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Sample records for pid control design

  1. Design of PID-type controllers using multiobjective genetic algorithms.

    Science.gov (United States)

    Herreros, Alberto; Baeyens, Enrique; Perán, José R

    2002-10-01

    The design of a PID controller is a multiobjective problem. A plant and a set of specifications to be satisfied are given. The designer has to adjust the parameters of the PID controller such that the feedback interconnection of the plant and the controller satisfies the specifications. These specifications are usually competitive and any acceptable solution requires a tradeoff among them. An approach for adjusting the parameters of a PID controller based on multiobjective optimization and genetic algorithms is presented in this paper. The MRCD (multiobjective robust control design) genetic algorithm has been employed. The approach can be easily generalized to design multivariable coupled and decentralized PID loops and has been successfully validated for a large number of experimental cases. PMID:12398277

  2. Design of a PID Controller for a PCR Micro Reactor

    Science.gov (United States)

    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…

  3. A Design of CMAC Based Intelligent PID Controllers

    Science.gov (United States)

    Kurozumi, Ryota; Yamamoto, Toru

    Owing to the rapid progress of the computer technology in recent years, lots of works about intelligent control schemes have been developed in the field of control engineering. However, PID control algorithms still continue to be widely used for most industrial control systems, particularly in chemical process industries. However, it is difficult to find a suitable set of PID gains, because most processes are represented by nonlinear systems. On the other hand, in recent years, various neural networks (NNs) have been proposed. These technologies of the NNs enable us to deal with the nonlinear systems, and they play an important role in the field of control engineering. Furthermore, a Cerebellar Model Articulation Controller (CMAC) has been proposed as one of artificial neural networks. This paper presents a new design scheme of intelligent PID controllers whose PID gains are generated by using CMACs. Owing to the high-generalizing ability of the CMAC, the proposed scheme does not need large learning time with comparison to the conventional NN. Furthermore, the computational burden can be drastically reduced and the robust tracking can be realized for untrained reference signals. The newly proposed control scheme is numerically evaluated on some simulation examples.

  4. Design New Intelligent PID like Fuzzy Backstepping Controller

    OpenAIRE

    Arzhang Khajeh; Farzin Piltan; Mohammad Reza Rashidian; Afsaneh Salehi; Ehsan pouladi

    2014-01-01

    The minimum rule base Proportional Integral Derivative (PID) Fuzzy backstepping Controller is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been grow...

  5. Design Of Multivariable Fractional Order Pid Controller Using Covariance Matrix Adaptation Evolution Strategy

    Directory of Open Access Journals (Sweden)

    Sivananaithaperumal Sudalaiandi

    2014-06-01

    Full Text Available This paper presents an automatic tuning of multivariable Fractional-Order Proportional, Integral and Derivative controller (FO-PID parameters using Covariance Matrix Adaptation Evolution Strategy (CMAES algorithm. Decoupled multivariable FO-PI and FO-PID controller structures are considered. Oustaloup integer order approximation is used for the fractional integrals and derivatives. For validation, two Multi-Input Multi- Output (MIMO distillation columns described byWood and Berry and Ogunnaike and Ray are considered for the design of multivariable FO-PID controller. Optimal FO-PID controller is designed by minimizing Integral Absolute Error (IAE as objective function. The results of previously reported PI/PID controller are considered for comparison purposes. Simulation results reveal that the performance of FOPI and FO-PID controller is better than integer order PI/PID controller in terms of IAE. Also, CMAES algorithm is suitable for the design of FO-PI / FO-PID controller.

  6. Hybrid intelligent PID control design for PEMFC anode system

    Institute of Scientific and Technical Information of China (English)

    Rui-min WANG; Ying-ying ZHANG; Guang-yi CAO

    2008-01-01

    Control design is important for proton exchange membrane fuel cell (PEMFC) generator. This work researched the anode system of a 60-kW PEMFC generator. Both anode pressure and humidity must he maintained at ideal levels during steady operation. In view of characteristics and requirements of the system, a hybrid intelligent PID controller is designed specifically based on dynamic simulation. A single neuron PI controller is used for anode humidity by adjusting the water injection to the hydrogen cell. Another incremental PID controller, based on the diagonal recurrent neural network (DRNN) dynamic identification, is used to control anode pressure to be more stable and exact by adjusting the hydrogen flow rate. This control strategy can avoid the coupling problem of the PEMFC and achieve a more adaptive ability. Simulation results showed that the control strategy can maintain both anode humidity and pressure at ideal levels regardless of variable load, nonlinear dynamic and coupling characteristics of the system. This work will give some guides for further control design and applications of the total PEMFC generator.

  7. Design of Fuzzy PID controller to control DC motor with zero overshoot

    Directory of Open Access Journals (Sweden)

    Meenakshi Chourasiya

    2014-10-01

    Full Text Available Most of the real time operation based physical system, digital PID is used in field such as servo-motor/dc motor/temperature control system, robotics, power electronics etc. need to interface with high speed constraints, higher density PLD’s such as FPGA used to integrate several logics on single IC. There are some limitations in it to overcome these limitations Fuzzy logic is introduced with PID and Fuzzy PID is formed. This paper explains experimental design of Fuzzy PID controller. We aimed to make controller power efficient, more compact, and zero overshoot. MATLAB is used to design PID controller to calculate and plot the time response of the control system and Simulink to generate a set of coefficients.

  8. PID Controller Design Based on the Time Domain Information of Robust IMC Controller Using Maximum Sensitivity

    Institute of Scientific and Technical Information of China (English)

    JIN Qibing; LIU Qie; WANG Qi; TIAN Yuqi; WANG Yuanfei

    2013-01-01

    The IMC (Internal Model Control) controller based on robust tuning can improve the robustness and dynamic performance of the system.In this paper,the robustness degree of the control system is investigated based on Maximum Sensitivity (Ms) in depth.And the analytical relationship is obtained between the robustness specification and controller parameters,which gives a clear design criterion to robust IMC controller.Moreover,a novel and simple IMC-PID (Proportional-Integral-Derivative) tuning method is proposed by converting the IMC controller to PID form in terms of the time domain rather than the frequency domain adopted in some conventional IMC-based methods.Hence,the presented IMC-PID gives a good performance with a specific robustness degree.The new IMC-PID method is compared with other classical IMC-PID rules,showing the flexibility and feasibility for a wide range of plants.

  9. Design New Intelligent PID like Fuzzy Backstepping Controller

    Directory of Open Access Journals (Sweden)

    Arzhang Khajeh

    2014-02-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy backstepping Controller is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a PI-like controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each link, this controller is work based on manipulator dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear robot manipulator’s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  10. A General Method for Designing Fractional Order PID Controller

    Directory of Open Access Journals (Sweden)

    Marzieh Safaei

    2013-01-01

    Full Text Available The idea of using fractional order calculus in control became apparent when this kind of calculus was accepted as a powerful tool in many applications. This resulted in a new generation of PID controller called fractional order PID Controller, named as Controller. controller is more flexible and provides a better response with larger stability region as compared with standard PID controller. This paper presents a simple and reliable method for finding the family of controllers. The required calculations are done in frequency domain based on frequency response of the system and the stability region is specified in the parameters space. This method can be used for time-delay systems and, more generally, for any system with no transfer function.

  11. The design for the fuzzy PID control of the intelligent following vehicle with gas floating

    Institute of Scientific and Technical Information of China (English)

    He Yi; Song Xiaodong; Chen Ming

    2012-01-01

    The intelligent following vehicle with gas floating has the characteristics of complicated structure and large quality. In this paper ,the author first establish the mathematical mode of the motion system land and then design a controller using the fuzzy PID control method which could realize auto-tuning PID parameters. By the MATLAB simulation analysis, the results show that fuzzy self-tuning PID control can enhance the response speed of system and has a better adaptability.

  12. H∞ loop shaping based robust PID controller design and its application for water level control of steam generator

    International Nuclear Information System (INIS)

    A robust PID controller design method was proposed, which was based on PID structured weight function optimization method with linear matrix inequality techniques. By combining static H∞ loop shaping controller synthesis, a robust systematic PID iterative optimization method was given. A PID main controller of steam generator water level control system was designed by using this method. Simulation results show that the control system designed by the given method is of good robust stability and robust performance, and its synthetic control quality is better than the method of full order weight optimization (or PID structured weight optimization mentioned by this paper) combined with normal H∞ controller synthesis. (authors)

  13. Design of an Implicit GMV-PID Controller Using Closed Loop Data

    Science.gov (United States)

    Wakitani, Shin; Hosokawa, Kei; Yamamoto, Toru

    In industrial processes, PID control has been applied to a lot of real systems. The control performance strongly depends on PID parameters. Although, some schemes for tuning PID parameters have been proposed, however, these schemes need system parameters which are estimated by system identification in order to calculate PID parameters. On the other hand, model-free controller design schemes represented by VRFT or FRIT which have received much attention in last few years. These methods can calculate control parameters using closed-loop data and are expected to reduce computational costs. In this paper, a type of implicit PID controllers using closed-loop data is proposed. According to the proposed method, PID parameters are calculated based on the implicit GMVC. Moreover, the control performance can be suitably adjusted by only user-specified parameter. The effectiveness of the proposed method is numerically and experimentally evaluated.

  14. Tuning of Fuzzy PID Controllers

    DEFF Research Database (Denmark)

    Jantzen, Jan

    1998-01-01

    Since fuzzy controllers are nonlinear, it is more difficult to set the controller gains compared to proportional-integral-derivative (PID) controllers. This research paper proposes a design procedure and a tuning procedure that carries tuning rules from the PID domain over to fuzzy single......-loop controllers. The idea is to start with a tuned, conventional PID controller, replace it with an equivalent linear fuzzy controller, make the fuzzy controller nonlinear, and eventually fine-tune the nonlinear fuzzy controller. This is relevant whenever a PID controller is possible or already implemented....

  15. Intelligent PID controllers

    OpenAIRE

    Fliess, Michel; Join, Cédric

    2008-01-01

    International audience; Intelligent PID controllers, or i-PID controllers, are PID controllers where the unknown parts of the plant, which might be highly nonlinear and/or time-varying, are taken into account without any modeling procedure. Our main tool is an online numerical differentiator, which is based on easily implementable fast estimation and identification techniques. Several numerical experiments demonstrate the efficiency of our method when compared to more classic PID regulators.

  16. Design of fuzzy PID controller for high temperature pebble bed reactor

    Energy Technology Data Exchange (ETDEWEB)

    Badgujar, Kushal D.; Satpute, Satchidanand R.; Revankara, Shripad T.; Lee, John C.; Kim, Moo Hwan [POSTECH, Pohang (Korea, Republic of)

    2012-10-15

    Control system is most important characteristic to be considered to control spontaneous fission reaction in the design of the nuclear reactor. Recently fuzzy based control systems have been designed and applied as control system for nuclear plants. This article emphasize on controlling the power of the high temperature pebble bed reactor (HTPBR) with the design of Fuzzy proportional integral derivative (PID) controller. A simplified reactor model with point kinetics equation and reactor heat balance equation is used. The reactivity feedback arising from power coefficient of reactivity and Xenon poisoning is also considered. The reactor is operated at various power levels by using fuzzy PID controller. The fuzzy logic eliminates the necessity of the tuning the gains of PID controller each time by extending the finite sets of the PID controller gains.

  17. Design and implementation of a new fuzzy PID controller for networked control systems.

    Science.gov (United States)

    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. PMID:18692184

  18. Design of PID Controllers of Anti-aircraft Artillery Servo System with Multiple Performance Specifications

    Institute of Scientific and Technical Information of China (English)

    LI Yin-ya; SHENG An-dong; WANG Yuan-gang

    2007-01-01

    A novel design method for determining the proportional-integral-derivative(PID) controller gains of an anti-aircraft artillery servo system with multiple performance specifications based on a particle swarm optimization (PSO) algorithm is proposed. First, a performance criterion evolution function combined with the system maximum displacement settling time, rise time, overshoot, steady state error, constant velocity tracking error and sine wave tracking error is defined. Second, the optimization problem of PID controller parameters and the searching procedure of PSO algorithm are constructed. Finally, the optimal or near optimal PID controller parameters are fast and easily obtained by solving the above optimization problem on the given controller parameter space following the PSO searching procedure. The simulation results show the effectiveness of the proposed controllers.

  19. PI/PID controller design based on IMC and percentage overshoot specification to controller setpoint change.

    Science.gov (United States)

    Ali, Ahmad; Majhi, Somanath

    2009-01-01

    In this work, the normalized Internal Model Control (IMC) filter time constant is designed to achieve a specified value of the maximum sensitivity for stable first and second order plus time delay process models, respectively. Since a particular value of the maximum sensitivity results in an almost constant percentage overshoot to controller setpoint change, an empirical relationship between the normalized IMC filter time constant and percentage overshoot is presented. The main advantage of the proposed method is that only a user-defined overshoot is required to design a PI/PID controller. Simulation examples are given to demonstrate the value of the proposed method.

  20. Design of PID Controller for Maglev System Based on an Improved PSO with Mixed Inertia Weight

    Directory of Open Access Journals (Sweden)

    Rongrong Song

    2014-06-01

    Full Text Available A Maglev system was modeled by the exact feedback linearization to achieve two same linear subsystems. The proportional-integral-differential controllers (PID based on particle swarm optimization (PSO algorithm with four different inertia weights were then used to regulate both linear subsystems. These different inertia weights were Fixed Inertia Weight (FIW, Linear Descend Inertia Weight (LIW, Linear Differential Descend Inertia Weight (LDW, and mixed inertia weight (FIW–LIW-LDW. On the other hand, the parameters  of the PSO-PID controllers via mixed inertia weight (FIW–LIW-LDW were optimized, the parameter values  in the electromagnet 1 and electromagnet 2 were both 0.4. Simulation results demonstrate that the control performance and robustness of PSO-PID based on mixed inertia weight (FIW–LIW-LDW was superior to that of three PSO-PID controllers based on single inertia weights. For electromagnet 1, the overshoot of PSO-PID controller with mixed inertia weight reduced 3.36% than that of PSO-PID controller with FIW, 5.81% than that of PSO-PID controller with LIW, and 6.34% than that of PSO-PID controller with LDW; for electromagnet 2, the overshoot of PSO-PID controller with mixed inertia weight reduced 1.07% than that of PSO-PID controller with FIW, 12.56% than that of PSO-PID controller with LIW, 7.97% than that of PSO-PID controller with LDW; the adjusting time of PSO-PID controller with mixed inertia weight reduced 0.395s than that of PSO-PID controller with FIW, 34.1s than that of PSO-PID controller with LIW, and 33.494s than that of PSO-PID controller with LDW

  1. Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor

    Directory of Open Access Journals (Sweden)

    Mohammad shamsodini

    2014-05-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy Computed Torque Controller with application to spherical motor is presented in this research. The popularity of PID Fuzzy Computed Torque Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and acceptable trajectory follow disturbance to control of spherical motor. However computed torque controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor’s dynamic equation. This research is used to reduce or eliminate the computed torque controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  2. Design of a Fractional Order PID Controller Using Particle Swarm Optimization Technique

    CERN Document Server

    Maiti, Deepyaman; Konar, Amit

    2008-01-01

    Particle Swarm Optimization technique offers optimal or suboptimal solution to multidimensional rough objective functions. In this paper, this optimization technique is used for designing fractional order PID controllers that give better performance than their integer order counterparts. Controller synthesis is based on required peak overshoot and rise time specifications. The characteristic equation is minimized to obtain an optimum set of controller parameters. Results show that this design method can effectively tune the parameters of the fractional order controller.

  3. AN ALGORITHM FOR DESIGN OF A PID CONTROLLER FOR MULTIVARIABLE SYSTEM USING OUTPUT FEEDBACK

    Directory of Open Access Journals (Sweden)

    Suma H

    2010-12-01

    Full Text Available This paper deals with the design of a proportional-plus-integral-plus-derivative (PID controller for linear multivariable systems using an output feedback control law. Controller is designed as an equivalent proportionalplus- derivative controller for the augmented system formed due to the integral action. The design equations areformulated in terms of coefficient matrix of the transfer function vector of the equivalent single input (or single output system. The computation of coefficient matrix of a transfer function vector gives a simple and direct procedure for pole assignment. The design procedure does not require cyclicity as an initial condition. The controller design is illustrated with a numerical example.

  4. IMC-PID-fractional-order-filter controllers design for integer order systems.

    Science.gov (United States)

    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.

  5. Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor

    Directory of Open Access Journals (Sweden)

    Farzin Matin

    2014-04-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy Sliding Mode Controller (SMC with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing especially in nonlinear and uncertain systems. Proportional Integral Derivative methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions, we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and good trajectory follow disturbance to control of spherical motor. However Sliding Mode Controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor’s dynamic equation which caused to challenge in uncertain system. This research is used to reduce or eliminate the Sliding Mode Controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  6. Design of Intelligent Hydraulic Excavator Control System Based on PID Method

    Science.gov (United States)

    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

  7. A design of LED adaptive dimming lighting system based on incremental PID controller

    Science.gov (United States)

    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.

  8. Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor

    OpenAIRE

    Farzin Matin; Farzin Piltan; Hamid Cheraghi; Nasim Sobhani; Maryam Rahmani

    2014-01-01

    The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for...

  9. Dynamic PID loop control

    Energy Technology Data Exchange (ETDEWEB)

    Pei, L.; Klebaner, A.; Theilacker, J.; Soyars, W.; Martinez, A.; Bossert, R.; DeGraff, B.; Darve, C.; /Fermilab

    2011-06-01

    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.

  10. INTELLIGENT CONTROL USING ADAPTIVE PID CONTROLLER

    OpenAIRE

    Dr. P. Vijayakumar; UNNIKRISHNAN P C

    2014-01-01

    In this paper an adaptive stable PID controller is briefly explained and validated by simulations and experimentation. The adaptive PID controller employs almost strict positive realness (ASPR) to ensure stability of the system. The design involves a parallel feedforward compensator (PFC) which guarantees the ASPRness of the controlled system. After a disturbance the dynamical system is assumed to be in one of a finite number of configurations, corresponding to each of which exist a stabilizi...

  11. A simple robust PID controller design method based on sine wave identification of the uncertain plant

    International Nuclear Information System (INIS)

    The paper deals with the development and application of a new simple empirical approach to the design of robust PID controllers for technological processes in industrial practice. The main advantage of the proposed approach is the possibility to specify the required performance before the design algorithm implementation. Identification of characteristic data of the black-box type plant with varying parameters is carried out using the sine wave excitation signal, thus allowing to design the controller without necessarily knowing the mathematical model of the plant. The proposed approach has been verified on a real-world physical process. (authors)

  12. Multiobjective Optimization Design of a Fractional Order PID Controller for a Gun Control System

    OpenAIRE

    Qiang Gao; Jilin Chen; Li Wang; Shiqing Xu; Yuanlong Hou

    2013-01-01

    Motion control of gun barrels is an ongoing topic for the development of gun control equipments possessing excellent performances. In this paper, a typical fractional order PID control strategy is employed for the gun control system. To obtain optimal parameters of the controller, a multiobjective optimization scheme is developed from the loop-shaping perspective. To solve the specified nonlinear optimization problem, a novel Pareto optimal solution based multiobjective differential evolution...

  13. Relationship between fuzzy controllers and PID controllers

    Institute of Scientific and Technical Information of China (English)

    李洪兴

    1999-01-01

    The internal relations between fuzzy controllers and PID controllers are revealed. First, it is pointed out that a fuzzy controller with one input and one output is just a piecewise P controller. Then it is proved that a fuzzy controller with two inputs and one output is just a piecewise PD (or I) controller with interaction between P and D (or PI). At last, the conclusion that a fuzzy controller with three inputs and one output is just a piecewise PID controller with interaction among P, I and D is given. Moreover, a kind of difference scheme of fuzzy controllers is designed.

  14. Simplified Universal Intelligent PID Controller

    Directory of Open Access Journals (Sweden)

    Mohamed I. Abu El- Sebah

    2016-01-01

    Full Text Available Many researches give a great attention to invent different techniques for process controller application. All of them tend to simplify the controller design algorithm and make it more intelligent, but the two goals seem to be an opposite goals. Although the artificial intelligent controller is proper, they need sometimes a complicated algorithm and parameter adaptation process. This paper presents a new idea to simplify the process controller, also to make it an intelligent controller. Moreover, the proposed controller is used as universal controller. The paper also contains details of the controller design and development. This Simplified Universal Intelligent PID (SUI-PID controller is designed to yield a good command tracking for different systems. The proposed controller can be designed using a very simple logic algorithm. This algorithm adapts the controller parameters automatically, therefore no need for controller adaptation. The proposed controller is simulated using Matlab Simulation software package and applied to different systems to verify the controller properties effectiveness. The simulation results illustrate an excellent performance of the proposed controller, which used as a universal controller for any system.

  15. The Design of Inverted Pendulum System Based on Virtual Prototype Technology and PID Control

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    <正>A design scheme of a single Inverted Pendulum Virtual Prototype based on the combination of software and hardware is introduced.It uses hardware platform of C8051F020 single chip and the software of Matlab,Visual Basic and Kingview.It can simulate the force and movement of Inverted Pendulum expediently and intuitively.The combination of software and hardware makes the system closer to the reality.The concrete scheme is introduced in the paper and the result of PID control which verifies the correctness of the scheme.

