)
Skarpetis Michael G.
2016-01-01
Full Text Available In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provide a suboptimal solution for tracking error minimization. Simulation results are presented for the nonlinear model.
Quadrotor trajectory tracking using PID cascade control
Idres, M.; Mustapha, O.; Okasha, M.
2017-12-01
Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.
PID control with robust disturbance feedback control
DEFF Research Database (Denmark)
Kawai, Fukiko; Vinther, Kasper; Andersen, Palle
2015-01-01
Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC...... and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...... compared with an H-infinity controller....
Selvarasu, Suresh; Kim, Do Yun; Karimi, Iftekhar A; Lee, Dong-Yup
2010-10-01
We present an integrated framework for characterizing fed-batch cultures of mouse hybridoma cells producing monoclonal antibody (mAb). This framework systematically combines data preprocessing, elemental balancing and statistical analysis technique. Initially, specific rates of cell growth, glucose/amino acid consumptions and mAb/metabolite productions were calculated via curve fitting using logistic equations, with subsequent elemental balancing of the preprocessed data indicating the presence of experimental measurement errors. Multivariate statistical analysis was then employed to understand physiological characteristics of the cellular system. The results from principal component analysis (PCA) revealed three major clusters of amino acids with similar trends in their consumption profiles: (i) arginine, threonine and serine, (ii) glycine, tyrosine, phenylalanine, methionine, histidine and asparagine, and (iii) lysine, valine and isoleucine. Further analysis using partial least square (PLS) regression identified key amino acids which were positively or negatively correlated with the cell growth, mAb production and the generation of lactate and ammonia. Based on these results, the optimal concentrations of key amino acids in the feed medium can be inferred, potentially leading to an increase in cell viability and productivity, as well as a decrease in toxic waste production. The study demonstrated how the current methodological framework using multivariate statistical analysis techniques can serve as a potential tool for deriving rational medium design strategies. Copyright © 2010 Elsevier B.V. All rights reserved.
Used frying oil biodiesel production: experimental factorial design and multivariate analysis
Directory of Open Access Journals (Sweden)
Rosana de Cassia de Souza Schneider
2009-01-01
Full Text Available Biodiesel é derivado de fontes renováveis ereduz significativamente as emissões atmosféricas. Pode serobtido de diversos processos, como a alcoolise. Nestetrabalho, o biodiesel foi produzido através da alcoolise doóleo de fritura usado de indústrias de alimentação. Umplanejamento experimental foi utilizado e os produtos dereação foram analisados por cromatografia gasosa (CGespectroscopia na região do infravermelho com acessório dereflexão total atenuada horizontal (IV-HATR e análiseexploratória por análise de componentes principais (PCA eanálise hierárquica de grupos (HCA. De acordo com ascondições analisadas obteve-se alta conversão em ésteresmetílicos. Por IV-HATR, a conversão máxima foi observadaem condições experimentais de temperatura ( 50 e 60°C,concentração de catalisador (0,6 e 1,2% e a 1:8 de relaçãomolar entre óleo e metanol. Também foi possíveldiscriminar por análise quimiométrica, 4 grupos noplanejamento experimental e determinar as melhorescondições para a produção de biodiesel de óleo de friturausado.Abstract Biodiesel is derived from renewable sources and it significantly reduces atmospheric emissions. It can be obtained byseveral processes, such as alcoholysis. In this work, biodiesel was produced through alcoholysis of used frying oil from a cateringbusiness. An experimental factorial design was used and the reaction products were analyzed through gas chromatography (GC,horizontal attenuated total reflection Fourier transform infrared (HATR/FT-IR spectroscopy and exploratory analysis withprincipal component analysis (PCA and hierarchical cluster analysis (HCA. Under the conditions analyzed, a high degree ofconversion to methyl ester was found. As shown by HATR/FT-IR, the maximum conversion was obtained when the experimentalconditions had the temperature ( 50 e 60°C, largest catalyst concentration (0,6 e 1,2% and a 1:8 molar proportion of oil tomethanol. It was possible to discriminate
A Practical Tuning Method for the Robust PID Controller with Velocity Feed-Back
Directory of Open Access Journals (Sweden)
Emre Sariyildiz
2015-08-01
Full Text Available Proportional-Integral-Derivative (PID control is the most widely used control method in industrial and academic applications due to its simplicity and efficiency. Several different control methods/algorithms have been proposed to tune the gains of PID controllers. However, the conventional tuning methods do not have sufficient performance and simplicity for practical applications, such as robotics and motion control. The performance of motion control systems may significantly deteriorate by the nonlinear plant uncertainties and unknown external disturbances, such as inertia variations, friction, external loads, etc., i.e., there may be a significant discrepancy between the simulation and experiment if the robustness is not considered in the design of PID controllers. This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back for motion control systems. The main advantages of the proposed method are the simplicity and efficiency in practical applications, i.e., a high performance robust motion control system can be easily designed by properly tuning conventional PID controllers. The validity of the proposal is verified by giving simulation and experimental results.
Srivastava, Saurabh; Pandit, V S
2017-11-01
This paper focuses on the analytical design of a Proportional Integral and Derivative (PID) controller together with a unique set point filter that makes the overall Two-Degree of-Freedom (2-Dof) control system for integrating processes with time delay. The PID controller tuning is based on the Linear Quadratic Regulator (LQR) using dominant pole placement approach to obtain good regulatory response. The set point filter is designed with the calculated PID parameters and using a single filter time constant (λ) to precisely control the servo response. The effectiveness of the proposed methodology is demonstrated through a series of illustrative examples using real industrial integrated process models. The whole range of PID parameters is obtained for each case in a tradeoff between the robustness of the closed loop system measured in terms of Maximum Sensitivity (M s ) and the load disturbance measured in terms of Integral of Absolute Errors (IAE). Results show improved closed loop response in terms of regulatory and servo responses with less control efforts when compared with the latest PID tuning methods of integrating systems. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Robotic excavator trajectory control using an improved GA based PID controller
Feng, Hao; Yin, Chen-Bo; Weng, Wen-wen; Ma, Wei; Zhou, Jun-jing; Jia, Wen-hua; Zhang, Zi-li
2018-05-01
In order to achieve excellent trajectory tracking performances, an improved genetic algorithm (IGA) is presented to search for the optimal proportional-integral-derivative (PID) controller parameters for the robotic excavator. Firstly, the mathematical model of kinematic and electro-hydraulic proportional control system of the excavator are analyzed based on the mechanism modeling method. On this basis, the actual model of the electro-hydraulic proportional system are established by the identification experiment. Furthermore, the population, the fitness function, the crossover probability and mutation probability of the SGA are improved: the initial PID parameters are calculated by the Ziegler-Nichols (Z-N) tuning method and the initial population is generated near it; the fitness function is transformed to maintain the diversity of the population; the probability of crossover and mutation are adjusted automatically to avoid premature convergence. Moreover, a simulation study is carried out to evaluate the time response performance of the proposed controller, i.e., IGA based PID against the SGA and Z-N based PID controllers with a step signal. It was shown from the simulation study that the proposed controller provides the least rise time and settling time of 1.23 s and 1.81 s, respectively against the other tested controllers. Finally, two types of trajectories are designed to validate the performances of the control algorithms, and experiments are performed on the excavator trajectory control experimental platform. It was demonstrated from the experimental work that the proposed IGA based PID controller improves the trajectory accuracy of the horizontal line and slope line trajectories by 23.98% and 23.64%, respectively in comparison to the SGA tuned PID controller. The results further indicate that the proposed IGA tuning based PID controller is effective for improving the tracking accuracy, which may be employed in the trajectory control of an actual excavator.
Thimm, Jens C; Jordan, Stian; Bach, Bo
2016-12-07
With the publication of the fifth edition of the Diagnostic and Statistical Manual of Mental Disorders (DSM-5), an alternative model for personality disorders based on personality dysfunction and pathological personality traits was introduced. The Personality Inventory for DSM-5 (PID-5) is a 220-item self-report inventory designed to assess the personality traits of this model. Recently, a short 100-item version of the PID-5 (PID-5-SF) has been developed. The aim of this study was to investigate the score reliability and structure of the Norwegian PID-5-SF. Further, criterion validity with the five factor model of personality (FFM) and pathological personality beliefs was examined. A derivation sample of university students (N = 503) completed the PID-5, the Big Five Inventory (BFI), and the Personality Beliefs Questionnaire - Short Form (PBQ-SF), whereas a replication sample of 127 students completed the PID-5-SF along with the aforementioned measures. The short PID-5 showed overall good score reliability and structural validity. The associations with FFM traits and pathological personality beliefs were conceptually coherent and similar for the two forms of the PID-5. The results suggest that the Norwegian PID-5 short form is a reliable and efficient measure of the trait criterion of the alternative model for personality disorders in DSM-5.
Energy Technology Data Exchange (ETDEWEB)
Brandvik, Per Johan
1997-12-31
This thesis describes how laboratory experiments combined with numerical modelling were used to predict weathering of an oil slick at different environmental conditions (temperature, wind etc.). It also applies laboratory test methods to screen dispersant effectiveness under different temperatures and salinities. A new approach is developed for dispersant optimization based on statistical design and multivariate analysis; this resulted in a new dispersant with low toxicity and high effectiveness on a broad selection of oil types. The thesis illustrates the potential of dispersant used as an operational response method on oil spills by discussing three different oil spill scenarios and compares the effect of using dispersants to using mechanical recovery and to doing nothing. Some recommendations that may increase the effectiveness of the Norwegian oil spill contingency are also given. 172 refs., 65 figs., 9 tabs.
Brühlmann, David; Sokolov, Michael; Butté, Alessandro; Sauer, Markus; Hemberger, Jürgen; Souquet, Jonathan; Broly, Hervé; Jordan, Martin
2017-07-01
Rational and high-throughput optimization of mammalian cell culture media has a great potential to modulate recombinant protein product quality. We present a process design method based on parallel design-of-experiment (DoE) of CHO fed-batch cultures in 96-deepwell plates to modulate monoclonal antibody (mAb) glycosylation using medium supplements. To reduce the risk of losing valuable information in an intricate joint screening, 17 compounds were separated into five different groups, considering their mode of biological action. The concentration ranges of the medium supplements were defined according to information encountered in the literature and in-house experience. The screening experiments produced wide glycosylation pattern ranges. Multivariate analysis including principal component analysis and decision trees was used to select the best performing glycosylation modulators. Subsequent D-optimal quadratic design with four factors (three promising compounds and temperature shift) in shake tubes confirmed the outcome of the selection process and provided a solid basis for sequential process development at a larger scale. The glycosylation profile with respect to the specifications for biosimilarity was greatly improved in shake tube experiments: 75% of the conditions were equally close or closer to the specifications for biosimilarity than the best 25% in 96-deepwell plates. Biotechnol. Bioeng. 2017;114: 1448-1458. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.
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...
DIRC-based PID for the EIC central detector
Energy Technology Data Exchange (ETDEWEB)
Dzhygadlo, Roman; Schwarz, Carsten; Schwiening, Jochen [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Darmstadt (Germany); Peters, Klaus [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Darmstadt (Germany); Goethe-Universitaet Frankfurt (Germany); Collaboration: DIRC at EIC RD-Collaboration
2015-07-01
One of the key requirements for the central detector of a future Electron-Ion Collider (EIC) is to provide radially compact Particle Identification (PID) (e/π,π/K,K/p) over a wide momentum range. It is expected that the PID system will need to include one or more Cherenkov counters to achieve this goal. With a radial size of only a few cm, a DIRC counter (Detector of Internally Reflected Cherenkov light) is potentially an attractive option. The DIRC rate at EIC R and D Collaboration was formed by groups in the United States and Germany in 2011 with funding from DOE to investigate ways to extend the momentum coverage of DIRC counters for the EIC detector by up to 50% beyond the current state of the art. Possible design improvements include a complex focusing system, multi-anode sensors with smaller pixels, a time-based reconstruction algorithm, and chromatic dispersion mitigation. Both Geant and ray-tracing simulations are used to optimize the design configuration of the DIRC counter in terms of the performance and the best integration with the EIC detector. We discuss the current status of the design studies and the possible improvements to the Cherenkov angle resolution and the photon yield.
Directory of Open Access Journals (Sweden)
Gilberto Reynoso-Meza
2013-07-01
Full Text Available Resumen: Los controladores PID continÃºan siendo una soluciÃ³n fiable, robusta, prÃ¡ctica y sencilla para el control de procesos. Actualmente constituyen la primera capa de control de la gran mayorÃa de las aplicaciones industriales. De ahÃ que un nÃºmero importante de trabajos de investigaciÃ³n se han orientado a mejorar su rendimiento y prestaciones. Las lÃneas de investigaciÃ³n en este campo van desde nuevos mÃ©todos de ajuste, pasando por nuevos tipos de estructura hasta metodologÃas de diseÃ±o integrales. Particularizando en el ajuste de parÃ¡metros, una de las formas de obtener una soluciÃ³n novedosa consiste en plantear un problema de optimizaciÃ³n, el cual puede llegar a ser no-lineal, no-convexo y con restricciones. Dado que los algoritmos evolutivos han mostrado un buen desempeÃ±o para solucionar problemas complejos de optimizaciÃ³n, han sido utilizados en diversas propuestas relacionadas con el ajuste de controladores PID. Este trabajo muestra un revisiÃ³n de estas propuestas y las prestaciones obtenidas en cada caso. AsÃ mismo, se identifican algunas tendencias y posibles lÃneas de trabajo futuras. Abstract: PID controllers are a reliable, robust, practical and easy to implement control solution for industrial processes. They provide the first control layer for a vast majority of industrial applications. Owing to this, several researches invest time and resources to improve their performance. The research lines in this field scope with new tuning methods, new types of structures and integral design methods. For tuning methods, improvements could be fulfilled stating an optimization problem, which could be non-linear, non-convex and highly constrained. In such instances, evolutionary algorithms have shown a good performance and have been used in various proposals related with PID controllers tuning. This work shows a review of these proposals and the benefits obtained in each case. Some
Particle swarm optimization based PID controller tuning for level control of two tank system
Vincent, Anju K.; Nersisson, Ruban
2017-11-01
Automatic control plays a vital role in industrial operation. In process industries, in order to have an improved and stable control system, we need a robust tuning method. In this paper Particle Swarm Optimization (PSO) based algorithm is proposed for the optimization of a PID controller for level control process. A two tank system is considered. Initially a PID controller is designed using an Internal Model Control (IMC). The results are compared with the PSO based controller setting. The performance of the controller is compared and analyzed by time domain specification. In order to validate the robustness of PID controller, disturbance is imposed. The system is simulated using MATLAB. The results show that the proposed method provides better controller performance.
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. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
The performance of the DC motor by the PID controlling PWM DC-DC boost converter
Can, Erol; Sayan, Hasan Hüseyin
2017-01-01
This paper presents the PID controlling direct current (DC) to the direct current boost converter feds DC motor which has a 3.68 kW and 240 V of DC voltage input on its characteristics. What is first formed is the boost converter mathematical model at the design stage. Secondly, a mathematical model of the DC motor is created so that the boost converter with the machine can be established and modeled at the Matlab Simulink. The PID controller is considered for arranging a pulse width modulati...
Fuzzy Logic and PID control of a 3 DOF Robotic Arm
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Korhan Kayışlı
2017-12-01
Full Text Available The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively
Jin, Q B; Liu, Q; Huang, B
2016-03-01
This paper considers the problem of determining all the robust PID (proportional-integral-derivative) controllers in terms of the gain and phase margins (GPM) for open-loop unstable first order plus time delay (UFOPTD) processes. It is the first time that the feasible ranges of the GPM specifications provided by a PID controller are given for UFOPTD processes. A gain and phase margin tester is used to modify the original model, and the ranges of the margin specifications are derived such that the modified model can be stabilized by a stabilizing PID controller based on Hermite-Biehlers Theorem. Furthermore, we obtain all the controllers satisfying a given margin specification. Simulation studies show how to use the results to design a robust PID controller. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Goher, K M; Fadlallah, S O
2017-01-01
This paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechanism. The system under investigation provides solutions for industrial robotic applications that require a limited-space working environment. The system nonlinear mathematical model, derived using Lagrangian modeling approach, is simulated in MATLAB/Simulink ® environment. Bacterial foraging-optimized PID control with decoupled nature is designed and implemented. Various working scenarios with multiple initial conditions are used to test the robustness and the system performance. Simulation results revealed the effectiveness of the bacterial foraging-optimized PID control method in improving the system performance compared to the PID control scheme.
Experimental designs developed to address mixtures are ideally suited for many areas of experimental biology including pheromone blend studies because they address the confounding of proportionality and concentration intrinsic to factorial and one-factor-at-a-time designs. Geometric multivariate des...
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Puchalski Bartosz
2015-12-01
Full Text Available In the paper, analysis of multi-region fuzzy logic controller with local PID controllers for steam generator of pressurized water reactor (PWR working in wide range of thermal power changes is presented. The U-tube steam generator has a nonlinear dynamics depending on thermal power transferred from coolant of the primary loop of the PWR plant. Control of water level in the steam generator conducted by a traditional PID controller which is designed for nominal power level of the nuclear reactor operates insufficiently well in wide range of operational conditions, especially at the low thermal power level. Thus the steam generator is often controlled manually by operators. Incorrect water level in the steam generator may lead to accidental shutdown of the nuclear reactor and consequently financial losses. In the paper a comparison of proposed multi region fuzzy logic controller and traditional PID controllers designed only for nominal condition is presented. The gains of the local PID controllers have been derived by solving appropriate optimization tasks with the cost function in a form of integrated squared error (ISE criterion. In both cases, a model of steam generator which is readily available in literature was used for control algorithms synthesis purposes. The proposed multi-region fuzzy logic controller and traditional PID controller were subjected to broad-based simulation tests in rapid prototyping software - Matlab/Simulink. These tests proved the advantage of multi-region fuzzy logic controller with local PID controllers over its traditional counterpart.
Wojcik, Pawel Jerzy; Pereira, Luís; Martins, Rodrigo; Fortunato, Elvira
2014-01-13
An efficient mathematical strategy in the field of solution processed electrochromic (EC) films is outlined as a combination of an experimental work, modeling, and information extraction from massive computational data via statistical software. Design of Experiment (DOE) was used for statistical multivariate analysis and prediction of mixtures through a multiple regression model, as well as the optimization of a five-component sol-gel precursor subjected to complex constraints. This approach significantly reduces the number of experiments to be realized, from 162 in the full factorial (L=3) and 72 in the extreme vertices (D=2) approach down to only 30 runs, while still maintaining a high accuracy of the analysis. By carrying out a finite number of experiments, the empirical modeling in this study shows reasonably good prediction ability in terms of the overall EC performance. An optimized ink formulation was employed in a prototype of a passive EC matrix fabricated in order to test and trial this optically active material system together with a solid-state electrolyte for the prospective application in EC displays. Coupling of DOE with chromogenic material formulation shows the potential to maximize the capabilities of these systems and ensures increased productivity in many potential solution-processed electrochemical applications.
Air Compressor Pressure Control System Based On Gearshift Integral PID Controller
PAN Chunyue
2017-01-01
The application of gearshift integral PID controller to air compressor pressure control system is introduced, Its kernel is single chip microcomputer PIC16F877.The design of hardware and solfware are introduced too. Practical application shows that this system has many advantages.
Air Compressor Pressure Control System Based On Gearshift Integral PID Controller
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PAN Chunyue
2017-01-01
Full Text Available The application of gearshift integral PID controller to air compressor pressure control system is introduced, Its kernel is single chip microcomputer PIC16F877.The design of hardware and solfware are introduced too. Practical application shows that this system has many advantages.
Implementasi Kontrol PID pada Mesin Pengembang Roti
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Novianti Yuliarmas
2015-04-01
Full Text Available Besides the ingredient composition, another important thing in the process of making dough is proofing, ie. dough rising process prior to roasting process. Proofing process requires a stable temperature to ensure that the dough is well rising. The purpose of this research is to make a proofing machine that uses DHT11 as a temperature sensor. Proportional-Integral-Derivative (PID controller is implemented to guarantee that the machine remains at the temperature of 350Celcius, in which the fermentation process would success. PID control has been implemented in fluorescent lamp which been set its dim light to generate heat until it reach a predetermined set point value. The temperature was monitored using LCD and set to remain stable with the help of fan. The proofing process will last for 15 minutes which ended by the sound of the buzzer. The testing result shows that the value of , , will reach set point value within 120 seconds.
Oscillations-free PID control of anesthetic drug delivery in neuromuscular blockade.
Medvedev, Alexander; Zhusubaliyev, Zhanybai T; Rosén, Olov; Silva, Margarida M
2016-07-25
The PID-control of drug delivery or the neuromuscular blockade (NMB) in closed-loop anesthesia is considered. The NMB system dynamics portrayed by a Wiener model can exhibit sustained nonlinear oscillations under realistic PID gains and for physiologically feasible values of the model parameters. Such oscillations, also repeatedly observed in clinical trials, lead to under- and over-dosing of the administered drug and undermine patient safety. This paper proposes a tuning policy for the proportional PID gain that via bifurcation analysis ensures oscillations-free performance of the control loop. Online estimates of the Wiener model parameters are needed for the controller implementation and monitoring of the closed-loop proximity to oscillation. The nonlinear dynamics of the PID-controlled NMB system are studied by bifurcation analysis. A database of patient models estimated under PID-controlled neuromuscular blockade during general anesthesia is utilized, along with the corresponding clinical measurements. The performance of three recursive algorithms is compared in the application at hand: an extended Kalman filter, a conventional particle filter (PF), and a PF making use of an orthonormal basis to estimate the probability density function from the particle set. It is shown that with a time-varying proportional PID gain, the type of equilibria of the closed-loop system remains the same as in the case of constant controller gains. The recovery time and frequency of oscillations are also evaluated in simulation over the database of patient models. Nonlinear identification techniques based on model linearization yield biased parameter estimates and thus introduce superfluous uncertainty. The bias and variance of the estimated models are related to the computational complexity of the identification algorithms, highlighting the superiority of the PFs in this safety-critical application. The study demonstrates feasibility of the proposed oscillation-free control
PID Controller of Sprayer Chassis by Sliding Mode
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Hua Zhang
2017-01-01
Full Text Available In order to solve the straight line drive coordinated control problem of the four-wheel independent drive sprayer chassis, the dynamic model of sprayer chassis and electromagnetic proportional valve controlled hydraulic motor model are established. The additional yaw moment is designed to rectify the deviation with sliding mode variable structure control. PID control strategy is used to calculate the control voltage adjustment of the electromagnetic proportional valve. The simulation results show that the accumulative deviation of the chassis is 0.2 m out of 100 m when the coordinated control strategy is adopted on different adhesive coefficient pavement, which is much smaller than the value without control. The test results of test prototype show that the yaw acceleration of the chassis can be as low as −0.0132 m/s2 on different adhesive coefficient pavement with coordinated control, which is smaller than the value without control, and the straight line drive requirements are met. It is feasible to combine sliding mode variable structure with PID control and use the electromagnetic proportional control technology in the straight line drive coordinated control of sprayer chassis by adding the yaw moment to rectify the deviation of chassis based on the yaw acceleration detection.
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 PIλDμ) controller have been approximated in this paper vis-à-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/PIλDμ 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.
Asgharnia, Amirhossein; Shahnazi, Reza; Jamali, Ali
2018-05-11
The most studied controller for pitch control of wind turbines is proportional-integral-derivative (PID) controller. However, due to uncertainties in wind turbine modeling and wind speed profiles, the need for more effective controllers is inevitable. On the other hand, the parameters of PID controller usually are unknown and should be selected by the designer which is neither a straightforward task nor optimal. To cope with these drawbacks, in this paper, two advanced controllers called fuzzy PID (FPID) and fractional-order fuzzy PID (FOFPID) are proposed to improve the pitch control performance. Meanwhile, to find the parameters of the controllers the chaotic evolutionary optimization methods are used. Using evolutionary optimization methods not only gives us the unknown parameters of the controllers but also guarantees the optimality based on the chosen objective function. To improve the performance of the evolutionary algorithms chaotic maps are used. All the optimization procedures are applied to the 2-mass model of 5-MW wind turbine model. The proposed optimal controllers are validated using simulator FAST developed by NREL. Simulation results demonstrate that the FOFPID controller can reach to better performance and robustness while guaranteeing fewer fatigue damages in different wind speeds in comparison to FPID, fractional-order PID (FOPID) and gain-scheduling PID (GSPID) controllers. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
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.
Research on digital PID control algorithm for HPCT
International Nuclear Information System (INIS)
Zeng Yi; Li Rui; Shen Tianjian; Ke Xinhua
2009-01-01
Digital PID applied in high-precision HPCT (High-precision current transducer) based on Digital Signal Processor (DSP) TMS320F2812 and special D/A converter was researched. By using increment style PID Control algorithm, the stability and precision of high-precision HPCT output voltage is improved. On basis of deeply analysing incremental digital PID, the scheme model of HPCT is proposed, the feasibility simulation using Matlab is given. Practical hardware circuit verified the incremental PID has closed-loop control process in tracking HPCT output voltage. (authors)
Application of integral-separated PID algorithm in orbit feedback
International Nuclear Information System (INIS)
Xuan, K.; Bao, X.; Li, C.; Li, W.; Liu, G.; Wang, J.; Wang, L.
2012-01-01
The algorithm in the feedback system has important influence on the performance of the beam orbit. PID (Proportion Integration Differentiation) algorithm is widely used in the beam orbit feedback system; however, the deficiency of PID algorithm is a big overshooting in strong perturbations. In order to overcome the deficiencies, the integral-separated PID algorithm is developed. When the closed orbit distortion is too large, it cancels integration action until the closed orbit distortion is lower than the separation threshold value. The implementation of integral-separated PID algorithm with MATLAB is described in this paper. The simulation results show that this algorithm can improve the control precision. (authors)
Computer-aided control system design
International Nuclear Information System (INIS)
Lebenhaft, J.R.
1986-01-01
Control systems are typically implemented using conventional PID controllers, which are then tuned manually during plant commissioning to compensate for interactions between feedback loops. As plants increase in size and complexity, such controllers can fail to provide adequate process regulations. Multivariable methods can be utilized to overcome these limitations. At the Chalk River Nuclear Laboratories, modern control systems are designed and analyzed with the aid of MVPACK, a system of computer programs that appears to the user like a high-level calculator. The software package solves complicated control problems, and provides useful insight into the dynamic response and stability of multivariable systems
Implementation of PID Controller in MATLAB for Real Time DC Motor Speed Control System
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Manjunatha Reddy H. K.
2011-03-01
Full Text Available In this paper the implementation of PIDC (proportional + integral + derivative controller in MATLAB environment for real time DC motor speed control is presented. The MATLAB environment is chosen because of availability of tool boxes which allows the effective way of implementation and analysis of the control system. The performance of PID controller for different inputs is studied. To establish a communication between PC and process parameter, an indigenous Analog to digital and digital to analog (AD-DA board is designed. This board consists of 12-bit A/D converter and 12-bit D/A converter to facilitate the data acquisition and control. In the present study Advantech make PCI-1751 DIOT card is used to interface AD-DA board to PC externally. The data between the AD-DA board and the PC is communicated through the script file written in MATLAB environment. By applying different standard test commands such as step, square, staircase and triangular, the performance of PID controller is studied. The PID controller provides better system response in terms of transient as well as steady-state performances. The controller parameters are manually tuned (kp=0.232, ki=0.078 and kd=0.035 and the results of the best tuned PID controller are presented.
Dynamic modelling and PID loop control of an oil-injected screw compressor package
Poli, G. W.; Milligan, W. J.; McKenna, P.
2017-08-01
A significant amount of time is spent tuning the PID (Proportional, Integral and Derivative) control loops of a screw compressor package due to the unique characteristics of the system. Common mistakes incurred during the tuning of a PID control loop include improper PID algorithm selection and unsuitable tuning parameters of the system resulting in erratic and inefficient operation. This paper details the design and development of software that aims to dynamically model the operation of a single stage oil injected screw compressor package deployed in upstream oil and gas applications. The developed software will be used to assess and accurately tune PID control loops present on the screw compressor package employed in controlling the oil pressures, temperatures and gas pressures, in a bid to improve control of the operation of the screw compressor package. Other applications of the modelling software will include its use as an evaluation tool that can estimate compressor package performance during start up, shutdown and emergency shutdown processes. The paper first details the study into the fundamental operational characteristics of each of the components present on the API 619 screw compressor package and then discusses the creation of a dynamic screw compressor model within the MATLAB/Simulink software suite. The paper concludes by verifying and assessing the accuracy of the created compressor model using data collected from physical screw compressor packages.
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. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
International Nuclear Information System (INIS)
Vasconcelos, Wagner Eustaquio de; Lira, Carlos Alberto Brayner de Oliveira; Brito, Thiago Souza Pereira de; Afonso, Antonio Claudio Marques; Cruz Filho, Antonio Jose da; Marques, Jose Antonio; Teixeira, Marcello Goulart
2013-01-01
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)
Analytical one parameter method for PID motion controller settings
van Dijk, Johannes; Aarts, Ronald G.K.M.
2012-01-01
In this paper analytical expressions for PID-controllers settings for electromechanical motion systems are presented. It will be shown that by an adequate frequency domain oriented parametrization, the parameters of a PID-controller are analytically dependent on one variable only, the cross-over
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...
Research on laser cladding control system based on fuzzy PID
Zhang, Chuanwei; Yu, Zhengyang
2017-12-01
Laser cladding technology has a high demand for control system, and the domestic laser cladding control system mostly uses the traditional PID control algorithm. Therefore, the laser cladding control system has a lot of room for improvement. This feature is suitable for laser cladding technology, Based on fuzzy PID three closed-loop control system, and compared with the conventional PID; At the same time, the laser cladding experiment and friction and wear experiment were carried out under the premise of ensuring the reasonable control system. Experiments show that compared with the conventional PID algorithm in fuzzy the PID algorithm under the surface of the cladding layer is more smooth, the surface roughness increases, and the wear resistance of the cladding layer is also enhanced.
Self tuning fuzzy PID type load and frequency controller
International Nuclear Information System (INIS)
Yesil, E.; Guezelkaya, M.; Eksin, I.
2004-01-01
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
LFC based adaptive PID controller using ANN and ANFIS techniques
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Mohamed I. Mosaad
2014-12-01
Full Text Available This paper presents an adaptive PID Load Frequency Control (LFC for power systems using Neuro-Fuzzy Inference Systems (ANFIS and Artificial Neural Networks (ANN oriented by Genetic Algorithm (GA. PID controller parameters are tuned off-line by using GA to minimize integral error square over a wide-range of load variations. The values of PID controller parameters obtained from GA are used to train both ANFIS and ANN. Therefore, the two proposed techniques could, online, tune the PID controller parameters for optimal response at any other load point within the operating range. Testing of the developed techniques shows that the adaptive PID-LFC could preserve optimal performance over the whole loading range. Results signify superiority of ANFIS over ANN in terms of performance measures.
Impact of PID on industrial rooftop PV-installations
Buerhop, Claudia; Fecher, Frank W.; Pickel, Tobias; Patel, Tirth; Zetzmann, Cornelia; Camus, Christian; Hauch, Jens; Brabec, Christoph J.
2017-08-01
Potential induced degradation (PID) causes severe damage and financial losses even in modern PV-installations. In Germany, approximately 19% of PV-installations suffer from PID and resulting power loss. This paper focuses on the impact of PID in real installations and how different evaluated time intervals influence the performance ratio (PR) and the determined degradation rate. The analysis focuses exemplarily on a 314 kWp PV-system in the Atlantic coastal climate. IR-imaging is used for identifying PID without operation interruption. Historic electric performance data are available from a monitoring system for several years on system level, string level as well as punctually measured module string IV- curves. The data sets are combined for understanding the PID behavior of this PV plant. The number of PID affected cells within a string varies strongly between 1 to 22% with the string position on the building complex. With increasing number of PID-affected cells the performance ratio decreases down to 60% for daily and monthly periods. Local differences in PID evolution rates are identified. An average PR-reduction of -3.65% per year is found for the PV-plant. On the string level the degradation rate varied up to 8.8% per year depending on the string position and the time period. The analysis reveals that PID generation and evolution in roof-top installations on industrial buildings with locally varying operation conditions can be fairly complex. The results yield that local operating conditions, e.g. ambient weather conditions as well as surrounding conditions on an industrial building, seem to have a dominating impact on the PID evolution rate.
Lam , Quang Linh; Bratcu , Antoneta Iuliana; Riu , Delphine
2016-01-01
International audience; In this paper, a systematic design of a robust multi-variable control structure for primary frequency regulation in microgrids with high rate of renewable source penetration is proposed. The considered microgrid represents a diesel-photovoltaic-supercapacitor hybrid power generation system operating in stand-alone mode. The proposed control structure relies on a two-level architecture: classical PI-based current tracking controllers are placed on the low control level ...
Huang, Cheng-Wei; Sue, Pei-Der; Abbod, Maysam F; Jiang, Bernard C; Shieh, Jiann-Shing
2013-08-08
To assess the improvement of human body balance, a low cost and portable measuring device of center of pressure (COP), known as center of pressure and complexity monitoring system (CPCMS), has been developed for data logging and analysis. In order to prove that the system can estimate the different magnitude of different sways in comparison with the commercial Advanced Mechanical Technology Incorporation (AMTI) system, four sway tests have been developed (i.e., eyes open, eyes closed, eyes open with water pad, and eyes closed with water pad) to produce different sway displacements. Firstly, static and dynamic tests were conducted to investigate the feasibility of the system. Then, correlation tests of the CPCMS and AMTI systems have been compared with four sway tests. The results are within the acceptable range. Furthermore, multivariate empirical mode decomposition (MEMD) and enhanced multivariate multiscale entropy (MMSE) analysis methods have been used to analyze COP data reported by the CPCMS and compare it with the AMTI system. The improvements of the CPCMS are 35% to 70% (open eyes test) and 60% to 70% (eyes closed test) with and without water pad. The AMTI system has shown an improvement of 40% to 80% (open eyes test) and 65% to 75% (closed eyes test). The results indicate that the CPCMS system can achieve similar results to the commercial product so it can determine the balance.
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Cheng-Wei Huang
2013-08-01
Full Text Available To assess the improvement of human body balance, a low cost and portable measuring device of center of pressure (COP, known as center of pressure and complexity monitoring system (CPCMS, has been developed for data logging and analysis. In order to prove that the system can estimate the different magnitude of different sways in comparison with the commercial Advanced Mechanical Technology Incorporation (AMTI system, four sway tests have been developed (i.e., eyes open, eyes closed, eyes open with water pad, and eyes closed with water pad to produce different sway displacements. Firstly, static and dynamic tests were conducted to investigate the feasibility of the system. Then, correlation tests of the CPCMS and AMTI systems have been compared with four sway tests. The results are within the acceptable range. Furthermore, multivariate empirical mode decomposition (MEMD and enhanced multivariate multiscale entropy (MMSE analysis methods have been used to analyze COP data reported by the CPCMS and compare it with the AMTI system. The improvements of the CPCMS are 35% to 70% (open eyes test and 60% to 70% (eyes closed test with and without water pad. The AMTI system has shown an improvement of 40% to 80% (open eyes test and 65% to 75% (closed eyes test. The results indicate that the CPCMS system can achieve similar results to the commercial product so it can determine the balance.
Yadav, Jyoti; Rani, Asha; Singh, Vijander
2016-12-01
This paper presents Fuzzy-PID (FPID) control scheme for a blood glucose control of type 1 diabetic subjects. A new metaheuristic Cuckoo Search Algorithm (CSA) is utilized to optimize the gains of FPID controller. CSA provides fast convergence and is capable of handling global optimization of continuous nonlinear systems. The proposed controller is an amalgamation of fuzzy logic and optimization which may provide an efficient solution for complex problems like blood glucose control. The task is to maintain normal glucose levels in the shortest possible time with minimum insulin dose. The glucose control is achieved by tuning the PID (Proportional Integral Derivative) and FPID controller with the help of Genetic Algorithm and CSA for comparative analysis. The designed controllers are tested on Bergman minimal model to control the blood glucose level in the facets of parameter uncertainties, meal disturbances and sensor noise. The results reveal that the performance of CSA-FPID controller is superior as compared to other designed controllers.
Demonstrative fractional order - PID controller based DC motor drive on digital platform.
Khubalkar, Swapnil W; Junghare, Anjali S; Aware, Mohan V; Chopade, Amit S; Das, Shantanu
2017-09-21
In industrial drives applications, fractional order controllers can exhibit phenomenal impact due to realization through digital implementation. Digital fractional order controllers have created wide scope as it possess the inherent advantages like robustness against the plant parameter variation. This paper provides brief design procedure of fractional order proportional-integral-derivative (FO-PID) controller through the indirect approach of approximation using constant phase technique. The new modified dynamic particle swarm optimization (IdPSO) technique is proposed to find controller parameters. The FO-PID controller is implemented using floating point digital signal processor. The building blocks are designed and assembled with all peripheral components for the 1.5kW industrial DC motor drive. The robust operation for parametric variation is ascertained by testing the controller with two separately excited DC motors with the same rating but different parameters. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Pappas, Iosif
2016-01-01
PID controllers are extensively used in industry. Although many tuning methodologies exist, finding good controller settings is not an easy task and frequently optimization-based design is preferred to satisfy more complex criteria. In this thesis, the focus was to find which tuning approaches, if any, present close to optimal behavior. Pareto-optimal controllers were found for different first and second-order processes with time delay. Performance was quantified in terms of the integrat...
METİN, Muzaffer; GÜÇLÜ, Rahmi
2014-01-01
In this study, a conventional PID type fuzzy controller and parameter adaptive fuzzy controller are designed to control vibrations actively of a light rail transport vehicle which modeled as 6 degree-of-freedom system and compared performances of these two controllers. Rail vehicle model consists of a passenger seat and its suspension system, vehicle body, bogie, primary and secondary suspensions and wheels. The similarity between mathematical model and real system is shown by compar...
Beam closed orbit feedback based on PID control
International Nuclear Information System (INIS)
Xuan Ke; Wang Lin; Liu Gongfa; Li Weimin; Li Chuan; Wang Jigang; Bao Xun; Xu Hongliang
2013-01-01
The algorithm in the feedback system has important influence on the performance of the beam orbit. Good feedback algorithm can greatly improve the beam orbit stability. In this paper, the theory of beam closed orbit correction, the principle of PID control and the beam closed orbit feedback correction using PID control were introduced. The simulation results were given. Compared with least-square method, the PID feedback algorithm makes the steady-state error smaller and more accurate, and enhances the beam orbit stability. (authors)
PID control for chaotic synchronization using particle swarm optimization
Energy Technology Data Exchange (ETDEWEB)
Chang, W.-D. [Department of Computer and Communication, Shu-Te University, Kaohsiung 824, Taiwan (China)], E-mail: wdchang@mail.stu.edu.tw
2009-01-30
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.
PID control for chaotic synchronization using particle swarm optimization
International Nuclear Information System (INIS)
Chang, W.-D.
2009-01-01
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.
Sistema híbrido neuro-evolutivo aplicado ao controle de um processo multivariável
Coelho, Leandro dos Santos; Mariani, Viviana Cocco
2006-01-01
Este artigo apresenta uma nova abordagem para o projeto de um controlador PID (proporcional, integral e derivativo) multivariável baseado em uma rede neural e um algoritmo genético. O projeto do controlador PID multivariável é dividido em três etapas distintas. Na primeira etapa, uma rede neural de funções radiais de base é utilizada para identificação do processo multivariável. Na segunda etapa, o projeto do controlador é realizado, de forma off-line, baseado na sintonia de ganhos do control...
International Nuclear Information System (INIS)
Shyu, S.-S.; Edwards, Robert M.
2002-01-01
In this paper, a methodology for synthesizing a robust multivariable feedforward/feedback control (FF/FBC) strategy is proposed for an integrated control of turbine power, throttle pressure, and reactor water level in a nuclear power plant. In the proposed method, the FBC is synthesized by the robust control approach. The feedforward control, which is generated via nonlinear programming, is added to the robust FBC system to further improve the control performance. The plant uncertainties, including unmodeled dynamics, linearization, and model reduction, are characterized and estimated. The comparisons of simulation responses based on a nonlinear reactor model demonstrate the achievement of the proposed controller with specified performance and endurance under uncertainty. It is also important to note that all input variables are manipulated in an orchestrated manner in response to a single output's setpoint change
Hu, Ruiqiang; Li, Chengwei
2015-01-01
Automated closed-loop insulin infusion therapy has been studied for many years. In closed-loop system, the control algorithm is the key technique of precise insulin infusion. The control algorithm needs to be designed and validated. In this paper, an improved PID algorithm based on insulin-on-board estimate is proposed and computer simulations are done using a combinational mathematical model of the dynamics of blood glucose-insulin regulation in the blood system. The simulation results demonstrate that the improved PID algorithm can perform well in different carbohydrate ingestion and different insulin sensitivity situations. Compared with the traditional PID algorithm, the control performance is improved obviously and hypoglycemia can be avoided. To verify the effectiveness of the proposed control algorithm, in silico testing is done using the UVa/Padova virtual patient software.
Computation of robustly stabilizing PID controllers for interval systems.
Matušů, Radek; Prokop, Roman
2016-01-01
The paper is focused on the computation of all possible robustly stabilizing Proportional-Integral-Derivative (PID) controllers for plants with interval uncertainty. The main idea of the proposed method is based on Tan's (et al.) technique for calculation of (nominally) stabilizing PI and PID controllers or robustly stabilizing PI controllers by means of plotting the stability boundary locus in either P-I plane or P-I-D space. Refinement of the existing method by consideration of 16 segment plants instead of 16 Kharitonov plants provides an elegant and efficient tool for finding all robustly stabilizing PID controllers for an interval system. The validity and relatively effortless application of presented theoretical concepts are demonstrated through a computation and simulation example in which the uncertain mathematical model of an experimental oblique wing aircraft is robustly stabilized.
Evaluation of RTD and thermocouple for PID temperature control in ...
African Journals Online (AJOL)
Evaluation of RTD and thermocouple for PID temperature control in distributed control system laboratory. D. A. A. Nazarudin, M. K. Nordin, A. Ahmad, M. Masrie, M. F. Saaid, N. M. Thamrin, M. S. A. M. Ali ...
Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller
Directory of Open Access Journals (Sweden)
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.
The hierarchical expert tuning of PID controllers using tools of soft computing.
Karray, F; Gueaieb, W; Al-Sharhan, S
2002-01-01
We present soft computing-based results pertaining to the hierarchical tuning process of PID controllers located within the control loop of a class of nonlinear systems. The results are compared with PID controllers implemented either in a stand alone scheme or as a part of conventional gain scheduling structure. This work is motivated by the increasing need in the industry to design highly reliable and efficient controllers for dealing with regulation and tracking capabilities of complex processes characterized by nonlinearities and possibly time varying parameters. The soft computing-based controllers proposed are hybrid in nature in that they integrate within a well-defined hierarchical structure the benefits of hard algorithmic controllers with those having supervisory capabilities. The controllers proposed also have the distinct features of learning and auto-tuning without the need for tedious and computationally extensive online systems identification schemes.
Cassella, Ricardo J.; de Sant'Ana, Otoniel D.; Santelli, Ricardo E.
2002-12-01
This paper reports the development of a methodology for the determination of arsenic in petroleum refinery aqueous streams containing large amounts of unknown volatile organic compounds, employing electrothermal atomic absorption spectrometry with polarized Zeeman-effect background correction. In order to make the procedure applicable, the influence of chemical modification and the drying step was examined. Also, pyrolysis and atomization temperatures and the amount of nitric acid added to the sample were optimized using a multivariate approach based on Doehlert matrix. Obtained results indicate that, in this kind of sample, arsenic must be determined by standard addition procedure with a careful control of the drying step temperature and ramp pattern. In order to evaluate the accuracy of the procedure, a test was performed in six spiked samples of petroleum refinery aqueous streams and the relative errors verified in the analysis of such samples (added As between 12.5 and 190 μg l -1) ranged from -7.2 to +16.7%. The detection limit and the relative standard deviation were also calculated and the values are 68 pg and 7.5% (at 12.5 μg l -1 level), respectively.
International Nuclear Information System (INIS)
Cassella, Ricardo J.; Sant'Ana, Otoniel D. de; Santelli, Ricardo E.
2002-01-01
This paper reports the development of a methodology for the determination of arsenic in petroleum refinery aqueous streams containing large amounts of unknown volatile organic compounds, employing electrothermal atomic absorption spectrometry with polarized Zeeman-effect background correction. In order to make the procedure applicable, the influence of chemical modification and the drying step was examined. Also, pyrolysis and atomization temperatures and the amount of nitric acid added to the sample were optimized using a multivariate approach based on Doehlert matrix. Obtained results indicate that, in this kind of sample, arsenic must be determined by standard addition procedure with a careful control of the drying step temperature and ramp pattern. In order to evaluate the accuracy of the procedure, a test was performed in six spiked samples of petroleum refinery aqueous streams and the relative errors verified in the analysis of such samples (added As between 12.5 and 190 μg l -1 ) ranged from -7.2 to +16.7%. The detection limit and the relative standard deviation were also calculated and the values are 68 pg and 7.5% (at 12.5 μg l -1 level), respectively
Variable Structure PID Control to Prevent Integrator Windup
Hall, C. E.; Hodel, A. S.; Hung, J. Y.
1999-01-01
PID controllers are frequently used to control systems requiring zero steady-state error while maintaining requirements for settling time and robustness (gain/phase margins). PID controllers suffer significant loss of performance due to short-term integrator wind-up when used in systems with actuator saturation. We examine several existing and proposed methods for the prevention of integrator wind-up in both continuous and discrete time implementations.
Improved PID control for triaxial testing liquefied specimen
DEFF Research Database (Denmark)
Sabaliauskas, Tomas; Ibsen, Lars Bo
Using a frictionless triaxial apparatus, sand specimens can be tested at relatively high axial strains, even while liquefying. However, liquefying specimens have extremely nonlinear stiffness, thus standard PID control does not perform well. To maintain control over applied loads, the PID...... controller was modified to adapt to disturbed soil states. The proposed methods expand the scope of testing towards options which are otherwise inaccessible by triaxial testing....
O přímé syntéze PID regulátorů
Czech Academy of Sciences Publication Activity Database
Klán, Petr
2006-01-01
Roč. 12, č. 11 (2006), s. 61-64 ISSN 1210-9592 Institutional research plan: CEZ:AV0Z10300504 Keywords : PID control * direct synthesis * control ler design Subject RIV: BC - Control Systems Theory http://www.odbornecasopisy.cz/index.php?id_document=31500
Aerogel RICH for the Belle II forward PID
Energy Technology Data Exchange (ETDEWEB)
Nishida, S., E-mail: shohei.nishida@kek.jp [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Adachi, I. [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Hamada, N. [Toho University, Funabashi (Japan); Hara, K. [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Iijima, T. [Nagoya University, Nagoya (Japan); Iwata, S.; Kakuno, H. [Tokyo Metropolitan University, Hachioji (Japan); Kawai, H. [Chiba University, Chiba (Japan); Korpar, S.; Krizan, P. [Jozef Stefan Institute, Ljubljana (Slovenia); Ogawa, S. [Toho University, Funabashi (Japan); Pestotnik, R.; Ŝantelj, L.; Seljak, A. [Jozef Stefan Institute, Ljubljana (Slovenia); Sumiyoshi, T. [Tokyo Metropolitan University, Hachioji (Japan); Tabata, M. [Japan Aerospace Exploration Agency (JAXA), Sagamihara (Japan); Tahirovic, E. [Jozef Stefan Institute, Ljubljana (Slovenia); Yoshida, K. [Tokyo Metropolitan University, Hachioji (Japan); Yusa, Y. [Niigata University, Niigata (Japan)
2014-12-01
The Belle II spectrometer, a follow up of the very successful Belle experiment, is under construction at the SuperKEKB electron–positron collider at KEK in Japan. For the PID system in the forward region of the spectrometer, a proximity focusing ring-imaging Cherenkov (RICH) counter with an aerogel radiator is being developed. The counter will provide a 4σ separation of pions and kaons up to momenta of 4 GeV/c. For the position sensitive photon sensor, a 144-channel Hybrid Avalanche Photo-Detector (HAPD) has been developed with Hamamatsu Photonics K.K. The readout electronics is based on the custom developed ASIC. The design of the components is currently being finalized and part of their mass production have already started. Herein, we report the final design of the counter and a prototype test conducted with test beams at DESY. - Highlights: • We are constructing a RICH counter with aerogel radiator for Belle II. • Beam test for the prototype Aerogel RICH shows its good performance. • The effect of the neutron irradiation of the photodetector is examined.
Bikash Dey; Lusika Roy
2014-01-01
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 mo...
Laser beam pointing and stabilization by fractional-order PID control: Tuning rule and experiments
Al-Alwan, Asem Ibrahim Alwan
2017-10-24
This paper studies the problem of high-precision positioning of laser beams by using a robust Fractional-Order Proportional-Integral-Derivative (FOPID) controller. The control problem addressed in laser beams aims to maintain the position of the laser beam on a Position Sensing Device (PSD) despite the effects of noise and active disturbances. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness to noise and output disturbance rejections. Thus, a control strategy based on FOPID to achieve the control objectives has been proposed. The FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. A comparison to the conventional Proportional-Integral-Derivative (PID) and robust PID is also provided from simulation and experiment set-up. Due to sensor noise, practical PID controllers that filter the position signal before taking the derivative have been also proposed. Experimental results show that the requirements are totally met for the laser beam platform to be stabilized.
Laser beam pointing and stabilization by fractional-order PID control: Tuning rule and experiments
Al-Alwan, Asem Ibrahim Alwan; Guo, Xingang; Ndoye, Ibrahima; Laleg-Kirati, Taous-Meriem
2017-01-01
This paper studies the problem of high-precision positioning of laser beams by using a robust Fractional-Order Proportional-Integral-Derivative (FOPID) controller. The control problem addressed in laser beams aims to maintain the position of the laser beam on a Position Sensing Device (PSD) despite the effects of noise and active disturbances. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness to noise and output disturbance rejections. Thus, a control strategy based on FOPID to achieve the control objectives has been proposed. The FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. A comparison to the conventional Proportional-Integral-Derivative (PID) and robust PID is also provided from simulation and experiment set-up. Due to sensor noise, practical PID controllers that filter the position signal before taking the derivative have been also proposed. Experimental results show that the requirements are totally met for the laser beam platform to be stabilized.
Optimized linear motor and digital PID controller setup used in Mössbauer spectrometer
Kohout, Pavel; Kouřil, Lukáš; Navařík, Jakub; Novák, Petr; Pechoušek, Jiří
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 α-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.
Heat control in HVDC resistive divider by PID and NN controllers
International Nuclear Information System (INIS)
Yilmaz, S.; Dincer, H.; Eksin, I.; Kalenderli, O.
2007-01-01
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
Directory of Open Access Journals (Sweden)
WALUYO WALUYO
2017-06-01
Full Text Available ABSTRAK Motor DC banyak digunakan di industri kecil dan besar.Kecepatan motor DC sering tidak stabil akibat gangguan dari luar maupun perubahan parameter dan torsi beban sehingga perlu dilakukan rancangan kontroler.Kontroler yang dirancang menggunakan PID yang terdiri dari tiga jenis cara pengaturan yang dikombinasikan, yaitu kontrol P (Proportional, kontrol I (Integral dan kontrol D (Derivatif.Kontroler yang dirancang disimulasikan menggunakan perangkat lunak. Hasil simulasi menunjukan kontroler PID untuk kendali kecepatan motor DC ini menghasilkan kondisi robust (kokoh saat nilai Kp = 1,1, Ti = 0,1, Td = 3,7. Hasil dari parameter kendali yang dirancang memiliki error steady state 0,99 % dan dengan settling time 3,7 detik pada rise time 2,00 detik dan nilai peak terletak pada 0,99. Kecepatan awal yang dihasilkan mendekati set point yang diinginkan pada detik ke 6 dan kecepatannya tidak ada penurunan atau tetap konstan sampai dengan detik ke 100. Kata kunci : Motor DC, PID, Heuristik, Steady State, Rise Time ABSTRACT DC motors are widely used in small and large industries. Their speeds are often unstable due to interference from outside or change the parameters and load torque, so that it was necessary to design a controller. The controller was designed using a PIDconsists of three types of arrangements, which are mutually combined way, namely the control P (Proportional, control I (Integral and control D (Derivative. The controllers were designed using software for simulation. The simulation results showed the PID controller for DC motor speed control produced robust conditionswhen the value of Kp, Ti and Tdwere 1.1, 0.1 and 3.7 respectively. The results of the control parameters had error steady state 0.99 % and the settling time of 3.7 seconds at 2.0 sec rise time and the peak value was 0,99. The resulted initial velocity was very fast to approach the desired set point in the sixth second and its speed was remain constant until 100
Directory of Open Access Journals (Sweden)
WALUYO WALUYO
2013-07-01
Full Text Available ABSTRAK Motor DC banyak digunakan di industri kecil dan besar.Kecepatan motor DC sering tidak stabil akibat gangguan dari luar maupun perubahan parameter dan torsi beban sehingga perlu dilakukan rancangan kontroler.Kontroler yang dirancang menggunakan PID yang terdiri dari tiga jenis cara pengaturan yang dikombinasikan, yaitu kontrol P (Proportional, kontrol I (Integral dan kontrol D (Derivatif.Kontroler yang dirancang disimulasikan menggunakan perangkat lunak. Hasil simulasi menunjukan kontroler PID untuk kendali kecepatan motor DC ini menghasilkan kondisi robust (kokoh saat nilai Kp = 1,1, Ti = 0,1, Td = 3,7. Hasil dari parameter kendali yang dirancang memiliki error steady state 0,99 % dan dengan settling time 3,7 detik pada rise time 2,00 detik dan nilai peak terletak pada 0,99. Kecepatan awal yang dihasilkan mendekati set point yang diinginkan pada detik ke 6 dan kecepatannya tidak ada penurunan atau tetap konstan sampai dengan detik ke 100. Kata kunci: Motor DC, PID, Heuristik, Steady State, Rise Time ABSTRACT DC motors are widely used in small and large industries. Their speeds are often unstable due to interference from outside or change the parameters and load torque, so that it was necessary to design a controller. The controller was designed using a PIDconsists of three types of arrangements, which are mutually combined way, namely the control P (Proportional, control I (Integral and control D (Derivative. The controllers were designed using software for simulation. The simulation results showed the PID controller for DC motor speed control produced robust conditionswhen the value of Kp, Ti and Tdwere 1.1, 0.1 and 3.7 respectively. The results of the control parameters had error steady state 0.99 % and the settling time of 3.7 seconds at 2.0 sec rise time and the peak value was 0,99. The resulted initial velocity was very fast to approach the desired set point in the sixth second and its speed was remain constant until 100
DEFF Research Database (Denmark)
Akhavan, Ali; Mohammadi, Hamid Reza; Guerrero, Josep M.
2018-01-01
The quality of injected current in multi-paralleled grid-connected inverters is a matter of concern. The current controlled grid-connected inverters with LCL filter are widely used in the distributed generation (DG) systems due to their fast dynamic response and better power features. However...... with resonances in the system, damping methods such as passive or active damping is necessary. Secondly and perhaps more importantly, paralleled grid-connected inverters in a microgrid are coupled due to grid impedance. Generally, the coupling effect is not taken into account when designing the control systems...
Optimized PID control of depth of hypnosis in anesthesia.
Padula, Fabrizio; Ionescu, Clara; Latronico, Nicola; Paltenghi, Massimiliano; Visioli, Antonio; Vivacqua, Giulio
2017-06-01
This paper addresses the use of proportional-integral-derivative controllers for regulating the depth of hypnosis in anesthesia by using propofol administration and the bispectral index as a controlled variable. In fact, introducing an automatic control system might provide significant benefits for the patient in reducing the risk for under- and over-dosing. In this study, the controller parameters are obtained through genetic algorithms by solving a min-max optimization problem. A set of 12 patient models representative of a large population variance is used to test controller robustness. The worst-case performance in the considered population is minimized considering two different scenarios: the induction case and the maintenance case. Our results indicate that including a gain scheduling strategy enables optimal performance for induction and maintenance phases, separately. Using a single tuning to address both tasks may results in a loss of performance up to 102% in the induction phase and up to 31% in the maintenance phase. Further on, it is shown that a suitably designed low-pass filter on the controller output can handle the trade-off between the performance and the noise effect in the control variable. Optimally tuned PID controllers provide a fast induction time with an acceptable overshoot and a satisfactory disturbance rejection performance during maintenance. These features make them a very good tool for comparison when other control algorithms are developed. Copyright © 2017 Elsevier B.V. All rights reserved.
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. Copyright © 2013 Elsevier B.V. All rights reserved.
Optimization Settings in the Fuzzy Combined Mamdani PID Controller
Kudinov, Y. I.; Pashchenko, F. F.; Pashchenko, A. F.; Kelina, A. Y.; Kolesnikov, V. A.
2017-11-01
In the present work the actual problem of determining the optimal settings of fuzzy parallel proportional-integral-derivative (PID) controller is considered to control nonlinear plants that is not always possible to perform with classical linear PID controllers. In contrast to the linear fuzzy PID controllers there are no analytical methods of settings calculation. In this paper, we develop a numerical optimization approach to determining the coefficients of a fuzzy PID controller. Decomposition method of optimization is proposed, the essence of which was as follows. All homogeneous coefficients were distributed to the relevant groups, for example, three error coefficients, the three coefficients of the changes of errors and the three coefficients of the outputs P, I and D components. Consistently in each of such groups the search algorithm was selected that has determined the coefficients under which we receive the schedule of the transition process satisfying all the applicable constraints. Thus, with the help of Matlab and Simulink in a reasonable time were found the factors of a fuzzy PID controller, which meet the accepted limitations on the transition process.
Implementation of FPGA based PID Controller for DC Motor Speed Control System
Directory of Open Access Journals (Sweden)
Savita SONOLI
2010-03-01
Full Text Available In this paper, the implementation of software module using ‘VHDL’ for Xilinx FPGA (XC3S400 based PID controller for DC motor speed control system is presented. The tools used for building and testing the software modules are Xilinx ISE 9.2i and ModelSim XE III 6.3c. Before verifying the design on FPGA the complete design is simulated using Modelsim Simulation tool. A test bench is written where the set speed can be changed for the motor. It is observed that the motor speed gradually changes to the set speed and locks to the set speed.
Mohmad Kahar, Mohd Nizam; Noraziah, A.