  16. PID Controllers Design Applied to Positioning of Ball on the Stewart Platform

    Directory of Open Access Journals (Sweden)

    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.

  17. INTELLIGENT CONTROL USING ADAPTIVE PID CONTROLLER

    Directory of Open Access Journals (Sweden)

    DR. P VIJAYAKUMAR

    2014-02-01

    Full Text Available In this paper an adaptive stable PID controller is briefly explained and validated by simulations and experimentation. The adaptive PID controller employs almost strict positive realness (ASPR to ensure stability of the system. The design involves a parallel feedforward compensator (PFC which guarantees the ASPRness of the controlled system. After a disturbance the dynamical system is assumed to be in one of a finite number of configurations, corresponding to each of which exist a stabilizing controller. The effectiveness of the method is tested and compared using simulations and experiments on a level control experimental setup.

  18. Design High Efficiency-Minimum Rule Base PID Like Fuzzy Computed Torque Controller

    Directory of Open Access Journals (Sweden)

    Alireza Khalilian

    2014-06-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy Computed Torque Controller is presented in this research. The popularity of PID Fuzzy Computed Torque Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Computed Torque Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a PI controller to have the minimum rule base. However computed torque controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each link, this controller is work based on manipulator dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear robot manipulator’s dynamic equation. This research is used to reduce or eliminate the computed torque controller problem based on minimum rule base fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  19. Design High-Efficiency Intelligent PID like Fuzzy Backstepping Controller for Three Dimension Motor

    Directory of Open Access Journals (Sweden)

    Mahsa Piltan

    2014-08-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy backstepping Controller for three dimensions spherical motor is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PI-like controller and a PD-like fuzzy controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each dimension, this controller is work based on spherical motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear three dimension spherical motor’s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  20. Designing robust Mixed H /H PID Controllers based Intelligent Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Ramzy S. Ali Al-Waily

    2011-06-01

    Full Text Available - It's not easy to implement the mixed / optimal controller for high order system, since in the conventional mixed / optimal feedback the order of the controller is much than that of the plant. This difficulty had been solved by using the structured specified PID controller. The merit of PID controllers comes from its simple structure, and can meets the industry processes. Also it have some kind of robustness. Even that it's hard to PID to cope the complex control problems such as the uncertainty and the disturbance effects. The present ideas suggests combining some of model control theories with the PID controller to achieve the complicated control problems. One of these ideas is presented in this paper by tuning the PID parameters to achieve the mixed / optimal performance by using Intelligent Genetic Algorithm (IGA. A simple modification is added to IGA in this paper to speed up the optimization search process. Two MIMO example are used during investigation in this paper. Each one of them has different control problem.

  1. Optimal PID Controller Design Based on PSO-RBFNN for Wind Turbine Systems

    Directory of Open Access Journals (Sweden)

    Jau-Woei Perng

    2014-01-01

    Full Text Available A strategy was proposed to determine the optimal operating point for the proportional-integral-derivative (PID controller of a wind turbine, and identify the stability regions in the parameter space. The proposed approach combined particle swarm optimization (PSO and radial basis function neural network (RBFNN algorithms. These intelligent algorithms are artificial learning mechanisms that can determine the optimal operating points, and were used to generate the function representing the most favorable operating  parameters from each parameter of  for the stability region of the PID controller. A graphical method was used to determine the 2D or 3D vision boundaries of the PID-type controller space in closed-loop wind turbine systems. The proposed techniques were demonstrated using simulations of a drive train model without time delay and a pitch control model with time delay. Finally, the 3D stability boundaries were determined the proposed graphical approach with and without time delay systems.

  2. Designing an Energy Storage System Fuzzy PID Controller for Microgrid Islanded Operation

    Directory of Open Access Journals (Sweden)

    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.

  3. Circuit Implementation of Coronary Artery Chaos Phenomenon and Optimal PID Synchronization Controller Design

    Directory of Open Access Journals (Sweden)

    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.

  4. Design of an iterative auto-tuning algorithm for a fuzzy PID controller

    Science.gov (United States)

    Saeed, Bakhtiar I.; Mehrdadi, B.

    2012-05-01

    Since the first application of fuzzy logic in the field of control engineering, it has been extensively employed in controlling a wide range of applications. The human knowledge on controlling complex and non-linear processes can be incorporated into a controller in the form of linguistic terms. However, with the lack of analytical design study it is becoming more difficult to auto-tune controller parameters. Fuzzy logic controller has several parameters that can be adjusted, such as: membership functions, rule-base and scaling gains. Furthermore, it is not always easy to find the relation between the type of membership functions or rule-base and the controller performance. This study proposes a new systematic auto-tuning algorithm to fine tune fuzzy logic controller gains. A fuzzy PID controller is proposed and applied to several second order systems. The relationship between the closed-loop response and the controller parameters is analysed to devise an auto-tuning method. The results show that the proposed method is highly effective and produces zero overshoot with enhanced transient response. In addition, the robustness of the controller is investigated in the case of parameter changes and the results show a satisfactory performance.

  5. Two-degree-of-freedom fractional order-PID controllers design for fractional order processes with dead-time.

    Science.gov (United States)

    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.

  6. A Hybrid MPC-PID Control System Design for the Continuous Purification and Processing of Active Pharmaceutical Ingredients

    Directory of Open Access Journals (Sweden)

    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.

  7. Multiobjective Optimization Design of a Fractional Order PID Controller for a Gun Control System

    Directory of Open Access Journals (Sweden)

    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.

  8. A Novel Approach in Designing PID Controller for Semi-active Quarter Car Model

    Directory of Open Access Journals (Sweden)

    Mehta Vedant

    2016-01-01

    Full Text Available This paper implements Teaching-Learning based optimization (TLBO to obtain optimized value of spring stiffness for better ride comfort. Further, this optimized value is then used in a semi-active quarter car setup to remove any discrepancies due to non-optimized spring. This paper also introduces a novel approach to control the Semi-active suspension parameter (damping coefficient for a better performance. For controlling semi-active parameters, PID controller has been used. PID controller output is fed to the quarter car setup as a damping coefficient. Thus changing the damping coefficient dynamically as the disturbance occurs, and thus improving the ride comfort. The sprung mass acceleration and rattle space of semi-active quarter car has been compared with sprung mass acceleration and rattle space of passive quarter car model to show the difference in results and thereby, results and conclusions are drawn.

  9. A GA-based PID active queue management control design for TCP/IP networks

    Science.gov (United States)

    Kuo, H.-H.; Chen, C.-K.; Yan, J.-J.; Liao, T.-L.

    2008-02-01

    In this paper, a genetic algorithm-based (GA-based) proportional-integral-derivative (PID) controller as an active queue manager for Internet routers is proposed to reduce packet loss and improve network utilization in TCP/IP networks. Based on the window-based nonlinear dynamics, the TCP network was modeled as a time-delayed system with a saturated input due to the limitations of packet-dropping probability and the effects of propagation delays in TCP networks. An improved genetic algorithm is employed to derive optimal or near optimal PID control gains such that a performance index of integrated-absolute error (IAE) in terms of the error between the router queue length and the desired queue length is minimized. The performance of the proposed control scheme was evaluated in various network scenarios via a series of numerical simulations. The simulation results confirm that the proposed scheme outperforms other AQM schemes.

  10. Application of Proposed Improved Relay Tuning for Design of Optimum PID Control of SOPTD Model

    Directory of Open Access Journals (Sweden)

    S.A. Misal

    2012-10-01

    Full Text Available The coupled tank liquid level control system approximated by the second order plus time delay (SOPTD model was considered and the proposed improved relay tuning method was applied to calculate the corrected ultimate gain (Ku. It was found that the error in calculation of ultimate gain by proposed methods has been reduced considerably than that of conventional method. The corrected Ku was used to estimate optimum PID parameters by Ziegler Nichols method. The closed loop response was obtained using optimum values of PID parameters and compared with that of conventional method. It was found that the Integral Time Absolute Error (ITAE has been decreased and robustness has been increased by proposed method I & II as compared to that of conventional method. Hence the proposed improved relay tuning method gives better performance

  11. A mathematical explanation via "intelligent" PID controllers of the strange ubiquity of PIDs

    CERN Document Server

    Novel, Brigitte D'Andrea; Join, Cédric; Mounier, Hugues; Steux, Bruno

    2010-01-01

    The ubiquity of PID controllers in the industry has remained mysterious until now. We provide here a mathematical explanation of this strange phenomenon by comparing their sampling with the the one of "intelligent" PID controllers, which were recently introduced. Some computer simulations nevertheless confirm the superiority of the new intelligent feedback design.

  12. Optimal Design and Tuning of PID-type Interval Type-2 Fuzzy Logic Controllers for Delta Parallel Robots

    Directory of Open Access Journals (Sweden)

    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.

  13. 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.

  14. Robust PID design based on static H∞ loop-shaping method for steam generator water level control

    International Nuclear Information System (INIS)

    The problem for control of steam generator water level is complex because its complicated shrink and parameters of its model vary with operation conditions. Static H∞ loop shaping is used to design the robust PID controller for the steam generator. Simulation results show that the control efficiency of this scheme is better than that of the other three H∞ loop shaping based methods, and the derived controller has good reference tracking capability, distribution rejection ability and acceptable control performance at different operation points. (authors)

  15. Back stepping-Based-PID-Controller Designed for an Artificial Pancreas model

    Directory of Open Access Journals (Sweden)

    ShaimaMahmou Mahdi

    2011-01-01

    Full Text Available Artificial pancreas is simulated to handle Type I diabetic patients under intensive care by automatically controlling the insulin infusion rate. A Backstepping technique is used to apply the effect of PID controller to blood glucose level since there is no direct relation between insulin infusion (the manipulated variable and glucose level in Bergman’s system model subjected to an oral glucose tolerance test by applying a meal translated into a disturbance. Backstepping technique is usually recommended to stabilize and control the states of Bergman's class of nonlinear systems. The results showed a very satisfactory behavior of glucose deviation to a sudden rise represented by the meal that increase the blood glucose

  16. Design of Performance Driven Self-Tuning PID Control Systems and It's Application for DC-DC Converters

    Science.gov (United States)

    Ohnishi, Yoshihiro; Ikemoto, Takahiro; Yamamoto, Toru

    This paper proposes an adaptive PID controller which is driven by current control performance. The calculations of the PID parameters are based on the generalized minimum variance control(GMVC) algorithm. The current control performance is obtained in an online manner over a user-specified time-window with some overlap. The retuning of PID parameters are only carried out when controller performance deteriorates below a user-specified threshold. Experimental evaluations on the voltage control of the DC-DC converter demonstrates the practicality and utility of this idea.

  17. Design PID Baseline Fuzzy Tuning Proportional- Derivative Coefficient Nonlinear Controller with Application to Continuum Robot

    Directory of Open Access Journals (Sweden)

    Azita Yazdanpanah

    2014-04-01

    Full Text Available Continuum robot manipulators are optimized to meet best trajectory requirements. Closed loop control is a key technology that is used to optimize the system output process to achieve this goal. In order to conduct research in the area of closed loop control, a control oriented cycle-to-cycle continuum robot model, containing dynamic model information for each individual continuum robot manipulator, is a necessity. In this research, the continuum robot manipulator is modeled according to information between joint variable and torque, which is represented by the nonlinear dynamic equation. After that, a multi-input-multi-output baseline computed torque control scheme is used to simultaneously control the torque load of system to regulate the joint variables to desired levels. One of the most important challenge in control theory is on-line tuning therefore fuzzy supervised optimization is used to tune the modified baseline and computed torque control coefficient. The performance of the modified baseline computed torque controller is compared with that of a baseline proportional, integral, and derivative (PID controller.

  18. Using PLC for Custom-design of a PID/PWM Program to Control a Heater Temperature

    Directory of Open Access Journals (Sweden)

    Mohammad A.K. Alia

    2007-01-01

    Full Text Available This is a practical approach to control a continuous-time process variable (temperature using a discrete controller (PLC and a custom-designed software control algorithm and hardware interface, in a closed-loop system. Unlike the conventionally known technique of transforming a digital control action into a proportional analogue one by a D/A converter followed by power amplifier, the control action was formed internally by the PLC as a PID/PWM signal, which was used to trigger the power stage. This approach helped reducing the error due D/A conversion, maximized utilization of the PLC and reduced total cost. The control system is realized by utilizing the heater of the training board (RGT1, manufactured by DL-lorenzo Company and it simulates an analogue heating control system. The PLC is Siemens Simatic S7-214 model. An experimental result has shown that the control algorithm functions perfectly.

  19. Design of an Adaptive PID Neural Controller for Continuous Stirred Tank Reactor based on Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Khulood A. Dagher

    2013-12-01

    Full Text Available A particle swarm optimization algorithm and neural network like self-tuning PID controller for CSTR system is presented. The scheme of the discrete-time PID control structure is based on neural network and tuned the parameters of the PID controller by using a particle swarm optimization PSO technique as a simple and fast training algorithm. The proposed method has advantage that it is not necessary to use a combined structure of identification and decision because it used PSO. Simulation results show the effectiveness of the proposed adaptive PID neural control algorithm in terms of minimum tracking error and smoothness control signal obtained for non-linear dynamical CSTR system.

  20. 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....

  1. A Comparative Study on Temperature Control of CSTR using PI Controller, PID Controller and PID (Two Degree of Freedom Controller

    Directory of Open Access Journals (Sweden)

    Bikash Dey

    2014-01-01

    Full Text Available This paper present three different control strategies based on PI Control, PID control and Two degree of freedom PID control for Continuous Stirred Tank Reactor (CSTR.CSTR which offers a diverse range of application in the field of chemical engineering as well as in the control engineering and is an attractive research area for process control researchers. Our objective is to control the temperature of CSTR in presence of the set point. MATLAB SIMULINK software is used for model design and simulation

  2. Convergence performance comparisons of PID, MRAC, and PID + MRAC hybrid controller

    Science.gov (United States)

    Zhang, Dan; Wei, Bin

    2016-05-01

    This study proposes a hybrid controller by combining a proportional-integral-derivative (PID) control and a model reference adaptive control (MRAC), which named as PID + MRAC controller. The convergence performances of the PID control, MRAC, and hybrid PID + MRAC are also compared. Through the simulation in Matlab, the results show that the convergence speed and performance of the MRAC and the PID + MRAC controller are better than those of the PID controller. In addition, the convergence performance of the hybrid control is better than that of the MRAC control.

  3. PID controller simulator software for DC motor of gamma scanning

    International Nuclear Information System (INIS)

    Mostly PID controller (Proportional-Integral-Derivative) has been used in industry. For certain applications, it can be used as a Proportional (P) model only, or as a Proportional-Integral (PI) model. The aim of this paper is to design a PID controller simulator software for DC motor which is used in gamma scanning system. A DC motor is described as a plant of SISO (Single Input Single Output) which is used for pulling down the load (detector + casing) and gamma radiation source (Co-60 + container) by using sling cable. A DC motor consist of an armature and a rotor, the equivalent circuit of DC motor is shown in a transfer function equation between output parameter (angular speed DC motor) and input parameter (voltage of DC motor). Methods used for the process of PID controller design is to arrange the PID controller parameter (Kc, Ti, Td) so that there are more PID controller transfer function model which are able to control angular speed of DC motor in stable condition, as design criteria requirement is needed. Design criteria requirement for control system are the settling time < 3 second, overshoot < 5%, rise time = 0.25 second, steady state gain = 1 and peak time < 3 second with step response reference 1 rad/second. The result of simulation gives several models of PID controller in function transfer equation which is similar with design criteria requirement in a equation of function transfer of order 2 for numerator and order 1 for denominator. (author)

  4. Model Reference PID Control of an Electro-hydraulic Drive

    OpenAIRE

    Ayman A. Aly

    2012-01-01

    Hydraulic cranes are inherently nonlinear and contain components exhibiting strong friction, saturation, variable inertia mechanical loads, etc. The characteristics of these non-linear components are usually not known exactly as structure or parameters. For these reasons, tuning of the traditional PID controller parameters to control this system for the required performance faces a strong challenge. In this paper a new approach to design an adaptive PID control has the ability to solve the co...

  5. Neuron model-free PID control

    Science.gov (United States)

    Wang, Ning; Zhang, Li; Wang, Shuqing

    2001-09-01

    Based on the neuron model and learning strategy, the neuron intelligent PID control system is set up in this paper. The neuron model-free PID control method is posed. The simulation tests with an example of a hydraulic turbine generator unit are made. The result show that god control performances are obtained. This new intelligent controller is very simple and has very strong adaptability and robustness. It can be used directly in practice.

  6. PID Controller Stabilization for First-order Integral Processes with Time Delay

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Due to the widespread application of the PID controller in industrial control systems, it is desirable to know the complete set of all the stabilizing PID controllers for a given plant before the controller design and tuning. In this paper,the stabilization problems of the classical proportionalintegral-derivative (PID) controller and the singleparameter PID controller (containing only one adjustable parameter) for integral processes with time delay are investigated, respectively. The complete set of stabilizing parameters of the classical PID controller is determined using a version of the Hermite-Biehler Theorem applicable to quasipolynomials. Since the stabilization problem of the single-parameter PID controller cannot be treated by the Hermite-Biehler Theorem, a simple method called duallocus diagram is employed to derive the stabilizing range of the single-parameter PID controller. These results provide insight into the tuning of the PID controllers.

  7. Tuning PID Controller Using Multiobjective Ant Colony Optimization

    OpenAIRE

    Pierre Borne; Noureddine Liouane; Ibtissem Chiha

    2012-01-01

    This paper treats a tuning of PID controllers method using multiobjective ant colony optimization. The design objective was to apply the ant colony algorithm in the aim of tuning the optimum solution of the PID controllers (Kp, Ki, and Kd) by minimizing the multiobjective function. The potential of using multiobjective ant algorithms is to identify the Pareto optimal solution. The other methods are applied to make comparisons between a classic approach based on the “Ziegler-Nichols” method an...

  8. Artificial Leg Design and Control Research of a Biped Robot with Heterogeneous Legs Based on PID Control Algorithm

    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.

  9. Optimum Design of Fractional Order PID Controller for an AVR System Using an Improved Artificial Bee Colony Algorithm

    Institute of Scientific and Technical Information of China (English)

    ZHANG Dong-Li; TANG Ying-Gan; GUAN Xin-Ping

    2014-01-01

    Fractional order proportional-integral-derivative (FOPID) controller generalizes the standard PID controller. Compared to PID controller, FOPID controller has more pa-rameters and the tuning of parameters is more complex. In this paper, an improved artificial bee colony algorithm, which com-bines cyclic exchange neighborhood with chaos (CNC-ABC), is proposed for the sake of tuning the parameters of FOPID con-troller. The characteristic of the proposed CNC-ABC exists in two folds: one is that it enlarges the search scope of the solution by utilizing cyclic exchange neighborhood techniques, speeds up the convergence of artificial bee colony algorithm (ABC). The other is that it has potential to get out of local optima by exploit-ing the ergodicity of chaos. The proposed CNC-ABC algorithm is used to optimize the parameters of the FOPID controller for an automatic voltage regulator (AVR) system. Numerical sim-ulations show that the CNC-ABC FOPID controller has better performance than other FOPID and PID controllers.

  10. Novel intelligent PID control of traveling wave ultrasonic motor.

    Science.gov (United States)

    Jingzhuo, Shi; Yu, Liu; Jingtao, Huang; Meiyu, Xu; Juwei, Zhang; Lei, Zhang

    2014-09-01

    A simple control strategy with acceptable control performance can be a good choice for the mass production of ultrasonic motor control system. In this paper, through the theoretic and experimental analyses of typical control process, a simpler intelligent PID speed control strategy of TWUM is proposed, involving only two expert rules to adjust the PID control parameters based on the current status. Compared with the traditional PID controller, this design requires less calculation and more cheap chips which can be easily involved in online performance. Experiments with different load torques and voltage amplitudes show that the proposed controller can deal with the nonlinearity and load disturbance to maintain good control performance of TWUM. PMID:24957274

  11. Stability Region Analysis of PID and Series Leading Correction PID Controllers for the Time Delay Systems

    Directory of Open Access Journals (Sweden)

    D. RAMA REDDY

    2012-07-01

    Full Text Available This paper describes the stability regions of PID (Proportional +Integral+ Derivative and a new PID with series leading correction (SLC for Networked control system with time delay. The new PID controller has a tuning parameter ‘β’. The relation between β, KP, KI and KD is derived. The effect of plant parameters on stabilityregion of PID controllers and SLC-PID controllers in first-order and second-order systems with time delay are also studied. Finally, an open-loop zero was inserted into the plant-unstable second order system with time delay so that the stability regions of PID and SLC-PID controllers get effectively enlarged. The total system isimplemented using MATLAB/Simulink.

  12. Simplified Universal Intelligent PID Controller

    OpenAIRE

    Mohamed I. Abu El- Sebah

    2016-01-01

    Many researches give a great attention to invent different techniques for process controller application. All of them tend to simplify the controller design algorithm and make it more intelligent, but the two goals seem to be an opposite goals. Although the artificial intelligent controller is proper, they need sometimes a complicated algorithm and parameter adaptation process. This paper presents a new idea to simplify the process controller, also to make it an intellige...

  13. A Practical Application of IMC-PID Controller in Unmanned Vehicle

    Directory of Open Access Journals (Sweden)

    Qin Gang

    2013-06-01

    Full Text Available In allusion to unmanned vehicle steering control of the brushless DC motor control system, traditional PID controller parameter adjustment complex, weak ability to adapt to the environment and other issues, on the basis of the analysis of internal model control and classical PID control internal corresponding relationship, comprehensive its advantages, The design uses a brushless DC motor in the steering control system for unmanned vehicles based on the internal model PID controller ( IMC-PID for speed. Based on the build object theoretical model, online simulation controller show that, for the design objects, based on the internal model PID controller whether the system step response or disturbance tracking control effect can reach the classic PID control requirements, also reduces the complexity and randomness of the design parameters.

  14. Design of Intelligent Hydraulic Excavator Control System Based on PID Method

    OpenAIRE

    Zhang, Jun; Jiao, Shengjie; Liao, Xiaoming; Yin, Penglong; WANG, YULIN; Si, Kuimao; Zhang, Yi; Gu, Hairong

    2010-01-01

    International audience; 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 hydra...

  15. 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.

  16. PID Controller Based on Memristive CMAC Network

    Directory of Open Access Journals (Sweden)

    Lidan Wang

    2013-01-01

    Full Text Available Compound controller which consists of CMAC network and PID network is mainly used in control system, especially in robot control. It can realize nonlinear tracking control of the real-time dynamic trajectory and possesses good approximation effect. According to the structure and principle of the compound controller, memristor is introduced to CMAC network to be a compound controller in this paper. The new PID controller based on memristive CMAC network is built up by replacing the synapse in the original controller by memristors. The effect of curve approximation is obtained by MATLAB simulation experiments. This network improves the response and learning speed of the system and processes better robustness and antidisturbance performance.

  17. A satellite digital controller or 'play that PID tune again, Sam'. [Position, Integral, Derivative feedback control algorithm for design strategy

    Science.gov (United States)

    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.

  18. Setpoint Weighted PID Controller for the Electromechanical Actuator in Spacecraft

    Directory of Open Access Journals (Sweden)

    R. Sumathi

    2014-05-01

    Full Text Available An intelligent control system for the rocket engine during electromechanical stage is designed and scrutinized in this paper. The rocket is the only vehicle that lift-offs the spacecraft in the space. But, the motion of the rocket can be influenced by internal and external disturbances. Furthermore, the rocket is a multi-input and multi-output nonlinear system whose dynamics are unstable and poorly understood. So the orientation of the spacecraft in precise position is so critical. Hence, attitude control of the rocket is a big challenge with real time. To make the rocket stable against the influences, this paper has examined the control technology such as linear quadratic regulator theory and setpoint weighted proportional integral derivative controller based on the two degree of freedom mathematical model. The transient behaviour of the LQR controller is not smooth and takes more time to settle in the defined position. Specific to the deficiencies of LQR, a setpoint weighted PID controller is proposed to improve the setpoint response. In conclusion, this paper compares the performance analysis of linear quadratic regulator and setpoint weighted PID controller. The simulation results indicate that the setpoint weighted PID controller has a remarkable improvement in terms of overshoot and settling time besides reducing steady state error. The proposed setpoint weighted PID controller enhances the system performance and produces enormous stability to the rocket engine.

  19. Design PID-Like Fuzzy Controller With Minimum Rule Base and Mathematical Proposed On-line Tunable Gain: Applied to Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2011-10-01

    Full Text Available In this study, an on-line tunable gain model free PID-like fuzzy controller (GTFLC is designed for three degrees of freedom (3DOF robot manipulator to rich the best performance. Fuzzy logic controller is studied because of its model free and high performance. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection. The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however non linear classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear non classical robust controller that can used in uncertainty nonlinear systems, are fuzzy logic controller. This paper is focuses on applied mathematical tunable gain method in robust non classical method to reduce the fuzzy logic controller limitations. Therefore on-line tunable PID like fuzzy logic controller will be presented in this paper.

  20. Design PID-Like Fuzzy Controller With Minimum Rule Base and Mathematical Proposed On-line Tunable Gain: Applied to Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Farzin Piltan, N. Sulaiman, Arash Zargari, Mohammad Keshavarz & Ali Badri

    2011-10-01

    Full Text Available In this study, an on-line tunable gain model free PID-like fuzzy controller (GTFLC is designed forthree degrees of freedom (3DOF robot manipulator to rich the best performance. Fuzzy logiccontroller is studied because of its model free and high performance. Today, robot manipulatorsare used in unknown and unstructured environment and caused to provide sophisticated systems,therefore strong mathematical tools are used in new control methodologies to design adaptivenonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory,disturbance rejection. The strategies of control robot manipulator are classified into two maingroups: classical and non-classical methods, however non linear classical theories have beenapplied successfully in many applications, but they also have some limitation. One of the mostimportant nonlinear non classical robust controller that can used in uncertainty nonlinear systems,are fuzzy logic controller. This paper is focuses on applied mathematical tunable gain method inrobust non classical method to reduce the fuzzy logic controller limitations. Therefore on-linetunable PID like fuzzy logic controller will be presented in this paper.

  1. 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.

  2. 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......, a pitch controller was designed based on power and wind speed and by considering the inertia and delay characteristics of a pitch-control system to achieve a constant power output when a wind speed was beyond the rated one. A novel ICPSO-PID control algorithm was proposed based on a combination...... 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...

  3. Model-reference robust tuning of PID controllers

    CERN Document Server

    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...

  4. Design of remote experiment system based on neuron PID controller%基于神经元PID控制器的远程实验系统设计

    Institute of Scientific and Technical Information of China (English)

    李晓荣; 刘志强

    2016-01-01

    Since the uncertainty of network delay in remote experiment system can impact on the experimental results,the remote experiment system based on neuron PID controller was designed. The algorithm of PID⁃NN neural network controller is studied. Its convergence and stability are analyzed. The implementation method of the system′s network communication and con⁃trol in client/server sides is given. The response contrast test for the machinery control arm was conducted in the laboratory. The experimental results show that the response overshoot,steady⁃state error and response time of the experiment system based on neuron PID controller are smaller than those of the experiment system based on common PID control method. The correctness of the algorithm was proved.%针对目前远程实验系统中网络延时的不确定对实验结果产生影响的问题,设计了基于神经元PID控制器的远程实验系统。研究了PID⁃NN神经网络控制器的算法并分析了算法的收敛性和稳定性,给出了远程实验系统的客户/服务器端网络通信及控制的实现方法。最后对实验室中机械控制臂进行了响应对比试验,实验结果表明,基于神经元PID控制器实验系统的响应超调量、稳态误差及响应时间明显小于普通PID控制方法的实验系统,证明了算法的正确性。

  5. 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...

  6. PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

    Institute of Scientific and Technical Information of China (English)

    Karam M. Eibayomy; Jiao Zongxia; Zhang Huaqing

    2008-01-01

    A proportional integral derivative (PID) controller is designed and attached to electro-hydraulic servo actuator system (EHSAS) to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters areoptimized by the genetic algorithm (GA). The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller.

  7. Fuzzy-Immune PID Control for AMB Systems

    Institute of Scientific and Technical Information of China (English)

    SU Yixin; LI Xuan; ZHOU Zude; CHEN Youping; ZHANG Danhong

    2006-01-01

    In order to improve the dynamic performance of active magnetic bearing systems with highly nonlinear and naturally unstable dynamics, a new nonlinear fuzzy-immune proportional-integral-derivative (PID) controller is proposed by combining the immune feedback law with linear PID control. This controller consists of a PID controller and a basic immune proportional controller in cascaded connection, the nonlinear function of the immune proportional controller is realized by using fuzzy reasoning. Simulation results demonstrate that the active magnetic bearing system with the proposed controller has better dynamic performance and disturbance rejection ability than using the linear PID controller.

  8. Research on CNC Machine Tool Fuzzy Immune PID Position Controller

    Directory of Open Access Journals (Sweden)

    Guoyong Zhao

    2013-01-01

    Full Text Available CNC machine tool position controller connects control system with actuating mechanism and often adopts traditional PID control technology. But the traditional PID technology is hard to achieve rapid adjustment and lesser overshoot at the same time. Consequently, the CNC machine tool fuzzy immune PID position controller based on immunity feedback control theory is developed in the study. The experiment results show that the developed controller can achieve shorter adjust time, better rapidity and higher steady-state precision in contrast to traditional PID position controller.

  9. Design of a Hierarchical System Using PID Control with an Intelligent Sequence Controller and Its Application to Ethylene Plants in Unsteady State

    Science.gov (United States)

    Tani, Tetsuji; Takeuchi, Takeshi

    A hierarchical system is developed that consists of an intelligent sequence controller and a PID controller, where the intelligent sequence controller supervises the PID controller. In other words, the intelligent sequence controller plays the role of a well-experienced operator and mimics the operator's procedures. In an ethylene plant, the decoking operation of the cracking furnace makes the ethylene plant highly unstable. We apply this hierarchical system to the decoking process in an ethylene plant in order to demonstrate its effectiveness. As a result, the number of operational interventions in the decoking process is reduced by 95%, and the levels of the towers and the overhead temperatures of the towers can be satisfactorily stabilized during the decoking process.

  10. COMPARISON BETWEEN ARTIFICIAL BEE COLONY ALGORITHM, SHUFFLED FROG LEAPING ALGORITHM AND NERO-FUZZY SYSTEM IN DESIGN OF OPTIMAL PID CONTROLLERS

    Directory of Open Access Journals (Sweden)

    Fatemeh Masoudnia

    2013-11-01

    Full Text Available In this paper three optimum approaches to design PID controller for a Gryphon Robot are presented. The three applied approaches are Artificial Bee Colony, Shuffled Frog Leaping algorithms and nero-fuzzy system. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot, settling time and rise time of step response. An Objective function of these indexes is defined and minimized applying Shuffled Frog Leaping (SFL algorithm, Artificial Bee Colony (ABC algorithm and Nero-Fuzzy System (FNN. After optimization of the objective function, the optimal parameters for the PID controller are adjusted. Simulation results show that FNN has a remarkable effect on decreasing the amount of settling time and rise-time and eliminating of steady-state error while the SFL algorithm performs better on steady-state error and the ABC algorithm is better on decreasing of overshoot. In steady state manner, all of the methods react robustly to the disturbance, but FNN shows more stability in transient response.

  11. 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

  12. 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.

  13. Fractional order PID controller for improvement of PMSM speed control in aerospace applications

    International Nuclear Information System (INIS)

    Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear

  14. PID and predictive control of electrical drives and power converters using MATLAB/Simulink

    CERN Document Server

    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

  15. Design of speed control system based on fuzzy-PID control for intelligent vehicle%智能小车模糊-PID控制调速系统设计

    Institute of Scientific and Technical Information of China (English)

    张家骅; 徐连强; 吴迎春

    2012-01-01

    The control of intelligent vehicle need to have good dynamic function, stability and anti-interference performance. This paper uses fuzzy-PID control strategy to speed control of intelligent vehicle. The simulation shows that fuzzy-PID strategy has better dynamic function and stability than common PID control. The speed control system based on fuzzy-PID has been designed. The vehicle works well.%智能小车控制要求有良好的动态性能、稳定性能.文中采用模糊PID控制技术,对智能小车调速系统进行控制.仿真结果表明,与传统PID控制相比,模糊PID控制具有更好的动态性能和稳定性.文中进行了智能小车调速系统设计,最后结果表明,利用模糊-PID控制,使智能小车达到了良好的控制效果.

  16. Soft Real-Time PID Control on a VME Computer

    Science.gov (United States)

    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.

  17. Turbine speed control system based on a fuzzy-PID

    Institute of Scientific and Technical Information of China (English)

    SUN Jian-hua; WANG Wei; YU Hai-yan

    2008-01-01

    The flexibility demand of marine nuclear power plant is very high,the multiple parameters of the marine nuclear power plant with the once-through steam generator are strongly coupled,and the normal PID control of the turbine speed can't meet the control demand. This paper introduces a turbine speed Fuzzy-PID controller to coordinately control the steam pressure and thus realize the demand for quick tracking and steady state control over the turbine speed by using the Fuzzy control's quick dynamic response and PID control's steady state performance. The simulation shows the improvement of the response time and steady state performance of the control system.

  18. 连续搅拌反应釜过程的闭环增益成形PID控制器设计%PID controller design of closed-loop gain shaping in CSTR process

    Institute of Scientific and Technical Information of China (English)

    李述清; 张胜修; 张煜东; 胡波

    2011-01-01

    针对连续搅拌反应釜(CSTR)系统控制问题,设计了一种基于闭环增益成形算法的PID控制器,以提高PID控制器设计的简洁性和鲁棒性.首先假设期望闭环回路传递函数有一阶形式,同时将受控对象的一阶传递函数和PID控制器构成实际闭环回路传递函数.然后,比较期望闭环回路传递函数和实际闭环回路传递函数,即可确定PJD参数.最后,以某CSTR系统为例,利用该方法设计了PID控制器,并通过仿真结果比较,检验了该方法所得PID控制器的良好鲁棒稳定性和动态品质.%To solve the control problem of Continuous-Stirred-Tank-Reactor (CSTR), a straightforward PID design based on closed-loop gain shaping algorithm was proposed in this paper to enhance the simplicity and robustness of PID controller.Firstly, the transfer function of the anticipant closed-loop control system was assumed as a 1st order system, and the actual closed-loop transfer function was consisted of the 1 st order transfer function and PID controller.Then, the anticipated closedloop transfer function was compared with that of the actual closed-loop, thus the PID controller coefficients could be calculated.Finally, the robust PID controller was designed in a CSTR system.The simulation results demonstrate that the PID controller has better robust stability and dynamic performance.

  19. ANFIS-PID Controller for Arm Rehabilitation Device

    Directory of Open Access Journals (Sweden)

    M.H.Jali

    2015-10-01

    Full Text Available In this paper, the arm rehabilitation device controller based on fuzzy logic techniques is presented. Patients who has post-stroke may lose control of their upper limb. If they are treated with functional rehabilitation training, the patients can rehabilitate their motion functions and working abilities. These rehabilitation devices are used to recover the movement of arm after stroke. Many controllers had been used for the rehabilitation device and one of them is ANFIS-PID controller where Adaptive Neuro-Fuzzy Inference System (ANFIS technique is the combination of fuzzy logic and neural network system. The objectives of this project are to develop arm rehabilitation device controller based on the ANFIS-PID technique. The development of ANFIS is purposely as an inverse model to the system and proportional-integral- erivative (PID controller as a feedback control. EMG model is integrated to the control system as reference where Artificial Neural Network (ANN is used to model the EMG to position relationship. Simulation is conducted using MATLAB to validate the system performance that is integrated with EMG model. Then the performance is compared between ANFIS-PID controller and PID alone controller. ANFIS–PID controller reduced more tracking error compared to PID controller and demonstrates better results when disturbance is applied to the control system.

  20. Nonlinear Decoupling PID Control Using Neural Networks and Multiple Models

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    For a class of complex industrial processes with strong nonlinearity, serious coupling and uncertainty, a nonlinear decoupling proportional-integral-differential (PID) controller is proposed, which consists of a traditional PID controller, a decoupling compensator and a feedforward compensator for the unmodeled dynamics. The parameters of such controller is selected based on the generalized minimum variance control law. The unmodeled dynamics is estimated and compensated by neural networks, a switching mechanism is introduced to improve tracking performance, then a nonlinear decoupling PID control algorithm is proposed. All signals in such switching system are globally bounded and the tracking error is convergent. Simulations show effectiveness of the algorithm.

  1. Digital implementation of fractional order PID controller and its application

    Institute of Scientific and Technical Information of China (English)

    Wang Zhenbin; Wang Zhenlei; Cao Guangyi; Zhu Xinjian

    2005-01-01

    A new discretization scheme is proposed for the design of a fractional order PID controller. In the design of a fractional order controller the interest is mainly focused on the s-domain, but there exists a difficult problem in the s-domain that needs to be solved, i.e. how to calculate fractional derivatives and integrals efficiently and quickly. Our scheme adopts the time domain that is well suited for Z-transform analysis and digital implementation. The main idea of the scheme is based on the definition of Grunwald-Letnicov fractional calculus. In this case some limited terms of the definition are taken so that it is much easier and faster to calculate fractional derivatives and integrals in the time domain or zdomain without loss much of the precision. Its effectiveness is illustrated by discretization of half-order fractional differential and integral operators compared with that of the analytical scheme. An example of designing fractional order digital controllers is included for illustration, in which different fractional order PID controllers are designed for the control of a nonlinear dynamic system containing one of the four different kinds of nonlinear blocks: saturation, deadzone, hysteresis, and relay.

  2. Optimal Design of DC to DC Boost Converter with Closed Loop Control PID Mechanism for High Voltage Photovoltaic Application

    OpenAIRE

    R. Arulmurugan; N. Suthanthira Vanitha

    2013-01-01

    This paper proposes a new dc to dc boost converter using closed loop control proportional Integral and Derivative mechanism for photovoltaic (PV) standalone high voltage applications. The boost converter is composed of MOSFETs which are driven by closed loop PWM control. Many advantages including high efficiency, minimum number of switch, high voltage and power, low cost. This converter is attractive for high voltage and high power applications. The analysis and design considerations of the c...

  3. PID control for chaotic synchronization using particle swarm optimization

    International Nuclear Information System (INIS)

    In this paper, we attempt to use the proportional-integral-derivative (PID) controller to achieve the chaos synchronization for delayed discrete chaotic systems. Three PID control gains can be optimally determined by means of using a novel optimization algorithm, called the particle swarm optimization (PSO). The algorithm is motivated from the organism behavior of fish schooling and bird flocking, and involves the social psychology principles in socio-cognition human agents and evolutionary computations. It has a good numerical convergence for solving optimization problem. To show the validity of the PSO-based PID control for chaos synchronization, several cases with different initial populations are considered and some simulation results are shown.

  4. Intelligent PID guidance control for AUV path tracking

    Institute of Scientific and Technical Information of China (English)

    李晔; 姜言清; 王磊峰; 曹建; 张国成

    2015-01-01

    Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.

  5. Computation of robustly stabilizing PID controllers for interval systems.

    Science.gov (United States)

    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. PMID:27350931

  6. New Asymmetric Fuzzy PID Control for Pneumatic Position Control System

    Institute of Scientific and Technical Information of China (English)

    薛阳; 彭光正; 范萌; 伍清河

    2004-01-01

    A fuzzy control algorithm of asymmetric fuzzy strategy is introduced for a servo-pneumatic position system. It can effectively solve the difficult problems of single rod low friction cylinders, which are mainly caused by asymmetric structures and different friction characteristics in two directions. On the basis of this algorithm, a traditional PID control is used to improve dynamic performance. Furthermore, a new asymmetric fuzzy PID control with α factor is advanced to improve the self-adaptability and robustness of the system. Both the theoretical analyses and experimental results prove that, with this control strategy, the dynamic performance of the system can be greatly improved. The system using this control algorithm has strong robustness and it obtains desired overshoot and repeatability in both transient and steady-state responses.

  7. Optimal Design of DC to DC Boost Converter with Closed Loop Control PID Mechanism for High Voltage Photovoltaic Application

    Directory of Open Access Journals (Sweden)

    R. Arulmurugan

    2013-07-01

    Full Text Available This paper proposes a new dc to dc boost converter using closed loop control proportional Integral and Derivative mechanism for photovoltaic (PV standalone high voltage applications. The boost converter is composed of MOSFETs which are driven by closed loop PWM control. Many advantages including high efficiency, minimum number of switch, high voltage and power, low cost. This converter is attractive for high voltage and high power applications. The analysis and design considerations of the converter are presented. A prototype was implemented for an application requiring a 410W output power, input voltage range from 17.1-V, and a 317-V output voltage. The proposed system efficiency is about 90%.

  8. Optimal Design of DC to DC Boost Converter with Closed Loop Control PID Mechanism for High Voltage Photovoltaic Application

    Directory of Open Access Journals (Sweden)

    R. Arulmurugan

    2012-10-01

    Full Text Available This paper proposes a new dc to dc boost converter using closed loop control proportional Integral and Derivative mechanism for photovoltaic (PV standalone high voltage applications. The boost converter is composed of MOSFETs which are driven by closed loop PWM control. Many advantages including high efficiency, minimum number of switch, high voltage and power, low cost. This converter is attractive for high voltage and high power applications. The analysis and design considerations of the converter are presented. A prototype was implemented for an application requiring a 410W output power, input voltage range from 17.1-V, and a 317-V output voltage. The proposed system efficiency is about 90%.