2017-01-01
In this paper, an attempt is made to apply the African Buffalo Optimization (ABO) to tune the parameters of a PID controller for an effective Automatic Voltage Regulator (AVR). Existing metaheuristic tuning methods have been proven to be quite successful but there were observable areas that need improvements especially in terms of the system’s gain overshoot and steady steady state errors. Using the ABO algorithm where each buffalo location in the herd is a candidate solution to the Proportional-Integral-Derivative parameters was very helpful in addressing these two areas of concern. The encouraging results obtained from the simulation of the PID Controller parameters-tuning using the ABO when compared with the performance of Genetic Algorithm PID (GA-PID), Particle-Swarm Optimization PID (PSO-PID), Ant Colony Optimization PID (ACO-PID), PID, Bacteria-Foraging Optimization PID (BFO-PID) etc makes ABO-PID a good addition to solving PID Controller tuning problems using metaheuristics. PMID:28441390
Pasquini, Benedetta; Orlandini, Serena; Del Bubba, Massimo; Bertol, Elisabetta; Furlanetto, Sandra
2015-11-01
Quality by Design (QbD) approach was followed having as analytical target profile the determination of different antimigraine drugs (seven triptans, TRP) available on the market. Multivariate strategies were used for defining the design space and solvent-modified MEKC was the selected analytical method. The versatility of electrophoretic technique, allowing a fine modulation of experimental parameters, made it possible to define the design space (DS). The DS limited a suitable range of experimental parameters in which all possible combinations of variables led to an electrokinetic method able to determine all the considered analytes with a predefined quality. Design of experiments and risk analysis fully assisted the method development from the initial investigation of MEKC knowledge space to the DS definition and finally to the control strategy. Applying the working operative conditions, the baseline separation of TRP was obtained in less than 9 min. The method was finally used for the quantification of three TRP in different pharmaceutical products. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.
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. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
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.
A PID autotuner utilizing GPC and constraint optimization
DEFF Research Database (Denmark)
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 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...
Multivariate covariance generalized linear models
DEFF Research Database (Denmark)
Bonat, W. H.; Jørgensen, Bent
2016-01-01
are fitted by using an efficient Newton scoring algorithm based on quasi-likelihood and Pearson estimating functions, using only second-moment assumptions. This provides a unified approach to a wide variety of types of response variables and covariance structures, including multivariate extensions......We propose a general framework for non-normal multivariate data analysis called multivariate covariance generalized linear models, designed to handle multivariate response variables, along with a wide range of temporal and spatial correlation structures defined in terms of a covariance link...... function combined with a matrix linear predictor involving known matrices. The method is motivated by three data examples that are not easily handled by existing methods. The first example concerns multivariate count data, the second involves response variables of mixed types, combined with repeated...
Genetic design of interpolated non-linear controllers for linear plants
International Nuclear Information System (INIS)
Ajlouni, N.
2000-01-01
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)
Pinched hysteresis behavior in a PID-controlled resistor
Directory of Open Access Journals (Sweden)
M.A. Carrasco-Aguilar
2018-06-01
Full Text Available A current-controlled grounded resistor that exhibits a frequency-dependent pinched hysteresis loop is described. A mathematical model describing this behavior is derived and validated numerically, which has the form of a Proportional Integral-Derivative (PID controller. The proposed topology is build by using AD844 commercially available active device configured as second-generation current conveyor and experimental tests are compared with numerical simulations, showing a good agreement among them. Moreover, the proposed PID-controlled resistor can be reconfigured in order to be used in future applications such as programmable analog circuits. Keyword: Pinched hysteresis, Current conveyors, Nonlinear resistor, Proportional-Integral-Derivative Controller
PID controller tuning using the magnitude optimum criterion
Papadopoulos, Konstantinos
2014-01-01
An instructive reference that will help control researchers and engineers, interested in a variety of industrial processes, to take advantage of a powerful tuning method for the ever-popular PID control paradigm. This monograph presents explicit PID tuning rules for linear control loops regardless of process complexity. It shows the reader how such loops achieve zero steady-position, velocity, and acceleration errors and are thus able to track fast reference signals. The theoretical development takes place in the frequency domain by introducing a general-transfer-function-known process model
Abdulra'uf, Lukman Bola; Tan, Guan Huat
2013-12-15
Solid-phase microextraction (SPME) is a solvent-less sample preparation method which combines sample preparation, isolation, concentration and enrichment into one step. In this study, multivariate strategy was used to determine the significance of the factors affecting the solid phase microextraction of pesticide residues (fenobucarb, diazinon, chlorothalonil and chlorpyrifos) using a randomised factorial design. The interactions and effects of temperature, time and salt addition on the efficiency of the extraction of the pesticide residues were evaluated using 2(3) factorial designs. The analytes were extracted with 100 μm PDMS fibres according to the factorial design matrix and desorbed into a gas chromatography-mass spectrometry detector. The developed method was applied for the analysis of apple samples and the limits of detection were between 0.01 and 0.2 μg kg(-)(1), which were lower than the MRLs for apples. The relative standard deviations (RSD) were between 0.1% and 13.37% with average recovery of 80-105%. The linearity ranges from 0.5-50 μg kg(-)(1) with correlation coefficient greater than 0.99. Copyright © 2013 Elsevier Ltd. All rights reserved.
Genetic Algorithm Based PID Controller Tuning Approach for Continuous Stirred Tank Reactor
A. Jayachitra; R. Vinodha
2014-01-01
Genetic algorithm (GA) based PID (proportional integral derivative) controller has been proposed for tuning optimized PID parameters in a continuous stirred tank reactor (CSTR) process using a weighted combination of objective functions, namely, integral square error (ISE), integral absolute error (IAE), and integrated time absolute error (ITAE). Optimization of PID controller parameters is the key goal in chemical and biochemical industries. PID controllers have narrowed down the operating r...
Performance study of SOL&PID system for the degradation of Acid Red 26 and 4-Chlorophenol
International Nuclear Information System (INIS)
Zhu, Li; Cui, Lingyun; Huang, Qunwu; Wang, Yiping; Vivar, Marta; Jin, Yanchao; Sun, Yong; Cui, Yong; Fan, Jiangyang
2017-01-01
Highlights: • A new water purification system with solar and UV-LED powered by PV was proposed. • UV-LED was driven by PV directly without any transformation. • More than 92% of P_m generated by PV was used to drive UV-LED array. • Visible and near-infra light was converted to UV via PV and UV-LED. • The flowing water makes PV and LED work at lower temperature. - Abstract: To increase the photocatalytic reaction rate and make full use of electricity generated by photovoltaics (PV), a water purification system (SOL&PID) with solar and ultraviolet-light emitting diode (UV-LED) powered by a hybrid PV photocatalytic reactor was designed and tested in this paper. The SOL&PID system is based on Solar Water Purification and Renewable Electricity Generation system (SOLWAT). Photovoltaic and photocatalytic performances of SOL&PID system were evaluated in comparison with SOLWAT by the degradation of Acid Red 26 (AR 26) and 4-chlorophenol (4-CP) using suspended TiO_2. To assess the directly-coupled performance between PV and UV-LED array, the power consumption percentage of UV-LED array from the maximum output power of PV was analyzed. The results show an adequate coupling between the UV-LED array and the photovoltaics. More than 92% of the maximum output power generated by PV modules is used to drive the LED array. The photocatalytic reaction rate constants in SOL&PID system increase respectively 29–37% and 31–78% during AR 26 and 4-CP experiments, in comparison with SOLWAT system. Besides, the SOL&PID system achieved lower solar module temperature and lower UV-LED pin temperature than the reference systems by the addition of flow channel.
PID control of second-order systems with hysteresis
Jayawardhana, Bayu; Logemann, Hartmut; Ryan, Eugene P.
2008-01-01
The efficacy of proportional, integral and derivative (PID) control for set point regulation and disturbance rejection is investigated in a context of second-order systems with hysteretic components. Two basic structures are studied: in the first, the hysteretic component resides (internally) in the
PID control of second-order system with hysteresis
Jayawardhana, B.; Logemann, H.; Ryan, E.P.
2007-01-01
The efficacy of proportional, derivative and integral (PID) control for set point regulation and disturbance rejection is investigated in a context of mechanical systems with hysteretic components. Two basic structures are studied: in the first, the hysteretic component resides (internally) in the
Comparison between MPC and PID control for compact hydro ...
African Journals Online (AJOL)
This paper presents water temperature of a hydro distillation that have been modelled by using linear ARX Modal. Based on the modal obtained, a model predictive controller and PID controller have been developed. Both controller undergone the performance of controller tests that includes set point, set point change and ...
Karki, Hari Sharan; Barphagha, Inderjit Kaur; Ham, Jong Hyun
2012-09-01
Burkholderia glumae is a rice pathogenic bacterium that causes bacterial panicle blight. Some strains of this pathogen produce dark brown pigments when grown on casamino-acid peptone glucose (CPG) agar medium. A pigment-positive and highly virulent strain of B. glumae, 411gr-6, was randomly mutagenized with mini-Tn5gus, and the resulting mini-Tn5gus derivatives showing altered pigmentation phenotypes were screened on CPG agar plates to identify the genetic elements governing the pigmentation of B. glumae. In this study, a novel two-component regulatory system (TCRS) composed of the PidS sensor histidine kinase and the PidR response regulator was identified as an essential regulatory factor for pigmentation. Notably, the PidS/PidR TCRS was also required for the elicitation of the hypersensitive response on tobacco leaves, indicating the dependence of the hypersensitive response and pathogenicity (Hrp) type III secretion system of B. glumae on this regulatory factor. In addition, B. glumae mutants defective in the PidS/PidR TCRS showed less production of the phytotoxin, toxoflavin, and less virulence on rice panicles and onion bulbs relative to the parental strain, 411gr-6. The presence of highly homologous PidS and PidR orthologues in other Burkholderia species suggests that PidS/PidR-family TCRSs may exert the same or similar functions in different Burkholderia species, including both plant and animal pathogens. © 2012 THE AUTHORS. MOLECULAR PLANT PATHOLOGY © 2012 BSPP AND BLACKWELL PUBLISHING LTD.
Application and Simulation of Fuzzy Neural Network PID Controller in the Aircraft Cabin Temperature
Directory of Open Access Journals (Sweden)
Ding Fang
2013-06-01
Full Text Available Considering complex factors of affecting ambient temperature in Aircraft cabin, and some shortages of traditional PID control like the parameters difficult to be tuned and control ineffective, this paper puts forward the intelligent PID algorithm that makes fuzzy logic method and neural network together, scheming out the fuzzy neural net PID controller. After the correction of the fuzzy inference and dynamic learning of neural network, PID parameters of the controller get the optimal parameters. MATLAB simulation results of the cabin temperature control model show that the performance of the fuzzy neural network PID controller has been greatly improved, with faster response, smaller overshoot and better adaptability.
Genetic Algorithm Tuning of PID Controller in Smith Predictor for Glucose Concentration Control
Directory of Open Access Journals (Sweden)
Tsonyo Slavov
2011-07-01
Full Text Available This paper focuses on design of a glucose concentration control system based on nonlinear model plant of E. coli MC4110 fed-batch cultivation process. Due to significant time delay in real time glucose concentration measurement, a correction is proposed in glucose concentration measurement and a Smith predictor (SP control structure based on universal PID controller is designed. To reduce the influence of model error in SP structure the estimate of measured glucose concentration is used. For the aim an extended Kalman filter (EKF is designed. To achieve good closed-loop system performance genetic algorithm (GA based optimal controller tuning procedure is applied. A standard binary encoding GA is applied. The GA parameters and operators are specified for the considered here problem. As a result the optimal PID controller settings are obtained. The simulation experiments of the control systems based on SP with EKF and without EKF are performed. The results show that the control system based on SP with EKF has a better performance than the one without EKF. For a short time the controller sets the control variable and maintains it at the desired set point during the cultivation process. As a result, a high biomass concentration of 48.3 g·l-1 is obtained at the end of the process.
Neural PID Control of Robot Manipulators With Application to an Upper Limb Exoskeleton.
Yu, Wen; Rosen, Jacob
2013-04-01
In order to minimize steady-state error with respect to uncertainties in robot control, proportional-integral-derivative (PID) control needs a big integral gain, or a neural compensator is added to the classical proportional-derivative (PD) control with a large derivative gain. Both of them deteriorate transient performances of the robot control. In this paper, we extend the popular neural PD control into neural PID control. This novel control is a natural combination of industrial linear PID control and neural compensation. The main contributions of this paper are semiglobal asymptotic stability of the neural PID control and local asymptotic stability of the neural PID control with a velocity observer which are proved with standard weight training algorithms. These conditions give explicit selection methods for the gains of the linear PID control. An experimental study on an upper limb exoskeleton with this neural PID control is addressed.
Directory of Open Access Journals (Sweden)
Elisa Robotti
2017-01-01
Full Text Available Head space (HS solid phase microextraction (SPME followed by gas chromatography with mass spectrometry detection (GC-MS is the most widespread technique to study the volatile profile of honey samples. In this paper, the experimental SPME conditions were optimized by a multivariate strategy. Both sensitivity and repeatability were optimized by experimental design techniques considering three factors: extraction temperature (from 50°C to 70°C, time of exposition of the fiber (from 20 min to 60 min, and amount of salt added (from 0 to 27.50%. Each experiment was evaluated by Principal Component Analysis (PCA that allows to take into consideration all the analytes at the same time, preserving the information about their different characteristics. Optimal extraction conditions were identified independently for signal intensity (extraction temperature: 70°C; extraction time: 60 min; salt percentage: 27.50% w/w and repeatability (extraction temperature: 50°C; extraction time: 60 min; salt percentage: 27.50% w/w and a final global compromise (extraction temperature: 70°C; extraction time: 60 min; salt percentage: 27.50% w/w was also reached. Considerations about the choice of the best internal standards were also drawn. The whole optimized procedure was than applied to the analysis of a multiflower honey sample and more than 100 compounds were identified.
Taheri, Mohammadreza; Moazeni-Pourasil, Roudabeh Sadat; Sheikh-Olia-Lavasani, Majid; Karami, Ahmad; Ghassempour, Alireza
2016-03-01
Chromatographic method development for preparative targets is a time-consuming and subjective process. This can be particularly problematic because of the use of valuable samples for isolation and the large consumption of solvents in preparative scale. These processes could be improved by using statistical computations to save time, solvent and experimental efforts. Thus, contributed by ESI-MS, after applying DryLab software to gain an overview of the most effective parameters in separation of synthesized celecoxib and its co-eluted compounds, design of experiment software that relies on multivariate modeling as a chemometric approach was used to predict the optimized touching-band overloading conditions by objective functions according to the relationship between selectivity and stationary phase properties. The loadability of the method was investigated on the analytical and semi-preparative scales, and the performance of this chemometric approach was approved by peak shapes beside recovery and purity of products. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.
Directory of Open Access Journals (Sweden)
Maria Isabel Berto
2004-09-01
pasteurizer heating section. As the water temperature behavior according to the same step change on the potency of the resistance depends on the working flow rate, a single controller was designed to keep this temperature at its desirable set-point, for the water flow rate, within the range of 300 to 700L/h. Three different tunings for the PID were tested: the first consisted on the implementation of a function for the calculation of the PID parameters fitted to individual values obtained from each flow rate, according to process reaction curve methodology; the second consisted on using the PID parameters calculated as the average of these individual values; at the third tuning, an adaptive function fitted with the individual parameters obtained with Aström & Hägglund methodology was used. The performance evaluation of the configured PID controllers was carried out by comparing the error index values, obtained after disturbances in the water flow rate in the closed loop system. The error indexes calculated after step changes in the water flow rate were used to evaluate the tunings. The results have shown that the third tuning, called "Bang Bang" presented minor oscillations and smaller error indexes compared to the other two methods.
Energy Technology Data Exchange (ETDEWEB)
Chauvin, Benoit, E-mail: benoit.chauvin@u-psud.fr [Univ. Paris-Sud, EA 4041, IFR 141, Faculte de Pharmacie, F-92296 Chatenay-Malabry (France); Institut Curie, UMR 176 CNRS, Centre Universitaire, Univ Paris-Sud, F-91405 Orsay (France); Kasselouri, Athena; Chaminade, Pierre; Quiameso, Rita [Univ. Paris-Sud, EA 4041, IFR 141, Faculte de Pharmacie, F-92296 Chatenay-Malabry (France); Nicolis, Ioannis [Laboratoire de Biomathematiques et Informatique, Departement de Sante publique et biostatistiques et EA 4466, Faculte de Pharmacie, Universite Paris Descartes, 4, avenue de l' Observatoire, 75270 Paris cedex 06 (France); Maillard, Philippe [Institut Curie, UMR 176 CNRS, Centre Universitaire, Univ Paris-Sud, F-91405 Orsay (France); Prognon, Patrice [Univ. Paris-Sud, EA 4041, IFR 141, Faculte de Pharmacie, F-92296 Chatenay-Malabry (France)
2011-10-31
Highlights: {yields} Diprotonation of 17 meso-tetraphenylporphyrin derivatives. {yields} MCR-ALS resolution of multi-component mixtures. {yields} Determination of stepwise protonation constants. {yields} Prediction of protonation constants from ET-State indices. - Abstract: Tetrapyrrole rings possess four nitrogen atoms, two of which act as Broendsted bases in acidic media. The two protonation steps occur on a close pH range, particularly in the case of meso-tetraphenylporphyrin (TPP) derivatives. If the cause of this phenomenon is well known - a protonation-induced distortion of the porphyrin ring - data on stepwise protonation constants and on electronic absorption spectra of monoprotonated TPPs are sparse. A multivariate approach has been systematically applied to a series of glycoconjugated and hydroxylated TPPs, potential anticancer drugs usable in Photodynamic Therapy. The dual purpose was determination of protonation constants and linking substitution with basicity. Hard-modeling version of MCR-ALS (Multivariate Curve Resolution Alternating Least Squares) has given access to spectra and distribution profile of pure components. Spectra of monoprotonated species (H{sub 3}TPP{sup +}) in solution resemble those of diprotonated species (H{sub 4}TPP{sup 2+}), mainly differing by a slight blue-shift of bands. Overlap of H{sub 3}TPP{sup +} and H{sub 4}TPP{sup 2+} spectra reinforces the difficulty to evidence an intermediate form only present in low relative abundance. Depending on macrocycle substitution, pK values ranged from 3.5 {+-} 0.1 to 5.1 {+-} 0.1 for the first protonation and from 3.2 {+-} 0.2 to 4.9 {+-} 0.1 for the second one. Inner nitrogens' basicity is affected by position, number and nature of peripheral substituents depending on their electrodonating character. pK values have been used to establish a predictive Multiple Linear Regression (MLR) model, relying on atom-type electrotopological indices. This model accurately describes our results and
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. 2009 ISA. Published by Elsevier Ltd. All rights reserved.
Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator
Directory of Open Access Journals (Sweden)
Xin Zuo
2017-01-01
Full Text Available Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.
Fractional Order PID Control of Rotor Suspension by Active Magnetic Bearings
Directory of Open Access Journals (Sweden)
Parinya Anantachaisilp
2017-01-01
Full Text Available One of the key issues in control design for Active Magnetic Bearing (AMB systems is the tradeoff between the simplicity of the controller structure and the performance of the closed-loop system. To achieve this tradeoff, this paper proposes the design of a fractional order Proportional-Integral-Derivative (FOPID controller. The FOPID controller consists of only two additional parameters in comparison with a conventional PID controller. The feasibility of FOPID for AMB systems is investigated for rotor suspension in both the radial and axial directions. Tuning methods are developed based on the evolutionary algorithms for searching the optimal values of the controller parameters. The resulting FOPID controllers are then tested and compared with a conventional PID controller, as well as with some advanced controllers such as Linear Quadratic Gausian (LQG and H ∞ controllers. The comparison is made in terms of various stability and robustness specifications, as well as the dimensions of the controllers as implemented. Lastly, to validate the proposed method, experimental testing is carried out on a single-stage centrifugal compressor test rig equipped with magnetic bearings. The results show that, with a proper selection of gains and fractional orders, the performance of the resulting FOPID is similar to those of the advanced controllers.
Kunz, Meik; Liang, Chunguang; Nilla, Santosh; Cecil, Alexander; Dandekar, Thomas
2016-01-01
The drug-minded protein interaction database (DrumPID) has been designed to provide fast, tailored information on drugs and their protein networks including indications, protein targets and side-targets. Starting queries include compound, target and protein interactions and organism-specific protein families. Furthermore, drug name, chemical structures and their SMILES notation, affected proteins (potential drug targets), organisms as well as diseases can be queried including various combinations and refinement of searches. Drugs and protein interactions are analyzed in detail with reference to protein structures and catalytic domains, related compound structures as well as potential targets in other organisms. DrumPID considers drug functionality, compound similarity, target structure, interactome analysis and organismic range for a compound, useful for drug development, predicting drug side-effects and structure-activity relationships.Database URL:http://drumpid.bioapps.biozentrum.uni-wuerzburg.de. © The Author(s) 2016. Published by Oxford University Press.
International Nuclear Information System (INIS)
Pothiya, Saravuth; Ngamroo, Issarachai
2008-01-01
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
PID controller tuning using metaheuristic optimization algorithms for benchmark problems
Gholap, Vishal; Naik Dessai, Chaitali; Bagyaveereswaran, V.
2017-11-01
This paper contributes to find the optimal PID controller parameters using particle swarm optimization (PSO), Genetic Algorithm (GA) and Simulated Annealing (SA) algorithm. The algorithms were developed through simulation of chemical process and electrical system and the PID controller is tuned. Here, two different fitness functions such as Integral Time Absolute Error and Time domain Specifications were chosen and applied on PSO, GA and SA while tuning the controller. The proposed Algorithms are implemented on two benchmark problems of coupled tank system and DC motor. Finally, comparative study has been done with different algorithms based on best cost, number of iterations and different objective functions. The closed loop process response for each set of tuned parameters is plotted for each system with each fitness function.
Active structural control with stable fuzzy PID techniques
Yu, Wen
2016-01-01
This book presents a detailed discussion of intelligent techniques to measure the displacement of buildings when they are subjected to vibration. It shows how these techniques are used to control active devices that can reduce vibration 60–80% more effectively than widely used passive anti-seismic systems. After introducing various structural control devices and building-modeling and active structural control methods, the authors propose offset cancellation and high-pass filtering techniques to solve some common problems of building-displacement measurement using accelerometers. The most popular control algorithms in industrial settings, PD/PID controllers, are then analyzed and then combined with fuzzy compensation. The stability of this combination is proven with standard weight-training algorithms. These conditions provide explicit methods for selecting PD/PID controllers. Finally, fuzzy-logic and sliding-mode control are applied to the control of wind-induced vibration. The methods described are support...
Sharma, Richa; Gaur, Prerna; Mittal, A P
2015-09-01
The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Osta ja pidä: yritysten joukkovelkakirjat vs. osakkeet
Nyqvist, Kim
2012-01-01
Opinnäytetyö käsittelee yrityksen joukkovelkakirjojen tuottoa ja siihen vaikuttavia tekijöitä osta ja pidä –sijoitusstrategian näkökulmasta. Vertailukohdaksi yrityksen joukkovelkakirjoille on valittu osakkeet, niiden tunnettavuuden ja vuotuisen tuoton takia, joka on vertauskelpoinen joukkovelkakirjojen maksamalle kupongille. Työn teoreettinen viitekehys koostuu yritysten joukkovelkakirjoista ja osakkeista. Painotus on yritysten joukkovelkakirjoissa, sillä ne ovat huomattavasti tuntemattom...
Adaptive PID control based on orthogonal endocrine neural networks.
Milovanović, Miroslav B; Antić, Dragan S; Milojković, Marko T; Nikolić, Saša S; Perić, Staniša Lj; Spasić, Miodrag D
2016-12-01
A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances. Copyright © 2016 Elsevier Ltd. All rights reserved.
Vision-Based Robot Following Using PID Control
Chandra Sekhar Pati; Rahul Kala
2017-01-01
Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to ...
Vision-Based Robot Following Using PID Control
Directory of Open Access Journals (Sweden)
Chandra Sekhar Pati
2017-06-01
Full Text Available Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user’s command from an android application which is processed by the master robot’s controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters.
Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation
Directory of Open Access Journals (Sweden)
Ziqiang Chi
2014-01-01
Full Text Available Piezoelectric actuator is widely used in the field of micro/nanopositioning. However, piezoelectric hysteresis introduces nonlinearity to the system, which is the major obstacle to achieve a precise positioning. In this paper, the Preisach model is employed to describe the hysteresis characteristic of piezoelectric actuator and an inverse Preisach model is developed to construct a feedforward controller. Considering that the analytical expression of inverse Preisach model is difficult to derive and not suitable for practical application, a digital inverse model is established based on the input and output data of a piezoelectric actuator. Moreover, to mitigate the compensation error of the feedforward control, a feedback control scheme is implemented using different types of control algorithms in terms of PID control, fuzzy control, and fuzzy PID control. Extensive simulation studies are carried out using the three kinds of control systems. Comparative investigation reveals that the fuzzy PID control system with feedforward compensation is capable of providing quicker response and better control accuracy than the other two ones. It provides a promising way of precision control for piezoelectric actuator.
Empirically characteristic analysis of chaotic PID controlling particle swarm optimization.
Yan, Danping; Lu, Yongzhong; Zhou, Min; Chen, Shiping; Levy, David
2017-01-01
Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO), we herein propose a chaotic proportional integral derivative (PID) controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles' search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles' premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA) and PSO.
A fuzzy PID-controlled SMA actuator for a two-DOF joint
Directory of Open Access Journals (Sweden)
Shi Zhenyun
2014-04-01
Full Text Available Shape memory alloy (SMA actuator is a potential advanced component for servo-systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom (DOF and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative (PID-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error (MAE of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.
A numerical model including PID control of a multizone crystal growth furnace
Panzarella, Charles H.; Kassemi, Mohammad
1992-01-01
This paper presents a 2D axisymmetric combined conduction and radiation model of a multizone crystal growth furnace. The model is based on a programmable multizone furnace (PMZF) designed and built at NASA Lewis Research Center for growing high quality semiconductor crystals. A novel feature of this model is a control algorithm which automatically adjusts the power in any number of independently controlled heaters to establish the desired crystal temperatures in the furnace model. The control algorithm eliminates the need for numerous trial and error runs previously required to obtain the same results. The finite element code, FIDAP, used to develop the furnace model, was modified to directly incorporate the control algorithm. This algorithm, which presently uses PID control, and the associated heat transfer model are briefly discussed. Together, they have been used to predict the heater power distributions for a variety of furnace configurations and desired temperature profiles. Examples are included to demonstrate the effectiveness of the PID controlled model in establishing isothermal, Bridgman, and other complicated temperature profies in the sample. Finally, an example is given to show how the algorithm can be used to change the desired profile with time according to a prescribed temperature-time evolution.
Proportional-Integral-Derivative (PID) Control of Secreted Factors for Blood Stem Cell Culture.
Caldwell, Julia; Wang, Weijia; Zandstra, Peter W
2015-01-01
Clinical use of umbilical cord blood has typically been limited by the need to expand hematopoietic stem and progenitor cells (HSPC) ex vivo. This expansion is challenging due to the accumulation of secreted signaling factors in the culture that have a negative regulatory effect on HSPC output. Strategies for global regulation of these factors through dilution have been developed, but do not accommodate the dynamic nature or inherent variability of hematopoietic cell culture. We have developed a mathematical model to simulate the impact of feedback control on in vitro hematopoiesis, and used it to design a proportional-integral-derivative (PID) control algorithm. This algorithm was implemented with a fed-batch bioreactor to regulate the concentrations of secreted factors. Controlling the concentration of a key target factor, TGF-β1, through dilution limited the negative effect it had on HSPCs, and allowed global control of other similarly-produced inhibitory endogenous factors. The PID control algorithm effectively maintained the target soluble factor at the target concentration. We show that feedback controlled dilution is predicted to be a more cost effective dilution strategy compared to other open-loop strategies, and can enhance HSPC expansion in short term culture. This study demonstrates the utility of secreted factor process control strategies to optimize stem cell culture systems, and motivates the development of multi-analyte protein sensors to automate the manufacturing of cell therapies.
Computation of stabilizing PI and PID controllers using the stability boundary locus
International Nuclear Information System (INIS)
Tan, Nusret; Kaya, Ibrahim; Yeroglu, Celaleddin; Atherton, Derek P.
2006-01-01
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
Thermostatic system of sensor in NIR spectrometer based on PID control
Wang, Zhihong; Qiao, Liwei; Ji, Xufei
2016-11-01
Aiming at the shortcomings of the primary sensor thermostatic control system in the near infrared (NIR) spectrometer, a novel thermostatic control system based on proportional-integral-derivative (PID) control technology was developed to improve the detection precision of the NIR spectrometer. There were five parts including bridge amplifier circuit, analog-digital conversion (ADC) circuit, microcontroller, digital-analog conversion (DAC) circuit and drive circuit in the system. The five parts formed a closed-loop control system based on PID algorithm that was used to control the error between the temperature calculated by the sampling data of ADC and the designed temperature to ensure the stability of the spectrometer's sensor. The experimental results show that, when the operating temperature of sensor is -11°, compared with the original system, the temperature control precision of the new control system is improved from ±0.64° to ±0.04° and the spectrum signal to noise ratio (SNR) is improved from 4891 to 5967.
Multivariate analysis with LISREL
Jöreskog, Karl G; Y Wallentin, Fan
2016-01-01
This book traces the theory and methodology of multivariate statistical analysis and shows how it can be conducted in practice using the LISREL computer program. It presents not only the typical uses of LISREL, such as confirmatory factor analysis and structural equation models, but also several other multivariate analysis topics, including regression (univariate, multivariate, censored, logistic, and probit), generalized linear models, multilevel analysis, and principal component analysis. It provides numerous examples from several disciplines and discusses and interprets the results, illustrated with sections of output from the LISREL program, in the context of the example. The book is intended for masters and PhD students and researchers in the social, behavioral, economic and many other sciences who require a basic understanding of multivariate statistical theory and methods for their analysis of multivariate data. It can also be used as a textbook on various topics of multivariate statistical analysis.