  9. MULTI-OBJECTIVE PID CONTROLLER BASED ON ADAPTIVE WEIGHTED PSO WITH APPLICATION TO STEAM TEMPERATURE CONTROL IN BOILERS

    Directory of Open Access Journals (Sweden)

    C.Agees Kumar

    2010-07-01

    Full Text Available PID controller is widely used for main steam temperature control of boiler unit in thermal power plant. To avoid the drawback of current PID design methods, this paper presents a new design method for multi-objective PID controller to synthetically consider system requirement in reliability and robustness. Adaptive weighted PSO (AWPSO technique is applied to the parameter optimization design. The optimization problem considered is highly nonlinear, complex, with multiple objectives and constraints. The simulation results on an actual main steam temperature control system indicate that, the multi-objective PID controller designed by presented method, can improve the dynamic performance of main steam temperature control system, with good robustness ability.

  10. A Proposal of Adaptive PID Controller Based on Reinforcement Learning

    Institute of Scientific and Technical Information of China (English)

    WANG Xue-song; CHENG Yu-hu; SUN Wei

    2007-01-01

    Aimed at the lack of self-tuning PID parameters in conventional PID controllers, the structure and learning algorithm of an adaptive PID controller based on reinforcement learning were proposed. Actor-Critic learning was used to tune PID parameters in an adaptive way by taking advantage of the model-free and on-line learning properties of reinforcement learning effectively. In order to reduce the demand of storage space and to improve the learning efficiency,a single RBF neural network was used to approximate the policy function of Actor and the value function of Critic simultaneously. The inputs of RBF network are the system error, as well as the first and the second-order differences of error. The Actor can realize the mapping from the system state to PID parameters, while the Critic evaluates the outputs of the Actor and produces TD error. Based on TD error performance index and gradient descent method, the updating rules of RBF kernel function and network weights were given. Simulation results show that the proposed controller is efficient for complex nonlinear systems and it is perfectly adaptable and strongly robust, which is better than that of a conventional PID controller.

  11. A novel auto-tuning PID control mechanism for nonlinear systems.

    Science.gov (United States)

    Cetin, Meric; Iplikci, Serdar

    2015-09-01

    In this paper, a novel Runge-Kutta (RK) discretization-based model-predictive auto-tuning proportional-integral-derivative controller (RK-PID) is introduced for the control of continuous-time nonlinear systems. The parameters of the PID controller are tuned using RK model of the system through prediction error-square minimization where the predicted information of tracking error provides an enhanced tuning of the parameters. Based on the model-predictive control (MPC) approach, the proposed mechanism provides necessary PID parameter adaptations while generating additive correction terms to assist the initially inadequate PID controller. Efficiency of the proposed mechanism has been tested on two experimental real-time systems: an unstable single-input single-output (SISO) nonlinear magnetic-levitation system and a nonlinear multi-input multi-output (MIMO) liquid-level system. RK-PID has been compared to standard PID, standard nonlinear MPC (NMPC), RK-MPC and conventional sliding-mode control (SMC) methods in terms of control performance, robustness, computational complexity and design issue. The proposed mechanism exhibits acceptable tuning and control performance with very small steady-state tracking errors, and provides very short settling time for parameter convergence. PMID:26117284

  12. Recurrent neural networks-based multivariable system PID predictive control

    Institute of Scientific and Technical Information of China (English)

    ZHANG Yan; WANG Fanzhen; SONG Ying; CHEN Zengqiang; YUAN Zhuzhi

    2007-01-01

    A nonlinear proportion integration differentiation (PID) controller is proposed on the basis of recurrent neural networks,due to the difficulty of tuning the parameters of conventional PID controller.In the control process of nonlinear multivariable system,a decoupling controller was constructed,which took advantage of multi-nonlinear PID controllers in parallel.With the idea of predictive control,two multivariable predictive control strategies were established.One strategy involved the use of the general minimum variance control function on the basis of recursive multi-step predictive method.The other involved the adoption of multistep predictive cost energy to train the weights of the decoupling controller.Simulation studies have shown the efficiency of these strategies.

  13. Integrated Auto-Tuning PID Control of Continuous Casting Process

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    PID controllers were used for the hydraulic servo system of sliding gate and the tundish weight control system in continuous caster. These two loops were synthesized in mould level controller based on model reduction and internal model control strategy. Satisfactory control performance of this synthetic mould level controller was demonstrated by simulations and on-line experiments.

  14. CONTROL OF CONCENTRATION IN CSTR USING DMC AND CONVENTIONAL PID BASED ON RELAY FEEDBACK METHOD

    Directory of Open Access Journals (Sweden)

    S. SRINIVASULU RAJU

    2013-04-01

    Full Text Available This paper presents the design of a Dynamic Matrix Controller (DMC is analyzed for concentration control of Continuous Stirred Tank Reactors (CSTRs which have strong nonlinearities. Various control approaches have been applied on CSTR to control its parameters. All the industrial process applications require solutions of a specific chemical strength of the chemicals or fluids considered for analysis. Such specific concentrations are achieved by mixing a full strength solution with water in the desired proportions. For this, we use twocontrollers DMC and PID and analyzed. The basic PID controllers have difficulty in dealing with complex nonlinear processes. Simulation studies give satisfactory results. In this paper the control the concentration of one chemical with the help of other has been analyzed. Model design and simulation are done in MATLAB/SIMULINK, using programming. The concentration control is found better controlled with the addition of DMC instead of PID controller solely.

  15. Multi-region fuzzy logic controller with local PID controllers for U-tube steam generator in nuclear power plant

    OpenAIRE

    Puchalski Bartosz; Duzinkiewicz Kazimierz; Rutkowski Tomasz

    2015-01-01

    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 react...

  16. IMC based robust PID controller tuning for disturbance rejection

    Institute of Scientific and Technical Information of China (English)

    Mohammad Shamsuzzoha

    2016-01-01

    It is well-known that the IMC-PID controller tuning gives fast and improved set point response but slow disturbance rejection. A modification has been proposed in IMC-PID tuning rule for the improved disturbance rejection. For the modified IMC-PID tuning rule, a method has been developed to obtain the IMC-PID setting in closed-loop mode without acquiring detailed information of the process. The proposed method is based on the closed-loop step set point experiment using a proportional only controller with gainKc0. It is the direct approach to find the PID controller setting similar to classical Ziegler-Nichols closed-loop method. Based on simulations of a wide range of first-order with delay processes, a simple correlation has been derived to obtain the modified IMC-PID controller settings from closed-loop experiment. In this method, controller gain is a function of the overshoot obtained in the closed loop set point experiment. The integral and derivative time is mainly a function of the time to reach the first peak (overshoot). Simulation has been conducted for the broad class of processes and the controllers were tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison. The PID controller settings obtained in the proposed tuning method show better performance and robustness with other two-step tuning methods for the broad class of processes. It has also been applied to temperature control loop in distillation column model. The result has been compared to the open loop tuning method where it gives robust and fast response.

  17. Precision positioning system based on intelligent Fuzzy-PID control

    Science.gov (United States)

    Liu, Zhen; Zhang, Liqiong; Li, Yan

    2010-08-01

    To break through the limitations of static and dynamic characteristics of conventional step motor driven open-loop positioning devices, a two-dimensional precision positioning system with a travel range of 100mm×100mm has been developed. This paper presents its structure, control principle and performance experiments. This system, equipped with cross roller guides working as linear guiding elements, is driven by step motors through ball screw transmission. A threeaxis dual-frequency laser interferometric measurement system is established for real-time measurement and feedback of system's movements in three degrees of freedom (DOF) and an intelligent Fuzzy-PID controller is implemented for this system's motion control. In the controller, the PID module calculates the output from motor drivers and its initial parameters are tuned through expansion of critical proportioning method; the Fuzzy module optimizes PID parameters to fulfill specific requirements of different movement stages. A dead zone control mechanism is developed in this controller to minimize the oscillations around target position. Experimental results indicate that system with Fuzzy-PID controller shows faster response than that with ordinary PID controller. Moreover, with this controller implemented, the developed precision positioning system achieves better repeatability (+/-2μm) and accuracy (+/-2.5μm) within the full range than open-loop system using step motor.

  18. Fuzzy-GA PID controller with incomplete derivation and its application to intelligent bionic artificial leg

    Institute of Scientific and Technical Information of China (English)

    谭冠政; 李安平

    2003-01-01

    An optimal PID controller with incomplete derivation is proposed based on fuzzy inference and the geneticalgorithm, which is called the fuzzy-GA PID controller with incomplete derivation. It consists of the off-line part andthe on-line part. In the off-line part, by taking the overshoot, rise time, and settling time of system unit step re-sponse as the performance indexes and by using the genetic algorithm, a group of optimal PID parameters K*p , Ti* ,and Tj are obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-linepart, based on K; , Ti* , and T*d and according to the current system error e and its time derivative, a dedicatedprogram is written, which is used to optimize and adjust the PID parameters on line through a fuzzy inference mech-anism to ensure that the system response has optimal dynamic and steady-state performance. The controller has beenused to control the D. C. motor of the intelligent bionic artificial leg designed by the authors. The result of computersimulation shows that this kind of optimal PID controller has excellent control performance and robust performance.

  19. Nonlinear system PID-type multi-step predictive control

    Institute of Scientific and Technical Information of China (English)

    Yan ZHANG; Zengqiang CHEN; Zhuzhi YUAN

    2004-01-01

    A compound neural network was constructed during the process of identification and multi-step prediction. Under the PlD-type long-range predictive cost function, the control signal was calculated based on gradient algorithm. The nonlinear controller' s structure was similar to the conventional PID controller. The parameters of this controller were tuned by using a local recurrent neural network on-line. The controller has a better effect than the conventional PID controller. Simulation study shows the effectiveness and good performance.

  20. Application of PID controller to 2D differential geometric guidance problem

    Institute of Scientific and Technical Information of China (English)

    Chaoyong LI; Wuxing JING

    2007-01-01

    This paper presents the application of the proportional-integral-derivative (PID) controller to the flight control system (FCS) for two-dimensional (2D) differential geometric (DG) guidance and control problem. In particular,the performance of the designed FCS is investigated. To this end, the commanded angle-of-attack is firstly developed in the time domain using the classical DG formulations. Then, the classical PID controller is introduced to develop a FCS so as to form the 2D DG guidance and control system, and the PID controller parameters are determined by the Ziegler-Nichols method as well as the Routh-Hurwitz stability algorithm to guarantee the convergence of the system error. The results demonstrate that the designed controller yields a fast responding system, and the resulting DG guidance and control system is viable and effective in a realistic missile defense engagement.

  1. Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs

    Institute of Scientific and Technical Information of China (English)

    Tan Guanzheng(谭冠政); Xiao Hongfeng; Wang Yuechao

    2004-01-01

    A new kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an on-line fuzzy inference mechanism and another is a conventional PID controller. In the fuzzy inference mechanism, three adjustable factors xp, xi, and xd are introduced. Their function is to further modify and optimize the result of the fuzzy inference to make the controller have the optimal control effect on a given object. The optimal values of these factors are determined based on the ITAE criterion and the flexible polyhedron search algorithm of Nelder and Mead. This PID controller has been used to control a D.C. motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that the design of this controller is very effective and can be widely used to control different kinds of objects and processes.

  2. Quarter Car Active Suspension System Control Using PID Controller tuned by PSO

    OpenAIRE

    Wissam H. Al-Mutar

    2015-01-01

    The objective of this paper is to design an efficient control scheme for car suspension system. The purpose of suspension system in vehicles is to get more comfortable riding and good handling with road vibrations. A nonlinear hydraulic actuator is connected to passive suspension system in parallel with damper. The Particles Swarm Optimization is used to tune a PID controller for active suspension system. The designed controller is applied for quarter car suspension system and result is compa...

  3. SIMULATION AND IMPLEMENTATION OF PID-ANN CONTROLLER FOR CHOPPER FED EMBEDDED PMDC MOTOR

    OpenAIRE

    M. Madheswaran; Muruganandam, M.

    2012-01-01

    The closed loop control of PMDC drive with an inner current controller and an outer PID-ANN (Proportional Integral Derivative – Artificial Neural Network) based speed controller is designed and presented in this paper. Motor is fed by DC / DC buck converter (DC Chopper). The controller is used to change the duty cycle of the converter and thereby, the voltage fed to the PMDC motor to regulate the speed. The PID-ANN controller designed was evaluated by computer simulation and it was implemente...

  4. SIMULATION AND IMPLEMENTATION OF PID-ANN CONTROLLER FOR CHOPPER FED EMBEDDED PMDC MOTOR

    Directory of Open Access Journals (Sweden)

    M. Madheswaran

    2012-04-01

    Full Text Available The closed loop control of PMDC drive with an inner current controller and an outer PID-ANN (Proportional Integral Derivative – Artificial Neural Network based speed controller is designed and presented in this paper. Motor is fed by DC / DC buck converter (DC Chopper. The controller is used to change the duty cycle of the converter and thereby, the voltage fed to the PMDC motor to regulate the speed. The PID-ANN controller designed was evaluated by computer simulation and it was implemented using an 8051 based embedded system. This system will operate in forward motoring with variable speed.

  5. 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.

  6. Multi-region fuzzy logic controller with local PID controllers for U-tube steam generator in nuclear power plant

    Directory of Open Access Journals (Sweden)

    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.

  7. Genetic Algorithm based PID controller for Frequency Regulation Ancillary services

    Directory of Open Access Journals (Sweden)

    Sandeep Bhongade

    2010-12-01

    Full Text Available In this paper, the parameters of Proportional, Integral and Derivative (PID controller for Automatic Generation Control (AGC suitable in restructured power system is tuned according to Generic Algorithms (GAs based performance indices. The key idea of the proposed method is to use the fitness function based on Area Control Error (ACE. The functioning of the proposed Genetic Algorithm based PID (GAPID controller has been demonstrated on a 75-bus Indian power system network and the results have been compared with those obtained by using Least Square Minimization method.

  8. PID Control in the Third Millennium Lessons Learned and New Approaches

    CERN Document Server

    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...

  9. Optimal fuzzy PID controller with adjustable factors based on flexible polyhedron search algorithm

    Institute of Scientific and Technical Information of China (English)

    谭冠政; 肖宏峰; 王越超

    2002-01-01

    A new kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an on-line fuzzy inference system, and the other is a conventional PID controller. In the fuzzy inference system, three adjustable factors xp, xi, and xd are introduced. Their functions are to further modify and optimize the result of the fuzzy inference so as to make the controller have the optimal control effect on a given object. The optimal values of these adjustable factors are determined based on the ITAE criterion and the Nelder and Mead′s flexible polyhedron search algorithm. This optimal fuzzy PID controller has been used to control the executive motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that this controller is very effective and can be widely used to control different kinds of objects and processes.

  10. PID controller tuning using the magnitude optimum criterion

    CERN Document Server

    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

  11. Stability Control of an Autonomous Quadcopter through PID Control Law

    Directory of Open Access Journals (Sweden)

    Nicolas Ives Roque Pacheco

    2015-05-01

    Full Text Available In the recent years the world has seen a astonishing ascendance of non tripulated vehicles, and among these is the quadrotors aircrafts or quadcopters. These types of aircraft have been of particular interest due to its easy maneuverability in closed and open spaces and somewhat simplified dynamics. In these paper is presented an first attempt in the built model, to control the 4 DOF(Degrees of freedom of an soon to be autonomous quadcopter through PID law in an controlled environment.

  12. Intelligent self-tuning of PID control for the robotic testing system for human musculoskeletal joints test.

    Science.gov (United States)

    Tian, Lianfang

    2004-06-01

    In this paper, an intelligent proportional-integral-derivative (PID) control method is introduced to the robotic testing system for the biomechanical study of human musculoskeletal joints. For the testing system, the robot is a highly nonlinear and heavily coupled complicated system, and the human spinal specimen also demonstrates nonlinear property when undergoing testing. Although the conventional PID control approach is extensively used in most industrial control systems, it will break down for nonlinear systems, particularly for complicated systems that have no precise mathematical models. To overcome those difficulties, an intelligent fuzzy PID controller is proposed replacing the widely used conventional PID controllers. The fuzzy PID algorithm is outlined using the fuzzy set theory. The design techniques are developed based on the linguistic phase plane approach. The heuristic rules of syntheses are summarized into a rule-based expert system. Experiments are carried out and the results demonstrate the good performance of the robotic testing system using the proposed control method. PMID:15255220

  13. Designing a New Nonlinear PID Attitude Controller for Small Quad-rotor Aircraft%小型四旋翼飞行器新型非线性PID姿态控制器设计

    Institute of Scientific and Technical Information of China (English)

    李杰; 齐晓慧; 韩帅涛

    2013-01-01

    针对小型四旋翼飞行器姿态控制问题,设计了一种新型非线性PID姿态控制器.针对传统PID的不足,通过引入两个跟踪微分器以及误差反馈的非线性组合构成非线性PID,并结合简化的小型四旋翼飞行器数学模型,提出了一种基于新型非线性PID姿态控制方法.仿真结果表明,所设计的控制器具有较强的鲁棒性、抗干扰性以及良好的滤波性能,系统具有良好的动态和稳态性能.由于保留了传统PID优点,设计简单,对实际工程具有较大的指导价值.%A new nonlinear PID attitude controller was designed to control the attitude of a small quad-rotor aircraft.Combined with the simplified mathematical model of small quad-rotor aircraft,an attitude control method was proposed by using the new nonlinear PID attitude controller.Two tracking differentiators and a nonlinear state error feedback are used to overcome the deficiency of the traditional PID controller.The simulation results indicate that our attitude controller achieves strong robustness,anti-disturbance and high filtering performances,having high-dynamic and steady-state performances.

  14. Design of Dual Axis Laser Scanning Diameter Measuring Gauge System with PID Co

    Institute of Scientific and Technical Information of China (English)

    LI Xin-qiu; LI Zhi-wei; LIU Da-jiang

    2009-01-01

    Dual axis laser scanning diameter measuring gauge system(DALSDMGS)with PID controller,which can be used for online non-contact diameter measuring and control on the hose,wire and rod production line,is introduced.The measure principle and implementation of this system are also presented.A PID control module with PID parameters tuning is included in the measuring and control system,which functions as a PID automatic controller of the diameter.

  15. Integral Separation PID Control Based on Self-balanced Car Design%基于积分分离PID控制的自平衡小车设计

    Institute of Scientific and Technical Information of China (English)

    蒋龙; 罗亮; 王欣

    2015-01-01

    以STM32F103VET6作为控制核心芯片,采用带加速度计的陀螺仪MPU6050构成小车姿态检测装置,采用双路驱动器TB6612FNG驱动带数字编码器的直流电机搭建了自平衡小车系统。采用积分分离式PID算法实现了车身平衡的快速稳定控制。经实验证明积分分离式PID算法能够快速、稳定地控制小车系统达到平衡状态。%Based STM32F103VET6 control core chip,with accelerometer gyroscope MPU6050 constitute trolley posture detection device,with dual drive TB6612FNG drive with digital encoders DC motor a self-balanced car system was built. Integral separate PID algorithm was used to achieve a rapid and stable control of body balance. The experimental testing indicate integral separation PID algorithm can quickly and stably control the car system to reach equilibrium.

  16. Model-free control and intelligent PID controllers: towards a possible trivialization of nonlinear control?

    OpenAIRE

    Fliess, Michel; Join, Cédric

    2009-01-01

    This communication is a slightly modified and updated version of a paper by the same authors (Commande sans modèle et commande à modèle restreint, e-STA, vol. 5 (n° 4), pp. 1-23, 2008. Available at http://hal.inria.fr/inria-00288107/en/), which is written in French.; International audience; We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to ``intelligent'' PID controllers,...

  17. Genetic Algorithm and Fuzzy Tuning PID Controller Applied on Speed Control System for Marine Diesel Engines

    Directory of Open Access Journals (Sweden)

    Naeim Farouk

    2012-11-01

    Full Text Available The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. The main focus of this study is to apply and comparative between two specific soft-computing techniques. Fuzzy logic controller and genetic algorithm to design and tuning of PID controller for applied on speed control system of marine diesel engine to get an output with better dynamic and static performance. Simulation results show that the response of system when using genetic algorithm is better and faster than when using fuzzy tuning PID controller.

  18. Intelligent particle swarm optimized fuzzy PID controller for AVR system

    Energy Technology Data Exchange (ETDEWEB)

    Mukherjee, V. [Department of Electrical Engineering, Asansol Engineering College, Asansol, West Bengal (India); Ghoshal, S.P. [Department of Electrical Engineering, National Institute of Technology, Durgapur, West Bengal (India)

    2007-10-15

    In process plants like thermal power plants, biomedical instrumentation the popular use of proportional-integral-derivative (PID) controllers can be noted. Proper tuning of such controllers is obviously a prime priority as any other alternative situation will require a high degree of industrial expertise. So in order to get the best results of PID controllers the optimal tuning of PID gains is required. This paper, thus, deals with the determination of off-line, nominal, optimal PID gains of a PID controller of an automatic voltage regulator (AVR) for nominal system parameters and step reference voltage input. Craziness based particle swarm optimization (CRPSO) and binary coded genetic algorithm (GA) are the two props used to get the optimal PID gains. CRPSO proves to be more robust than GA in performing optimal transient performance even under various nominal operating conditions. Computational time required by CRPSO is lesser than that of GA. Factors that have influenced the enhancement of global searching ability of PSO are the incorporation of systematic and intelligent velocity, position updating procedure and introduction of craziness. This modified from of PSO is termed as CRPSO. For on-line off-nominal system parameters Sugeno fuzzy logic (SFL) is applied to get on-line terminal voltage response. The work of SFL is to extrapolate intelligently and linearly, the nominal optimal gains in order to determine off-nominal optimal gains. The on-line computational burden of SFL is noticeably low. Consequently, on-line optimized transient response of incremental change in terminal voltage is obtained. (author)

  19. Performance Enhancement of PID Controllers by Modern Optimization Techniques for Speed Control of PMBL DC Motor

    Directory of Open Access Journals (Sweden)

    M. Antony Freeda Rani

    2015-08-01

    Full Text Available Permanent Magnet Brushless DC motor (PMBL DC is used in a large number of industrial and automotive applications because of their high efficiency, compactness and excellent reliability. However to design an efficient PMBL DC motor, it is necessary to provide an effective controller that has to reduce the overshoot, settling and rise time. In this study, an improved PID controller has been designed by optimizing the parameters of PID controller based on two advanced optimization techniques ANFIS and Cuckoo Search optimization for speed control of a PMBL DC motor. The proposed approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency. The PMBL DC motor is modeled in SIMULINK implementing the algorithms in MATLAB and the performance evaluation has been studied.

  20. Comparative Analysis of PSO Algorithms for PID Controller Tuning

    Institute of Scientific and Technical Information of China (English)

    ŠTIMAC Goranka; BRAUT Sanjin; ŽIGULIĆRoberto

    2014-01-01

    The active magnetic bearing(AMB) suspends the rotating shaft and maintains it in levitated position by applying controlled electromagnetic forces on the rotor in radial and axial directions. Although the development of various control methods is rapid, PID control strategy is still the most widely used control strategy in many applications, including AMBs. In order to tune PID controller, a particle swarm optimization(PSO) method is applied. Therefore, a comparative analysis of particle swarm optimization(PSO) algorithms is carried out, where two PSO algorithms, namely (1) PSO with linearly decreasing inertia weight(LDW-PSO), and (2) PSO algorithm with constriction factor approach(CFA-PSO), are independently tested for different PID structures. The computer simulations are carried out with the aim of minimizing the objective function defined as the integral of time multiplied by the absolute value of error(ITAE). In order to validate the performance of the analyzed PSO algorithms, one-axis and two-axis radial rotor/active magnetic bearing systems are examined. The results show that PSO algorithms are effective and easily implemented methods, providing stable convergence and good computational efficiency of different PID structures for the rotor/AMB systems. Moreover, the PSO algorithms prove to be easily used for controller tuning in case of both SISO and MIMO system, which consider the system delay and the interference among the horizontal and vertical rotor axes.

  1. PERFORMANCE OF PID CONTROLLER OF NONLINEAR SYSTEM USING SWARM INTELLIGENCE TECHNIQUES

    Directory of Open Access Journals (Sweden)

    Neeraj Jain

    2016-07-01

    Full Text Available In this paper swarm intelligence based PID controller tuning is proposed for a nonlinear ball and hoop system. Particle swarm optimization (PSO, Artificial bee colony (ABC, Bacterial foraging optimization (BFO is some example of swarm intelligence techniques which are focused for PID controller tuning. These algorithms are also tested on perturbed ball and hoop model. Integral square error (ISE based performance index is used for finding the best possible value of controller parameters. Matlab software is used for designing the ball and hoop model. It is found that these swarm intelligence techniques have easy implementation & lesser settling & rise time compare to conventional methods.

  2. Robust Stability and Performance Comparison of PID and PPI Control

    Institute of Scientific and Technical Information of China (English)

    任正云; 张红; 邵惠鹤

    2004-01-01

    Predictive PI (PPI) control form, capable of time delay compensation, has been put forward recently. This control algorithm is essentially a PI controller with enhanced derivative action, which is not only suitable for long time delay process, but also of simple structure and excellent robust stability. The performance of PPI controller was demonstrated and compared with that of traditional PID controller by different tuning methods.

  3. Quarter Car Active Suspension System Control Using PID Controller tuned by PSO

    Directory of Open Access Journals (Sweden)

    Wissam H. Al-Mutar

    2015-07-01

    Full Text Available The objective of this paper is to design an efficient control scheme for car suspension system. The purpose of suspension system in vehicles is to get more comfortable riding and good handling with road vibrations. A nonlinear hydraulic actuator is connected to passive suspension system in parallel with damper. The Particles Swarm Optimization is used to tune a PID controller for active suspension system. The designed controller is applied for quarter car suspension system and result is compared with passive suspension system model and input road profile. Simulation results show good performance for the designed controller

  4. Active structural control with stable fuzzy PID techniques

    CERN Document Server

    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...

  5. Simulation of PID Controller%PID控制器仿真研究

    Institute of Scientific and Technical Information of China (English)

    晏永红

    2011-01-01

    早在70年前就开始应用PID控制器,时至今日,PID控制器仍然是现代控制理论中应用非常广泛的技术,在此运用计算机仿真技术,对常用的几种PID控制器进行研究,得出它们在性能指标上各有所长,在设计应用中应根据稳、准、快的要求选择合适类型的PID.%70 years ago, people have begun to use PID controller. So far, PID controller has been still a wide range of technology applied in modern control theory. Using computer simulation technology, the article studied several kinds of common PID controller. The result showed that they have their advantages on performance. We should select the appropriate type of PID according to the demand for steady, accuracy, fastness in the design of the application.

  6. Application of a PID controller based on fuzzy logic to reduce variations in the control parameters in PWR reactors

    Energy Technology Data Exchange (ETDEWEB)

    Vasconcelos, Wagner Eustaquio de; Lira, Carlos Alberto Brayner de Oliveira; Brito, Thiago Souza Pereira de; Afonso, Antonio Claudio Marques, E-mail: wagner@unicap.br, E-mail: cabol@ufpe.br, E-mail: afonsofisica@gmail.com, E-mail: thiago.brito86@yahoo.com.br [Universidade Federal de Pernambuco (UFPE), Recife, PE (Brazil). Centro de Tecnologia e Geociencias. Departamento de Energia Nuclear; Cruz Filho, Antonio Jose da; Marques, Jose Antonio, E-mail: antonio.jscf@gmail.com, E-mail: jamarkss@uol.com.br [Universidade Catolica de Pernambuco (CCT/PUC-PE), Recife, PE (Brazil). Centro de Ciencias e Tecnologia; Teixeira, Marcello Goulart, E-mail: marcellogt@dcc.ufrj.br [Universidade Federal do Rio de Janeiro (UFRJ), Rio de Janeiro, RJ (Brazil). Instituto de Matematica. Dept. de Matematica

    2013-07-01

    Nuclear reactors are in nature nonlinear systems and their parameters vary with time as a function of power level. These characteristics must be considered if large power variations occur in power plant operational regimes, such as in load-following conditions. A PWR reactor has a component called pressurizer, whose function is to supply the necessary high pressure for its operation and to contain pressure variations in the primary cooling system. The use of control systems capable of reducing fast variations of the operation variables and to maintain the stability of this system is of fundamental importance. The best-known controllers used in industrial control processes are proportional-integral-derivative (PID) controllers due to their simple structure and robust performance in a wide range of operating conditions. However, designing a fuzzy controller is seen to be a much less difficult task. Once a Fuzzy Logic controller is designed for a particular set of parameters of the nonlinear element, it yields satisfactory performance for a range of these parameters. The objective of this work is to develop fuzzy proportional-integral-derivative (fuzzy-PID) control strategies to control the level of water in the reactor. In the study of the pressurizer, several computer codes are used to simulate its dynamic behavior. At the fuzzy-PID control strategy, the fuzzy logic controller is exploited to extend the finite sets of PID gains to the possible combinations of PID gains in stable region. Thus the fuzzy logic controller tunes the gain of PID controller to adapt the model with changes in the water level of reactor. The simulation results showed a favorable performance with the use to fuzzy-PID controllers. (author)

  7. Intelligent PID controller based on ant system algorithm and fuzzy inference and its application to bionic artificial leg

    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.

  8. An asymptotic analysis of the so called intelligent PID controller

    OpenAIRE

    Praly, Laurent

    2010-01-01

    This note takes its origin from reading a paper by M. Fliess and C. Join, whose latest version is entitled Model-free control and intelligent PID controllers: towards a possible trivialization of nonlinear control? that can be obtained at http://arxiv.org/abs/0904.0322 Unfortunately in that paper, the authors write that . . . it is impossible of course to give a complete description of it and that the usual mathematical criteria for robust control become . . . irrelevant. In the following, to...

  9. Design and implementation of a 2-DOF PID compensation for magnetic levitation systems.

    Science.gov (United States)

    Ghosh, Arun; Rakesh Krishnan, T; Tejaswy, Pailla; Mandal, Abhisek; Pradhan, Jatin K; Ranasingh, Subhakant

    2014-07-01

    This paper employs a 2-DOF (degree of freedom) PID controller for compensating a physical magnetic levitation system. It is shown that because of having a feedforward gain in the proposed 2-DOF PID control, the transient performance of the compensated system can be changed in a desired manner unlike the conventional 1-DOF PID control. It is also shown that for a choice of PID parameters, although the theoretical loop robustness is the same for both the compensated systems, in real-time, 2-DOF PID control may provide superior robustness if a suitable choice of the feedforward parameter is made. The results are verified through simulations and experiments. PMID:24947430

  10. Speed Control of Bldc Motor Drive By Using Pid Controllers

    Directory of Open Access Journals (Sweden)

    Y.Narendra Kumar,

    2014-04-01

    Full Text Available This paper mainly deals with the Brushless DC (BLDC motor speed driving systems have sprouted in various small scale and large scale applications like automobile industries, domestic appliances etc. This leads to the development in Brushless DC motor (BLDCM. The usage of BLDC Motor enhances various performance factors ranging from higher efficiency, higher torque in low-speed range, high power density ,low maintenance and less noise than other motors. The BLDC Motor can act as an alternative for traditional motors like induction and switched reluctance motors. In this paper PID controller is implemented with speed feedback loop and it is observe that torque ripples are minimized. Simulation is carried out using MATLAB / SIMULINK. The results show that the performance of BLDC Motor is quite satisfactory for various loading conditions. Brushless DC motor drives are typically employed in speed controlled applications.

  11. 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.

  12. A modified Adaptive Wavelet PID Control Based on Reinforcement Learning for Wind Energy Conversion System Control

    Directory of Open Access Journals (Sweden)

    REZAZADEH, A.

    2010-05-01

    Full Text Available Nonlinear characteristics of wind turbines and electric generators necessitate complicated and nonlinear control of grid connected Wind Energy Conversion Systems (WECS. This paper proposes a modified self-tuning PID control strategy, using reinforcement learning for WECS control. The controller employs Actor-Critic learning in order to tune PID parameters adaptively. These Actor-Critic learning is a special kind of reinforcement learning that uses a single wavelet neural network to approximate the policy function of the Actor and the value function of the Critic simultaneously. These controllers are used to control a typical WECS in noiseless and noisy condition and results are compared with an adaptive Radial Basis Function (RBF PID control based on reinforcement learning and conventional PID control. Practical emulated results prove the capability and the robustness of the suggested controller versus the other PID controllers to control of the WECS. The ability of presented controller is tested by experimental setup.

  13. Genetic Algorithm Based PID Controller Tuning Approach for Continuous Stirred Tank Reactor

    Directory of Open Access Journals (Sweden)

    A. Jayachitra

    2014-01-01

    Full Text Available 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 range of processes with dynamic nonlinearity. In our proposed work, globally optimized PID parameters tend to operate the CSTR process in its entire operating range to overcome the limitations of the linear PID controller. The simulation study reveals that the GA based PID controller tuned with fixed PID parameters provides satisfactory performance in terms of set point tracking and disturbance rejection.

  14. A set of decentralized PID controllers for an – link robot manipulator

    Indian Academy of Sciences (India)

    G Leena; G Ray

    2012-06-01

    A class of stabilizing decentralized proportional integral derivative (PID) controllers for an -link robot manipulator system is proposed. The range of decentralized PID controller parameters for an -link robot manipulator is obtained using Kharitonov theorem and stability boundary equations. Basically, the proposed design technique is based on the gain-phase margin tester and Kharitonov’s theorem that synthesizes a set of PID controllers for the linear model while nonlinear interaction terms involve in system dynamics are treated as zero. The stability analysis of the composite system with the designed set of decentralized PID controllers is investigated by incorporating bounding parameters of interconnection terms in LMI formulation. From the range of controller gains obtained by the proposed method, a genetic algorithm is adopted to get an optimal controller gains so that the tracking error is minimum. Simulation results are shown to demonstrate the applicability of the proposed control scheme for solution of fixed as well as time-varying trajectory tracking control problems.

  15. 基于Smith-模糊PID控制的变量喷药系统设计及试验%Design and experiment of variable rate spaying system on Smith-Fuzzy PID control

    Institute of Scientific and Technical Information of China (English)

    郭娜; 胡静涛

    2014-01-01

    To achieve variable rate spraying, a pressure-based variable rate spaying system was designed to control the spray rate by adjusting the opening percentage of electrical regulating valve at the bypass pipeline. This returns excessive flow discharged by a piston diaphragm pump according to the flow rate of the spray pipeline, and adjusts the boom width by shutting ON or OFF selected solenoid valves at each section. The ARM9 based variable rate controller was designed to measure the system pressure and flow rate, and generate the control signal. A commercial 3W-250 boom sprayer with 12 flat fan spray nozzles was modified to a variable rate sprayer and mounted behind the LOVAL TA800 tractor. The 12 nozzles were divided to 6 boom sections and the pump was derived by the power take-off shaft of the tractor. The variable rate sprayer was represented by a directed graph of fluid network that consists of a set of junctions, called nodes, and certain lines joining a pair of nodes, called the edges. To reduce the complexity of the spray network, the fluid resistance of the short pipeline was ignored, some nodes were merged, one virtual node was increased to represent the external atmospheric pressure, and finally the graph of the variable rate spraying system involved 6 nodes and 12 edges. The flow rate and pressure distribution within the spray network under, steady state conditions was described by the junction of continuity equations and the loop energy equations. The electrical regulating actuator was also modelled to describe the relationship between the voltage control signal and the valve opening percentage. The fuzzy-PID control algorithm was adopted for the nonlinear, time-varying variable rate spraying system to achieve better performance than with the conventional PID control algorithm. The fuzzy control algorithm was used for tuning the PID parameters online. The Smith predictor based on the system model was introduced to overcome the side effects of long time

  16. Stabilizing Parametric Region of Multiloop PID Controllers for Multivariable Systems Based on Equivalent Transfer Function

    Directory of Open Access Journals (Sweden)

    Xiaoli Luan

    2016-01-01

    Full Text Available The aim of this paper is to determine the stabilizing PID parametric region for multivariable systems. Firstly, a general equivalent transfer function parameterization method is proposed to construct the multiloop equivalent process for multivariable systems. Then, based on the equivalent single loops, a model-based method is presented to derive the stabilizing PID parametric region by using the generalized Hermite-Biehler theorem. By sweeping over the entire ranges of feasible proportional gains and determining the stabilizing regions in the space of integral and derivative gains, the complete set of stabilizing PID controllers can be determined. The robustness of the design procedure against the approximation in getting the SISO plants is analyzed. Finally, simulation of a practical model is carried out to illustrate the effectiveness of the proposed technique.

  17. Intelligent Tuning of a PID Controller Using Immune Algorithm

    Energy Technology Data Exchange (ETDEWEB)

    Kim, D.H. [Hanbat National University, Taejon (Korea)

    2002-01-01

    This paper suggests that the immune algorithm can effectively be used in tuning of a PID controller. The artificial immune network always has a new parallel decentralized processing mechanism for various situations, since antibodies communicate to each other among different species of antibodies/B-cells through the stimulation and suppression chains among antibodies that form a large-scaled network. In addition to that, the structure of the network is not fixed, but varies continuously. That is, the artificial immune network flexibly self-organizes according to dynamic changes of external environment (meta-dynamics function). However, up to the present time, models based on the conventional crisp approach have been used to describe dynamic model relationship between antibody and antigen. Therefore, there are some problems with a less flexible result to the external behavior. On the other hand, a number of tuning technologies have been considered for the tuning of a PID controller. As a less common method, the fuzzy and neural network or its combined techniques are applied. However, in the case of the latter, yet, it is not applied in the practical field, in the former, a higher experience and technology is required during tuning procedure. In addition to that, tuning performance cannot be guaranteed with regards to a plant with non-linear characteristics or many kinds of disturbances. Along with these, this paper used immune algorithm in order that a PID controller can be more adaptable controlled against the external condition, including noise or disturbance of plant. Parameters, P, I, D encoded in antibody randomly are allocated during selection processes to obtain an optimal gain required for plant. The result of study shows the artificial immune can effectively be used to tune, since it can more fit modes or parameters of the PID controller than that of the conventional tuning methods. (author). 13 refs., 22 figs., 2 tabs.

  18. 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)

  19. Design of air-conditioning system based on WLAN and single neuron self-adaptive PID control%基于WLAN与单神经元自适应PID的空调系统设计

    Institute of Scientific and Technical Information of China (English)

    张博; 王志刚; 高玺广; 徐莉

    2011-01-01

    For traditional air-conditioning system existing problems of inconvenient wiring and PID control's poor adaptability and robustness , a system using WLAN technology combined with the single neuron adaptive PID control algorithm is designed. Compared with traditional air-conditioning system , this system uses WLAN technology to achieve flexibility , mobility and reduce the consumption of labour and material required for routing. With the single neuron adaptive PID control algorithm , the system gets advantages of no offset ,no overshoot and robustness etc . The results show that the problems have been basically solved and the performance has been significantly improved after using the two methods.%为解决传统空调系统中布线带来的不便及传统PID控制适应性、鲁棒性差的问题,设计出一种将WLAN技术和单神经元自适应PID控制算法相结合的空调系统.与传统的空调系统相比较,该系统利用WLAN技术实现系统的灵活性、可移动性,降低以往布线所需消耗的人力物力,运用单神经元自适应PID控制算法,使系统获得无静差、无超调、鲁棒性强等优点.研究结果表明,将两者结合后,原来空调系统存在的问题基本解决,而且性能得到了明显改善.

  20. Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator

    Institute of Scientific and Technical Information of China (English)

    Thanana Nuchkrua; Thananchai Leephakpreeda

    2013-01-01

    In this paper,a fuzzy self-tuning Proportional-Integral-Derivative (PID) control of hydrogen-driven Pneumatic Artificial Muscle (PAM) actuator is presented.With a conventional PID control,non-linear thermodynamics of the hydrogen-driven PAM actuator still highly affects the mechanical actuations itself,causing deyiation of desired tasks.The fuzzy self-tuning PID controller is systematically developed so as to achieve dynamic performance targets of the hydrogen-driven PAM actuator.The fuzzy rules based on desired characteristics of closed-loop control are designed to finely tune the PID gains of the controller under different operating conditions.The empirical models and properties of the hydrogen-driven PAM actuator are used as a genuine representation of mechanical actuations.A mass-spring-damper system is applied to the hydrogen-driven PAM actuator as a typical mechanical load during actuations.The results of the implementation show that the viability of the proposed method in actuating the hydrogen-driven PAM under mechanical loads is close to desired performance.

  1. 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)

  2. 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.

  3. 基于模糊 PID 自动转向控制系统的研究%Automatic Steering Control System Research on Fuzzy PID

    Institute of Scientific and Technical Information of China (English)

    张长龙; 李文春; 马蓉; 任玲; 石翔

    2016-01-01

    在拖拉机自动转向控制系统中,为了提高自动转向性能,满足工作需求,设计了参数自整定的模糊 PID控制。同时,对模糊控制规则进行了设计,实现对PID3个输出比例因子进行实时修改,提高了系统的控制性能。对模糊PID 在MATLAB中进行了建模仿真,通过仿真结果可以看出:该控制方法有很好的稳态精度和自适应能力,明显改善了系统的动态特性,有利于拖拉机自动驾驶精度的提高。通过台架实验,验证了该控制方法的可行性。%Tractor automatic steering control system , to improve the automatic steering performance ,meet the job require-ments, design the parameter self-tuning fuzzy PID control .Design and implementation of fuzzy control rules and modify the PID three output scaling factor in real time ,improve the control performance of the system .And the fuzzy PID has car-ried on the modeling and simulation in MATLAB, the simulation results can be seen that this control method has good steady precision and adaptive ability , obviously improve the dynamic characteristic of the system , beneficial to the im-provement of the tractor automated driving accuracy .