J Olive, David
2017-01-01
This text presents methods that are robust to the assumption of a multivariate normal distribution or methods that are robust to certain types of outliers. Instead of using exact theory based on the multivariate normal distribution, the simpler and more applicable large sample theory is given. The text develops among the first practical robust regression and robust multivariate location and dispersion estimators backed by theory. The robust techniques are illustrated for methods such as principal component analysis, canonical correlation analysis, and factor analysis. A simple way to bootstrap confidence regions is also provided. Much of the research on robust multivariate analysis in this book is being published for the first time. The text is suitable for a first course in Multivariate Statistical Analysis or a first course in Robust Statistics. This graduate text is also useful for people who are familiar with the traditional multivariate topics, but want to know more about handling data sets with...
Energy Technology Data Exchange (ETDEWEB)
Bardon, B
1995-01-31
Rapid Thermal Processing (RTP) technology is a delicate field to the control engineer. Its compatibility to single-wafer processing is well suited for performing thermal steps in the state-of-the-art integrated circuit (IC) manufacturing. Control of the wafer temperature during the processing is essential. The main problem in the scalar (SISO) approach is due to the steady-state temperature uniformity. A solution to this problem is to vary the spatial energy flux distribution radiating to the wafer. To achieve this requirement, one approach is the use a multivariable (MIMO) control law to manipulate independently the different lamps banks. Thermal process are highly non linear and distributed in nature. Besides, these non-linearities implies process dynamics variations. In this work, after physically describing our process about a reference value of the power and temperature, we present an off-line identification procedure (in the aim of devising a linear multivariable model) using input/output data for different reference values from real experiences and multi-variable least square algorithm. Afterwards, particular attention is devoted to the structure parameter determination of the linear model. Based on the linear model, a multivariable PID controller is designed. The controller coupled with the least mean square identification algorithm is tested under real conditions. The performances of the MIMO adaptive controller is also evaluated in tracking as well as in regulation. (author) refs.
Wibowo, Lambang, Lullus; Erick Chandra, N.; Muhayat, Nurul; Jaka S., B.
2017-08-01
The purpose of this research is to obtain a mathematical model (Full Vehicle Model) and compare the performance of passive and active suspension systems of a Three-Wheels Reverse Trike vehicle. Vehicle suspension system should able to provide good steering handling and passenger comfort. Vehicle suspension system generally only uses passive suspension components with fix spring and damper coefficients. An active suspension developed from the traditional (passive) suspension design can directly control the actuator force in the suspension system. In this paper, modeling and simulation of passive and active suspension system for a Full Vehicle Model is performed using Simulink-MATLAB software. Ziegler & Nichols tuning method is used to obtain controller parameters of Proportional Integral Derivative (PID) controller. Comparison between passive and active suspension with PID controller is conducted for disturbances input of single bump road surface profile 0.1 meters. The results are the displacement and acceleration of the vehicle body in the vertical direction of active suspension system with PID control is better in providing handling capabilities and comfort for the driver than of passive suspension system. The acceleration of 1,8G with the down time of 2.5 seconds is smaller than the acceleration of 2.5G with down time of 5.5 seconds.
Directory of Open Access Journals (Sweden)
L Khakim
2013-07-01
Full Text Available Penelitian ini adalah penelitian pengembangan desain rancang bangun sistem pengendalian otomatis yang digerakkan dengan dua motor DC sehingga mampu mempertahankan kelembaman pada arahnya. Sistem otomatis ini terdiri dari sensor KMZ51 sebagai komponen feedback dan dua motor DC sebagai komponen plant. Pengujian dari sistem otomatis dibagi menjadi tiga yaitu pengujian sensor KMZ51, pengujian PWM sebagai penggerak motor DC dan pengujian performansi kontrol PID. Hasil pengujian menunjukkan nilai ketelitian sensor 99.17%. Pada pengujian PWM diperoleh error pengukuran 1.07% dan pengujian performansi sistem didapatkan bahwa penerapan kontrol PID dapat mengatur putaran motor DC sehingga model sistem mampu mempertahankan arahnya pada set point yang telah ditentukan dengan nilai overshoot maximum kurang dari 10%, rise time 2 detik dan settling time kurang dari 5% yang diperoleh pada Kp= 27, Ki= 6, dan Kd= 40 menggunakan metode trial and error.Â This research is design of automatic control system which driven by two DC motors that can keep the inertia of direction. The system is composed of sensor KMZ51 as feedback component and two DC motors as plant component. Testing of the automated system divided into three, KMZ51 sensor testing, PWM testing as drive DC motors, and performance testing of PID control system. The results show that the sensor accuracy values 99.17%, on testing the PWM measurement error obtained 1.07%, and testing of performance system obtained that the application of PID control can adjust DC motors rotation so that the model system is able to maintain direction the set point specified with maximum overshoot less than 10%, rise time of 2 seconds and settling time less than 5% were obtained at Kp= 27, Ki= 6, and Kd= 40 using trial and error method
Directory of Open Access Journals (Sweden)
Asan Gani
2010-09-01
Full Text Available Active vibration control of the first three modes of a vibrating cantilever beam using collocated piezoelectric sensor and actuator is examined in this paper. To achieve this, a model based on Euler-Bernoulli beam equation is adopted and extended to the case of three bonded piezoelectric patches that act as sensor, actuator and exciter respectively. A compensated inverse PID controller has been designed and developed to damp first three modes of vibration. Controllers have been designed for each mode and these are later combined in parallel to damp any of the three modes. Individual controller gives better reduction in sensor output for the second and third modes while the combined controller performs better for the first mode. Simulation studies are carried out using MATLAB. These results are compared and verified experimentally and the real-time implementation is carried out with xPC-target toolbox in MATLAB
Neuro-PID tracking control of a discharge air temperature system
International Nuclear Information System (INIS)
Zaheer-uddin, M.; Tudoroiu, N.
2004-01-01
In this paper, the problem of improving the performance of a discharge air temperature (DAT) system using a PID controller and augmenting it with neural network based tuning and tracking functions is explored. The DAT system is modeled as a SISO (single input single output) system. The architecture of the real time neuro-PID controller and simulation results obtained under realistic operating conditions are presented. The neural network assisted PID tuning method is simple to implement. Results show that the network assisted PID controller is able to track both constant and variable set point trajectories efficiently in the presence of disturbances acting on the DAT system
Directory of Open Access Journals (Sweden)
Li Jing
2016-01-01
Full Text Available For the control of the liquid level of liquid ammonia in thermal power plant’s ammonia vaporization room, traditional PID controller parameter tuning is difficult to adapt to complex control systems, the setting of the traditional PID controller parameters is difficult to adapt to the complex control system. For the disadvantage of bad parameter setting, poor performance and so on the fuzzy adaptive PID control is proposed. Fuzzy adaptive PID control combines the advantages of traditional PID technology and fuzzy control. By using the fuzzy controller to intelligent control the object, the performance of the PID controller is further improved, and the control precision of the system is improved[1]. The simulation results show that the fuzzy adaptive PID controller not only has the advantages of high accuracy of PID controller, but also has the characteristics of fast and strong adaptability of fuzzy controller. It realizes the optimization of PID parameters which are in the optimal state, and the maximum increase production efficiency, so that are more suitable for nonlinear dynamic system.
Empirically characteristic analysis of chaotic PID controlling particle swarm optimization
Yan, Danping; Lu, Yongzhong; Zhou, Min; Chen, Shiping; Levy, David
2017-01-01
Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO), we herein propose a chaotic proportional integral derivative (PID) controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles’ search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles’ premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA) and PSO. PMID:28472050
Empirically characteristic analysis of chaotic PID controlling particle swarm optimization.
Directory of Open Access Journals (Sweden)
Danping Yan
Full Text Available Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO, we herein propose a chaotic proportional integral derivative (PID controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles' search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles' premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA and PSO.
Continuous multivariate exponential extension
International Nuclear Information System (INIS)
Block, H.W.
1975-01-01
The Freund-Weinman multivariate exponential extension is generalized to the case of nonidentically distributed marginal distributions. A fatal shock model is given for the resulting distribution. Results in the bivariate case and the concept of constant multivariate hazard rate lead to a continuous distribution related to the multivariate exponential distribution (MVE) of Marshall and Olkin. This distribution is shown to be a special case of the extended Freund-Weinman distribution. A generalization of the bivariate model of Proschan and Sullo leads to a distribution which contains both the extended Freund-Weinman distribution and the MVE
Methods of Multivariate Analysis
Rencher, Alvin C
2012-01-01
Praise for the Second Edition "This book is a systematic, well-written, well-organized text on multivariate analysis packed with intuition and insight . . . There is much practical wisdom in this book that is hard to find elsewhere."-IIE Transactions Filled with new and timely content, Methods of Multivariate Analysis, Third Edition provides examples and exercises based on more than sixty real data sets from a wide variety of scientific fields. It takes a "methods" approach to the subject, placing an emphasis on how students and practitioners can employ multivariate analysis in real-life sit
Partial synchronization of different chaotic oscillators using robust PID feedback
Energy Technology Data Exchange (ETDEWEB)
Aguilar-Lopez, Ricardo [Departamento de Energia, Universidad Autonoma Metropolitana - Azcapotzalco, San Pablo 180, Reynosa-Tamaulipas, Azcapotzalco, 02200 Mexico, D.F. (Mexico)]. E-mail: raguilar@correo.azc.uam.mx; Martinez-Guerra, Rafael [Departamento de Control Automatico, CINVESTAV IPN, Apartado Postal 14-740, Mexico, D.F. C.P. 07360 (Mexico)]. E-mail: rguerra@ctrl.cinvestav.mx
2007-07-15
This work deals with the partial synchronization problem of two different chaotic oscillators considering model uncertainties in the slave system via control approach. The slave system is forced to follow the master signal via a linearizing controller based on model uncertainty reconstructor which leads to proportional-integral-derivative (PID) control structure. This reconstructor is related with a proportional-derivative (PD) reduced-order observer, it would be considered as a sub-slave system for the original slave of the synchronization procedure. The asymptotic performance of the synchronization methodology is proven via the dynamic of the synchronization error. Numerical experiment illustrates the closed-loop behavior of the proposed methodology.
Partial synchronization of different chaotic oscillators using robust PID feedback
International Nuclear Information System (INIS)
Aguilar-Lopez, Ricardo; Martinez-Guerra, Rafael
2007-01-01
This work deals with the partial synchronization problem of two different chaotic oscillators considering model uncertainties in the slave system via control approach. The slave system is forced to follow the master signal via a linearizing controller based on model uncertainty reconstructor which leads to proportional-integral-derivative (PID) control structure. This reconstructor is related with a proportional-derivative (PD) reduced-order observer, it would be considered as a sub-slave system for the original slave of the synchronization procedure. The asymptotic performance of the synchronization methodology is proven via the dynamic of the synchronization error. Numerical experiment illustrates the closed-loop behavior of the proposed methodology
Using PIDs to Support the Full Research Data Publishing Lifecycle
Waard, A. D.
2016-12-01
Persistent identifiers can help support scientific research, track scientific impact and let researchers achieve recognition for their work. We discuss a number of ways in which Elsevier utilizes PIDs to support the scholarly lifecycle: To improve the process of storing and sharing data, Mendeley Data (http://data.mendeley.com) makes use of persistent identifiers to support the dynamic nature of data and software, by tracking and recording the provenance and versioning of datasets. This system now allows the comparison of different versions of a dataset, to see precisely what was changed during a versioning update. To present research data in context for the reader, we include PIDs in research articles as hyperlinks: https://www.elsevier.com/books-and-journals/content-innovation/data-base-linking. In some cases, PIDs fetch data files from the repositories provide that allow the embedding of visualizations, e.g. with PANGAEA and PubChem: https://www.elsevier.com/books-and-journals/content-innovation/protein-viewer; https://www.elsevier.com/books-and-journals/content-innovation/pubchem. To normalize referenced data elements, the Resource Identification Initiative - which we developed together with members of the Force11 RRID group - introduces a unified standard for resource identifiers (RRIDs) that can easily be interpreted by both humans and text mining tools. https://www.force11.org/group/resource-identification-initiative/update-resource-identification-initiative, as can be seen in our Antibody Data app: https://www.elsevier.com/books-and-journals/content-innovation/antibody-data To enable better citation practices and support robust metrics system for sharing research data, we have helped develop, and are early adopters of the Force11 Data Citation Principles and Implementation groups (https://www.force11.org/group/dcip) Lastly, through our work with the Research Data Alliance Publishing Data Services group, we helped create a set of guidelines (http
The development of Gallstone solvent temperature adaptive PID control system
Institute of Scientific and Technical Information of China (English)
MA; BING; QIAO; BO; YAN
2012-01-01
The paper expatiated the work principle,general project,and the control part of the corresponding program of the temperature system in the gallstone dissolving instrument.Gallstone dissolving instrument adopts automatic control solvent cycle of direct solution stone treatment,replacing the traditional external shock wave rock row stone and gallblad-der surgery method.PID control system to realize the gall stone solvent temperature intelligent control,the basic principle of work is as solvent temperature below the set temperature,the relay control heater to solvent to be heated,conversely,no heating,achieve better able to dissolve the the rapeutic effect of gallstones.
State-PID Feedback for Pole Placement of LTI Systems
Directory of Open Access Journals (Sweden)
Sarawut Sujitjorn
2011-01-01
Full Text Available Pole placement problems are especially important for disturbance rejection and stabilization of dynamical systems and regarded as algebraic inverse eigenvalue problems. In this paper, we propose gain formulae of state feedback through PID-elements to achieve desired pole placement for a delay-free LTI system with single input. Real and complex stable poles can be assigned with the proposed compact gain formulae. Numerical examples show that our proposed gain formulae can be used effectively resulting in very satisfactory responses.
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. Copyright © 2014 Elsevier B.V. All rights reserved.
DEFF Research Database (Denmark)
Silvennoinen, Annastiina; Teräsvirta, Timo
This article contains a review of multivariate GARCH models. Most common GARCH models are presented and their properties considered. This also includes nonparametric and semiparametric models. Existing specification and misspecification tests are discussed. Finally, there is an empirical example...
Multivariate Time Series Search
National Aeronautics and Space Administration — Multivariate Time-Series (MTS) are ubiquitous, and are generated in areas as disparate as sensor recordings in aerospace systems, music and video streams, medical...
Liu, Hui; Li, Yingzi; Zhang, Yingxu; Chen, Yifu; Song, Zihang; Wang, Zhenyu; Zhang, Suoxin; Qian, Jianqiang
2018-01-01
Proportional-integral-derivative (PID) parameters play a vital role in the imaging process of an atomic force microscope (AFM). Traditional parameter tuning methods require a lot of manpower and it is difficult to set PID parameters in unattended working environments. In this manuscript, an intelligent tuning method of PID parameters based on iterative learning control is proposed to self-adjust PID parameters of the AFM according to the sample topography. This method gets enough information about the output signals of PID controller and tracking error, which will be used to calculate the proper PID parameters, by repeated line scanning until convergence before normal scanning to learn the topography. Subsequently, the appropriate PID parameters are obtained by fitting method and then applied to the normal scanning process. The feasibility of the method is demonstrated by the convergence analysis. Simulations and experimental results indicate that the proposed method can intelligently tune PID parameters of the AFM for imaging different topographies and thus achieve good tracking performance. Copyright © 2017 Elsevier Ltd. All rights reserved.
KENDALI KECEPATAN MOTOR INDUKSI TIGA FASA DENGAN KONTROLER PID
Directory of Open Access Journals (Sweden)
Bambang Prio Hartono
2012-09-01
Full Text Available Abstract: Speed control for three-phase induction motor with PID controller. The weakness of an induction motor is its disability to maintain the speed constantly during load changes; it will reduce the speed of induction motor. It needs a controller which enables an induction motor to maintain its speed in various set points and changing loads by determining system performance. The system is tested by referring settling point, rise time, delay time, time constant, and error state. The PID controller with 8,032 micro-controller can produce a good performance in following state: in starting phase, changing load torques, and achieving set point in t = 1.68 s, TR = 2.30 s, TS = 3.80 s, TD = 1.56 s, 1.29% error steady state (% Ess, and 1.50 Newton of load. In quick response (in mil-second, the induction motor becomes more stable, while in plant response there is no overshoot because the motor has been tied by a power brake that acts as a load.
Directory of Open Access Journals (Sweden)
Norberto Cañas
2014-04-01
Full Text Available Resumen: Se presenta en este artículo la comparación de tres controladores de velocidad (regulador cuadrático lineal-LQR-, proporcional integral derivativo-PID-y borroso con la intención de determinar cuál de ellos ofrece mejor fiabilidad desde una perspectiva software. Para realizar las pruebas necesarias se utilizaron versiones mutantes de controladores bien ajustados, en los que se inyectaron defectos que simulaban errores de programación. Los controladores fueron diseñados para operar un vehículo autónomo terrestre y fueron ajustados por medio de un algoritmo genético.Dado el elevado número de pruebas a efectuar se decidió construir un simulador multicomputador con el que se realizaron más de 90000 ensayos. En cada uno de los ensayos se sometió a cada controlador mutante a la realización de un recorrido, de unos 20 minutos de duración máxima, sobre un suelo ligeramente ondulado. Con los datos obtenidos se generaron las curvas de fiabilidad por el procedimiento de Kaplan-Meier, lo cual permitió la comparación de controladores objetivo del estudio.De las curvas de fiabilidad del software obtenidas se deduce que, en las condiciones experimentales planteadas, el controlador LQR ofrece el mejor comportamiento, el segundo lugar le corresponde al controlador PID y el tercero al controlador borroso. Abstract: In this paper, three multivariable speed controllers (linear quadratic regulator-LQR, proportional integral derivative - PID, and Fuzzy were compared with each other to find which one has the best software reliability. The reliability tests were conducted on perturbed controllers with injected faults, simulating typical programmer errors. These controllers were designed to operate in an autonomous ground vehicle, and they were tuned by using a genetic algorithm. Given the large number of tests to be performed it was decided to build a multi-computer simulator in which they were carried out more than 90000 essays. In each of
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. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Active Queue Management in TCP Networks Based on Fuzzy-Pid Controller
Directory of Open Access Journals (Sweden)
Hossein ASHTIANI
2012-01-01
Full Text Available We introduce a novel and robust active queue management (AQM scheme based on a fuzzy controller, called hybrid fuzzy-PID controller. In the TCP network, AQM is important to regulate the queue length by passing or dropping the packets at the intermediate routers. RED, PI, and PID algorithms have been used for AQM. But these algorithms show weaknesses in the detection and control of congestion under dynamically changing network situations. In this paper a novel Fuzzy-based proportional-integral derivative (PID controller, which acts as an active queue manager (AQM for Internet routers, is proposed. These controllers are used to reduce packet loss and improve network utilization in TCP/IP networks. A new hybrid controller is proposed and compared with traditional RED based controller. Simulations are carried out to demonstrate the effectiveness of the proposed method and show that, the new hybrid fuzzy PID controller provides better performance than random early detection (RED and PID controllers
Bidirectional active control of structures with type-2 fuzzy PD and PID
Paul, Satyam; Yu, Wen; Li, Xiaoou
2018-03-01
Proportional-derivative and proportional-integral-derivative (PD/PID) controllers are popular algorithms in structure vibration control. In order to maintain minimum regulation error, the PD/PID control require big proportional and derivative gains. The control performances are not satisfied because of the big uncertainties in the buildings. In this paper, type-2 fuzzy system is applied to compensate the unknown uncertainties, and is combined with the PD/PID control. We prove the stability of these fuzzy PD and PID controllers. The sufficient conditions can be used for choosing the gains of PD/PID. The theory results are verified by a two-storey building prototype. The experimental results validate our analysis.
PSO-based PID Speed Control of Traveling Wave Ultrasonic Motor under Temperature Disturbance
Arifin Mat Piah, Kamal; Yusoff, Wan Azhar Wan; Azmi, Nur Iffah Mohamed; Romlay, Fadhlur Rahman Mohd
2018-03-01
Traveling wave ultrasonic motors (TWUSMs) have a time varying dynamics characteristics. Temperature rise in TWUSMs remains a problem particularly in sustaining optimum speed performance. In this study, a PID controller is used to control the speed of TWUSM under temperature disturbance. Prior to developing the controller, a linear approximation model which relates the speed to the temperature is developed based on the experimental data. Two tuning methods are used to determine PID parameters: conventional Ziegler-Nichols(ZN) and particle swarm optimization (PSO). The comparison of speed control performance between PSO-PID and ZN-PID is presented. Modelling, simulation and experimental work is carried out utilizing Fukoku-Shinsei USR60 as the chosen TWUSM. The results of the analyses and experimental work reveal that PID tuning using PSO-based optimization has the advantage over the conventional Ziegler-Nichols method.
Multivariate Birkhoff interpolation
Lorentz, Rudolph A
1992-01-01
The subject of this book is Lagrange, Hermite and Birkhoff (lacunary Hermite) interpolation by multivariate algebraic polynomials. It unifies and extends a new algorithmic approach to this subject which was introduced and developed by G.G. Lorentz and the author. One particularly interesting feature of this algorithmic approach is that it obviates the necessity of finding a formula for the Vandermonde determinant of a multivariate interpolation in order to determine its regularity (which formulas are practically unknown anyways) by determining the regularity through simple geometric manipulations in the Euclidean space. Although interpolation is a classical problem, it is surprising how little is known about its basic properties in the multivariate case. The book therefore starts by exploring its fundamental properties and its limitations. The main part of the book is devoted to a complete and detailed elaboration of the new technique. A chapter with an extensive selection of finite elements follows as well a...
Applied multivariate statistical analysis
Härdle, Wolfgang Karl
2015-01-01
Focusing on high-dimensional applications, this 4th edition presents the tools and concepts used in multivariate data analysis in a style that is also accessible for non-mathematicians and practitioners. It surveys the basic principles and emphasizes both exploratory and inferential statistics; a new chapter on Variable Selection (Lasso, SCAD and Elastic Net) has also been added. All chapters include practical exercises that highlight applications in different multivariate data analysis fields: in quantitative financial studies, where the joint dynamics of assets are observed; in medicine, where recorded observations of subjects in different locations form the basis for reliable diagnoses and medication; and in quantitative marketing, where consumers’ preferences are collected in order to construct models of consumer behavior. All of these examples involve high to ultra-high dimensions and represent a number of major fields in big data analysis. The fourth edition of this book on Applied Multivariate ...
Multivariable Feedback Control of Nuclear Reactors
Directory of Open Access Journals (Sweden)
Rune Moen
1982-07-01
Full Text Available Multivariable feedback control has been adapted for optimal control of the spatial power distribution in nuclear reactor cores. Two design techniques, based on the theory of automatic control, were developed: the State Variable Feedback (SVF is an application of the linear optimal control theory, and the Multivariable Frequency Response (MFR is based on a generalization of the traditional frequency response approach to control system design.
Energy Technology Data Exchange (ETDEWEB)
Hacke, Peter L [National Renewable Energy Laboratory (NREL), Golden, CO (United States)
2017-11-27
In an experiment with five module designs and multiple replicas, it is found that crystalline silicon cell modules that can pass a criterion of less than 5 percent power degradation in stress test conditions of 60 degrees Celsius, 85 percent relative humidity (RH), 96 h, and nameplate-rated system voltage bias show no power degradation by potential induced degradation in the range of 4-6 years duration in the Florida, USA environment. This data suggests that this chamber stress level is useful as a pass/fail criterion for PID, and will help ensure against degradation by system voltage stress in Florida, or less stressful climates, for at least 5 years.
Multivariable control in nuclear power stations
International Nuclear Information System (INIS)
Parent, M.; McMorran, P.D.
1982-11-01
Multivariable methods have the potential to improve the control of large systems such as nuclear power stations. Linear-quadratic optimal control is a multivariable method based on the minimization of a cost function. A related technique leads to the Kalman filter for estimation of plant state from noisy measurements. A design program for optimal control and Kalman filtering has been developed as part of a computer-aided design package for multivariable control systems. The method is demonstrated on a model of a nuclear steam generator, and simulated results are presented
Whist, A C; Liland, K H; Jonsson, M E; Sæbø, S; Sviland, S; Østerås, O; Norström, M; Hopp, P
2014-11-01
Surveillance programs for animal diseases are critical to early disease detection and risk estimation and to documenting a population's disease status at a given time. The aim of this study was to describe a risk-based surveillance program for detecting Mycobacterium avium ssp. paratuberculosis (MAP) infection in Norwegian dairy cattle. The included risk factors for detecting MAP were purchase of cattle, combined cattle and goat farming, and location of the cattle farm in counties containing goats with MAP. The risk indicators included production data [culling of animals >3 yr of age, carcass conformation of animals >3 yr of age, milk production decrease in older lactating cows (lactations 3, 4, and 5)], and clinical data (diarrhea, enteritis, or both, in animals >3 yr of age). Except for combined cattle and goat farming and cattle farm location, all data were collected at the cow level and summarized at the herd level. Predefined risk factors and risk indicators were extracted from different national databases and combined in a multivariate statistical process control to obtain a risk assessment for each herd. The ordinary Hotelling's T(2) statistic was applied as a multivariate, standardized measure of difference between the current observed state and the average state of the risk factors for a given herd. To make the analysis more robust and adapt it to the slowly developing nature of MAP, monthly risk calculations were based on data accumulated during a 24-mo period. Monitoring of these variables was performed to identify outliers that may indicate deviance in one or more of the underlying processes. The highest-ranked herds were scattered all over Norway and clustered in high-density dairy cattle farm areas. The resulting rankings of herds are being used in the national surveillance program for MAP in 2014 to increase the sensitivity of the ongoing surveillance program in which 5 fecal samples for bacteriological examination are collected from 25 dairy herds
Chen, Siru
2015-01-01
© The Royal Society of Chemistry 2015. Mixed transition metal oxides have attracted much attention recently due to their potential application in energy and environmental sciences. The emergence of multivariate MOFs recently has attracted great research attention and provides an opportunity for multivariate mixed-metal oxides. In this work, five isostructural, single-phase MOF-74 structures with different divalent metals (MOF-74-Co, MOF-74-Ni, MOF-74-NiCo1, MOF-74-NiCo2 and MOF-74-NiCo4) were synthesised by varying the mole ratios of Ni/Co mixed-metal ions. After annealing at the appropriate temperature, Co3O4, NiO and three kinds of NixCo3-xO4 mixed-metal oxide nanoparticles with high surface area were easily obtained and the metal ratio was readily controlled, enabling us to systematically investigate the effect of different metal species amounts on the electrochemical properties of the mixed-metal oxide materials. When these metal oxides were used as electrode materials for supercapacitors, we found that the mixed-metal oxides NixCo3-xO4 obtained from bimetallic MOF-74-NiCo structures had obvious advantages compared with the monometallic oxides of MOF-74-Ni and MOF-74-Co. In particular, the NixCo3-xO4-1 with the Ni/Co metal ratio 1:1 exhibited the highest capacitance of 797 F g-1 and excellent cycling stability.
A MULTIVARIATE WEIBULL DISTRIBUTION
Directory of Open Access Journals (Sweden)
Cheng Lee
2010-07-01
Full Text Available A multivariate survival function of Weibull Distribution is developed by expanding the theorem by Lu and Bhattacharyya. From the survival function, the probability density function, the cumulative probability function, the determinant of the Jacobian Matrix, and the general moment are derived.
DEFF Research Database (Denmark)
Barndorff-Nielsen, Ole; Hansen, Peter Reinhard; Lunde, Asger
We propose a multivariate realised kernel to estimate the ex-post covariation of log-prices. We show this new consistent estimator is guaranteed to be positive semi-definite and is robust to measurement noise of certain types and can also handle non-synchronous trading. It is the first estimator...
DEFF Research Database (Denmark)
Hansen, Michael Adsetts Edberg
Interest in statistical methodology is increasing so rapidly in the astronomical community that accessible introductory material in this area is long overdue. This book fills the gap by providing a presentation of the most useful techniques in multivariate statistics. A wide-ranging annotated set...
Multivariate pattern dependence.
Directory of Open Access Journals (Sweden)
Stefano Anzellotti
2017-11-01
Full Text Available When we perform a cognitive task, multiple brain regions are engaged. Understanding how these regions interact is a fundamental step to uncover the neural bases of behavior. Most research on the interactions between brain regions has focused on the univariate responses in the regions. However, fine grained patterns of response encode important information, as shown by multivariate pattern analysis. In the present article, we introduce and apply multivariate pattern dependence (MVPD: a technique to study the statistical dependence between brain regions in humans in terms of the multivariate relations between their patterns of responses. MVPD characterizes the responses in each brain region as trajectories in region-specific multidimensional spaces, and models the multivariate relationship between these trajectories. We applied MVPD to the posterior superior temporal sulcus (pSTS and to the fusiform face area (FFA, using a searchlight approach to reveal interactions between these seed regions and the rest of the brain. Across two different experiments, MVPD identified significant statistical dependence not detected by standard functional connectivity. Additionally, MVPD outperformed univariate connectivity in its ability to explain independent variance in the responses of individual voxels. In the end, MVPD uncovered different connectivity profiles associated with different representational subspaces of FFA: the first principal component of FFA shows differential connectivity with occipital and parietal regions implicated in the processing of low-level properties of faces, while the second and third components show differential connectivity with anterior temporal regions implicated in the processing of invariant representations of face identity.