  4. ACS algorithm-based adaptive fuzzy PID controller and its application to CIP-Ⅰ intelligent leg

    Institute of Scientific and Technical Information of China (English)

    TAN Guan-zheng; DOU Hong-quan

    2007-01-01

    Based on the ant colony system (ACS) algorithm and fuzzy logic control, a new design method for optimal fuzzy PID controller was proposed. In this method, the ACS algorithm was used to optimize the input/output scaling factors of fuzzy PID controller to generate the optimal fuzzy control rules and optimal real-time control action on a given controlled object. The designed controller, called the Fuzzy-ACS PID controller, was used to control the CIP-Ⅰ intelligent leg. The simulation experiments demonstrate that this controller has good control performance. Compared with other three optimal PID controllers designed respectively by using the differential evolution algorithm, the real-coded genetic algorithm, and the simulated annealing, it was verified that the Fuzzy-ACS PID controller has better control performance. Furthermore, the simulation results also verify that the proposed ACS algorithm has quick convergence speed, small solution variation, good dynamic convergence behavior, and high computation efficiency in searching for the optimal input/output scaling factors.

  5. A Proportional Integral Derivative (PID Feedback Control without a Subsidiary Speed Loop

    Directory of Open Access Journals (Sweden)

    M. Aboelhassan

    2008-01-01

    Full Text Available The aim of this investigation is to design and describe the essential features of a brushless direct-current (BLDC motor. The static and dynamical state of the BLDC-Motor is designed and calculated.Within this frame-work, it has been shown that while working with the P-controller in conjunction with the subsidiary speed loop and PD-controller (with non-zero error in a steady state without a subsidiary speed loop, there is PID-controller without a subsidiary speed loop which has zero error in a steady state. The last part of this paper is dedicated to a simulation of the circle rounds of P and PID controllers with and without a subsidiary speed loop in MATLAB–SIMULINK to decide which of these controllers is suitable, available and reliable with a BLDC-Motor and their application in cutting tool machines in general. 

  6. Research on the Robustness of an Adaptive PID Control of a Kind of Supersonic Missile

    Directory of Open Access Journals (Sweden)

    Gangling Jiao

    2013-01-01

    Full Text Available In this study, the dynamic characteristic of missile system is viewed as a two-loop system, such as inner loop and outer loop and we design an adaptive PID control strategy for the pitch channel linear model of supersonic missile. The robustness of a double PID controller is analyzed by changing the aerodynamic coefficients. The control law is testified to be stable even the aerodynamic coefficients are changed between 0.7 and 1.7 times of its standard value and the control effect is compared with the sliding mode control strategy. Also the advantage and defect of both control strategy are summarized at the end of this study.

  7. 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.

  8. Active vibration control of piezoelectric bonded smart structures using PID algorithm

    OpenAIRE

    Zhang Shunqi; Rüdiger Schmidt; Qin Xiansheng

    2015-01-01

    Thin-walled structures are sensitive to vibrate under even very small disturbances. In order to design a suitable controller for vibration suppression of thin-walled smart structures, an electro-mechanically coupled finite element (FE) model of smart structures is developed based on first-order shear deformation (FOSD) hypothesis. Considering the vibrations generated by various disturbances, which include free and forced vibrations, a PID control is implemented to damp both the free and force...

  9. GA-BASED PID NEURAL NETVVORK CONTROL FOR MAGNETIC BEARING SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    LI Guodong; ZHANG Qingchun; LIANG Yingchun

    2007-01-01

    In order to overcome the system non-linearity and uncertainty inherent in magnetic bearing systems, a GA(genetic algorithm)-based PID neural network controller is designed and trained to emulate the operation of a complete system (magnetic beating, controller, and power amplifiers).The feasibility of using a neural network to control nonlinear magnetic beating systems with unknown dynamics is demonstrated. The key concept of the control scheme is to use GA to evaluate the candidate solutions (chromosomes), increase the generalization ability of PID neural network and avoid suffering from the local minima problem in network learning due to the use of gradient descent learning method. The simulation results show that the proposed architecture provides well robust performance and better reinforcement learning capability in controlling magnetic bearing systems.

  10. Hardware Implementation of Evolutionary Algorithm Assisted Digital PID Controllers for DC-DC Converters

    OpenAIRE

    S.Augustilindiya; Palani, S.; K.Vijayarekha; M.BreethiYeltsina

    2013-01-01

    Tuning PID controller parameters using Evolutionary algorithm for an asynchronous Buck converter is presented in this paper. PID controller is one of the solutions for controlling a Buck converter during transient conditions. There are straight forward ways for calculating the parameters for the PID controller in the literature and evolutionary algorithm based approach with a proper fitnessfunction gives superior performance when compared to other methods. Ziegler Nicholas method, Hurwitz pol...

  11. A modified Adaptive Wavelet PID Control Based on Reinforcement Learning for Wind Energy Conversion System Control

    OpenAIRE

    REZAZADEH, A.; SEDIGHIZADEH, M.

    2010-01-01

    Nonlinear characteristics of wind turbines and electric generators necessitate complicated and nonlinear control of grid connected Wind Energy Conversion Systems (WECS). This paper proposes a modified self-tuning PID control strategy, using reinforcement learning for WECS control. The controller employs Actor-Critic learning in order to tune PID parameters adaptively. These Actor-Critic learning is a special kind of reinforcement learning that uses a single wavelet neural network to appro...

  12. Position Control of a Serial Manipulator Using Fuzzy-PID Controllers

    Directory of Open Access Journals (Sweden)

    Yong-Lin Kuo

    2015-02-01

    Full Text Available This paper presents the position control of a six-axis serial manipulator by using a fuzzy-PID controller. The manipulator has six joints, and each joint is driven by a motor with an encoder for sensing the joint angle. To complete a position movement of the end-effector of the manipulator, the position coordinate first needs to be converted to a sets of joint angles by using the inverse kinematics of the manipulator, and each joint rotation is executed by a feedback control of a motor. To demonstrate the performance the fuzzy-PID controller, a PID controller and two fuzzy controllers are also applied. The results show that the fuzzy-PID controller provides a better performance with a smaller steady-state error.

  13. 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.

  14. Design and Implementation of Pulp Level Control in Flotation Based on IMC-PID%浮选矿浆液位过程的IMC-PID设计与实现

    Institute of Scientific and Technical Information of China (English)

    陈华; 陈夕松

    2011-01-01

    浮选过程是选矿生产中的关键环节,其液位要求严格控制以保证金属回收率.采用一种基于内模控制(IMC)设计的PID控制器(IMC—PID)来实现选矿浮选矿浆液位的自动控制,具有结构简单、整定参数少、鲁棒性强等优点.介绍了IMC-PID的基本原理和设计步骤,给出了液位控制系统的具体实现.应用表明,基于IMC—PID的浮选液住控制系统提高了浮选的金属回收率,保证了精矿品位,具有良好的推广价值.%Flotation is a key process in mineral processing production, in which flotation level must be strictly controlled to ensure high metal recovery rate. A PID controller ([MC-PID) which is designed based on Internal Model Control(IMC) is applied to bring flotation level under automatic control. The model has such advantages as simple structure, few adjustable parameters and strong robustness. Moreover, the basic principle and design method of IMC-PID are introduced, and a flotation level control system is presented. The practical application indicates that the system has improved the metal recovery rate, which ensures fine quality of ore grade, thus having broad implications.

  15. 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)

  16. The Distribution Population-based Genetic Algorithm for Parameter Optimization PID Controller

    Institute of Scientific and Technical Information of China (English)

    CHENQing-Geng; WANGNing; HUANGShao-Feng

    2005-01-01

    Enlightened by distribution of creatures in natural ecology environment, the distribution population-based genetic algorithm (DPGA) is presented in this paper. The searching capability of the algorithm is improved by competition between distribution populations to reduce the search zone.This method is applied to design of optimal parameters of PID controllers with examples, and the simulation results show that satisfactory performances are obtained.

  17. OPTIMAL-TUNING OF PID CONTROLLER GAINS USING GENETIC ALGORITHMS

    Directory of Open Access Journals (Sweden)

    Ömer GÜNDOĞDU

    2005-01-01

    Full Text Available This paper presents a method of optimum parameter tuning of a PID controller to be used in driving an inertial load by a dc motor thorough a gearbox. Specifically, the method uses genetic algorithms to determine the optimum controller parameters by minimizing the sum of the integral of the squared error and the squared controller output deviated from its steady state value. The paper suggests the use of Ziegler-Nichols settings to form the intervals for the controller parameters in which the population to be formed. The results obtained from the genetic algorithms are compared with the ones from Ziegler-Nichols in both figures and tabular form. Comparatively better results are obtained in the genetic algorithm case.

  18. Experimental studies on active vibration control of a smart composite beam using a PID controller

    Science.gov (United States)

    Jovanović, Miroslav M.; Simonović, Aleksandar M.; Zorić, Nemanja D.; Lukić, Nebojša S.; Stupar, Slobodan N.; Ilić, Slobodan S.

    2013-11-01

    This paper presents experimental verification of the active vibration control of a smart cantilever composite beam using a PID controller. In order to prevent negative occurrences in the derivative and integral terms in a PID controller, first-order low-pass filters are implemented in the derivative action and in the feedback of the integral action. The proposed application setup consists of a composite cantilever beam with a fiber-reinforced piezoelectric actuator and strain gage sensors. The beam is modeled using a finite element method based on third-order shear deformation theory. The experiment considers vibration control under periodic excitation and an initial static deflection. A control algorithm was implemented on a PIC32MX440F256H microcontroller. Experimental results corresponding to the proposed PID controller are compared with corresponding results using proportional (P) control, proportional-integral (PI) control and proportional-derivative (PD) control. Experimental results indicate that the proposed PID controller provides 8.93% more damping compared to a PD controller, 14.41% more damping compared to a PI controller and 19.04% more damping compared to a P controller in the case of vibration under periodic excitation. In the case of free vibration control, the proposed PID controller shows better performance (settling time 1.2 s) compared to the PD controller (settling time 1.5 s) and PI controller (settling time 2.5 s).

  19. A Fuzzy PID Approach for the Vibration Control of the FSPM

    Directory of Open Access Journals (Sweden)

    Zhu-Feng Shao

    2013-01-01

    Full Text Available This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM, which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The research object is a 40m scale model of the Feed Support System (FSS for the Five‐hundred‐meter Aperture Spherical radio Telescope (FAST project, which is composed of a cable‐driven parallel manipulator, an A‐B rotator and a rigid Stewart manipulator, assembled in series. The cable‐driven parallel manipulator is sensitive to disturbances and could lead to system vibration with a large terminal error. The rigid Stewart manipulator is designed to carry out the vibration control. Considering the time‐variability, nonlinearity and dynamic coupling of an FSPM, a fuzzy proportional–integral–derivative (PID controller is introduced. The fuzzy inference rules established on the terminal error and the error change are used to adjust the PID parameters to achieve better performance. Physical experiments are carried out and the results indicate that the fuzzy PID method can effectively promote the terminal precision and maintain system stability. The control methodology proposed in this paper is quite promising for the vibration control of an FSPM.

  20. Decentralized PID neural network control for a quadrotor helicopter subjected to wind disturbance

    Institute of Scientific and Technical Information of China (English)

    陈彦民; 何勇灵; 周岷峰

    2015-01-01

    A decentralized PID neural network (PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established via Newton−Euler formalism. For quadrotor helicopter flying at low altitude in actual situation, it was more susceptible to be influenced by the turbulent wind field. Therefore, the turbulent wind field was generated according to Dryden model and taken into consideration as the disturbance source of quadrotor helicopter. Then, a nested loop control approach was proposed for the stabilization and navigation problems of the quadrotor subjected to wind disturbance. A decentralized PIDNN controller was designed for the inner loop to stabilize the attitude angle. A conventional PID controller was used for the outer loop in order to generate the reference path to inner loop. Moreover, the connective weights of the PIDNN were trained on-line by error back-propagation method. Furthermore, the initial connective weights were identified according to the principle of PID control theory and the appropriate learning rate was selected by discrete Lyapunov theory in order to ensure the stability. Finally, the simulation results demonstrate that the controller can effectively resist external wind disturbances, and presents good stability, maneuverability and robustness.

  1. Genetic Optimization Algorithm of PID Decoupling Control for VAV Air-Conditioning System

    Institute of Scientific and Technical Information of China (English)

    WANG Jiangjiang; AN Dawei; ZHANG Chunfa; JING Youyin

    2009-01-01

    Variable-air-volume (VAV) air-conditioning system is a multi-variable system and has multi coupling control loops. While all of the control loops are working together, they interfere and influence each other. A multi-variable decoupling PID controller is designed for VAV air-conditioning system. Diagonal matrix decoupling method is employed to eliminate the coupling between the loop of supply air temperature and that of thermal-space air temperature. The PID controller parameters are optimized by means of an improved genetic algorithm in floating point representations to obtain better performance. The population in the improved genetic algorithm mutates before crossover, which is helpful for the convergence. Additionally the micro mutation algorithm is proposed and applied to improve the convergence during the later evolution. To search the best parameters, the optimized parameters ranges should be amplified l0 times the initial ideal parameters. The simulation and experiment results show that the decoupling control system is effective and feasible. The method can overcome the strong coupling feature of the system and has shorter governing time and less over-shoot than non-optimization PID control.

  2. Optimization of PID Controllers Using Ant Colony and Genetic Algorithms

    CERN Document Server

    Ünal, Muhammet; Topuz, Vedat; Erdal, Hasan

    2013-01-01

    Artificial neural networks, genetic algorithms and the ant colony optimization algorithm have become a highly effective tool for solving hard optimization problems. As their popularity has increased, applications of these algorithms have grown in more than equal measure. While many of the books available on these subjects only provide a cursory discussion of theory, the present book gives special emphasis to the theoretical background that is behind these algorithms and their applications. Moreover, this book introduces a novel real time control algorithm, that uses genetic algorithm and ant colony optimization algorithms for optimizing PID controller parameters. In general, the present book represents a solid survey on artificial neural networks, genetic algorithms and the ant colony optimization algorithm and introduces novel practical elements related to the application of these methods to  process system control.

  3. Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot

    Directory of Open Access Journals (Sweden)

    Afsaneh Salehi

    2013-05-01

    Full Text Available Refer to this paper, an intelligent-fuzzy feed-forward computed torque estimator for Proportional-Integral-Derivative (PID controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately and it is the most used in robot manipulators. In order to remove steady-state error caused by uncertainties and noise, the integrator gain has to be increased. This leads to worse transient performance, even destroys the stability. The integrator in a PID controller also reduces the bandwidth of the closed-loop system. Model-based compensation for PD control is an alternative method to substitute PID control. Computed torque compensation is one of the nonlinear compensator. The main problem of the pure computed torque compensator (CTC was highly nonlinear dynamic parameters which related to system’s dynamic parameters in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using feed-forward fuzzy inference system. To eliminate the continuum robot manipulator system’s dynamic; Mamdani fuzzy inference system is design and applied to CTC. This methodology is based on design feed-forward fuzzy inference system and applied to CTC. The results demonstrate that the model base feed-forward fuzzy CTC estimator works well to compensate linear PID controller in presence of partly uncertainty system (e.g., continuum robot.

  4. 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

  5. 智能大厦生态墙Fuzzy-PID控制%Fuzzy - PID Control of Green - Design Facade of Intelligent Building

    Institute of Scientific and Technical Information of China (English)

    岳建萍; 刘利; 汪忠士

    2004-01-01

    该文通过分析传统幕墙在节能方面的不足,提出了一种新型的动态建筑幕墙系统,即生态墙.它能有效利用自然资源,减少大厦能耗,提高室内环境舒适度.为进一步提高性能,该系统采用了新型的模糊-PID智能控制算法(fuzzy-PID).

  6. 基于MATLAB的磁悬浮球系统PID控制器设计与实现%Design and implemen tation of PID controller based on MATLAB for magnetic levitation ball system

    Institute of Scientific and Technical Information of China (English)

    陈亚栋; 高文华; 张井岗; 刘鑫

    2013-01-01

    The structure and work principle of magnetic levitation ball system was introduced in this paper . The mathematical model was got through and linearized near the equilibrium point . Then the PID controller will be made based on the mathematical model . The model of the control system was built in the Simulink environment to simulate research . At last , the control system model conducted the real-time control experiment on the googol GML1001 series of magnetic levitation device . The experimental results showed that the proposed PID controller guaranteed the suspension ball to achieve the expectation fast and had excellent anti-in-terference performance .%介绍了磁悬浮球系统的结构和工作原理,建立了磁悬浮系统的数学模型并进行线性化处理;设计 PID 控制器,在 Simulink 环境下搭建控制系统的模型进行仿真研究,并在固高 GML1001系列磁悬浮装置上进行实时控制实验。实验结果表明,采用 PID 控制,能使钢球快速地悬浮在期望位置,并且有一定的抗干扰能力。

  7. Intelligent Vibration Control for High-Speed Spinning Beam Based on Fuzzy Self-Tuning PID Controller

    Directory of Open Access Journals (Sweden)

    Lanwei Zhou

    2015-01-01

    Full Text Available Spinning structures play an increasingly prominent role in modern engineering. In order to suppress the inevitable vibration of a high-speed spinning flexible beam along the longitudinal direction, intelligent vibration controller is investigated. To design an intelligent vibration controller, the original system is reduced first using the internal balance model reduction method. A fuzzy self-tuning PID controller is further designed based on the reduced-order model. The results show that the reduced-order model derived from the internal balance model reduction method is a good approximation of the original system. In addition, the proposed controller is effective in suppressing the vibration and improves by about 22% compared with the traditional PID controller.

  8. Speed Control System on Marine Diesel Engine Based on a Self-Tuning Fuzzy PID Controller

    Directory of Open Access Journals (Sweden)

    Naeim Farouk

    2012-03-01

    Full Text Available The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. This study presents a self-tuning fuzzy PID control system for speed control system of marine diesel engine. The system under consideration is a fourth-order plant with highly dynamic and uncertain environments. The current speed controllers for marine/traction diesel engines based on PID Controller cannot fully handle the uncertainties associated with such dynamic environments. A fuzzy logic control algorithm is used to estimate the PID coefficients in order to handle such uncertainties to produce a better control performance. Simulation tests were established using Simulink of MATLAB. The obtained results have demonstrated the feasibility and effectiveness of the proposed approach. Simulation results are represented in this study.

  9. PID控制器性能评价%Performance Assessment of a PID Controller

    Institute of Scientific and Technical Information of China (English)

    左信; 孙金明

    2005-01-01

    Performance assessment of a proportional-integral-derivative (PID) controller is condueted using the PIDachievable minimum variance as a benchmark. When the process model is unknown, we can estimate the PID-achievable minimum variance and the corresponding parameters by routine closed-loop operation data. Simulation results show that the process output variance is reduced by retuning controller parameters.

  10. 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.

  11. 船用蒸汽发生器水位的模糊自适应 PID 控制%A Fuzzy Adaptive PID Water Level Control System for Marine Steam Generators

    Institute of Scientific and Technical Information of China (English)

    张永生; 赵淑琴

    2013-01-01

      为了改善蒸汽发生器水位控制的控制效果,根据模糊控制的基本原理,设计了蒸汽发生器的模糊自适应 PID 水位控制器,该控制器的模糊推理系统能够根据水位误差与误差变化率对 PID 参数进行在线整定。借助Matlab/Simulink 仿真平台,建立蒸汽发生器的仿真模型,对模糊自适应 PID 水位控制进行试验验证,计算工况为蒸汽负荷阶跃下降30%。结果表明,与常规 PID 控制相比,模糊自适应 PID 控制的超调量减小了约35%,调节时间缩短了约50%,提高了水位控制系统的控制品质。%  To improve the performance of steam generators in water level control,an adaptive fuzzy PID level controller for steam generators is designed based on the fundamentals of fuzzy control theory. The fuzzy inference system of the controller is capable of on-line auto-tuning of PID parameters by making use of the water level error and error rate. To validate the design,simulation models of the steam generator were first established resorting to the Matlab/Simulink simulation platform,and experiments on the fuzzy adaptive PID level control system were then conducted under an operating condition with 30% drop in steam load steps. The results show that the fuzzy adaptive PID control,compared with the conventional PID control mode,reduces overshoot and shortens regulating time by approximately 35% and 50%,respec⁃tively,which improves the overall control performance of the level control system.

  12. Coordinating IMC-PID and adaptive SMC controllers for a PEMFC.

    Science.gov (United States)

    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.

  13. Tuning of IMC based PID controllers for integrating systems with time delay.

    Science.gov (United States)

    Kumar, D B Santosh; Padma Sree, R

    2016-07-01

    Design of Proportional Integral and Derivative (PID) controllers based on IMC principles for various types of integrating systems with time delay is proposed. PID parameters are given in terms of process model parameters and a tuning parameter. The tuning parameter is IMC filter time constant. In the present work, the IMC filter (Q) is chosen in such a manner that the order of the denominator of IMC controller is one less than the order of the numerator. The IMC filter time constant (λ) is tuned in such a way that a good compromise is made between performance and robustness for both servo and regulatory problems. To improve servo response of the controller a set point filter is designed such that the closed loop response is similar to that of first order plus time delay system. The proposed controller design method is applied to various transfer function models and to the non-linear model equations of jacketed CSTR to demonstrate its applicability and effectiveness. The performance of the proposed controller is compared with the recently reported methods in terms of IAE and ITAE. The smooth functioning of the controller is determined in terms of total variation and compared with recently reported methods. Simulation studies are carried out on various integrating systems with time delay to show the effectiveness and superiority of the proposed controllers.