Modeling a multivariable reactor and on-line model predictive control.
Yu, D W; Yu, D L
2005-10-01
A nonlinear first principle model is developed for a laboratory-scaled multivariable chemical reactor rig in this paper and the on-line model predictive control (MPC) is implemented to the rig. The reactor has three variables-temperature, pH, and dissolved oxygen with nonlinear dynamics-and is therefore used as a pilot system for the biochemical industry. A nonlinear discrete-time model is derived for each of the three output variables and their model parameters are estimated from the real data using an adaptive optimization method. The developed model is used in a nonlinear MPC scheme. An accurate multistep-ahead prediction is obtained for MPC, where the extended Kalman filter is used to estimate system unknown states. The on-line control is implemented and a satisfactory tracking performance is achieved. The MPC is compared with three decentralized PID controllers and the advantage of the nonlinear MPC over the PID is clearly shown.
Gain Scheduling of PID Controller Based on Fuzzy Systems
Directory of Open Access Journals (Sweden)
Singh Sandeep
2016-01-01
Full Text Available This paper aims to utilize fuzzy rules and reasoning to determine the controller parameters and the PID controller generates the control signal. The objective of this study is to simulate the proposed scheme on various processes and arrive at results providing better response of the system when compared with best industrial auto-tuning technique: Ziegler-Nichols. The proposed scheme is based upon the Ultimate Gain (Ku and the Period (Tu of the system. The error and rate of change in error gains are tuned manually to get the desired response using LabVIEW. This can also be done with various optimization techniques. A thumb rule for choosing the ranges for Kc, Kd and Ki has been obtained experimentally.
Greenhouse Environmental Control Using Optimized MIMO PID Technique
Directory of Open Access Journals (Sweden)
Fateh BOUNAAMA
2011-10-01
Full Text Available Climate control for protected crops brings the added dimension of a biological system into a physical system control situation. The thermally dynamic nature of a greenhouse suggests that disturbance attenuation (load control of external temperature, humidity, and sunlight is far more important than is the case for controlling other types of buildings. This paper investigates the application of multi-inputs multi-outputs (MIMO PID controller to a MIMO greenhouse environmental model with actuation constraints. This method is based on decoupling the system at low frequency point. The optimal tuning values are determined using genetic algorithms optimization (GA. The inside outsides climate model of the environmental greenhouse, and the automatically collected data sets of Avignon, France are used to simulate and test this technique. The control objective is to maintain a highly coupled inside air temperature and relative humidity of strongly perturbed greenhouse, at specified set-points, by the ventilation/cooling and moisturizing operations.
Implementation of PID autotuning procedure in PLC controller
Directory of Open Access Journals (Sweden)
Daniun Marcin
2017-01-01
Full Text Available In this paper, we present the automatic PID tuning procedure based on the Method of Moments and AMIGO tuning rules. The advantage of the Method of Moments is that the time constant and transport delay are estimated at the areas rather than on the individual points. This results in high resistance to the measurement noises. The sensitivity to measurement noises is a serious problem in other autotuning methods. The second advantage of this method is that it approximates plant during identification process to first order model with time delay. We combined the Method of Moments with the AMIGO tuning rules and implemented this combination as a stand-alone autotuning procedure in Siemens S7-1200 PLC controller. Next, we compared this method with two built-in PID autotuning procedures which were available in Siemens S7-1200 PLC controller. The procedure was tested for three types of plant models: with lag-dominated, balanced, and delay-dominated dynamics. We simulated the plants on a PC in Matlab R2013a. The connection between the PC and PLC was maintained through a National Instruments data acquisition board, NI PCI-6229. We conducted tests for step change in the set point, trajectory tracking, and load disturbances. To assess control quality, we used IAE index. We limited our research to PI algorithm. The results prove that proposed method was better than two built-in tuning methods provided by Siemens, oscillating between a few and even a dozen percent in most cases. The proposed method is universal and can be implemented in any PLC controller.
Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID
Directory of Open Access Journals (Sweden)
Syed Najib Syed Salim
2014-01-01
Full Text Available The enhancement of nonlinear PID (N-PID controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF, is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self-regulation nonlinear PID (SN-PID controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the characteristic based on a new proposal controller resulting from N-PID controller. The transient response is improved by a factor of 2.2 times greater than previous N-PID technique. Moreover, the performance of pneumatic positioning system is remarkably good under various loads.
Proportional–Integral–Derivative (PID Controller Tuning using Particle Swarm Optimization Algorithm
Directory of Open Access Journals (Sweden)
J. S. Bassi
2012-08-01
Full Text Available The proportional-integral-derivative (PID controllers are the most popular controllers used in industry because of their remarkable effectiveness, simplicity of implementation and broad applicability. However, manual tuning of these controllers is time consuming, tedious and generally lead to poor performance. This tuning which is application specific also deteriorates with time as a result of plant parameter changes. This paper presents an artificial intelligence (AI method of particle swarm optimization (PSO algorithm for tuning the optimal proportional-integral derivative (PID controller parameters for industrial processes. This approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency over the conventional methods. Ziegler- Nichols, tuning method was applied in the PID tuning and results were compared with the PSO-Based PID for optimum control. Simulation results are presented to show that the PSO-Based optimized PID controller is capable of providing an improved closed-loop performance over the Ziegler- Nichols tuned PID controller Parameters. Compared to the heuristic PID tuning method of Ziegler-Nichols, the proposed method was more efficient in improving the step response characteristics such as, reducing the steady-states error; rise time, settling time and maximum overshoot in speed control of DC motor.
Directory of Open Access Journals (Sweden)
Manikandan Ramasamy
2017-07-01
Full Text Available Automation has been growing in recent years for the manufacturing industries to increase productivity. Multiple robotic arms are used to handle materials for lifting in flexible directions. The vertical rotation of a 360 degree single arm is considered in this research on a position servo drive with brushless DC motor. The load torque of an arm varies depending upon the angular displacement due to gravity, so it requires four-quadrant operation of the drive with a robust feedback controller. This paper deals with the design and performance comparison of a conventional PID feedback controller with a fuzzy-based PID controller and suggests the most suitable controller. The design was implemented in real time through the dSPACE DS1104 controller environment to verify the dynamic behaviors of the arm.
Hammad, Mohanad M; Elshenawy, Ahmed K; El Singaby, M I
2017-01-01
In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.
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....
de Souza Granja Barros, Juliana; Rossi, Luiz Antonio; Sartor, Karina
2016-08-01
The use of smarter temperature control technologies in heating systems can optimize the use of electric power and performance of piglets. Two control technologies of a resistive heating system were assessed in a pig nursery: a PID (proportional, integral, and derivative) controller and a thermostat. The systems were evaluated regarding thermal environment, piglet performance, and use of electric power for 99 days. The heating system with PID controller improved the thermal environment conditions and was significantly (P PID-controlled heating system is more efficient in electricity use and provides better conditions for thermal comfort and animal performance than heating with thermostat.
PSO-RBF Neural Network PID Control Algorithm of Electric Gas Pressure Regulator
Directory of Open Access Journals (Sweden)
Yuanchang Zhong
2014-01-01
Full Text Available The current electric gas pressure regulator often adopts the conventional PID control algorithm to take drive control of the core part (micromotor of electric gas pressure regulator. In order to further improve tracking performance and to shorten response time, this paper presents an improved PID intelligent control algorithm which applies to the electric gas pressure regulator. The algorithm uses the improved RBF neural network based on PSO algorithm to make online adjustment on PID parameters. Theoretical analysis and simulation result show that the algorithm shortens the step response time and improves tracking performance.
Skopina, Maria; Protasov, Vladimir
2016-01-01
This book presents a systematic study of multivariate wavelet frames with matrix dilation, in particular, orthogonal and bi-orthogonal bases, which are a special case of frames. Further, it provides algorithmic methods for the construction of dual and tight wavelet frames with a desirable approximation order, namely compactly supported wavelet frames, which are commonly required by engineers. It particularly focuses on methods of constructing them. Wavelet bases and frames are actively used in numerous applications such as audio and graphic signal processing, compression and transmission of information. They are especially useful in image recovery from incomplete observed data due to the redundancy of frame systems. The construction of multivariate wavelet frames, especially bases, with desirable properties remains a challenging problem as although a general scheme of construction is well known, its practical implementation in the multidimensional setting is difficult. Another important feature of wavelet is ...
Multivariate calculus and geometry
Dineen, Seán
2014-01-01
Multivariate calculus can be understood best by combining geometric insight, intuitive arguments, detailed explanations and mathematical reasoning. This textbook has successfully followed this programme. It additionally provides a solid description of the basic concepts, via familiar examples, which are then tested in technically demanding situations. In this new edition the introductory chapter and two of the chapters on the geometry of surfaces have been revised. Some exercises have been replaced and others provided with expanded solutions. Familiarity with partial derivatives and a course in linear algebra are essential prerequisites for readers of this book. Multivariate Calculus and Geometry is aimed primarily at higher level undergraduates in the mathematical sciences. The inclusion of many practical examples involving problems of several variables will appeal to mathematics, science and engineering students.
Intelligent multivariate process supervision
International Nuclear Information System (INIS)
Visuri, Pertti.
1986-01-01
This thesis addresses the difficulties encountered in managing large amounts of data in supervisory control of complex systems. Some previous alarm and disturbance analysis concepts are reviewed and a method for improving the supervision of complex systems is presented. The method, called multivariate supervision, is based on adding low level intelligence to the process control system. By using several measured variables linked together by means of deductive logic, the system can take into account the overall state of the supervised system. Thus, it can present to the operators fewer messages with higher information content than the conventional control systems which are based on independent processing of each variable. In addition, the multivariate method contains a special information presentation concept for improving the man-machine interface. (author)
Multivariate rational data fitting
Cuyt, Annie; Verdonk, Brigitte
1992-12-01
Sections 1 and 2 discuss the advantages of an object-oriented implementation combined with higher floating-point arithmetic, of the algorithms available for multivariate data fitting using rational functions. Section 1 will in particular explain what we mean by "higher arithmetic". Section 2 will concentrate on the concepts of "object orientation". In sections 3 and 4 we shall describe the generality of the data structure that can be dealt with: due to some new results virtually every data set is acceptable right now, with possible coalescence of coordinates or points. In order to solve the multivariate rational interpolation problem the data sets are fed to different algorithms depending on the structure of the interpolation points in then-variate space.
Transient multivariable sensor evaluation
Energy Technology Data Exchange (ETDEWEB)
Vilim, Richard B.; Heifetz, Alexander
2017-02-21
A method and system for performing transient multivariable sensor evaluation. The method and system includes a computer system for identifying a model form, providing training measurement data, generating a basis vector, monitoring system data from sensor, loading the system data in a non-transient memory, performing an estimation to provide desired data and comparing the system data to the desired data and outputting an alarm for a defective sensor.
Hee, Siew Wan; Parsons, Nicholas; Stallard, Nigel
2018-03-01
The motivation for the work in this article is the setting in which a number of treatments are available for evaluation in phase II clinical trials and where it may be infeasible to try them concurrently because the intended population is small. This paper introduces an extension of previous work on decision-theoretic designs for a series of phase II trials. The program encompasses a series of sequential phase II trials with interim decision making and a single two-arm phase III trial. The design is based on a hybrid approach where the final analysis of the phase III data is based on a classical frequentist hypothesis test, whereas the trials are designed using a Bayesian decision-theoretic approach in which the unknown treatment effect is assumed to follow a known prior distribution. In addition, as treatments are intended for the same population it is not unrealistic to consider treatment effects to be correlated. Thus, the prior distribution will reflect this. Data from a randomized trial of severe arthritis of the hip are used to test the application of the design. We show that the design on average requires fewer patients in phase II than when the correlation is ignored. Correspondingly, the time required to recommend an efficacious treatment for phase III is quicker. © 2017 The Author. Biometrical Journal published by WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.
Performance Analysis of Fractional-Order PID Controller for a Parabolic Distributed Solar Collector
Elmetennani, Shahrazed
2017-09-01
This paper studies the performance of a fractional-order proportional integral derivative (FOPID) controller designed for parabolic distributed solar collectors. The control problem addressed in concentrated solar collectors aims at forcing the produced heat to follow a desired reference despite the unevenly varying solar irradiance. In addition to the unpredictable variations of the energy source, the parabolic solar collectors are subject to inhomogeneous distributed efficiency parameters affecting the heat production. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness with respect to disturbances. Thus, we propose a control strategy based on FOPID to achieve the control objectives. First, the FOPID controller is designed based on a linear approximate model describing the system dynamics under nominal working conditions. Then, the FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. Numerical simulations are carried out to evaluate the performance of the proposed FOPID controller. A comparison to the robust integer order PID is also provided. Robustness tests are performed for the nominal model to show the effectiveness of the FOPID. Furthermore, the proposed FOPID is numerically tested to control the distributed solar collector under real working conditions.
Application of Genetic Algorithm for Tuning of a PID Controller for a Real Time Industrial Process
Directory of Open Access Journals (Sweden)
S. M. Giri RAJKUMAR
2010-10-01
Full Text Available PID (Proportional Integral Derivative controller has become inevitable in the process control industries due to its simplicity and effectiveness, but the real challenge lies in tuning them to meet the expectations. Although a host of methods already exist there is still a need for an advanced system for tuning these controllers. Computational intelligence (CI has caught the eye of the researchers due to its simplicity, low computational cost and good performance, makes it a possible choice for tuning of PID controllers, to increase their performance. This paper discusses in detail about Genetic Algorithm (GA, a CI technique, and its implementation in PID tuning for a real time industrial process which is closed loop in nature. Compared to other conventional PID tuning methods, the result shows that better performance can be achieved with the proposed method.
Yang, Xiaoping; Chen, Xueying; Xia, Riting; Qian, Zhihong
2018-04-19
Aiming at the problem of network congestion caused by the large number of data transmissions in wireless routing nodes of wireless sensor network (WSN), this paper puts forward an algorithm based on standard particle swarm⁻neural PID congestion control (PNPID). Firstly, PID control theory was applied to the queue management of wireless sensor nodes. Then, the self-learning and self-organizing ability of neurons was used to achieve online adjustment of weights to adjust the proportion, integral and differential parameters of the PID controller. Finally, the standard particle swarm optimization to neural PID (NPID) algorithm of initial values of proportion, integral and differential parameters and neuron learning rates were used for online optimization. This paper describes experiments and simulations which show that the PNPID algorithm effectively stabilized queue length near the expected value. At the same time, network performance, such as throughput and packet loss rate, was greatly improved, which alleviated network congestion and improved network QoS.
Effect of PID Power System Stabilizer for a Synchronous Machine in Simulink Environment
International Nuclear Information System (INIS)
Yi, Tan Qian; Kasilingam, Gowrishankar; Raguraman, Raman
2013-01-01
This paper presents the use of Proportional-Integral-Derivative (PID) Controller with power system stabilizer (PSS) in a single machine infinite bus system. A PSS is used to generate supplementary damping control signals for an excitation system in order to damp out low frequency oscillations (LFO) of an electric power system. The paper is modelled in the MATLAB Simulink Environment to analyze the performance of a synchronous machine under a wide range of operating conditions. The functional blocks of PID controller with PSS are generated and the simulation studies are conducted based on different test cases to observe the dynamic performance of the power system. Analysis in this paper reveals that the PID-PSS gives better dynamic performance as compared to that of conventional power system stabilizer and also the optimal gain settings of PID PSS obtained at normal operating condition works well to other operating condition without much deterioration of the dynamic responses.
Research on Environmental Adjustment of Cloud Ranch Based on BP Neural Network PID Control
Ren, Jinzhi; Xiang, Wei; Zhao, Lin; Wu, Jianbo; Huang, Lianzhen; Tu, Qinggang; Zhao, Heming
2018-01-01
In order to make the intelligent ranch management mode replace the traditional artificial one gradually, this paper proposes a pasture environment control system based on cloud server, and puts forward the PID control algorithm based on BP neural network to control temperature and humidity better in the pasture environment. First, to model the temperature and humidity (controlled object) of the pasture, we can get the transfer function. Then the traditional PID control algorithm and the PID one based on BP neural network are applied to the transfer function. The obtained step tracking curves can be seen that the PID controller based on BP neural network has obvious superiority in adjusting time and error, etc. This algorithm, calculating reasonable control parameters of the temperature and humidity to control environment, can be better used in the cloud service platform.
PID Neural Network Based Speed Control of Asynchronous Motor Using Programmable Logic Controller
Directory of Open Access Journals (Sweden)
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.
Tuning PID attitude stabilization of a quadrotor using particle swarm optimization (experimental
Directory of Open Access Journals (Sweden)
Khodja Mohammed Abdallah
2017-01-01
Full Text Available Proportional, Integral and Derivative (PID controllers are the most popular type of controller used in industrial applications because of their notable simplicity and effective implementation. However, manual tuning of these controllers is tedious and often leads to poor performance. The conventional Ziegler-Nichols (Z-N method of PID tuning was done experimentally enables easy identification stable PID parameters in a short time, but is accompanied by overshoot, high steady-state error, and large rise time. Therefore, in this study, the modern heuristics approach of Particle Swarm Optimization (PSO was employed to enhance the capabilities of the conventional Z-N technique. PSO with the constriction coefficient method experimentally demonstrated the ability to efficiently and effectively identify optimal PID controller parameters for attitude stabilization of a quadrotor.
Effects of a PID Control System on Electromagnetic Fields in an nEDM Experiment
Molina, Daniel
2017-09-01
The Kellogg Radiation Laboratory is currently testing a prototype for an experiment that hopes to identify the electric dipole moment of the neutron. As part of this testing, we have developed a PID (proportional, integral, derivative) feedback system that uses large coils to fix the value of local external magnetic fields, up to linear gradients. PID algorithms compare the current value to a set-point and use the integral and derivative of the field with respect to the set-point to maintain constant fields. We have also developed a method for zeroing linear gradients within the experimental apparatus. In order to determine the performance of the PID algorithm, measurements of both the internal and external fields were obtained with and without the algorithm running, and these results were compared for noise and time stability. We have seen that the PID algorithm can reduce the effect of disturbance to the field by a factor of 10.
Effects of a GPC-PID control strategy with hierarchical structure for a cooling coil unit
International Nuclear Information System (INIS)
Xu Min; Li Shaoyuan; Cai Wenjian; Lu Lu
2006-01-01
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
Introduction to multivariate discrimination
Kégl, Balázs
2013-07-01
Multivariate discrimination or classification is one of the best-studied problem in machine learning, with a plethora of well-tested and well-performing algorithms. There are also several good general textbooks [1-9] on the subject written to an average engineering, computer science, or statistics graduate student; most of them are also accessible for an average physics student with some background on computer science and statistics. Hence, instead of writing a generic introduction, we concentrate here on relating the subject to a practitioner experimental physicist. After a short introduction on the basic setup (Section 1) we delve into the practical issues of complexity regularization, model selection, and hyperparameter optimization (Section 2), since it is this step that makes high-complexity non-parametric fitting so different from low-dimensional parametric fitting. To emphasize that this issue is not restricted to classification, we illustrate the concept on a low-dimensional but non-parametric regression example (Section 2.1). Section 3 describes the common algorithmic-statistical formal framework that unifies the main families of multivariate classification algorithms. We explain here the large-margin principle that partly explains why these algorithms work. Section 4 is devoted to the description of the three main (families of) classification algorithms, neural networks, the support vector machine, and AdaBoost. We do not go into the algorithmic details; the goal is to give an overview on the form of the functions these methods learn and on the objective functions they optimize. Besides their technical description, we also make an attempt to put these algorithm into a socio-historical context. We then briefly describe some rather heterogeneous applications to illustrate the pattern recognition pipeline and to show how widespread the use of these methods is (Section 5). We conclude the chapter with three essentially open research problems that are either
Introduction to multivariate discrimination
International Nuclear Information System (INIS)
Kegl, B.
2013-01-01
Multivariate discrimination or classification is one of the best-studied problem in machine learning, with a plethora of well-tested and well-performing algorithms. There are also several good general textbooks [1-9] on the subject written to an average engineering, computer science, or statistics graduate student; most of them are also accessible for an average physics student with some background on computer science and statistics. Hence, instead of writing a generic introduction, we concentrate here on relating the subject to a practitioner experimental physicist. After a short introduction on the basic setup (Section 1) we delve into the practical issues of complexity regularization, model selection, and hyper-parameter optimization (Section 2), since it is this step that makes high-complexity non-parametric fitting so different from low-dimensional parametric fitting. To emphasize that this issue is not restricted to classification, we illustrate the concept on a low-dimensional but non-parametric regression example (Section 2.1). Section 3 describes the common algorithmic-statistical formal framework that unifies the main families of multivariate classification algorithms. We explain here the large-margin principle that partly explains why these algorithms work. Section 4 is devoted to the description of the three main (families of) classification algorithms, neural networks, the support vector machine, and AdaBoost. We do not go into the algorithmic details; the goal is to give an overview on the form of the functions these methods learn and on the objective functions they optimize. Besides their technical description, we also make an attempt to put these algorithm into a socio-historical context. We then briefly describe some rather heterogeneous applications to illustrate the pattern recognition pipeline and to show how widespread the use of these methods is (Section 5). We conclude the chapter with three essentially open research problems that are either
Sanjay Kr. Singh; D. Boolchandani; S.G. Modani; Nitish Katal
2014-01-01
This study focuses on multi-objective optimization of the PID controllers for optimal speed control for an isolated steam turbine. In complex operations, optimal tuning plays an imperative role in maintaining the product quality and process safety. This study focuses on the comparison of the optimal PID tuning using Multi-objective Genetic Algorithm (NSGA-II) against normal genetic algorithm and Ziegler Nichols methods for the speed control of an isolated steam turbine. Isolated steam turbine...
Distribution épidémiologique de l'infection à VIH chez les femmes ...
African Journals Online (AJOL)
Introduction: le Cameroun se situe dans un contexte d'épidémie généralisée du VIH. La sous-population des femmes enceintes, facilement accessible au sein de la population générale, représente une cible robante pour mener la surveillance du VIH et estimer l'évolution épidémiologique. L'objectif de notre étude était ...
Caractéristiques épidémiologiques, cliniques, histo-pathologiques ...
African Journals Online (AJOL)
N. Harir
Objectifs : Notre étude avait pour objectif d'effectuer une étude épidémiologique rétrospective afin de déterminer les caractéristiques .... nous nous sommes fixé comme objectif d'étudier les différents aspects épidémiologiques, .... A l'issue de notre recrutement, nous avons obtenu 115 patients atteints d'un cancer du rein sur ...
Utis Sutisna; Wahyu Diputra Siregar; Siswanto Nurhadiyono
2017-01-01
Dalam penelitian ini dirancang sistem kendali hybrid logika fuzzy-PID untuk mengendalikan navigasi pada robot wall follower. Sistem logika fuzzy dirancang untuk mengatur nilai-nilai parameter kendali PID berdasarkan dua masukan, yaitu error dan perubahan error.Nilai error didapat dari selisih antara set point jarak yang ditetapkan dengan nilai pembacaan sensor jarak, sedangkan nilai perubahan error didapat dari selisih antara error sekarang dengan error sebelumnya saat robot bernavigasi. Kelu...
Improved Artificial Fish Algorithm for Parameters Optimization of PID Neural Network
Jing Wang; Yourui Huang
2013-01-01
In order to solve problems such as initial weights are difficult to be determined, training results are easy to trap in local minima in optimization process of PID neural network parameters by traditional BP algorithm, this paper proposed a new method based on improved artificial fish algorithm for parameters optimization of PID neural network. This improved artificial fish algorithm uses a composite adaptive artificial fish algorithm based on optimal artificial fish and nearest artificial fi...
DEFF Research Database (Denmark)
Barndorff-Nielsen, Ole Eiler; Hansen, Peter Reinhard; Lunde, Asger
2011-01-01
We propose a multivariate realised kernel to estimate the ex-post covariation of log-prices. We show this new consistent estimator is guaranteed to be positive semi-definite and is robust to measurement error of certain types and can also handle non-synchronous trading. It is the first estimator...... which has these three properties which are all essential for empirical work in this area. We derive the large sample asymptotics of this estimator and assess its accuracy using a Monte Carlo study. We implement the estimator on some US equity data, comparing our results to previous work which has used...
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.
Energy Technology Data Exchange (ETDEWEB)
Palomares Gonzalez, Daniel; Garcia Mendoza, Raul [Instituto de Investigaciones Electricas, Cuernavaca (Mexico)
1991-12-31
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.
Control Multivariable Centralizado con Desacoplo para Aerogeneradores de Velocidad Variable
Directory of Open Access Journals (Sweden)
Miguel E. González
2010-10-01
Full Text Available Resumen: El diseño de sistemas de control para aerogeneradores de velocidad variable representa un reto importante ya que se trata de procesos multivariables no lineales, con fuertes perturbaciones, diversas restricciones y gran interacción entre sus variables. Bajo este escenario se debe generar eficientemente la potencia eléctrica y al mismo tiempo regular la velocidad de giro de la turbina. En este trabajo se proponen varios esquemas de control multivariable, con el objetivo de mejorar el rendimiento de los aerogeneradores atenuando los efectos de la interacción entre sus variables. La solución propuesta se basa en controladores PID con diseños del tipo descentralizado, centralizado con diversas redes de desacoplo y un esquema con cuatro PI. El comportamiento del aerogenerador se describe mediante un modelo matemático no lineal, que se linealiza para obtener una matriz de funciones de transferencia, a partir de la cual se diseñan los controladores. Finalmente se realiza un análisis comparativo para determinar qué controlador presenta mejores resultados, aplicando perturbaciones con un modelo de la velocidad del viento y cambios aleatorios de la carga eléctrica. Palabras Clave: Aerogenerador, Control Multivariable, Modelado e Interacción
Application of genetic algorithm to control design
International Nuclear Information System (INIS)
Lee, Yoon Joon; Cho, Kyung Ho
1995-01-01
A classical PID controller is designed by applying the GA (Genetic Algorithm) which searches the optimal parameters through three major operators of reproduction, crossover and mutation under the given constraints. The GA could minimize the designer's interference and the whole design process could easily be automated. In contrast with other traditional PID design methods which allows for the system output responses only, the design with the GA can take account of the magnitude or the rate of change of control input together with the output responses, which reflects the more realistic situations. Compared with other PIDs designed by the traditional methods such as Ziegler and analytic, the PID by the GA shows the superior response characteristics to those of others with the least control input energy
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)
PID feedback controller used as a tactical asset allocation technique: The G.A.M. model
Gandolfi, G.; Sabatini, A.; Rossolini, M.
2007-09-01
The objective of this paper is to illustrate a tactical asset allocation technique utilizing the PID controller. The proportional-integral-derivative (PID) controller is widely applied in most industrial processes; it has been successfully used for over 50 years and it is used by more than 95% of the plants processes. It is a robust and easily understood algorithm that can provide excellent control performance in spite of the diverse dynamic characteristics of the process plant. In finance, the process plant, controlled by the PID controller, can be represented by financial market assets forming a portfolio. More specifically, in the present work, the plant is represented by a risk-adjusted return variable. Money and portfolio managers’ main target is to achieve a relevant risk-adjusted return in their managing activities. In literature and in the financial industry business, numerous kinds of return/risk ratios are commonly studied and used. The aim of this work is to perform a tactical asset allocation technique consisting in the optimization of risk adjusted return by means of asset allocation methodologies based on the PID model-free feedback control modeling procedure. The process plant does not need to be mathematically modeled: the PID control action lies in altering the portfolio asset weights, according to the PID algorithm and its parameters, Ziegler-and-Nichols-tuned, in order to approach the desired portfolio risk-adjusted return efficiently.
Directory of Open Access Journals (Sweden)
Barlian Henryranu P.
2014-07-01
Full Text Available Abstrak Dengan menggabungkan Sistem Kontrol, sensor dan motor Servo diharapkan Robot segway dapat direalisasikan. Dalam penelitian ini Sistem Kontrol yang digunakan adalah metode PID, sedangkan sensor yang akan digunakan adalah cahaya yang merepresentasikan sudut kemiringan terhadap bumi. Dengan input berupa Error sudut dan Del Error sudut terhadap bumi maka didapatkan hasil PID kontroller berupa angular rate yang digunakan untuk mengontrol kedua rodanya. Robot Segway memiliki rise time/fall time, settling time dan Robot Segway mampu mencapai kesetimbangannya kembali (steady state setelah mendapatkan gangguan dari luar. Kata kunci: Robot kesetimbangan, sensor cahaya, PID kontroler Abstract By combining the Control System, sensors and Servos motors are expected to Segway can be realized. In this research use the PID method, while the sensor to be used is the light that represents the elevation angle of the earth. With the input is angel Error and angel Del Error of the earth then the results obtained in the form of angular rate PID Controller is used to Control the two wheels. Segway Robot has a rise time / fall time, settling time and Segway Robot can reach the balance again (steady state after get a outside disturbance. Keywords: Self-balancing robot, light sensor, PID Controller
A Method for Precision Closed-Loop Irrigation Using a Modified PID Control Algorithm
Goodchild, Martin; Kühn, Karl; Jenkins, Malcolm; Burek, Kazimierz; Dutton, Andrew
2016-04-01
The benefits of closed-loop irrigation control have been demonstrated in grower trials which show the potential for improved crop yields and resource usage. Managing water use by controlling irrigation in response to soil moisture changes to meet crop water demands is a popular approach but requires knowledge of closed-loop control practice. In theory, to obtain precise closed-loop control of a system it is necessary to characterise every component in the control loop to derive the appropriate controller parameters, i.e. proportional, integral & derivative (PID) parameters in a classic PID controller. In practice this is often difficult to achieve. Empirical methods are employed to estimate the PID parameters by observing how the system performs under open-loop conditions. In this paper we present a modified PID controller, with a constrained integral function, that delivers excellent regulation of soil moisture by supplying the appropriate amount of water to meet the needs of the plant during the diurnal cycle. Furthermore, the modified PID controller responds quickly to changes in environmental conditions, including rainfall events which can result in: controller windup, under-watering and plant stress conditions. The experimental work successfully demonstrates the functionality of a constrained integral PID controller that delivers robust and precise irrigation control. Coir substrate strawberry growing trial data is also presented illustrating soil moisture control and the ability to match water deliver to solar radiation.