  14. Tuning of IMC based PID controllers for integrating systems with time delay.

    Science.gov (United States)

    Kumar, D B Santosh; Padma Sree, R

    2016-07-01

    Design of Proportional Integral and Derivative (PID) controllers based on IMC principles for various types of integrating systems with time delay is proposed. PID parameters are given in terms of process model parameters and a tuning parameter. The tuning parameter is IMC filter time constant. In the present work, the IMC filter (Q) is chosen in such a manner that the order of the denominator of IMC controller is one less than the order of the numerator. The IMC filter time constant (λ) is tuned in such a way that a good compromise is made between performance and robustness for both servo and regulatory problems. To improve servo response of the controller a set point filter is designed such that the closed loop response is similar to that of first order plus time delay system. The proposed controller design method is applied to various transfer function models and to the non-linear model equations of jacketed CSTR to demonstrate its applicability and effectiveness. The performance of the proposed controller is compared with the recently reported methods in terms of IAE and ITAE. The smooth functioning of the controller is determined in terms of total variation and compared with recently reported methods. Simulation studies are carried out on various integrating systems with time delay to show the effectiveness and superiority of the proposed controllers. PMID:27087135

  15. Intelligent non-linear PID control on the hydro-turbine governing system

    Energy Technology Data Exchange (ETDEWEB)

    Cheng, Y.; Cai, W. [Wuhan Univ., Wuhan (China). Dept. of Power Engineering; Ye, L. [Huazhong Univ. of Science and Technology, Wuhan (China). School of Hydropower Engineering; Zeng, Y. [Nextron Corp., Calgary, AB (Canada)

    2008-07-01

    Methods to improve the dynamic performance and stability of hydro-turbine governing systems were discussed with particular reference to control algorithms designed for time-varying, non-linear and non-minimal phase systems. This paper presented the structure and control algorithm of an innovative intelligent non-linear proportional integral derivative (PID) controller that was based on a combined PID control with non-linear control and anthropogenic intelligence. The main features of this parameter adaptive and self-configurable controller were described. It has larger proportional action and smaller integral action when the deviation is great. When the deviation is small, it has smaller proportional action and larger integral action. Simulation studies have shown that the proposed controller has the advantages of short settling time, small overshoot, fast response and lower sensitivity for control parameters. As such, this proposed controller can improve the dynamic performance and strengthen the robustness and adaptability of hydro-turbine governing systems. It was concluded that such a control structure will be easy to apply in industrial control since the parameter tuning and switching are based on control deviation. 12 refs., 2 tabs., 11 figs.

  16. Intelligent optimization design of PID controller for integrating processes%积分过程的PID控制器智能优化设计

    Institute of Scientific and Technical Information of China (English)

    张建明; 王树青

    2004-01-01

    针对积分时滞过程,采用微粒群优化(PSO)算法对比例-积分-微分(PID)控制器的参数进行优化设计.通过将PID控制器的参数设置为群体微粒在参数空间中的位置,模拟群体智能和动物觅食的动态行为来对PID参数寻优,使代表PID控制器参数的微粒逐渐向最优区域移动,获得最佳的PID参数.在优化过程中采用了偏差平方积分(ISE)的优化指标.实例仿真结果表明,基于微粒群算法优化得到的PID控制器不仅响应速度快、超调量小、抗干扰能力强,而且对过程时滞的变化具有较强的鲁棒性.

  17. 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.

  18. PID self tuning control based on Mamdani fuzzy logic control for quadrotor stabilization

    International Nuclear Information System (INIS)

    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

  19. Design of temperature control system for burn-avoiding infrared physiotherapy apparatus based on fuzzy PID%基于模糊PID的防烧伤红外理疗仪温控系统设计

    Institute of Scientific and Technical Information of China (English)

    李家平; 田学隆; 李一言

    2012-01-01

    Infrared physiotherapy apparatus have been applied broadly as an adjunctive therapy to treat diseases. Bums always happened on patients' irradiated parts due to the lack of controlling on radiation intensity and time during therapeutic time. Based on the characteristics of cryogenic burns of patients, a temperature controlling algorithm based on fuzzy PID is presented, and a temperature observing and controlling system for infrared physiotherapy apparatus is designed by using the MCU PIC16F877A. Experiment results show that this device can avoid burns of patients' irradiated parts effectively.%红外理疗仪在疾病的辅助治疗中已经得到了广泛的应用.在红外理疗过程中,对红外辐照强度和辐照时间控制不当,就会造成患者被照射部位发生烧伤.根据患者产生低温烧伤的特点,提出了一种基于模糊PID的温度控制方法,并设计了以PIC16F877A单片机为核心的红外理疗仪温度测控系统.实验表明:该装置能够有效地避免患者被照射部位发生烧伤.

  20. Liberia PIDS

    Data.gov (United States)

    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...

  1. Automatic Tuning Of Proportional-Integral-Derivative (Pid Controller Using Particle Swarm Optimization (Pso Algorithm

    Directory of Open Access Journals (Sweden)

    S. J. Bassi

    2011-10-01

    Full Text Available The proportional-integral-derivative (PID controllers are the most popular controllers used in industry because of their remarkable effectiveness, simplicity of implementation and broad applicability. However, manual tuning of these controllers is time consuming, tedious and generally lead to poor performance. This tuning which is application specific also deteriorates with time as a result of plant parameter changes. This paper presents an artificial intelligence (AI method of particle swarm optimization (PSO algorithm for tuning the optimal proportional-integral derivative (PID controller parameters for industrial processes. This approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency over the conventional methods. Ziegler- Nichols, tuning method was applied in the PID tuning and results were compared with the PSO-Based PID for optimum control. Simulation results are presented to show that the PSO-Based optimized PID controller is capable of providing an improved closed-loop performance over the Ziegler- Nichols tuned PID controller Parameters. Compared to the heuristic PID tuning method of Ziegler-Nichols, the proposed method was more efficient in improving the step response characteristics such as, reducing the steady-states error; rise time, settling time and maximum overshoot in speed control of DC motor.

  2. Fuzzy PID Control Method for Internet-based Tele-operation Manipulators System

    Directory of Open Access Journals (Sweden)

    Wei Gao

    2013-11-01

    Full Text Available Trajectory tracking control problem for internet-based tele-operation system is researched in this paper. The control structure of master and slave tele-operation manipulators adapts bilateral servo control architecture with force deviation feedback. The simulation model of three degrees of freedom (3-DOF manipulator is presented. In order to ensure the synchronization of positions of the master and slave manipulators, a fuzzy PID control method is proposed. This control algorithm is to adjust the three parameters of PID controller online by fuzzy control method. The contrast simulation experiments of PID and fuzzy PID control methods show that the proposed control method can effectively improve the force and position tracking performance and reduce time delay.

  3. Globally robust nonlinear PID controllers for robot manipulators with an uncertain Jacobian matrix

    Institute of Scientific and Technical Information of China (English)

    Chunqing HUANG; Songjiao SHI

    2004-01-01

    Based on a continuous piecewise-differentiable increasing functions vector, a class of robust nonlinear PID(RN-PID) controllers is proposed for setpoint control with uncertain Jacobian matrix. Globally asymptotic stability is guaranteed and only position and joint velocity measurements are required. And stability problem arising from integral action and integrator windup, are consequendy resolved. Furthermore, RN-PID controllers can be of effective alternative for anti-integrator-wind-up,the control performance would not be very bad in the presence of rough parameter tuning.

  4. IMC-PID design based on model matching approach and closed-loop shaping.

    Science.gov (United States)

    Jin, Qi B; Liu, Q

    2014-03-01

    Motivated by the limitations of the conventional internal model control (IMC), this communication addresses the design of IMC-based PID in terms of the robust performance of the control system. The IMC controller form is obtained by solving an H-infinity problem based on the model matching approach, and the parameters are determined by closed-loop shaping. The shaping of the closed-loop transfer function is considered both for the set-point tracking and for the load disturbance rejection. The design procedure is formulated as a multi-objective optimization problem which is solved by a specific optimization algorithm. A nice feature of this design method is that it permits a clear tradeoff between robustness and performance. Simulation examples show that the proposed method is effective and has a wide applicability.

  5. IMC-PID design based on model matching approach and closed-loop shaping.

    Science.gov (United States)

    Jin, Qi B; Liu, Q

    2014-03-01

    Motivated by the limitations of the conventional internal model control (IMC), this communication addresses the design of IMC-based PID in terms of the robust performance of the control system. The IMC controller form is obtained by solving an H-infinity problem based on the model matching approach, and the parameters are determined by closed-loop shaping. The shaping of the closed-loop transfer function is considered both for the set-point tracking and for the load disturbance rejection. The design procedure is formulated as a multi-objective optimization problem which is solved by a specific optimization algorithm. A nice feature of this design method is that it permits a clear tradeoff between robustness and performance. Simulation examples show that the proposed method is effective and has a wide applicability. PMID:24280534

  6. 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.

  7. 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....

  8. A Method for Precision Closed-Loop Irrigation Using a Modified PID Control Algorithm

    Science.gov (United States)

    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.

  9. 基于单神经元-PID的液压变桨距控制系统的设计%The Design of Hydraulic Pitch-control System Based on Single Neuron Cell PID

    Institute of Scientific and Technical Information of China (English)

    2013-01-01

    An intelligent PID control calculation is developed using single neuron,combining the advantages such as adaptability, self-learning, simple structure, short weight learning time, small computational amount and strong ro-bustness. Through the experimental study, it indicated that the hydraulic pitch-control system based on single neuron cell PID can better meet the requirements of nonlinear dynamics of the system and parameter time-variation than the classical PID control system.%  提出的单神经元-PID液压变桨距控制方法,结合了单神经元自适应性,自学习,结构简单,权值学习时间短,计算量小,鲁棒性强等优点,并通过实验,对该控制方法进行了验证,证明了其相比常规PID控制的优越性,能更好地满足风力变桨距系统的非线性,参数时变性的要求。

  10. GA-based PID control of the plate width in hot-plate mills

    Science.gov (United States)

    Kim, Byungman; Lee, Dae Y.; Cho, Hyungsuck

    1999-11-01

    In hot plate mills the slabs from incoming reheat furnace are reduced to the desired width and thickness, being rolled out with considerable accuracy. The process of changing the plate width is controlled by a pair of edge rolls, which is called edger. The objectives of this edging process are to meet tight width tolerances of plates and to reduce the yield loss caused by trimming when irregular width is formed at the plate edge. There are several factors that result in complexity and uncertainty in width control. These include inaccurate edger set-up model, degradation of various mill equipment, variation of operation conditions, environments and variation of the dimension of incoming cast slabs. In this paper, a genetic algorithm-based PID control is proposed to ensure the control of the desired width at the exit of the mill. The approach adopted here is essentially optimization of the PID controller gains in order to minimize the error between the desired and actual slab width. Since the design parameters associated with genetic algorithm affect convergence performance, the effects of these parameters are investigated in detail. In addition, the control performance is also evaluated for various process parameters such as initial width of the incoming slab and temperature of the slab. Based on the result obtained from a series of simulations, the proposed control method is found to yield satisfactory performance for various process conditions.

  11. Hardware Implementation of Evolutionary Algorithm Assisted Digital PID Controllers for DC-DC Converters

    Directory of Open Access Journals (Sweden)

    S.Augustilindiya

    2013-08-01

    Full Text Available Tuning PID controller parameters using Evolutionary algorithm for an asynchronous Buck converter is presented in this paper. PID controller is one of the solutions for controlling a Buck converter during transient conditions. There are straight forward ways for calculating the parameters for the PID controller in the literature and evolutionary algorithm based approach with a proper fitnessfunction gives superior performance when compared to other methods. Ziegler Nicholas method, Hurwitz polynomial method and Genetic Algorithm based method are compared. It is found that Genetic Algorithm based method yields better result. The hardware implementation of Genetic Algorithm assisted PID controller with low cost is desired and such an implementation is taken in this paper. A low cost microcontroller with built-in PWM modules is implemented and the performance is compared with simulations.

  12. The Self-Adaptive Fuzzy PID Controller in Actuator Simulated Loading System

    Directory of Open Access Journals (Sweden)

    Chuanhui Zhang

    2013-05-01

    Full Text Available This paper analyzes the structure principle of the actuator simulated loading system with variable stiffness, and establishes the simplified model. What’s more, it also does a research on the application of the self-adaptive tuning of fuzzy PID(Proportion Integration Differentiation in actuator simulated loading system with variable stiffness. Because the loading system is connected with the steering system by a spring rod, there must be strong coupling. Besides, there are also the parametric variations accompanying with the variations of the stiffness. Based on compensation from the feed-forward control on the disturbance brought by the motion of steering engine, the system performance can be improved by using fuzzy adaptive adjusting PID control to make up the changes of system parameter caused by the changes of the stiffness. By combining the fuzzy control with traditional PID control, fuzzy adaptive PID control is able to choose the parameters more properly.

  13. PLC Based Adaptive PID Control of Non Linear Liquid Tank System using Online Estimation of Linear Parameters by Difference Equations

    Directory of Open Access Journals (Sweden)

    Kesavan.E

    2013-04-01

    Full Text Available This paper suggests an idea to design an adaptive PID controller for Non-linear liquid tank System and is implemented in PLC. Online estimation of linear parameters (Time constant and Gain brings an exact model of the process to take perfect control action. Based on these estimated values, the controller parameters will be well tuned by internal model control. Internal model control is an unremarkably used technique and provides well tuned controller in order to have a good controlling process. PLC with its ability to have both continues control for PID Control and digital control for fault diagnosis which ascertains faults in the system and provides alerts about the status of the entire process.

  14. A numerical model including PID control of a multizone crystal growth furnace

    Science.gov (United States)

    Panzarella, Charles H.; Kassemi, Mohammad

    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.

  15. 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.

  16. Design of Fuzzy Controllers

    DEFF Research Database (Denmark)

    Jantzen, Jan

    1998-01-01

    Design of a fuzzy controller requires more design decisions than usual, for example regarding rule base, inference engine, defuzzification, and data pre- and post processing. This tutorial paper identifies and describes the design choices related to single-loop fuzzy control, based on an...... international standard which is underway. The paper contains also a design approach, which uses a PID controller as a starting point. A design engineer can view the paper as an introduction to fuzzy controller design....

  17. Pengembangan Bioelectrical Impedance Sebagai Control Commands Pengaturan Kecepatan Gerak Kursi Roda Dengan Metoda PID Controller

    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.

  18. The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller

    Institute of Scientific and Technical Information of China (English)

    Liu Yu(刘宇); Sun Lining; Du Zhijiang

    2004-01-01

    A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain degree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and friction, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7-DOF redundant arm's self-motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and possesses preferable merits.

  19. PID feedback controller used as a tactical asset allocation technique: The G.A.M. model

    Science.gov (United States)

    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.

  20. Comparison between Conventional and Fuzzy Logic PID Controllers for Controlling DC Motors

    Directory of Open Access Journals (Sweden)

    Essam Natsheh

    2010-09-01

    Full Text Available Fuzzy logic and proportional-integral-derivative (PID controllers are compared for use in direct current (DC motors positioning system. A simulation study of the PID position controller for the armature-controlled with fixed field and field controlled with fixed armature current DC motors is performed. Fuzzy rules and the inferencing mechanism of the fuzzy logic controller (FLC are evaluated by using conventional rule-lookup tables that encode the control knowledge in a rules form. The performance assessment of the studied position controllers is based on transient response and error integral criteria. The results obtained from the FLC are not only superior in the rise time, speed fluctuations, and percent overshoot but also much better in the controller output signal structure, which is much remarkable in terms of the hardware implementation.

  1. Event driven intelligent PID controllers with applications to motion control

    OpenAIRE

    Jing WANG; Mounier, Hugues; Cela, Arben; Niculescu, Silviu-Iulian

    2011-01-01

    International audience; A novel type of reduced complexity controller is proposed. It is the combination of model free control and event triggered control. The robustness of model free control, especially for badly known dynamics, is added to the event based scheme. The performances of the proposed method are illustrated in two motion controls, vehicular longitudinal control and quadrotor control. Comparisons with existing control schemes are also proposed.

  2. Two modified discrete PID-based sliding mode controllers for piezoelectric actuators

    Science.gov (United States)

    Cao, Y.; Chen, X. B.

    2014-01-01

    Hysteresis is a nonlinear effect that can result in the degraded performance of piezoelectric actuators (PEAs). To counteract the effect, several control methods have been developed and reported in the literature. One promising method for compensation is the use of a proportional-integral-derivative (PID)-based sliding mode control (SMC), in which the PEA hysteresis is treated as an unknown disturbance to the PEA input. If the hysteresis can be modelled or partially modelled, the integration of the hysteresis models into the control schemes may lead to further improved performance. On this philosophy, this paper presents the development of two modified discrete PID-based sliding mode controllers (PID-SMCs) for the PEAs, namely an inversion-based PID-SMC and a disturbance-observer (DOB)-based PID-SMC, in which the PEA hysteresis is predicted or partially predicted through the use of existing models for the PEA hysteresis. Experiments were performed to verify the effectiveness of the proposed control schemes. The results were compared to those of the nominal PID-SMC. By employing the inversion hysteresis and the DOB, the PEA performance was greatly improved.

  3. Buck型DC-DC变换器中数字预测模糊PID控制器的设计与实现%Design and implement of digital fuzzy PID controller with prediction algorithm for Buck DC-DC converter

    Institute of Scientific and Technical Information of China (English)

    孙大鹰; 徐申; 孙伟锋; 陆生礼

    2014-01-01

    为了提高数字DC-DC变换器的瞬态响应性能,设计了一种基于数字预测控制方法的模糊PID控制器。该控制器根据Buck型DC-DC变换器的电路结构,准确预测单个开关周期或多个开关周期后的负载电压和电感电流,以克服环路时延对系统瞬态响应的影响;同时,在基本PID控制基础上引入模糊控制,实时在线调整PID控制参数,以克服变换器的非线性特性对瞬态能力的影响。所设计数字控制器经FPGA验证,结果表明,与基本PID控制相比,所设计数字预测模糊PID控制器能有效提高变换器的瞬态响应能力,变换器的瞬态响应时间缩短1/3,电压超调量小于5%。%To improve the transient response of digital DC-DC converter,a digital fuzzy proportion-al-integral-derivative (PID)controller with a prediction algorithm is proposed.In the digital control-ler,the output voltage and inductance current after one cycle or multiple cycles are predicted accu-rately based on the circuit structure of Buck DC-DC converter,which overcomes the influence of loop time delay on the transient response.Meanwhile,fuzzy control is introduced in the basic PID control to overcome the influence of the nonlinear characteristics of converter on the transient re-sponse through the real-time online regulation of PID control parameters.The proposed digital con-troller is implemented by the field programmable gate array (FPGA ).The results of verification show that the proposed controller can effectively improve the transient response of converter com-pared with basic PID control.The transient response time of converter can decrease by one third and the voltage overshoot is less than 5%.

  4. Design of the Control System Based on Fuzzy-PID for Strong Brine Level%基于模糊PID的浓盐水液位控制器的设计

    Institute of Scientific and Technical Information of China (English)

    孙静

    2015-01-01

    Taking into account of the characteristics of seawater desalination control sys-tem, a new Fuzzy-PID controller combining intelligent control with traditional control was in-troduced to solve the problem of slow response speed and large overshoot occurring during the actual control process of strong brine level by existing PID control system. The new sys-tem has also improved the stability and control accuracy of the whole desalination system.%结合海水淡化控制系统的控制特点,引入智能控制结合传统控制组成新型模糊PID控制器,来解决现有PID控制系统在实际控制浓盐水液位过程中出现的响应速度慢、超调量大等问题,同时提高了整个海水淡化系统的稳定性和控制精度。

  5. MATTER-ELEMENT MODELING OF PARALLEL STRUCTURE AND APPLICATION ABOUT EXTENSION PID CONTROL SYSTEM

    Institute of Scientific and Technical Information of China (English)

    Rongde LU; Zonghai CHEN

    2006-01-01

    This article describes in detail a new method via the extension predictable algorithm of the matter-element model of parallel structure tuning the parameters of the extension PID controller. In comparison with fuzzy and extension PID controllers, the proposed extension PID predictable controller shows higher control gains when system states are away from equilibrium, and retains a lower profile of control signals at the same time. Consequently, better control performance is achieved. Through the proposed tuning formula, the weighting factors of an extension-logic predictable controller can be systematically selected according to the control plant. An experimental example through industrial field data and site engineers' experience demonstrates the superior performance of the proposed controller over the fuzzy controller.

  6. Vector Control Algorithm for Electric Vehicle AC Induction Motor Based on Improved Variable Gain PID Controller

    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.

  7. Design for Two-degree-of-freedom PID Regulator Based on Improved Generalized Extremal Optimization Algorithm

    Institute of Scientific and Technical Information of China (English)

    HUO Hai-bo; ZHU Xin-jian; CAO Guang-yi

    2007-01-01

    A kind of new design method for two-degree-of-freedom (2DOF) PID regulator was presented, in which, a new global search heuristic--improved generalized extremal optimization (GEO) algorithm is applied to the parameter optimization design of 2DOF PID regulator. The simulated results show that very good dynamic response performance of both command tracking and disturbance rejection characteristics can be achieved simultaneously. At the same time, the comparisons of simulation results with the improved GA, the basic GEO and the improved GEO were given. From the comparisons, it is shown that the improved GEO algorithm is competitive in performance with the GA and basic GEO and is an attractive tool to be used in the design of two-degree-of-freedom PID regulator.