The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.
Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng
2017-05-30
The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.
The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network
Directory of Open Access Journals (Sweden)
Gaining Han
2017-05-01
Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.
Directory of Open Access Journals (Sweden)
Juli Sardi
2014-09-01
Full Text Available In the present study, bioimpedance signals of human body was utilized to control speed of a wheelchair movement. A bioimpedance is electrically passive part contained the body tissues. The research is one of alternative solutions for patients with paralysis of the upper and lower limb. Firstly, design of system of the research consisted of bioimpedance measuring instruments and a mechanical design of the wheelchair. Bioimpedance measurement was performed by injecting a sinusoidal current source of 0.5 mArms with a frequency of 50 kHz to muscle tissue (shoulder to obtain the output voltage in the range of 0-5 Vdc. With impulse and manual thresholding methods, the voltage signal was classified into several controls command to adjust the speed and direction of the wheelchair control based on PID Controller. The experimental result of the research was realization of bioimpedance signal that used as a reference to control the direction and speed of the wheelchair with a success rate of 86.7 %. A wheelchair velocity was classified into three types of motion, namely slow, medium and fast. Slow speed has a rated speed of 30 Cm/s, medium speed value speed of 40 Cm/s and fast speed value of 50 Cm/s. The wheelchair can also turn to the left and the right in accordance with the wishes of wheelchair user beside to moving forward.
A survey on the autotuning of PID parameter
International Nuclear Information System (INIS)
Lee, Yoon Hee; Ha, Jae Hong; Sin, Hae Kon; Kim, Dong Wan; Nam, Sang Ku
1996-06-01
A significant advance in science and technology during the last few decades has resulted in the evolution and use of automatic control equipment in various areas of industry. The automatic control equipment monitor various parameters associated with the process and make decisions accordingly. In the area of process control, extensive research has been carried out for PID parameter auto-tunig techniques since the middle of 1980's. This paper covers two auto-tuning techniques namely system transient response performance and experimental method to analyze dynamic characteristics of process systems. In this paper auto-tunig technology used in commercial models is analyzed in detail. It is reported by industry that by optimum application of the auto-tuning controller, the operator load is significantly reduced while the reliability of process control is greatly enhanced. It is recommended that the application of auto-tuning controller should be evaluated for automatic process control in nuclear plant. 4 tabs., 12 figs., 21 refs. (Author)
Multivariable calculus with applications
Lax, Peter D
2017-01-01
This text in multivariable calculus fosters comprehension through meaningful explanations. Written with students in mathematics, the physical sciences, and engineering in mind, it extends concepts from single variable calculus such as derivative, integral, and important theorems to partial derivatives, multiple integrals, Stokes’ and divergence theorems. Students with a background in single variable calculus are guided through a variety of problem solving techniques and practice problems. Examples from the physical sciences are utilized to highlight the essential relationship between calculus and modern science. The symbiotic relationship between science and mathematics is shown by deriving and discussing several conservation laws, and vector calculus is utilized to describe a number of physical theories via partial differential equations. Students will learn that mathematics is the language that enables scientific ideas to be precisely formulated and that science is a source for the development of mathemat...
Multivariate Statistical Process Control
DEFF Research Database (Denmark)
Kulahci, Murat
2013-01-01
As sensor and computer technology continues to improve, it becomes a normal occurrence that we confront with high dimensional data sets. As in many areas of industrial statistics, this brings forth various challenges in statistical process control (SPC) and monitoring for which the aim...... is to identify “out-of-control” state of a process using control charts in order to reduce the excessive variation caused by so-called assignable causes. In practice, the most common method of monitoring multivariate data is through a statistic akin to the Hotelling’s T2. For high dimensional data with excessive...... amount of cross correlation, practitioners are often recommended to use latent structures methods such as Principal Component Analysis to summarize the data in only a few linear combinations of the original variables that capture most of the variation in the data. Applications of these control charts...
Hu, Wuhua; Xiao, Gaoxi; Li, Xiumin
2011-04-01
In this paper, an analytical method is proposed for proportional-integral/proportional-derivative/proportional-integral-derivative (PI/PD/PID) controller tuning with specified gain and phase margins (GPMs) for integral plus time delay (IPTD) processes. Explicit formulas are also obtained for estimating the GPMs resulting from given PI/PD/PID controllers. The proposed method indicates a general form of the PID parameters and unifies a large number of existing rules as PI/PD/PID controller tuning with various GPM specifications. The GPMs realized by existing PID tuning rules are computed and documented as a reference for control engineers to tune the PID controllers. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Pratap Chandra Pradhan
2016-03-01
Full Text Available In this paper, a Firefly Algorithm (FA optimized fuzzy PID controller is proposed for Automatic Generation Control (AGC of multi-area multi-source power system. Initially, a two area six units power system is used and the gains of the fuzzy PID controller are optimized employing FA optimization technique using an ITAE criterion. The superiority of the proposed FA optimized fuzzy PID controller has been demonstrated by comparing the results with some recently published approaches such as optimal control and Differential Evolution (DE optimized PID controller for the identical interconnected power system. Then, physical constraints such as Time Delay (TD, reheat turbine and Generation Rate Constraint (GRC are included in the system model and the superiority of FA is demonstrated by comparing the results over DE, Gravitational Search Algorithm (GSA and Genetic Algorithm (GA optimization techniques for the same interconnected power system. Additionally, a Unified Power Flow Controller (UPFC is placed in the tie-line and Superconducting Magnetic Energy Storage (SMES units are considered in both areas. Simulation results show that the system performances are improved significantly with the proposed UPFC and SMES units. Sensitivity analysis of the system is performed by varying the system parameters and operating load conditions from their nominal values. It is observed that the optimum gains of the proposed controller need not be reset even if the system is subjected to wide variation in loading condition and system parameters. Finally, the effectiveness of the proposed controller design is verified by considering different types of load patterns.
Javed, Amna; Tiwana, Mohsin I.; Khan, Umar Shahbaz
2018-01-01
Brain Computer Interface (BCI) determines the intent of the user from a variety of electrophysiological signals. These signals, Slow Cortical Potentials, are recorded from scalp, and cortical neuronal activity is recorded by implanted electrodes. This paper is focused on design of an embedded system that is used to control the finger movements of an upper limb prosthesis using Electroencephalogram (EEG) signals. This is a follow-up of our previous research which explored the best method to classify three movements of fingers (thumb movement, index finger movement, and first movement). Two-stage logistic regression classifier exhibited the highest classification accuracy while Power Spectral Density (PSD) was used as a feature of the filtered signal. The EEG signal data set was recorded using a 14-channel electrode headset (a noninvasive BCI system) from right-handed, neurologically intact volunteers. Mu (commonly known as alpha waves) and Beta Rhythms (8–30 Hz) containing most of the movement data were retained through filtering using “Arduino Uno” microcontroller followed by 2-stage logistic regression to obtain a mean classification accuracy of 70%. PMID:29888252
Directory of Open Access Journals (Sweden)
Nasir Rashid
2018-01-01
Full Text Available Brain Computer Interface (BCI determines the intent of the user from a variety of electrophysiological signals. These signals, Slow Cortical Potentials, are recorded from scalp, and cortical neuronal activity is recorded by implanted electrodes. This paper is focused on design of an embedded system that is used to control the finger movements of an upper limb prosthesis using Electroencephalogram (EEG signals. This is a follow-up of our previous research which explored the best method to classify three movements of fingers (thumb movement, index finger movement, and first movement. Two-stage logistic regression classifier exhibited the highest classification accuracy while Power Spectral Density (PSD was used as a feature of the filtered signal. The EEG signal data set was recorded using a 14-channel electrode headset (a noninvasive BCI system from right-handed, neurologically intact volunteers. Mu (commonly known as alpha waves and Beta Rhythms (8–30 Hz containing most of the movement data were retained through filtering using “Arduino Uno” microcontroller followed by 2-stage logistic regression to obtain a mean classification accuracy of 70%.
International Nuclear Information System (INIS)
Maranhao, Tatiane de A; Martendal, Edmar; Borges, Daniel L.G.; Carasek, Eduardo; Welz, Bernhard; Curtius, Adilson J.
2007-01-01
Cloud point extraction (CPE) is proposed as a pre-concentration procedure for the determination of Pb and Cd in undigested urine by graphite furnace atomic absorption spectrometry (GF AAS). Aliquots of 0.5 mL urine were acidified with HCl and the chelating agent ammonium O,O-diethyl dithiophosphate (DDTP) was added along with the non-ionic surfactant Triton X-114 at the optimized concentrations. Phase separation was achieved by heating the mixture to 50 deg. C for 15 min. The surfactant-rich phase was analyzed by GF AAS, employing the optimized pyrolysis temperatures of 900 deg. C for Pb and 800 deg. C for Cd, using a graphite tube with a platform treated with 500 μg Ru as permanent modifier. The reagent concentrations for CPE (HCl, DDTP and Triton X-114) were optimized using a Box-Behnken design. The response surfaces and the optimum values were very similar for aqueous solutions and for the urine samples, demonstrating that aqueous standards submitted to CPE could be used for calibration. Detection limits of 40 and 2 ng L -1 for Pb and Cd, respectively, were obtained along with an enhancement factor of 16 for both analytes. Three control urine samples were analyzed using this approach, and good agreement was obtained at a 95% statistical confidence level between the certified and determined values. Five real samples have also been analyzed before and after spiking with Pb and Cd, resulting in recoveries ranging from 97 to 118%
Rashid, Nasir; Iqbal, Javaid; Javed, Amna; Tiwana, Mohsin I; Khan, Umar Shahbaz
2018-01-01
Brain Computer Interface (BCI) determines the intent of the user from a variety of electrophysiological signals. These signals, Slow Cortical Potentials, are recorded from scalp, and cortical neuronal activity is recorded by implanted electrodes. This paper is focused on design of an embedded system that is used to control the finger movements of an upper limb prosthesis using Electroencephalogram (EEG) signals. This is a follow-up of our previous research which explored the best method to classify three movements of fingers (thumb movement, index finger movement, and first movement). Two-stage logistic regression classifier exhibited the highest classification accuracy while Power Spectral Density (PSD) was used as a feature of the filtered signal. The EEG signal data set was recorded using a 14-channel electrode headset (a noninvasive BCI system) from right-handed, neurologically intact volunteers. Mu (commonly known as alpha waves) and Beta Rhythms (8-30 Hz) containing most of the movement data were retained through filtering using "Arduino Uno" microcontroller followed by 2-stage logistic regression to obtain a mean classification accuracy of 70%.
International Nuclear Information System (INIS)
Jahedi, G.; Ardehali, M.M.
2011-01-01
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.
Energy Technology Data Exchange (ETDEWEB)
Harvey, Steven P [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Moseley, John [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Norman, Andrew [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Hacke, Peter L [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Johnston, Steven [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Al-Jassim, Mowafak M [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Stokes, Adam [Colorado School of Mines; Gorman, Brian [Colorado School of Mines
2018-02-27
We investigated the potential-induced degradation (PID) shunting mechanism in multicrystalline-silicon photovoltaic modules by using a multiscale, multitechnique characterization approach. Both field-stressed modules and laboratory-stressed mini modules were studied. We used photoluminescence, electroluminescence, and dark lock-in thermography imaging to identify degraded areas at the module scale. Small samples were then removed from degraded areas, laser marked, and imaged by scanning electron microscopy. We used simultaneous electron-beam induced current imaging and focused ion beam milling to mark around PID shunts for chemical analysis by time-of-flight secondary-ion mass spectrometry or to isolate individual shunt defects for transmission electron microscopy and atom-probe tomography analysis. By spanning a range of 10 orders of magnitude in size, this approach enabled us to investigate the root-cause mechanisms for PID shunting. We observed a direct correlation between recombination active shunts and sodium content. The sodium content in shunted areas peaks at the SiNX/Si interface and is consistently observed at a concentration of 0.1% to 2% in shunted areas. Analysis of samples subjected to PID recovery, either activated by electron beam or thermal effects only, reveals that recovery of isolated shunts correlates with diffusion of sodium out of the structural defects to the silicon surface. We observed the role of oxygen and chlorine in PID shunting and found that those species - although sometimes present in structural defects where PID shunting was observed - do not play a consistent role in PID shunting.
EFFECT OF PARTICLE SIZE AND PACKING RATIO OF PID ON VIBRATION AMPLITUDE OF BEAM
Directory of Open Access Journals (Sweden)
P.S. Kachare
2013-06-01
Full Text Available Everything in the universe that has mass possesses stiffness and intrinsic damping. Owing to the stiffness property, mass will vibrate when excited and its intrinsic damping property will act to stop the vibration. The particle impact damper (PID is a very interesting damper that affects impact and friction effects of particles by means of energy dissipation. PID is a means for achieving high structural damping by using a particle-filled enclosure attached to a structure. The particles absorb the kinetic energy of the structure and convert it into heat through inelastic collisions between the particles themselves and between the particles and the walls of the enclosure. In this work, PID is measured for a cantilever mild steel beam with an enclosure attached to its free end; copper particles are used in this study. The PID is found to be highly nonlinear. The most useful observation is that for a very small weight penalty (about 7% to 8 %, the maximum damped amplitude of vibration at resonance with a PID, is about 9 to 10 times smaller than that without a PID. It is for more than that of with only intrinsic material damping of a majority of structural metals. A satisfactory comparison of damping with and without particles through experimentation is observed. The effect of the size of the particles on the damping performance of the beam and the effective packing ratio can be identified. It is also shown that as the packing ratio changes, the contributions of the phenomena of impact and friction towards damping also change. It is encouraging that despite its deceptive simplicity, the model captures the essential physics of PID.
Pan, Indranil; Das, Saptarshi; Gupta, Amitava
2011-01-01
An optimal PID and an optimal fuzzy PID have been tuned by minimizing the Integral of Time multiplied Absolute Error (ITAE) and squared controller output for a networked control system (NCS). The tuning is attempted for a higher order and a time delay system using two stochastic algorithms viz. the Genetic Algorithm (GA) and two variants of Particle Swarm Optimization (PSO) and the closed loop performances are compared. The paper shows that random variation in network delay can be handled efficiently with fuzzy logic based PID controllers over conventional PID controllers. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.
Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller
Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos
2017-01-01
In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689
International Nuclear Information System (INIS)
Das, Pramode K; Mathew, Sam; Shaiju, A J; Patnaik, B S V
2016-01-01
The control of vortex shedding behind a circular cylinder is a precursor to a wide range of external shear flow problems in engineering, in particular the flow-induced vibrations. In the present study, numerical simulation of an energetically efficient active flow control strategy is proposed, for the control of wake vortices behind a circular cylinder at a low Reynolds number of 100. The fluid is assumed to be incompressible and Newtonian with negligible variation in properties. Reflectionally symmetric controllers are designed such that, they are located on a small sector of the cylinder over which, tangential sliding mode control is imparted. In the field of modern controls, proportional (P), integral (I) and differential (D) control strategies and their numerous combinations are extremely popular in industrial practice. To impart suitable control actuation, the vertically varying lift force on the circular cylinder, is synthesised for the construction of an error term. Four different types of controllers considered in the present study are, P, I, PI and PID. These controllers are evaluated for their energetic efficiency and performance. A linear quadratic optimal control problem is formulated, to minimise the cost functional. By performing detailed simulations, it was observed that, the system is energetically efficient, even when the twin eddies are still persisting behind the circular cylinder. To assess the adaptability of the controllers, the actuators were switched on and off to study their dynamic response. (paper)
Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.
Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos
2017-08-12
In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.
Multivariate statistical methods a primer
Manly, Bryan FJ
2004-01-01
THE MATERIAL OF MULTIVARIATE ANALYSISExamples of Multivariate DataPreview of Multivariate MethodsThe Multivariate Normal DistributionComputer ProgramsGraphical MethodsChapter SummaryReferencesMATRIX ALGEBRAThe Need for Matrix AlgebraMatrices and VectorsOperations on MatricesMatrix InversionQuadratic FormsEigenvalues and EigenvectorsVectors of Means and Covariance MatricesFurther Reading Chapter SummaryReferencesDISPLAYING MULTIVARIATE DATAThe Problem of Displaying Many Variables in Two DimensionsPlotting index VariablesThe Draftsman's PlotThe Representation of Individual Data P:ointsProfiles o
Camcıoğlu, Ş; Özyurt, B; Doğan, I C; Hapoğlu, H
2017-12-01
In this work the application of response surface methodology (RSM) to proportional-integral-derivative (PID) controller parameter tuning for electrocoagulation (EC) treatment of pulp and paper mill wastewater was researched. Dynamic data for two controlled variables (pH and electrical conductivity) were obtained under pseudo random binary sequence (PRBS) input signals applied to manipulated variables (acid and supporting electrolyte flow rates). Third order plus time delay model parameters were evaluated through System Identification Toolbox™ in MATLAB ® . Four level full factorial design was applied to form a design matrix for three controller tuning parameters as factors and to evaluate statistical analysis of the system in terms of integral of square error (ISE), integral of absolute error (IAE), integral of time square error (ITSE) and integral of time absolute error (ITAE) performance criteria as response. Numerical values of the responses for the runs in the design matrices were determined using closed-loop PID control system simulations designed in Simulink ® . Optimum proportional gain, integral action and derivative action values for electrical conductivity control were found to be 1,500 s, 0 s and 16.4636 s respectively. Accordingly, the same optimization scheme was followed for pH control and optimum controller parameters were found to be -8.6970 s, 0.0211 s and 50 s, respectively. Theoretically optimized controller parameters were applied to batch experimental studies. Chemical oxygen demand (COD) removal efficiency and energy consumption of pulp and paper mill wastewater treatment by EC under controlled action of pH at 5.5 and electrical conductivity at 2.72 mS/cm was found to be 85% and 3.87 kWh/m 3 respectively. Results showed that multi input-multi output (MIMO) control action increased removal efficiency of COD by 15.41% and reduced energy consumption by 6.52% in comparison with treatment under uncontrolled conditions.
Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller
Directory of Open Access Journals (Sweden)
Jie Zhao
2015-01-01
Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.
Directory of Open Access Journals (Sweden)
Dimas Kunto Ariwibowo
2017-01-01
Full Text Available Pertahanan negara pada hakikatnya adalah segala upaya pertahanan yang bersifat semesta yang didasarkan pada kesadaran atas hak dan kewajiban warga negara serta keyakinan pada kekuatan sendiri dengan tujuan untuk menjaga dan melindungi kedaulatan negara, keutuhan wilayah NKRI dan keselamatan segenap bangsa. Salah satu alat pendukung pertahanan yaitu senjata laras panjang, Turret-Gun. Adapun langkah-langkah yang dilakukan dalam merancang pengendali PID Turret-Gun kaliber 20mm ini diawali dengan studi literatur serta studi lapangan mengenai mekanisme dan parameter-parameter yang terdapat pada Turret-Gun pada sumbu elevasi. Setelah itu dilakukan perancangan transmisi dan sistem kontrol Turret-Gun untuk dievaluasi grafik responnya yang akan digunakan sebagai acuan untuk merancang pengendali PID yang sesuai. Selanjutnya pengendali PID yang telah dirancang lalu disimulasikan, sehingga menghasilkan grafik respon yang sesuai dengan kriteria yang dibutuhkan. Hasil yang telah didapatkan dari penelitian ini adalah konstanta PID yang direkomendasikan untuk , , dan secara berturut-turut adalah sebesar 23061.024, 37820.07 dan 3515.4 yang menghasilkan transient response dengan nilai overshoot sebesar 19.9 % , steady state error sebesar 0 % serta settling time sebesar 0.935 detik. Hasil analisa kestabilan untuk sistem kontrol dengan konstanta PID tersebut menunjukkan bahwa sistem kontrol telah stabil, baik menggunakan metode Root Locus maupun metode Routh-Hurwitz.
Demonstration of the improved PID method for the accurate temperature control of ADRs
International Nuclear Information System (INIS)
Shinozaki, K.; Hoshino, A.; Ishisaki, Y.; Mihara, T.
2006-01-01
Microcalorimeters require extreme stability (-bar 10μK) 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 10μK 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
Experimental studies on active vibration control of a smart composite beam using a PID controller
International Nuclear Information System (INIS)
Jovanović, Miroslav M; Lukić, Nebojša S; Ilić, Slobodan S; Simonović, Aleksandar M; Zorić, Nemanja D; Stupar, Slobodan N
2013-01-01
This paper presents experimental verification of the active vibration control of a smart cantilever composite beam using a PID controller. In order to prevent negative occurrences in the derivative and integral terms in a PID controller, first-order low-pass filters are implemented in the derivative action and in the feedback of the integral action. The proposed application setup consists of a composite cantilever beam with a fiber-reinforced piezoelectric actuator and strain gage sensors. The beam is modeled using a finite element method based on third-order shear deformation theory. The experiment considers vibration control under periodic excitation and an initial static deflection. A control algorithm was implemented on a PIC32MX440F256H microcontroller. Experimental results corresponding to the proposed PID controller are compared with corresponding results using proportional (P) control, proportional–integral (PI) control and proportional–derivative (PD) control. Experimental results indicate that the proposed PID controller provides 8.93% more damping compared to a PD controller, 14.41% more damping compared to a PI controller and 19.04% more damping compared to a P controller in the case of vibration under periodic excitation. In the case of free vibration control, the proposed PID controller shows better performance (settling time 1.2 s) compared to the PD controller (settling time 1.5 s) and PI controller (settling time 2.5 s). (paper)
Robust Analysis and Design of Multivariable Systems
National Research Council Canada - National Science Library
Tannenbaum, Allen
1998-01-01
In this Final Report, we will describe the work we have performed in robust control theory and nonlinear control, and the utilization of techniques in image processing and computer vision for problems in visual tracking...
Multivariate statistics exercises and solutions
Härdle, Wolfgang Karl
2015-01-01
The authors present tools and concepts of multivariate data analysis by means of exercises and their solutions. The first part is devoted to graphical techniques. The second part deals with multivariate random variables and presents the derivation of estimators and tests for various practical situations. The last part introduces a wide variety of exercises in applied multivariate data analysis. The book demonstrates the application of simple calculus and basic multivariate methods in real life situations. It contains altogether more than 250 solved exercises which can assist a university teacher in setting up a modern multivariate analysis course. All computer-based exercises are available in the R language. All R codes and data sets may be downloaded via the quantlet download center www.quantlet.org or via the Springer webpage. For interactive display of low-dimensional projections of a multivariate data set, we recommend GGobi.
Control of suspended low-gravity simulation system based on self-adaptive fuzzy PID
Chen, Zhigang; Qu, Jiangang
2017-09-01
In this paper, an active suspended low-gravity simulation system is proposed to follow the vertical motion of the spacecraft. Firstly, working principle and mathematical model of the low-gravity simulation system are shown. In order to establish the balance process and suppress the strong position interference of the system, the idea of self-adaptive fuzzy PID control strategy is proposed. It combines the PID controller with a fuzzy controll strategy, the control system can be automatically adjusted by changing the proportional parameter, integral parameter and differential parameter of the controller in real-time. At last, we use the Simulink tools to verify the performance of the controller. The results show that the system can reach balanced state quickly without overshoot and oscillation by the method of the self-adaptive fuzzy PID, and follow the speed of 3m/s, while simulation degree of accuracy of system can reach to 95.9% or more.
Note: Split PID control--two sensors can be better than one.
Znaimer, Leith; Bechhoefer, John
2014-10-01
The traditional proportional-integral-derivative (PID) algorithm for regulation suffers from a tradeoff: placing the sensor near the sample being regulated ensures that its steady-state temperature matches the desired setpoint. However, the propagation delay (lag) between heater and sample can limit the control bandwidth. Moving the sensor closer to the heater reduces the lag and increases the bandwidth but introduces offsets and drifts into the temperature of the sample. Here, we explore the consequences of using two probes-one near the heater, one near the sample-and assigning the integral term to the sample probe and the other terms to the heater probe. The split-PID algorithm can outperform PID control loops based on one sensor.
Nonlinear adaptive PID control for greenhouse environment based on RBF network.
Zeng, Songwei; Hu, Haigen; Xu, Lihong; Li, Guanghui
2012-01-01
This paper presents a hybrid control strategy, combining Radial Basis Function (RBF) network with conventional proportional, integral, and derivative (PID) controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through simulations of set-point tracking and disturbance rejection. We compare the proposed adaptive online tuning method with the offline tuning scheme that employs Genetic Algorithm (GA) to search the optimal gain parameters. The results show that the proposed strategy has good adaptability, strong robustness and real-time performance while achieving satisfactory control performance for the complex and nonlinear greenhouse climate control system, and it may provide a valuable reference to formulate environmental control strategies for actual application in greenhouse production.
PID controller auto-tuning based on process step response and damping optimum criterion.
Pavković, Danijel; Polak, Siniša; Zorc, Davor
2014-01-01
This paper presents a novel method of PID controller tuning suitable for higher-order aperiodic processes and aimed at step response-based auto-tuning applications. The PID controller tuning is based on the identification of so-called n-th order lag (PTn) process model and application of damping optimum criterion, thus facilitating straightforward algebraic rules for the adjustment of both the closed-loop response speed and damping. The PTn model identification is based on the process step response, wherein the PTn model parameters are evaluated in a novel manner from the process step response equivalent dead-time and lag time constant. The effectiveness of the proposed PTn model parameter estimation procedure and the related damping optimum-based PID controller auto-tuning have been verified by means of extensive computer simulations. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Application of an improved PSO algorithm to optimal tuning of PID gains for water turbine governor
International Nuclear Information System (INIS)
Fang Hongqing; Chen Long; Shen Zuyi
2011-01-01
In this paper, an improved particle swarm optimization (IPSO) algorithm is proposed. Besides the individual best position and the global best position, a nominal average position of the swarm is introduced in IPSO. The performance of IPSO is compared to different PSO variants with five well-known benchmark functions. The experimental results show that the proposed IPSO algorithm improves the searching performance on the benchmark functions. And then, IPSO, as well as other PSO variants, is applied to optimal tuning of Proportional-Integral-Derivative (PID) gains for a typical PID control system of water turbine governor. The computer simulation results of an actual hydro power plant in China show that IPSO algorithm has stable convergence characteristic and good computational ability, and it is an effective and easily implemented method for optimal tuning of PID gains of water turbine governor.
PID self tuning control based on Mamdani fuzzy logic control for quadrotor stabilization
Energy Technology Data Exchange (ETDEWEB)
Priyambodo, Tri Kuntoro, E-mail: mastri@ugm.ac.id; Putra, Agfianto Eko [Aerospace and Aeronautics Electronics Research Group, Universitas Gadjah Mada, Yogyakarta (Indonesia); Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta (Indonesia); Dharmawan, Andi, E-mail: andi-dharmawan@ugm.ac.id [Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta (Indonesia)
2016-02-01
Quadrotor as one type of UAV have the ability to perform Vertical Take Off and Landing (VTOL). It allows the Quadrotor to be stationary hovering in the air. PID (Proportional Integral Derivative) control system is one of the control methods that are commonly used. It is usually used to optimize the Quadrotor stabilization at least based on the three Eulerian angles (roll, pitch, and yaw) as input parameters for the control system. The three constants of PID can be obtained in various methods. The simplest method is tuning manually. This method has several weaknesses. For example if the three constants are not exact, the resulting response will deviate from the desired result. By combining the methods of PID with fuzzy logic systems where human expertise is implemented into the machine language is expected to further optimize the control system.
Directory of Open Access Journals (Sweden)
V. Balaji
2016-12-01
Full Text Available pH control plays a important role in any chemical plant and process industries. For the past four decades the classical PID controller has been occupied by the industries. Due to the faster computing technology in the industry demands a tighter advanced control strategy. To fulfill the needs and requirements Model Predictive Control (MPC is the best among all the advanced control algorithms available in the present scenario. The study and analysis has been done for First Order plus Delay Time (FOPDT model controlled by Proportional Integral Derivative (PID and MPC using the Matlab software. This paper explores the capability of the MPC strategy, analyze and compare the control effects with conventional control strategy in pH control. A comparison results between the PID and MPC is plotted using the software. The results clearly show that MPC provide better performance than the classical controller.
JACoW Automatic PID performance monitoring applied to LHC cryogenics
Bradu, Benjamin; Marti, Ruben; Tilaro, Filippo
2018-01-01
At CERN, the LHC (Large Hadron Collider) cryogenic system employs about 5000 PID (Proportional Integral Derivative) regulation loops distributed over the 27 km of the accelerator. Tuning all these regulation loops is a complex task and the systematic monitoring of them should be done in an automated way to be sure that the overall plant performance is improved by identifying the poorest performing PID controllers. It is nearly impossible to check the performance of a regulation loop with a classical threshold technique as the controlled variables could evolve in large operation ranges and the amount of data cannot be manually checked daily. This paper presents the adaptation and the application of an existing regulation indicator performance algorithm on the LHC cryogenic system and the different results obtained in the past year of operation. This technique is generic for any PID feedback control loop, it does not use any process model and needs only a few tuning parameters. The publication also describes th...
BROJA-2PID: A Robust Estimator for Bivariate Partial Information Decomposition
Directory of Open Access Journals (Sweden)
Abdullah Makkeh
2018-04-01
Full Text Available Makkeh, Theis, and Vicente found that Cone Programming model is the most robust to compute the Bertschinger et al. partial information decomposition (BROJA PID measure. We developed a production-quality robust software that computes the BROJA PID measure based on the Cone Programming model. In this paper, we prove the important property of strong duality for the Cone Program and prove an equivalence between the Cone Program and the original Convex problem. Then, we describe in detail our software, explain how to use it, and perform some experiments comparing it to other estimators. Finally, we show that the software can be extended to compute some quantities of a trivaraite PID measure.
Directory of Open Access Journals (Sweden)
Jesus Patricio Ordaz Oliver
2015-01-01
Full Text Available This paper presents a stability analysis for LNDS (Lagrangian nonlinear dynamical systems with dynamic uncertain using a PID controller with external disturbances rejection based on attractive ellipsoid methods, since the PID-CT (proportional integral derivative computed torque compensator has been used for the nonlinear trajectory tracking of an LNDS, when there are external perturbations and system uncertainties. The global system convergence of the trivial solution has not been proved. In this sense, we propose an approach to find the gains of the nonlinear PID-CT controller to guarantee the boundedness of the trivial solution by means of the concept of the UUB (uniform-ultimately bounded stability. In order to show the effectiveness of the methodology proposed, we applied it in a real 2-DoF robot system.
Aspects épidémiologiques du suicide à Dakar
Soumah, Mohamed Maniboliot; Eboué, Brice Angwé; Ndiaye, Mor; Sow, Mamadou Lamine
2013-01-01
Introduction Le suicidé est le sujet mort par suicide et le suicidant est la personne ayant fait des tentatives de suicide. L'objectif de cette étude porte sur l'analyse épidémiologique des suicides dans la région de Dakar. Méthodes Par une étude rétrospective portant sur les registres du service d'anatomie pathologique de l'Hôpital Aristide Le Dantec, nous rapportons 143 suicides sur 10 ans. Le traitement et l'analyse des données ont été faits sur Epidata version 2.1 b pour la saisie et Epiinfo version 6.04 fr pour l'analyse. Résultats A Dakar, les morts par suicide restent peu fréquentes au regard de la mortalité générale. Les hommes se suicident deux fois plus que les femmes et le suicide reste l'apanage de l'adulte jeune dont l'âge se situe entre 21 et 30 ans. Les suicidés résident le plus souvent en zone périurbaine et ils commettent cet acte dans la majorité des cas en période de froid (pendant les mois de janvier, février et mars), plus avant midi et en soirée qu'en après-midi. Aussi 97.2% des suicidés ont utilisé un seul moyen pour se suicider et le suicide complexe (utilisation de plusieurs moyens) a concerné seulement un cas dans notre étude. La pendaison reste le mode le plus utilisé. Conclusion Les hommes préfèrent donc des moyens de suicides violents (pendaison, arme à feu et arme blanche) alors que les femmes et les adolescents (tout sexe confondu) utilisent les intoxications. Le recueil des facteurs concourant au suicide permettrait une prévention de ce dernier. PMID:23847707
Mitigation of PID in commercial PV modules using current interruption method
Bora, Birinchi; Oh, Jaewon; Tatapudi, Sai; Sastry, Oruganty S.; Kumar, Rajesh; Prasad, Basudev; Tamizhmani, Govindasamy
2017-08-01
Potential-induced degradation (PID) is known to have a very severe effect on the reliability of PV modules. PID is caused due to the leakage of current from the cell circuit to the grounded frame under humid conditions of high voltage photovoltaic (PV) systems. There are multiple paths for the current leakage. The most dominant leakage path is from the cell to the frame through encapsulant, glass bulk and glass surface. This dominant path can be prevented by interrupting the electrical conductivity at the glass surface. In our previous works related to this topic, we demonstrated the effectiveness of glass surface conductivity interruption technique using one-cell PV coupons. In this work, we demonstrate the effectiveness of this technique using a full size commercial module susceptible to PID. The interruption of surface conductivity of the commercial module was achieved by attaching a narrow, thin flexible glass strips, from Corning, called Willow Glass on the glass surface along the inner edges of the frame. The flexible glass strip was attached to the module glass surface by heating the glass strip with an ionomer adhesive underneath using a handheld heat gun. The PID stress test was performed at 60°C and 85% RH for 96 hours at -600 V. Pre- and post-PID characterizations including I-V and electroluminescence were carried out to determine the performance loss and affected cell areas. This work demonstrates that the PID issue can be effectively addressed by using this current interruption technique. An important benefit of this approach is that this interruption technique can be applied after manufacturing the modules and after installing the modules in the field as well.
Control de velocidad de un motor de CD con un controlador PID Wavenet
Directory of Open Access Journals (Sweden)
Abraham Christian Pedroza Araujo
2014-01-01
Full Text Available El controlador más utilizado actualmente en la industria es el controlador PID. Sin embargo, el algoritmo PID lineal tiene bajo desempeño cuando el proceso a controlar presenta dinámicas complejas como zonas muertas y características no lineales. El funcionamiento del controlador PID en general, se basa en la actuación en forma proporcional, integral y derivativa sobre la señal de error e(t, definida como e(t = yref(t - y(t, con la finalidad de efectuar la señal de control u(t que manipula la salida del proceso en forma deseada como se muestra la Figura 1. Figura 1. Esquema de un control clásico. Figura 1. Esquema de un control clásico. Las constantes kp ki kd son las ganancias del PID. Existen distintas técnicas analíticas y experimentales con el fin de sintonizar esas ganancias. Una alternativa a este problema de sintonización es el controlador PID wavenet, donde por medio de una wavenet y un filtro IIR se estima la salida del sistema a controlar, lo cual se utiliza para re-sintonizar las ganancias de un PID discreto, todo esto en línea. Esta es la alternativa que se emplea en el presente trabajo de investigación y enfocada a la simulación y control de un motor de cd obteniendo resultados.
Neural Network-Based Self-Tuning PID Control for Underwater Vehicles.
Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando
2016-09-05
For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.
International Nuclear Information System (INIS)
Ardehali, M.M.; Saboori, M.; Teshnelab, M.
2004-01-01
Energy efficiency enhancement is achieved by utilizing control algorithms that reduce overshoots and undershoots as well as unnecessary fluctuations in the amount of energy input to energy consuming systems during transient operation periods. It is hypothesized that application of control methodologies with characteristics that change with time and according to the system dynamics, identified as dynamic energy efficiency measures (DEEM), achieves the desired enhancement. The objective of this study is to simulate and analyze the effects of fuzzy logic based tuning of proportional integral derivative (F-PID) and proportional sum derivative (F-PSD) controllers for a heating and cooling energy system while accounting for the dynamics of the major system components. The procedure to achieve the objective includes utilization of fuzzy logic rules to determine the PID and PSD controllers gain coefficients so that the control laws for regulating the heat exchangers heating or cooling energy inputs are determined in each time step of the operation period. The performances of the F-PID and F-PSD controllers are measured by means of two cost functions that are based on quadratic forms of the energy input and deviation from a set point temperature. It is found that application of the F-PID control algorithm, as a DEEM, results in lower costs for energy input and deviation from a set point temperature by 24% and 17% as compared to a PID and 13% and 8% as compared to a PSD, respectively. It is also shown that the F-PSD performance is better than that of the F-PID controller
Neural Network-Based Self-Tuning PID Control for Underwater Vehicles
Directory of Open Access Journals (Sweden)
Rodrigo Hernández-Alvarado
2016-09-01
Full Text Available For decades, PID (Proportional + Integral + Derivative-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles where parameters (weight, buoyancy, added mass, among others change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.
Directory of Open Access Journals (Sweden)
Eugen Răduca
2016-10-01
Full Text Available The paper presents an application based on a PLC Simatic S7-1200, using the "PID_Compact" logical function, which can be used for the improvement of control systems. We also present a practical application: a system for the improvement of the transportation system of the flour in a grain mill using "PID Compact" .
Personality Inventory for DSM-5 (PID-5) in Clinical Versus Nonclinical Individuals
DEFF Research Database (Denmark)
Bach, Bo; Sellbom, Martin; Simonsen, Erik
2017-01-01
The Personality Inventory for Diagnostic and Statistical Manual of Mental Disorders-Fifth Edition (PID-5) was developed for the assessment of pathological traits in clinical settings. However, most research on the PID-5 is derived from nonclinical samples. To date, the comparability...... with nonpsychotic disorders (81% women; mean age = 28.95), whereas a matched nonclinical sample ( n = 598) comprised community-dwelling individuals (81% women; mean age = 29.59). Measurement invariance was analyzed using a 13-step, two-group exploratory structural equation modeling approach. The results...
New multivariable capabilities of the INCA program
Bauer, Frank H.; Downing, John P.; Thorpe, Christopher J.
1989-01-01
The INteractive Controls Analysis (INCA) program was developed at NASA's Goddard Space Flight Center to provide a user friendly, efficient environment for the design and analysis of control systems, specifically spacecraft control systems. Since its inception, INCA has found extensive use in the design, development, and analysis of control systems for spacecraft, instruments, robotics, and pointing systems. The (INCA) program was initially developed as a comprehensive classical design analysis tool for small and large order control systems. The latest version of INCA, expected to be released in February of 1990, was expanded to include the capability to perform multivariable controls analysis and design.
Multivariate analysis: models and method
International Nuclear Information System (INIS)
Sanz Perucha, J.
1990-01-01
Data treatment techniques are increasingly used since computer methods result of wider access. Multivariate analysis consists of a group of statistic methods that are applied to study objects or samples characterized by multiple values. A final goal is decision making. The paper describes the models and methods of multivariate analysis
Model Checking Multivariate State Rewards
DEFF Research Database (Denmark)
Nielsen, Bo Friis; Nielson, Flemming; Nielson, Hanne Riis
2010-01-01
We consider continuous stochastic logics with state rewards that are interpreted over continuous time Markov chains. We show how results from multivariate phase type distributions can be used to obtain higher-order moments for multivariate state rewards (including covariance). We also generalise...
Multivariate analysis methods in physics
International Nuclear Information System (INIS)
Wolter, M.
2007-01-01
A review of multivariate methods based on statistical training is given. Several multivariate methods useful in high-energy physics analysis are discussed. Selected examples from current research in particle physics are discussed, both from the on-line trigger selection and from the off-line analysis. Also statistical training methods are presented and some new application are suggested [ru
Multivariate analysis techniques
Energy Technology Data Exchange (ETDEWEB)
Bendavid, Josh [European Organization for Nuclear Research (CERN), Geneva (Switzerland); Fisher, Wade C. [Michigan State Univ., East Lansing, MI (United States); Junk, Thomas R. [Fermi National Accelerator Lab. (FNAL), Batavia, IL (United States)
2016-01-01
The end products of experimental data analysis are designed to be simple and easy to understand: hypothesis tests and measurements of parameters. But, the experimental data themselves are voluminous and complex. Furthermore, in modern collider experiments, many petabytes of data must be processed in search of rare new processes which occur together with much more copious background processes that are of less interest to the task at hand. The systematic uncertainties on the background may be larger than the expected signal in many cases. The statistical power of an analysis and its sensitivity to systematic uncertainty can therefore usually both be improved by separating signal events from background events with higher efficiency and purity.
Directory of Open Access Journals (Sweden)
José Armando Becerra-Vargas
2016-07-01
Full Text Available The present article the development of the prototype of a controller PID is described, this is implemented in an analog array FPAA (Field Programmable Analog Array, designed and constructed in the laboratory of microelectronics of the Francisco de Paula Santander university and the group of investigation in automation and control (GIAC, validated with the control of speed for motor DC of the MRCC900 ALECOP module, installed in the Power Electronics laboratory of the Servicio Nacional de Aprendizaje SENA, regional Norte de Santander.
Natural variation of rice blast resistance gene Pi-d2
Studying natural variation of rice resistance (R) genes in cultivated and wild rice relatives can predict resistance stability to rice blast fungus. In the present study, the protein coding regions of rice R gene Pi-d2 in 35 rice accessions of subgroups, aus (AUS), indica (IND), temperate japonica (...
Directory of Open Access Journals (Sweden)
Mundher H.A. Yaseen
Full Text Available Magnetic levitation is a technique to suspend an object without any mechanical support. The main objective of this study is to demonstrate stabilized closed loop control of 1-DOF Maglev experimentally using real-time control simulink feature of (SIMLAB microcontroller. Proportional Integral Derivative (PID and Linear Quadratic Regulator (LQR controllers are employed to examine the stability performance of the Maglev control system under effect of unbalanced change of load and wave signal on Maglev plane. The effect of unbalanced change of applied load on single point, line and plane are presented. Furthermore, in order to study the effect of sudden change in input signal, the input of wave signal has been applied on all points of the prototype maglev plate simultaneously. The results of pulse width modulation (PWM reveal that the control system using LQR controller provides faster response to adjust the levitated plane comparing to PID controller. Moreover, the air gap distance that controlled using PID controller is rather stable with little oscillation. Meanwhile, LQR controller provided more stability and homogeneous response. Keywords: Magnetic levitation (Maglev, Linear Quadratic Regulator (LQR, PID controller, SIMLAB Platform
Yang, Xiaoping; Chen, Xueying; Xia, Riting; Qian, Zhihong
2018-01-01
Aiming at the problem of network congestion caused by the large number of data transmissions in wireless routing nodes of wireless sensor network (WSN), this paper puts forward an algorithm based on standard particle swarm–neural PID congestion control (PNPID). Firstly, PID control theory was applied to the queue management of wireless sensor nodes. Then, the self-learning and self-organizing ability of neurons was used to achieve online adjustment of weights to adjust the proportion, integral and differential parameters of the PID controller. Finally, the standard particle swarm optimization to neural PID (NPID) algorithm of initial values of proportion, integral and differential parameters and neuron learning rates were used for online optimization. This paper describes experiments and simulations which show that the PNPID algorithm effectively stabilized queue length near the expected value. At the same time, network performance, such as throughput and packet loss rate, was greatly improved, which alleviated network congestion and improved network QoS. PMID:29671822
The speed control of DC motor under the load condition using PI and PID controllers
Corapsiz, Muhammed Reşit; Kahveci, Hakan
2017-04-01
In this study, it was aimed to compare PI (Proportional-Integral) and PID (Proportional-Integral-Derivative) controllers for speed control of Permanent Magnet Direct Current (PMDC) motor under both load and without load. For this purpose, firstly, the mathematical model was obtained from the dynamic equations of the PMDC motor and the obtained mathematical model was transferred to the simulation environment and modeled using Matlab/SIMULINK. Following the modeling process, PI and PID controller structures were formed, respectively. Secondly, after these structures were formed, the PMDC motor was run without any controller. Then, the control of the PMDC motor with no load was provided by using PI and PID controllers. Finally, the PMDC motor were loaded under the constant load (TL = 3 N.m.) for each condition and selected time period (t = 3 s). The obtained result for each control operations was comparatively given by observing effects of loading process on systems. When the obtained results were evaluated for each condition, it was observed that PID controller have the best performance with respect to PI controller.
On the Robustness of Hysteretic Second-Order Systems with PID : iISS approach
Ouyang, Ruiyue; Jayawardhana, Bayu; Andrieu, Vincent
2012-01-01
In this paper, we study the robustness property of a second-order linear plant controlled by a proportional, integral and derivative (PID) controller with a hysteretic actuator. The hysteretic actuator is modeled by a Duhem model that exhibits clockwise (CW) input-output (I/O) dynamics (such as the
TRENTELMAN, HL
1984-01-01
This note generalizes the geometric theory around minimal and reduced order observers to the situation in which differentiation of certain components of the observed output is allowed. A geometric theory involving the notion of PID-observer is introduced, using the concept of almost complementary
Closed-loop step response for tuning PID-fractional-order-filter controllers.
Amoura, Karima; Mansouri, Rachid; Bettayeb, Maâmar; Al-Saggaf, Ubaid M
2016-09-01
Analytical methods are usually applied for tuning fractional controllers. The present paper proposes an empirical method for tuning a new type of fractional controller known as PID-Fractional-Order-Filter (FOF-PID). Indeed, the setpoint overshoot method, initially introduced by Shamsuzzoha and Skogestad, has been adapted for tuning FOF-PID controller. Based on simulations for a range of first order with time delay processes, correlations have been derived to obtain PID-FOF controller parameters similar to those obtained by the Internal Model Control (IMC) tuning rule. The setpoint overshoot method requires only one closed-loop step response experiment using a proportional controller (P-controller). To highlight the potential of this method, simulation results have been compared with those obtained with the IMC method as well as other pertinent techniques. Various case studies have also been considered. The comparison has revealed that the proposed tuning method performs as good as the IMC. Moreover, it might offer a number of advantages over the IMC tuning rule. For instance, the parameters of the fractional controller are directly obtained from the setpoint closed-loop response data without the need of any model of the plant to be controlled. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Ahmad Fachrudin Istiananda
2017-01-01
Full Text Available BLDCM merupakan suatu jenis motor sinkron yang artinya medan magnet yang dihasilkan oleh stator dan medan magnet yang dihasilkan rotor berputar di frekuensi yang sama. Dalam BLDCM, salah satu hal yang sangat penting untuk dikontrol adalah kecepata. Permasalahan yang diteliti dan dianalisis pada Tugas Akhir Perancangan dan Implementasi Sistem Pengaturan Kecepatan Motor Arus Searah Tanpa Sikat Menggunakan Metode PID-Robust adalah respon kecepatan BLDCM terhadap pembebanan yang berubah-ubah. Pengaturan kecepatan BLDCM dirancang menggunakan Kontroler Proposional, Integral dan Derivatif (PID. Kontroler PID-Robust digunakan untuk membantu BLDC pada kondisi pembebanan untuk mempertahankan setpoint. Nilai parameter Kp, Ki, dan Kd sebesar 529,9, 0,00000373, dan 0,0624 didapat dari perhitungan robust performansi H∞ dengan metode LMI (Linear Matrix Inequality. Setelah dilakukan simulasi, didapatkan bahwa respon plant dengan kontroler PID-Robust dapat mengikuti model referensi yang diinginkan dengan nilai rise time 7,7 untuk beban minimal, 3,75 untuk beban nominal, dan 5,9 untuk beban maksimal serta kuat/robust terhadap gangguan/disturbance.
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Muhammad Jadid Anggarjito
2013-09-01
Full Text Available Quadcopter merupakan salah salah satu jenis rotorcraft yang memiliki 4 buah rotor yang harus dikendalikan masing-masing rotornya untuk dapat menggerakkan quadcopter. Gerak lateral merupakan gerak quadcopter secara horizontal pada ketinggian atau gerak translasi, gerakan ini sangat vital untuk memenuhi kebutuhan quadcopter dalam mencapai way-to-way point yang telah ditentukan. Pada tugas akhir ini untuk mengatur gerakan lateral dari quadcopter digunakan sistem kendali PID dengan Decoupling Nonlinear. Ada 2 buah kontroler individual yang digunakan yaitu kontroler PID dengan Nonlinear Decoupling untuk mengatur pitch dan roll gerak rotasi, serta kontroler PD untuk mengatur translasi sumbu X dan sumbu Y. Perancangan sistem kontrol PID Decoupling Nonlinear pada simulasi yang digunakan untuk mempertahankan gerak lateral quadcopter dalam mencapai way-to-way point yang ditentukan. Nilai parameter yang didapatkan dari hasil tuning terstruktur pada simulasi adalah pada kontroler PID dengan Nonlinear Decoupling pitch dan roll Kp=5 Ki=0,01 Kd=10 sedangkan pada kontroler PD sumbu X dan sumbu Y Kp=0,05 Kd=0,2. Respon hasil implementasi pada quadcopter belum sesuai pada hasil simulasi. Pada hasil simulasi masih terdapat koreksi pada translasi sumbu X dan sumbu Y masih terdapat kesalahan sebesar ± 0,02 cm, sedangkan pada implementasi gerak lateral menggunakan remote control sistem dapat bergerak stabil menuju way-to-way point yang ditentukan.
Profil épidémiologique, diagnostique, thérapeutique et évolutif du ...
African Journals Online (AJOL)
K. Tengue
Épidémiologie diagnostic;. Traitement; ... soit 6,4 % et le traitement hormonal dans 93,1 % des cas. Le taux de décès .... avaient permis la recherche de localisation secondaire et la classi- .... de plateau technique adéquat dans nos structures.
Speed response of brushless DC motor using fuzzy PID controller under varying load condition
Directory of Open Access Journals (Sweden)
Akash Varshney
2017-09-01
Full Text Available The increasing trend towards usage of precisely controlled, high torque, efficient and low noise motors for dedicated applications has attracted the attention of researcher in Brushless DC (BLDC motors. BLDC motors can act as an acceptable alternative to the conventional motors like Induction Motors, Switched Reluctance Motors etc. This paper presents a detailed study on the performance of a BLDC motor supplying different types of loads, and at the same time, deploying different control techniques. An advance Fuzzy PID controller is compared with the commonly used PID controller. The load variations considered are of the most common types, generally encountered in practice. A comparison has been carried out in this paper by observing the dynamic speed response of motor at the time of application as well as at the time of removal of the load. The BLDC motors suffer from a major drawback of having jerky behaviour at the time of load removal. The study reveals that irrespective of the type of controller used, the gradual load variation produces better results as against sudden load variations. It is further observed that in addition to other dynamic features, the jerks produced at the time of load removal also get improved to a large extent with Fuzzy PID controller.The speed torque characteristics unraveled the fact that the jerks are minimum at the time of gradual load removal with Fuzzy PID controller in place. An attempt has been made to define these jerks by ‘Perturbation Window’.
PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems
Directory of Open Access Journals (Sweden)
Arturo Y. Jaen-Cuellar
2013-09-01
Full Text Available Performance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its well-known beneficial features. In general, the whole system's performance strongly depends on the controller's efficiency and hence the tuning process plays a key role in the system's behaviour. In this work, the servo systems will be analysed, specifically the positioning control systems. Among the existent tuning methods, the Gain-Phase Margin method based on Frequency Response analysis is the most adequate for controller tuning in positioning control systems. Nevertheless, this method can be improved by integrating an optimization technique. The novelty of this work is the development of a new methodology for PID control tuning by coupling the Gain-Phase Margin method with the Genetic Algorithms in which the micro-population concept and adaptive mutation probability are applied. Simulations using a positioning system model in MATLAB and experimental tests in two CNC machines and an industrial robot are carried out in order to show the effectiveness of the proposal. The obtained results are compared with both the classical Gain-Phase Margin tuning and with a recent PID controller optimization using Genetic Algorithms based on real codification. The three methodologies are implemented using software.
Integrated tuning of PID-derivative load frequency controller for two ...
African Journals Online (AJOL)
Results of the proposed derivative controller have been compared with conventional proportional integral derivative controller in time domain analysis. A remarkable improvement in stability of the system has ... the feasibility of the proposed PID-derivative filter controller. Keywords: controller; derivative filter; tie line; two area ...
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Ahmad M. El-Nagar
2014-06-01
Full Text Available In this study, we propose an embedded real-time interval type-2 fuzzy proportional – integral – derivative (IT2F-PID controller which is a parallel combination of the interval type-2 fuzzy proportional – integral (IT2F-PI controller and the interval type-2 fuzzy proportional – derivative (IT2F-PD controller. The proposed IT2F-PID controller is able to handle the effect of the system uncertainties due to the structure of the interval type-2 fuzzy logic controller. The proposed IT2F-PID controller is implemented practically using a low cost PIC microcontroller for controlling the uncertain nonlinear inverted pendulum to minimize the effect of the system uncertainties due to the uncertainty in the mass of the pendulum, the measurement error in the rotation angle of the pendulum and the structural uncertainty. The test is carried out using the hardware-in-the-loop (HIL simulation. The experimental results show that the performance of the IT2F-PID controller improves significantly the performance over a wide range of system uncertainties.
A primer of multivariate statistics
Harris, Richard J
2014-01-01
Drawing upon more than 30 years of experience in working with statistics, Dr. Richard J. Harris has updated A Primer of Multivariate Statistics to provide a model of balance between how-to and why. This classic text covers multivariate techniques with a taste of latent variable approaches. Throughout the book there is a focus on the importance of describing and testing one's interpretations of the emergent variables that are produced by multivariate analysis. This edition retains its conversational writing style while focusing on classical techniques. The book gives the reader a feel for why
Pinsker, Jordan E; Lee, Joon Bok; Dassau, Eyal; Seborg, Dale E; Bradley, Paige K; Gondhalekar, Ravi; Bevier, Wendy C; Huyett, Lauren; Zisser, Howard C; Doyle, Francis J
2016-07-01
To evaluate two widely used control algorithms for an artificial pancreas (AP) under nonideal but comparable clinical conditions. After a pilot safety and feasibility study (n = 10), closed-loop control (CLC) was evaluated in a randomized, crossover trial of 20 additional adults with type 1 diabetes. Personalized model predictive control (MPC) and proportional integral derivative (PID) algorithms were compared in supervised 27.5-h CLC sessions. Challenges included overnight control after a 65-g dinner, response to a 50-g breakfast, and response to an unannounced 65-g lunch. Boluses of announced dinner and breakfast meals were given at mealtime. The primary outcome was time in glucose range 70-180 mg/dL. Mean time in range 70-180 mg/dL was greater for MPC than for PID (74.4 vs. 63.7%, P = 0.020). Mean glucose was also lower for MPC than PID during the entire trial duration (138 vs. 160 mg/dL, P = 0.012) and 5 h after the unannounced 65-g meal (181 vs. 220 mg/dL, P = 0.019). There was no significant difference in time with glucose PID control for the AP indicates that MPC performed particularly well, achieving nearly 75% time in the target range, including the unannounced meal. Although both forms of CLC provided safe and effective glucose management, MPC performed as well or better than PID in all metrics. © 2016 by the American Diabetes Association. Readers may use this article as long as the work is properly cited, the use is educational and not for profit, and the work is not altered.
Simonoska Crcarevska, Maja; Dimitrovska, Aneta; Sibinovska, Nadica; Mladenovska, Kristina; Slavevska Raicki, Renata; Glavas Dodov, Marija
2015-07-15
Microsponges drug delivery system (MDDC) was prepared by double emulsion-solvent-diffusion technique using rotor-stator homogenization. Quality by design (QbD) concept was implemented for the development of MDDC with potential to be incorporated into semisolid dosage form (gel). Quality target product profile (QTPP) and critical quality attributes (CQA) were defined and identified, accordingly. Critical material attributes (CMA) and Critical process parameters (CPP) were identified using quality risk management (QRM) tool, failure mode, effects and criticality analysis (FMECA). CMA and CPP were identified based on results obtained from principal component analysis (PCA-X&Y) and partial least squares (PLS) statistical analysis along with literature data, product and process knowledge and understanding. FMECA identified amount of ethylcellulose, chitosan, acetone, dichloromethane, span 80, tween 80 and water ratio in primary/multiple emulsions as CMA and rotation speed and stirrer type used for organic solvent removal as CPP. The relationship between identified CPP and particle size as CQA was described in the design space using design of experiments - one-factor response surface method. Obtained results from statistically designed experiments enabled establishment of mathematical models and equations that were used for detailed characterization of influence of identified CPP upon MDDC particle size and particle size distribution and their subsequent optimization. Copyright © 2015 Elsevier B.V. All rights reserved.
Multivariate and semiparametric kernel regression
Härdle, Wolfgang; Müller, Marlene
1997-01-01
The paper gives an introduction to theory and application of multivariate and semiparametric kernel smoothing. Multivariate nonparametric density estimation is an often used pilot tool for examining the structure of data. Regression smoothing helps in investigating the association between covariates and responses. We concentrate on kernel smoothing using local polynomial fitting which includes the Nadaraya-Watson estimator. Some theory on the asymptotic behavior and bandwidth selection is pro...
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I Made Ginarsa
2013-11-01
Full Text Available Chaos and voltage collapse occurred in critical power systems due to disturbing of energy. PID-SVC layered reccurrent neural network-based (LRN-based PID-SVC was proposed to solve this problem. A PID was used to control chaos and voltage collapse. Then, an SVC LRN-based to maintan the load voltage. By using the proposed controller, chaos and voltage collapse were able to suppress and maintain the load voltage around the setting value. Furthemore, the proposed controller gives better response than PI-SVC controller.
Chen, Zhihuan; Yuan, Yanbin; Yuan, Xiaohui; Huang, Yuehua; Li, Xianshan; Li, Wenwu
2015-05-01
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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Multivariate Statistical Process Control Charts: An Overview
Bersimis, Sotiris; Psarakis, Stelios; Panaretos, John
2006-01-01
In this paper we discuss the basic procedures for the implementation of multivariate statistical process control via control charting. Furthermore, we review multivariate extensions for all kinds of univariate control charts, such as multivariate Shewhart-type control charts, multivariate CUSUM control charts and multivariate EWMA control charts. In addition, we review unique procedures for the construction of multivariate control charts, based on multivariate statistical techniques such as p...
Multivariate Generalized Multiscale Entropy Analysis
Directory of Open Access Journals (Sweden)
Anne Humeau-Heurtier
2016-11-01
Full Text Available Multiscale entropy (MSE was introduced in the 2000s to quantify systems’ complexity. MSE relies on (i a coarse-graining procedure to derive a set of time series representing the system dynamics on different time scales; (ii the computation of the sample entropy for each coarse-grained time series. A refined composite MSE (rcMSE—based on the same steps as MSE—also exists. Compared to MSE, rcMSE increases the accuracy of entropy estimation and reduces the probability of inducing undefined entropy for short time series. The multivariate versions of MSE (MMSE and rcMSE (MrcMSE have also been introduced. In the coarse-graining step used in MSE, rcMSE, MMSE, and MrcMSE, the mean value is used to derive representations of the original data at different resolutions. A generalization of MSE was recently published, using the computation of different moments in the coarse-graining procedure. However, so far, this generalization only exists for univariate signals. We therefore herein propose an extension of this generalized MSE to multivariate data. The multivariate generalized algorithms of MMSE and MrcMSE presented herein (MGMSE and MGrcMSE, respectively are first analyzed through the processing of synthetic signals. We reveal that MGrcMSE shows better performance than MGMSE for short multivariate data. We then study the performance of MGrcMSE on two sets of short multivariate electroencephalograms (EEG available in the public domain. We report that MGrcMSE may show better performance than MrcMSE in distinguishing different types of multivariate EEG data. MGrcMSE could therefore supplement MMSE or MrcMSE in the processing of multivariate datasets.
DEFF Research Database (Denmark)
Hansen, T.
The purpose of this Ph.D. thesis is twofold: The first purpose is to devise a new method for application of multivariable controllers in boiler control systems in which they act as optional process optimizing extensions to conventional control systems and in such a way that the safety measures...... mentioned, the concept is applicable to new as well as existing plants. The seccond purpose is to suggest specific methods for experimental modelling and multivariable controller design which are possible to use under the conceptual framework, implement them and test them in a boiler application....
Disturbance Error Reduction in Multivariable Optimal Control Systems
Directory of Open Access Journals (Sweden)
Ole A. Solheim
1983-01-01
Full Text Available The paper deals with the design of optimal multivariable controllers, using a modified LQR approach. All controllers discussed contain proportional feedback and, in addition, there may be feedforward, integral action or state estimation.
An Efficient Local Algorithm for Distributed Multivariate Regression
National Aeronautics and Space Administration — This paper offers a local distributed algorithm for multivariate regression in large peer-to-peer environments. The algorithm is designed for distributed...
Distributed Persistent Identifiers System Design
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Pavel Golodoniuc
2017-06-01
Full Text Available The need to identify both digital and physical objects is ubiquitous in our society. Past and present persistent identifier (PID systems, of which there is a great variety in terms of technical and social implementation, have evolved with the advent of the Internet, which has allowed for globally unique and globally resolvable identifiers. PID systems have, by in large, catered for identifier uniqueness, integrity, and persistence, regardless of the identifier’s application domain. Trustworthiness of these systems has been measured by the criteria first defined by Bütikofer (2009 and further elaborated by Golodoniuc 'et al'. (2016 and Car 'et al'. (2017. Since many PID systems have been largely conceived and developed by a single organisation they faced challenges for widespread adoption and, most importantly, the ability to survive change of technology. We believe that a cause of PID systems that were once successful fading away is the centralisation of support infrastructure – both organisational and computing and data storage systems. In this paper, we propose a PID system design that implements the pillars of a trustworthy system – ensuring identifiers’ independence of any particular technology or organisation, implementation of core PID system functions, separation from data delivery, and enabling the system to adapt for future change. We propose decentralisation at all levels — persistent identifiers and information objects registration, resolution, and data delivery — using Distributed Hash Tables and traditional peer-to-peer networks with information replication and caching mechanisms, thus eliminating the need for a central PID data store. This will increase overall system fault tolerance thus ensuring its trustworthiness. We also discuss important aspects of the distributed system’s governance, such as the notion of the authoritative source and data integrity
Applied multivariate statistics with R
Zelterman, Daniel
2015-01-01
This book brings the power of multivariate statistics to graduate-level practitioners, making these analytical methods accessible without lengthy mathematical derivations. Using the open source, shareware program R, Professor Zelterman demonstrates the process and outcomes for a wide array of multivariate statistical applications. Chapters cover graphical displays, linear algebra, univariate, bivariate and multivariate normal distributions, factor methods, linear regression, discrimination and classification, clustering, time series models, and additional methods. Zelterman uses practical examples from diverse disciplines to welcome readers from a variety of academic specialties. Those with backgrounds in statistics will learn new methods while they review more familiar topics. Chapters include exercises, real data sets, and R implementations. The data are interesting, real-world topics, particularly from health and biology-related contexts. As an example of the approach, the text examines a sample from the B...
Multivariate stochastic simulation with subjective multivariate normal distributions
P. J. Ince; J. Buongiorno
1991-01-01
In many applications of Monte Carlo simulation in forestry or forest products, it may be known that some variables are correlated. However, for simplicity, in most simulations it has been assumed that random variables are independently distributed. This report describes an alternative Monte Carlo simulation technique for subjectively assesed multivariate normal...
Power Estimation in Multivariate Analysis of Variance
Directory of Open Access Journals (Sweden)
Jean François Allaire
2007-09-01
Full Text Available Power is often overlooked in designing multivariate studies for the simple reason that it is believed to be too complicated. In this paper, it is shown that power estimation in multivariate analysis of variance (MANOVA can be approximated using a F distribution for the three popular statistics (Hotelling-Lawley trace, Pillai-Bartlett trace, Wilk`s likelihood ratio. Consequently, the same procedure, as in any statistical test, can be used: computation of the critical F value, computation of the noncentral parameter (as a function of the effect size and finally estimation of power using a noncentral F distribution. Various numerical examples are provided which help to understand and to apply the method. Problems related to post hoc power estimation are discussed.
Multivariate Matrix-Exponential Distributions
DEFF Research Database (Denmark)
Bladt, Mogens; Nielsen, Bo Friis
2010-01-01
be written as linear combinations of the elements in the exponential of a matrix. For this reason we shall refer to multivariate distributions with rational Laplace transform as multivariate matrix-exponential distributions (MVME). The marginal distributions of an MVME are univariate matrix......-exponential distributions. We prove a characterization that states that a distribution is an MVME distribution if and only if all non-negative, non-null linear combinations of the coordinates have a univariate matrix-exponential distribution. This theorem is analog to a well-known characterization theorem...
Sohaib Aslam; Sundas Hannan; Umar Sajjad; Waheed Zafar
2016-01-01
Speed control of DC motor is very critical in most of the industrial systems where accuracy and protection are of essence. This paper presents the simulations of Proportional Integral Derivative Controller (PID) on a 16-bit PIC 24F series microcontroller for speed control of a DC motor in the presence of load torque. The PID gains have been tuned by Linear Quadratic Regulator (LQR) technique and then it is implemented on microcontroller using MPLAB and finally simulated for speed control of D...
BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle.
Fan, Jizhuang; Zhong, Jun; Zhao, Jie; Zhu, Yanhe
2015-01-01
Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due to its highly nonlinear properties. This paper deals with position control of PAM. To describe the hysteresis inside PAM, a polynomial based phenomenological function is developed. Based on the phenomenological model for PAM and analysis of pressure dynamics within PAM, an adaptive cascade controller is proposed. Both outer loop and inner loop employ BP Neural Network tuned PID algorithm. The outer loop is to handle high nonlinearities and unmodeled dynamics of PAM, while the inner loop is responsible for nonlinearities caused by pressure dynamics. Experimental results show high tracking accuracy as compared with a convention PID controller. The proposed controller is effective in improving performance of PAM and will be implemented in a rehabilitation robot.
PID Testing Method Suitable for Process Control of Solar Cells Mass Production
Directory of Open Access Journals (Sweden)
Xianfang Gou
2015-01-01
Full Text Available Voltage bias of several hundred volts which are applied between solar cells and module frames may lead to significant power losses, so-called potential-induced degradation (PID, in normal photovoltaic (PV installations system. Modules and minimodules are used to conduct PID test of solar cells. The test procedure is time consuming and of high cost, which cannot be used as process monitoring method during solar cells fabrication. In this paper, three kinds of test including minimodule, Rsh, and V-Q test are conducted on solar cells or wafers with SiNx of different refractive index. All comparisons between test results of Rsh, V-Q, and minimodule tests have shown equal results. It is shown that Rsh test can be used as quality inspection of solar cells and V-Q test of coated wafer can be used as process control of solar cells.
Research on frequency control strategy of interconnected region based on fuzzy PID
Zhang, Yan; Li, Chunlan
2018-05-01
In order to improve the frequency control performance of the interconnected power grid, overcome the problems of poor robustness and slow adjustment of traditional regulation, the paper puts forward a frequency control method based on fuzzy PID. The method takes the frequency deviation and tie-line deviation of each area as the control objective, takes the regional frequency deviation and its deviation as input, and uses fuzzy mathematics theory, adjusts PID control parameters online. By establishing the regional frequency control model of water-fire complementary power generation in MATLAB, the regional frequency control strategy is given, and three control modes (TBC-FTC, FTC-FTC, FFC-FTC) are simulated and analyzed. The simulation and experimental results show that, this method has better control performance compared with the traditional regional frequency regulation.
Directory of Open Access Journals (Sweden)
Zhekang Dong
2014-01-01
Full Text Available In this paper, we present an implementation scheme of memristor-based multilayer feedforward small-world neural network (MFSNN inspirited by the lack of the hardware realization of the MFSNN on account of the need of a large number of electronic neurons and synapses. More specially, a mathematical closed-form charge-governed memristor model is presented with derivation procedures and the corresponding Simulink model is presented, which is an essential block for realizing the memristive synapse and the activation function in electronic neurons. Furthermore, we investigate a more intelligent memristive PID controller by incorporating the proposed MFSNN into intelligent PID control based on the advantages of the memristive MFSNN on computation speed and accuracy. Finally, numerical simulations have demonstrated the effectiveness of the proposed scheme.
Dong, Zhekang; Duan, Shukai; Hu, Xiaofang; Wang, Lidan; Li, Hai
2014-01-01
In this paper, we present an implementation scheme of memristor-based multilayer feedforward small-world neural network (MFSNN) inspirited by the lack of the hardware realization of the MFSNN on account of the need of a large number of electronic neurons and synapses. More specially, a mathematical closed-form charge-governed memristor model is presented with derivation procedures and the corresponding Simulink model is presented, which is an essential block for realizing the memristive synapse and the activation function in electronic neurons. Furthermore, we investigate a more intelligent memristive PID controller by incorporating the proposed MFSNN into intelligent PID control based on the advantages of the memristive MFSNN on computation speed and accuracy. Finally, numerical simulations have demonstrated the effectiveness of the proposed scheme.
Adaptive Functional-Based Neuro-Fuzzy-PID Incremental Controller Structure
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Ashraf Ahmed Fahmy
2014-03-01
Full Text Available This paper presents an adaptive functional-based Neuro-fuzzy-PID incremental (NFPID controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input-output space of the three term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral function for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation. Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using Bees Algorithm, and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA type robot arm.
A comparison of fuzzy logic-PID control strategies for PWR pressurizer control
International Nuclear Information System (INIS)
Kavaklioglu, K.; Ikonomopoulos, A.
1993-01-01
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
An optimal PID controller via LQR for standard second order plus time delay systems.
Srivastava, Saurabh; Misra, Anuraag; Thakur, S K; Pandit, V S
2016-01-01
An improved tuning methodology of PID controller for standard second order plus time delay systems (SOPTD) is developed using the approach of Linear Quadratic Regulator (LQR) and pole placement technique to obtain the desired performance measures. The pole placement method together with LQR is ingeniously used for SOPTD systems where the time delay part is handled in the controller output equation instead of characteristic equation. The effectiveness of the proposed methodology has been demonstrated via simulation of stable open loop oscillatory, over damped, critical damped and unstable open loop systems. Results show improved closed loop time response over the existing LQR based PI/PID tuning methods with less control effort. The effect of non-dominant pole on the stability and robustness of the controller has also been discussed. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Optimal control of inverted pendulum system using PID controller, LQR and MPC
Varghese, Elisa Sara; Vincent, Anju K.; Bagyaveereswaran, V.
2017-11-01
Inverted pendulum is a highly nonlinear system. Here we propose an optimal control technique for the control of an inverted Pendulum - cart system. The system is modeled, linearized and controlled. Here, the control objective is to control the system such that when the cart reaches a desired position the inverted pendulum stabilizes in the upright position. Initially PID controller is used to control the system. Later, Linear Quadratic Regulator (LQR) a well-known optimal control technique which makes use of the states of the dynamical system and control input to frame the optimal control decision is used. Various combinations of both PID and LQR controllers are implemented. To validate the robustness of the controller, the system is simulated with and without disturbance. Finally the system is also controlled using Model Predictive controller (MPC). MPC has well predictive ability to calculate future events and implement necessary control actions. The performance of the system is compared and analyzed.
Autotuning of PID controller by means of human machine interface device
Directory of Open Access Journals (Sweden)
Michał Awtoniuk
2017-06-01
Full Text Available More and more control systems are based on industry microprocessors like PLC controllers (Programmable Logic Controller. The most commonly used control algorithm is PID (Proportional-Integral-Derivative algorithm. Autotuning procedure is not available in every PLC. These controllers are typically used in cooperation with HMI (Human Machine Interface devices. In the study two procedures of autotuning of the PID controller were implemented in the HMI device: step method and relay method. Six tuning rules for step methods and one for relay method were chosen. The autotuning procedures on simulated controlled object and PLC controller without build-in autotuning were tested. The object of control was first order system plus time delay.
Neuron-Adaptive PID Based Speed Control of SCSG Wind Turbine System
Directory of Open Access Journals (Sweden)
Shan Zuo
2014-01-01
Full Text Available In searching for methods to increase the power capacity of wind power generation system, superconducting synchronous generator (SCSG has appeared to be an attractive candidate to develop large-scale wind turbine due to its high energy density and unprecedented advantages in weight and size. In this paper, a high-temperature superconducting technology based large-scale wind turbine is considered and its physical structure and characteristics are analyzed. A simple yet effective single neuron-adaptive PID control scheme with Delta learning mechanism is proposed for the speed control of SCSG based wind power system, in which the RBF neural network (NN is employed to estimate the uncertain but continuous functions. Compared with the conventional PID control method, the simulation results of the proposed approach show a better performance in tracking the wind speed and maintaining a stable tip-speed ratio, therefore, achieving the maximum wind energy utilization.
Directory of Open Access Journals (Sweden)
Gang Qin
2015-01-01
Full Text Available The acceleration performance of EV, which affects a lot of performances of EV such as start-up, overtaking, driving safety, and ride comfort, has become increasingly popular in recent researches. An improved variable gain PID control algorithm to improve the acceleration performance is proposed in this paper. The results of simulation with Matlab/Simulink demonstrate the effectiveness of the proposed algorithm through the control performance of motor velocity, motor torque, and three-phase current of motor. Moreover, it is investigated that the proposed controller is valid by comparison with the other PID controllers. Furthermore, the AC induction motor experiment set is constructed to verify the effect of proposed controller.
Directory of Open Access Journals (Sweden)
Ziółkowskia E.
2012-09-01
Full Text Available Foundry resistance furnaces are thermal devices with a relatively large time delay in their response to a change in power parameters. Commonly used in automation classical PID controllers do not meet the requirements of high-quality control. Developed in recent years, fuzzy control theory is increasingly being used in various branches of economy and industry. Fuzzy controllers allow to introduce new developments in control systems of foundry furnaces as well. Correctly selected fuzzy controller can significantly reduce energy consumption in a controlled thermal process of heating equipment. The article presents a comparison of energy consumption by control system of foundry resistance furnace, equipped with either a PID controller or fuzzy controller optimally chosen.
Control of baker’s yeast fermentation : PID and fuzzy algorithms
Machado, Carlos; Gomes, Pedro; Soares, Rui; Pereira, Silvia; Soares, Filomena
2001-01-01
A MATLAB/SIMULINK-based simulator was employed for studies concerning the control of baker’s yeast fed-batch fermentation. Four control algorithms were implemented and compared: the classical PID control, two discrete versions- modified velocity and position algorithms, and a fuzzy law. The simulation package was seen to be an efficient tool for the simulation and tests of control strategies of the non-linear process.
PID - 3D: a software to develop mathematical human phantoms for use in computational dosimetry
International Nuclear Information System (INIS)
Lima Filho, Jose de Melo; Vieira, Jose Wilson; Lima, Vanildo Junior de Melo; Lima, Fernando Roberto de Andrade
2009-01-01
The PID-3D software, written in Visual C++, contains tools developed for building and editing of three-dimensional geometric figures formed of voxels (volume pixels). These tools were projected to be used, together with those already developed by the Grupo de Dosimetria Numerica (GDN/CNPq), such as the FANTOMAS and DIP software, in computational dosimetry of ionizing radiation. The main objective of this paper is to develop various voxel-based geometric solids to build voxel phantoms (meaning models), anthropomorphic or not. The domain of this technique of development of geometric solids is important for the GDN/CNPq, because it allows the use of just one Monte Carlo code to simulate the transportation, interaction and deposition of radiation in tomographic and mathematical phantoms. Building a particular geometric solid the user needs to inform to the PID-3D software, the location and the size of the parallelepiped that involves it. Each built solid can be saved in a binary file of the type SGI (file containing the size and the numeric values that constitutes the 3D matrix that represents the solid, commonly used by GDN/CNPq). The final mathematical phantom is built starting from these SGI files and the SGI file resulting constitutes a voxel phantom. With this approach the software's user does not have to manipulate the equations and inequalities of the solids that represent the organs and tissues of the phantom. The 3D-PID software, associated with the FANTOMAS and DIP software are tools produced by GDN/CNPq, providing a new technique for building of 3D scenes in dosimetric evaluations using voxel phantoms. To validate the PID-3D software one built, step by step, a phantom similar to the MIRD-5 stylized phantom. (author)
Profil épidémiologique, diagnostique, thérapeutique et évolutif du ...
African Journals Online (AJOL)
Objectifs: Étudier les aspects épidémiologiques, cliniques, thérapeutiques et évolutifs du cancer de la prostate dans le service d'urologie du CHU-Sylvanus Olympio du Togo. Patients et méthodes: Il s'agissait d'une étude prospective de mars 2011 à mars 2014 sur les patients suivis pour cancer de la prostate au Togo.
Desain Proportional Integral Derrivative (Pid) Controller Pada Model Arm Robot Manipulator
Pratama, Adhityanendra Pandu; Munadi, Munadi
2014-01-01
Dalam rangka menuju proses industrialisasi modern di negara Indonesia, harus didukung dengan teknologi yang canggih, contoh nya adalah arm robot manipulator. sebagai pelaku proses produksi sehingga dihasilkan ketepatan,kepresisian, dan kefektifan pada proses produksi. Dengan hal tersebut dibuat sebuah desain kontrol PID pada arm robot manipulator dengan tujuan menghasilkan tingkat presisi dan kestabilan yang lebih baik. Kontroler tersebut didesain, disimulasikan, dan diaplikasikan pada ha...
Sharma, Richa; Kumar, Vikas; Gaur, Prerna; Mittal, A P
2016-05-01
Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional-integral-derivative (PID) controller. To enhance the effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initialized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on-line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
The Multivariate Gaussian Probability Distribution
DEFF Research Database (Denmark)
Ahrendt, Peter
2005-01-01
This technical report intends to gather information about the multivariate gaussian distribution, that was previously not (at least to my knowledge) to be found in one place and written as a reference manual. Additionally, some useful tips and tricks are collected that may be useful in practical ...
A "Model" Multivariable Calculus Course.
Beckmann, Charlene E.; Schlicker, Steven J.
1999-01-01
Describes a rich, investigative approach to multivariable calculus. Introduces a project in which students construct physical models of surfaces that represent real-life applications of their choice. The models, along with student-selected datasets, serve as vehicles to study most of the concepts of the course from both continuous and discrete…
International Nuclear Information System (INIS)
Krull, I.S.; Swartz, M.; Driscoll, J.N.
1984-01-01
Pentafluorophenyldimethylsilyl chloride (flophemesyl chloride, Fl) is a well known derivatization reagent for improved electron capture detection (ECD) in gas chromatography (GC)(GC-ECD), but it has never been utilized for improved detectability and sensitivity in GC-photoionization detection (GC-PID). A wide variety of flophemesyl alcohol derivatives have been used in order to show a new approach for realizing greatly reduced minimum detection limits (MDL) of virtually all alcohol derivatives in GC-PID analysis. This particular derivatization approach is inexpensive and easy to apply, leading to quantitative or near 100% conversion of the starting alcohols to the expected flophemesyl ethers (silyl ethers). Detection limits can be lowered by 2-3 orders of magnitude for such derivatives when compared with the starting alcohols, along with calibration plots that are linear over 5-7 orders of magnitude. Specific GC conditions have been developed for many flophemesyl derivatives, in all cases using packed columns. Both ECD and PID relative response factors (RRFs) and normalized RRFs have been determined, and such ratios can now be used for improved analytic identification from complex sample matrices, where appropriate. 28 references, 2 figures, 5 tables
HYBRID SYSTEM BASED FUZZY-PID CONTROL SCHEMES FOR UNPREDICTABLE PROCESS
Directory of Open Access Journals (Sweden)
M.K. Tan
2011-07-01
Full Text Available In general, the primary aim of polymerization industry is to enhance the process operation in order to obtain high quality and purity product. However, a sudden and large amount of heat will be released rapidly during the mixing process of two reactants, i.e. phenol and formalin due to its exothermic behavior. The unpredictable heat will cause deviation of process temperature and hence affect the quality of the product. Therefore, it is vital to control the process temperature during the polymerization. In the modern industry, fuzzy logic is commonly used to auto-tune PID controller to control the process temperature. However, this method needs an experienced operator to fine tune the fuzzy membership function and universe of discourse via trial and error approach. Hence, the setting of fuzzy inference system might not be accurate due to the human errors. Besides that, control of the process can be challenging due to the rapid changes in the plant parameters which will increase the process complexity. This paper proposes an optimization scheme using hybrid of Q-learning (QL and genetic algorithm (GA to optimize the fuzzy membership function in order to allow the conventional fuzzy-PID controller to control the process temperature more effectively. The performances of the proposed optimization scheme are compared with the existing fuzzy-PID scheme. The results show that the proposed optimization scheme is able to control the process temperature more effectively even if disturbance is introduced.
MPC-based auto-tuned PID controller for the steam generator water level
International Nuclear Information System (INIS)
Na, Man Gyun
2001-01-01
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 4 th 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 2 nd 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
Regular self-oscillating and chaotic behaviour of a PID controlled gimbal suspension gyro
International Nuclear Information System (INIS)
Perez Polo, Manuel F.; Perez Molina, Manuel
2004-01-01
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
Yaseen, Mundher H. A.
Magnetic levitation is a technique to suspend an object without any mechanical support. The main objective of this study is to demonstrate stabilized closed loop control of 1-DOF Maglev experimentally using real-time control simulink feature of (SIMLAB) microcontroller. Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) controllers are employed to examine the stability performance of the Maglev control system under effect of unbalanced change of load and wave signal on Maglev plane. The effect of unbalanced change of applied load on single point, line and plane are presented. Furthermore, in order to study the effect of sudden change in input signal, the input of wave signal has been applied on all points of the prototype maglev plate simultaneously. The results of pulse width modulation (PWM) reveal that the control system using LQR controller provides faster response to adjust the levitated plane comparing to PID controller. Moreover, the air gap distance that controlled using PID controller is rather stable with little oscillation. Meanwhile, LQR controller provided more stability and homogeneous response.
International Nuclear Information System (INIS)
Santos Coelho, Leandro dos
2009-01-01
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.
Multi-stage fuzzy PID power system automatic generation controller in deregulated environments
International Nuclear Information System (INIS)
Shayeghi, H.; Shayanfar, H.A.; Jalili, A.
2006-01-01
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
Dukic, Maja; Todorov, Vencislav; Andany, Santiago; Nievergelt, Adrian P.; Yang, Chen; Hosseini, Nahid; Fantner, Georg E.
2017-12-01
Nearly all scanning probe microscopes (SPMs) contain a feedback controller, which is used to move the scanner in the direction of the z-axis in order to maintain a constant setpoint based on the tip-sample interaction. The most frequently used feedback controller in SPMs is the proportional-integral (PI) controller. The bandwidth of the PI controller presents one of the speed limiting factors in high-speed SPMs, where higher bandwidths enable faster scanning speeds and higher imaging resolution. Most SPM systems use digital signal processor-based PI feedback controllers, which require analog-to-digital and digital-to-analog converters. These converters introduce additional feedback delays which limit the achievable imaging speed and resolution. In this paper, we present a digitally controlled analog proportional-integral-derivative (PID) controller. The controller implementation allows tunability of the PID gains over a large amplification and frequency range, while also providing precise control of the system and reproducibility of the gain parameters. By using the analog PID controller, we were able to perform successful atomic force microscopy imaging of a standard silicon calibration grating at line rates up to several kHz.
Laser therapy in women genital Chlamydia trachomatis infection complicated with PID and infertility
Brinzan, Daniela; Paiusan, Lucian; Smeu, Claudia-Ramona
2018-04-01
Genital Chlamydia Trachomatis infection is one of the most common sexually transmitted infections with more than 50 million new cases occurred globally every year. Underdiagnosed and untreated, it can generate long term severe complications including PID, infertility, ectopic pregnancy and chronic pelvic pain. Among 20 patients diagnosed with PID and infertility in our medical office during one year, we selected a study group of 10 patients with genital Chlamydia Trachomatis infection. The diagnostic methods used were anamnesis, clinical examination, Pap smear, bacteriological and serological tests, ultra sound examination. The group of patients selected was monitored for one year. The treatment took into account general measures for both partners and specific measures (antibiotic treatment and focused laser therapy). The initial group was split in two, group A treated only with antibiotics and group B treated with both antibiotics and laser therapy. All the 5 patients of group B presented an improvement of the clinical manifestations and 3 of them ended up with pregnancy. On the other hand, in group B, only one patient manifested total disappearance of pains and the infertility persisted for all. It is noteworthy that the association of laser therapy in the treatment of Chlamydia Trachomatis infection has brought significant improvement in the inflammatory processes of internal genitalia (PID) and in the fertility of the couple.
Coordinate control of integral reactor based on single neuron PID controller
International Nuclear Information System (INIS)
Liu Yan; Xia Hong
2014-01-01
As one of the main type of reactors in the future, the development of the integral reactor has attracted worldwide attention. On the basis of understanding the background of the integral reactor, the author will be familiar with and master the power control of reactor and the feedwater flow control of steam generator, and the speed control of turbine (turbine speed control is associated with the turbine load control). According to the expectative program 'reactor power following turbine load' of the reactor, it will make coordinate control of the three and come to a overall control scheme. The author will use the supervisory learning algorithm of Hebb for single neuron PID controller with self-adaptation to study the coordinate control of integral reactor. Compared with conventional PI or PID controller, to a certain extent, it solves the problems that traditional PID controller is not easy to tune real-time parameters and lack of effective control for a number of complex processes and slow-varying parameter systems. It improves the security, reliability, stability and flexibility of control process and achieves effective control of the system. (authors)
Directory of Open Access Journals (Sweden)
Jun Zhong
2014-05-01
Full Text Available Braided pneumatic muscle actuator shows highly nonlinear properties between displacements and forces, which are caused by nonlinearity of pneumatic system and nonlinearity of its geometric construction. In this paper, a new model based on Bouc-Wen differential equation is proposed to describe the hysteretic behavior caused by its structure. The hysteretic loop between contractile force and displacement is dissolved into linear component and hysteretic component. Relationship between pressure within muscle actuator and parameters of the proposed model is discussed. A single degree of freedom manipulator actuated by PMA is designed. On the basis of the proposed model, a novel cascade position controller is designed. Single neuron adaptive PID algorithm is adopted to cope with the nonlinearity and model uncertainties of the manipulator. The outer loop of the controller is to handle position tracking problem and the inner loop is to control pressure. The controller is applied to the manipulator and experiments are conducted. Results demonstrate the effectiveness of the proposed controller.
Multi-variable systems in nuclear power plant
International Nuclear Information System (INIS)
Collins, G.B.; Howell, J.
1982-01-01
Nuclear power plant are complex multi-variable dynamically interactive systems which employ many facets of systems and control theory in their analysis and design. Whole plant mathematical models must be developed and validated and in addition to their obvious role in control system synthesis and design, they are also widely used for operational constraint and plant malfunction analysis. The need for and scope of an integrated power plant control system is discussed and, as a specific example, the design of an integrated feedwater regulator is reviewed. The multi-variable frequency response analysis employed in the design is described in detail. (author)
Design of a laser scanner for a digital mammography system.
Rowlands, J A; Taylor, J E
1996-05-01
We have developed a digital readout system for radiographic images using a scanning laser beam. In this system, electrostatic charge images on amorphous selenium (alpha-Se) plates are read out using photo-induced discharge (PID). We discuss the design requirements of a laser scanner for the PID system and describe its construction from commercially available components. The principles demonstrated can be adapted to a variety of digital imaging systems.
Topics in multivariate approximation and interpolation
Jetter, Kurt
2005-01-01
This book is a collection of eleven articles, written by leading experts and dealing with special topics in Multivariate Approximation and Interpolation. The material discussed here has far-reaching applications in many areas of Applied Mathematics, such as in Computer Aided Geometric Design, in Mathematical Modelling, in Signal and Image Processing and in Machine Learning, to mention a few. The book aims at giving a comprehensive information leading the reader from the fundamental notions and results of each field to the forefront of research. It is an ideal and up-to-date introduction for gr