  8. Fuzzy-PID control algorithm of a loop reactor for microbial corrosion testing

    Directory of Open Access Journals (Sweden)

    D. Rangel-Miranda

    2015-06-01

    Full Text Available The thermal control of loop reactor utilized to run hydrodynamic tests of microbical corrosion, where full control of the temperature is crucial, is presented. Since the accuracy of the temperature is critical along the pipe trajectory for the microbial culture, it must be controlled with an accuracy of ± 0.5°C, which is achieved by an implemented fuzzy-PID (Proportional Integral and Derivative control algorithm, capable to provide the accuracy at the temperature range required. The system counts with an especially-designed software to program the desired temperature. Several tests were carried out at different temperatures and water volumes to characterize the rising time and thermal inertia presented by the system. As a result, the performance and power consumption were notability improved.

  9. 啤酒发酵温度的参数自整定模糊 PID 控制%Parameter Self Tuning Fuzzy PID Control of Beer Fermentation Temperature

    Institute of Scientific and Technical Information of China (English)

    苗荣霞; 王彬

    2016-01-01

    为提高某啤酒厂发酵过程中温度控制的自动化水平以及降低温度稳态偏移量,采用参数自整定模糊 PID 控制方法,设计了一套基于可编程逻辑控制器的自动监控系统,实现了发酵温度的精确控制以及发酵过程中难以整定的温度参数的在线修改.仿真结果表明:啤酒发酵温度的参数自整定模糊 PID 控制使发酵温度稳态偏移量降低到±0.1℃,温度响应速度较传统 PID 控制方式提高了35%.%In order to improve the level of automation of a brewery in the temperature-controlled fermentation process and reduce the temperature steady offset,an automatic monitoring system based on PLC is designed with the parameter self-tuning fuzzy PID control method.The accurate control of the fermentation temperature and the on-line modification of the temperature parameters in the process of fermentation are realized.Simulation results show that beer fermentation temperature parameter self tuning fuzzy PID control reduces the steady-state offset of the fermentation temperature to ±0.1 ℃,and temperature response rate is increased by 35% compared with conventional PID control method.

  10. Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

    Science.gov (United States)

    Sharma, Richa; Gaur, Prerna; Mittal, A P

    2015-09-01

    The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. PMID:25896827

  11. Reinforcement Learning Adaptive PID Controller for an Under-actuated Robot Arm

    Directory of Open Access Journals (Sweden)

    Adel Akbarimajd

    2015-10-01

    Full Text Available Abstract: An adaptive PID controller is used to control of a two degrees of freedom under actuated manipulator. An actor-critic based reinforcement learning is employed for tuning of parameters of the adaptive PID controller. Reinforcement learning is an unsupervised scheme wherein no reference exists to which convergence of algorithm is anticipated. Thus, it is appropriate for real time applications. Controller structure and learning equations as well as update rules are provided. Simulations are performed in SIMULINK and performance of the controller is compared with NARMA-L2 controller. The results verified good performance of the controller in tracking and disturbance rejection tests.

  12. Pid Plus Fuzzy Logic Controller Based Electronic Load Controller For Self Exited Induction Generator.

    OpenAIRE

    S.Swathi,; V. Vijaya Kumar Nayak

    2014-01-01

    This paper deals with the electronic load controller for self exited induction generator using PID plus fuzzy logic controller. The self-excited induction generators (SEIGs) are considered to be well suited for generating electricity by means of conventional energy sources and for supplying electrical energy in remote and rural areas. Induction generators have many advantages such as cost, reduced maintenance, rugged, and simple construction, brushless rotor (squirrel cage). A...

  13. Design and experiments for controller of UEGO sensor based on robust PID algorithm%基于鲁棒PID算法的UEGO控制器的设计与实验

    Institute of Scientific and Technical Information of China (English)

    张媛媛; 徐科军; 黄云志; 陈佳臻; 滕勤; 谈建

    2011-01-01

    宽域废气氧(Universal Exhaust Gas Oxygen,UEGO)传感器可以在很宽的空燃比范围内提供有效的氧含量信号,它的结构特殊,必须配以控制器才能使用.利用鲁棒PID算法控制UEGO控制器中象电压的大小和方向,并将泵电压反馈作用在UEGO传感器上.检测UEGO传感器上的泵电流,并设计非线性校正环节对其进行校正,校正输出值即为过量空气系数(A).利用dSPACE实时仿真系统实现UEGO控制器,并在汽车化油器发动机台架上进行相关实验.实验数据表明,在λ值静态和动态变化时,UEGO控制器都具有良好的鲁棒性和运行性能,响应快速且精度良好.%Universal exhaust gas oxygen (UEGO) sensor can effectively provide the information of oxygen content in wide scope of air-fuel ratio. Due to its special structure, it cannot work normally without a controller. Therefore a robust PID algorithm was applied to the controller of UEGO sensor for controlling the value and direction of the pump cell voltage and exerting a feedback control action on the sensor. The pump cell current was detected and a nonlinear corrector for the pump cell current was designed, which results in an excess air factor(λ ). UEGO controller was implemented by means of dSPACE real time simulation system, and experiments were conducted on a carburetor engine. Experimental results show that the UEGO controller has strong robustness and good running performance. It can achieve quick response and precision measurement when λ changes in static and dynamic modes.

  14. Single Neuron PID Control of Aircraft Deicing Fluids Rapid Heating System

    Directory of Open Access Journals (Sweden)

    Bin Chen

    2013-02-01

    Full Text Available Aircraft deicing fluids rapid heating system is widely used in aircraft ground deicing to ensure that the operation of flights can be safe and efficient. Aiming at the temperature turbulence problem of aircraft deicing system, this paper presents the single neuron PID control strategy which combine the advantage of conventional PID control with artificial neuron control. The aircraft deicing fluids rapid heating system and the scheme and working principle of the system is introduced. Simulation is executed on the basis of the mathematical model of aircraft deicing fluids rapid heating system, which is built in this paper, according to a number of data collected by experiments which are operated on the experimental platform of deicing fluids rapid heating system. The simulation results show that the single neuron PID control strategy perform effectively on the temperature turbulence problem of aircraft deicing fluids rapid heating system. Experiments are conducted to vertify the single neuron PID control strategy, the results of which show that the single neuron PID control strategy can achieve the request in practical application of the aircraft deicing fluids rapid heating system.

  15. 桥式起重机PSO-PID防摆控制器的设计%Design of an PSO-PID Anti-sway Controller for Overhead Crane

    Institute of Scientific and Technical Information of China (English)

    杜文正; 谢政; 童国林

    2013-01-01

    The two-dimension action mathematical model of overhead crane was built.An anti-swing control method was presented for overhead crane via PID controller,in which the PSO algorithm was used to optimize the PID parameters.The MATLAB/Simulink simulation results show that the crane trolley can be positioned accurately,and the swing of hanging weight system can be effectively restrained,which prove this method is effective.%以桥式起重机吊重防摆控制为研究对象,建立了吊重系统二维运动的数学模型,利用PSO算法优化PID参数,设计了基于粒子群算法优化的PID防摆控制器.MATLAB/Simulink仿真结果表明:采用PID参数被PSO算法优化的控制器后,起重机小车实现了无超调、无静差的快速定位,同时吊重系统摆动得到了快速有效的抑制,证明了该方法的有效性.

  16. Improved PSO tuned Classical Controllers (PID and SMC for Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Neha Kapoor

    2015-01-01

    Full Text Available Due to simplicity and robustness, classical PID and SMC have been still widely used in practical applications. Performance of these controllers (PID and SMC depends upon the value of some of the constant controller parameters. To avoid the most commonly used tedious trial and error method, this paper proposes an improved PSO based method for getting the optimized value of these parameters. For validation purpose these improved PSO tuned Proportional Integral Derivative (PID and Sliding Mode (SMC classical controllers have been applied for the motion control problem of the robotic manipulator. The chattering problem of SMC has been handled by using pseudo sliding function. Further results have been analyzed by comparing them with the basic conventional controllers. Results and conclusions are based on simulation results.

  17. Pid Plus Fuzzy Logic Controller Based Electronic Load Controller For Self Exited Induction Generator.

    Directory of Open Access Journals (Sweden)

    S.Swathi,

    2014-01-01

    Full Text Available This paper deals with the electronic load controller for self exited induction generator using PID plus fuzzy logic controller. The self-excited induction generators (SEIGs are considered to be well suited for generating electricity by means of conventional energy sources and for supplying electrical energy in remote and rural areas. Induction generators have many advantages such as cost, reduced maintenance, rugged, and simple construction, brushless rotor (squirrel cage. A three phase induction generator can be operated on a delta connection for supplying single phase loads. The main disadvantage of SEIG has is that it poor voltage regulation, and its value depends on the prime mover speed, capacitance, load current and power factor of the load. The electronic load controller (ELC can be used for maintaining constant voltage and frequency of SEIG with variable consumer load driven by constant prime mover. This paper presents the simulation design and implementation of ELC using fuzzy logic method for an SEIG feeding single-phase load. The ELC consist of a rectifier, IGBT as a chopper switch, PI controller, voltage sensor, and resistive dump load in which power consumption was varied through the duty cycle of the chopper. However an ELC consist of electronics system, in general, has complex nonlinear model with parameter variation problem, and the control need to be very fast. The fuzzy logic based controller gives nonlinear control with fast response and virtually no overshoot. The simulation of ELC for self exited induction generator is carried out on MATLAB/SIMULINK. By this proposed ELC using FLC for SEIG we can maintain the constant voltage and frequency of SEIG with variable consumer load.

  18. Use of PID and Iterative Learning Controls on Improving Intra-Oral Hydraulic Loading System of Dental Implants

    Science.gov (United States)

    Huang, Yi-Cheng; Chan, Manuel; Hsin, Yi-Ping; Ko, Ching-Chang

    This study presents the control design and tests of an intra-oral hydraulic system for quantitatively loading of a dental implant. The computer-controlled system was developed and employed for better pressure error compensation by PID (proportional-integral-derivative) control and point-to-point iterative learning algorithm. In vitro experiments showed that implant loading is precisely controlled (error 3%) for 0.5Hz loading without air inclusion, and reasonably performed (errorvivo animal studies for better understanding of how bone responds to implant loading. Quantitative information derived from this biomechanical model will add to improved designs of dental implants.

  19. Application of single neuron adaptive PID controller during the process of timber drying

    Institute of Scientific and Technical Information of China (English)

    ZHANG Dong-yan; LIU Ya-qiu; CAO Jun

    2003-01-01

    The paper presents a method of using single neuron adaptive PID control for adjusting system or servo system to implement timber drying process control, which combines the thought of parameter adaptive PID control and the character of neural network on exactly describing nonlinear and uncertainty dynamic process organically. The method implements functions of adaptive and self-learning by adjusting weighting parameters. Adaptive neural network can make some output trail given hoping value to decouple in static state. The simulation result indicates the validity, veracity and robustness of the method used in the timber drying process

  20. Realization of nonlinear PID with feed-forward controller for 3-DOF flight simulator and hardware-in-the-loop simulation

    Institute of Scientific and Technical Information of China (English)

    Duan Haibin; Wang Daobo; Yu Xiufen

    2008-01-01

    As friction, intrinsic steady-state nonlinearity poses a challenging dilemma to the control system of 3-DOF (three degree of freedom) flight simulator, a novel hybrid control strategy of nonlinear PID (proportional-integral-derivative) with additional FFC (feed-forward controller) is proposed, and the hardware-in-the-loop simu-lation results are also given. Based on the description of 3-DOF flight simulator, a novel nonlinear PID theory is well introduced. Then a nonlinear PID controller with additional FFC is designed. Subsequently, the loop structure of 3-DOF flight simulator is also designed. Finally, a series of hardware-in-the-loop simulation experiments are undertaken to verify the feasibility and effectiveness of the proposed nonlinear FID controller with additional FFC for 3-DOF flight simulator.

  1. Energetically efficient proportional-integral-differential (PID) control of wake vortices behind a circular cylinder

    Science.gov (United States)

    Das, Pramode K.; Mathew, Sam; Shaiju, A. J.; Patnaik, B. S. V.

    2016-02-01

    The control of vortex shedding behind a circular cylinder is a precursor to a wide range of external shear flow problems in engineering, in particular the flow-induced vibrations. In the present study, numerical simulation of an energetically efficient active flow control strategy is proposed, for the control of wake vortices behind a circular cylinder at a low Reynolds number of 100. The fluid is assumed to be incompressible and Newtonian with negligible variation in properties. Reflectionally symmetric controllers are designed such that, they are located on a small sector of the cylinder over which, tangential sliding mode control is imparted. In the field of modern controls, proportional (P), integral (I) and differential (D) control strategies and their numerous combinations are extremely popular in industrial practice. To impart suitable control actuation, the vertically varying lift force on the circular cylinder, is synthesised for the construction of an error term. Four different types of controllers considered in the present study are, P, I, PI and PID. These controllers are evaluated for their energetic efficiency and performance. A linear quadratic optimal control problem is formulated, to minimise the cost functional. By performing detailed simulations, it was observed that, the system is energetically efficient, even when the twin eddies are still persisting behind the circular cylinder. To assess the adaptability of the controllers, the actuators were switched on and off to study their dynamic response.

  2. Study of Multimedia Streams Dynamic Rate Control Based on Fuzzy Adaptive PID

    Institute of Scientific and Technical Information of China (English)

    SUN Yan-fei; ZHANG Shun-yi; SHI Jin; WANG Jiang-tao

    2005-01-01

    A Multimedia streams dynamic rate control algorithm based on Fuzzy adaptive PID (MFPID) has been proposed to implement multimedia streams' end sending rate on-line self-regulating and smoothing, and to track system resources in time, so that it can avoid system's regulating oscillation and guarantee system's stability. And, some work has been done to analyze adaptive session model of multimedia streams, to implement future available bandwidth estimation of IP network, to achieve PID parameters' on-line self-tuning by fuzzy controlling. Simulation validated the theoretical results of MFPID.

  3. Control of Intelligent Vehicle Based on Fractional Order PID%基于分数阶PID控制器的智能车控制

    Institute of Scientific and Technical Information of China (English)

    吴振宇; 赵亮; 冯林

    2011-01-01

    A fractional orer PID controller( FOPID)which is used for smart car path-tracking control under high speed condition was designed based on preview-follower theory. A fractional order PID controller has 2 more degrees of freedom than classical PID controller, so it is more flexible when designing. Improved Oustaloup algorithm was used to implement the fractional order controller. Parameters of the controller is tuned by IAE performance optimization with genetic algorithm to fit the smart car control system. Simulation resuits shows that, fractional order PID controller provided better dynamics than classical PID controller. Moreover, fractional PID controller showed stronger robustness, that meant the controller could keep stable when the model parameter changed much. A comparison between the digital implementation of fractional PID and classical PID showed the feasibility of fractional PID controller in practical process control.%针对智能车高速行驶下对目标轨迹的快速跟踪要求,结合预瞄跟随理论设计了分数阶PID控制器(FOPID).分数阶PID比传统PID控制器多两个参数自由度,所以在设计过程中有更大的灵活性.利用改进Oustaloup数字实现算法,框图化实现分数阶PID控制器,通过遗传算法对IAE性能指标寻优整定FOC参数并应用于智能车被控系统.Simulink仿真结果表明,对智能车系统,分数阶PID控制器具有比传统PID控制器更好的动态性能.并且,分数阶PID控制器具有更强的鲁棒性,当模型参数发生变化时,能够更好地保证系统稳定性.通过对比传统PID控制器和分数阶PID控制器的数字实现,证明了分数阶PID控制器在过程控制中的可操作性.

  4. Tunning PID controller using particle swarm optimization algorithm on automatic voltage regulator system

    Science.gov (United States)

    Aranza, M. F.; Kustija, J.; Trisno, B.; Hakim, D. L.

    2016-04-01

    PID Controller (Proportional Integral Derivative) was invented since 1910, but till today still is used in industries, even though there are many kind of modern controllers like fuzz controller and neural network controller are being developed. Performance of PID controller is depend on on Proportional Gain (Kp), Integral Gain (Ki) and Derivative Gain (Kd). These gains can be got by using method Ziegler-Nichols (ZN), gain-phase margin, Root Locus, Minimum Variance dan Gain Scheduling however these methods are not optimal to control systems that nonlinear and have high-orde, in addition, some methods relative hard. To solve those obstacles, particle swarm optimization (PSO) algorithm is proposed to get optimal Kp, Ki and Kd. PSO is proposed because PSO has convergent result and not require many iterations. On this research, PID controller is applied on AVR (Automatic Voltage Regulator). Based on result of analyzing transient, stability Root Locus and frequency response, performance of PID controller is better than Ziegler-Nichols.

  5. 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.

  6. Neural Network-Based Self-Tuning PID Control for Underwater Vehicles.

    Science.gov (United States)

    Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando

    2016-01-01

    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. PMID:27608018

  7. 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.

  8. MODELLING AND CONTROL OF CONTINUOUS STIRRED TANK REACTOR WITH PID CONTROLLER

    Directory of Open Access Journals (Sweden)

    Artur Wodołażski

    2016-09-01

    Full Text Available This paper presents a model of dynamics control for continuous stirred tank reactor (CSTR in methanol synthesis in a three-phase system. The reactor simulation was carried out for steady and transient state. Efficiency ratio to achieve maximum performance of the product per reactor unit volume was calculated. Reactor dynamics simulation in closed loop allowed to received data for tuning PID controller (proportional-integral-derivative. The results of the regulation process allow to receive data for optimum reactor production capacity, along with local hot spots eliminations or temperature runaway.

  9. Setpoint Weighted PID Controller for the Electromechanical Actuator in Spacecraft

    OpenAIRE

    R. Sumathi; M Usha

    2014-01-01

    An intelligent control system for the rocket engine during electromechanical stage is designed and scrutinized in this paper. The rocket is the only vehicle that lift-offs the spacecraft in the space. But, the motion of the rocket can be influenced by internal and external disturbances. Furthermore, the rocket is a multi-input and multi-output nonlinear system whose dynamics are unstable and poorly understood. So the orientation of the spacecraft in precise position is so critical. Hence, att...

  10. Self-adaptive PID controller of microwave drying rotary device tuning on-line by genetic algorithms

    Institute of Scientific and Technical Information of China (English)

    杨彪; 梁贵安; 彭金辉; 郭胜惠; 李玮; 张世敏; 李英伟; 白松

    2013-01-01

    The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and with multivariable nonlinear interaction of microwave and materials. The conventional PID control strategy incorporated with optimization GA was put forward to maintain the optimum drying temperature in order to keep the moisture content below 1%, whose adaptation ability included the cost function of optimization GA according to the output change. Simulations on five different industrial process models and practical temperature process control system for selenium-enriched slag drying intensively by using IMDRDWM were carried out systematically, indicating the reliability and effectiveness of control design. The parameters of proposed control design are all on-line implemented without iterative predictive calculations, and the closed-loop system stability is guaranteed, which makes the developed scheme simpler in its synthesis and application, providing the practical guidelines for the control implementation and the parameter design.

  11. Supervisory System and Multivariable Control Applying Weighted Fuzzy-PID Logic in an Alcoholic Fermentation Process

    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.

  12. Optimization of PID Controller for Brushless DC Motor by using Bio-inspired Algorithms

    Directory of Open Access Journals (Sweden)

    Sanjay Kr. Singh

    2014-02-01

    Full Text Available This study presents the use and comparison of various bio-inspired algorithms for optimizing the response of a PID controller for a Brushless DC Motor in contrast to the conventional methods of tuning. For the optimization of the PID controllers Genetic Algorithm, Multi-objective Genetic Algorithm and Simulated Annealing have been used. PID controller tuning with soft-computing algorithms comprises of obtaining the best possible outcome for the three PID parameters for improving the steady state characteristics and performance indices like overshoot percentage, rise time and settling time. For the calculation and simulation of the results the Brushless DC Motor model, Maxon EC 45 flat ф 45 mm with Hall Sensors Motor has been used. The results obtained the optimization using Genetic Algorithms, Multi-objective Genetic Algorithm and Simulated Annealing is compared with the ones derived from the Ziegler-Nichols method and the MATLAB SISO Tool. And it is observed that comparatively better results are obtained by optimization using Simulated Annealing offering better steady state response.

  13. Fuzzy-PID control algorithm of a loop reactor for microbial corrosion testing

    OpenAIRE

    D. Rangel-Miranda; D. Alaniz-Lumbreras; Victor Castano

    2015-01-01

    The thermal control of loop reactor utilized to run hydrodynamic tests of microbical corrosion, where full control of the temperature is crucial, is presented. Since the accuracy of the temperature is critical along the pipe trajectory for the microbial culture, it must be controlled with an accuracy of ± 0.5°C, which is achieved by an implemented fuzzy-PID (Proportional Integral and Derivative) control algorithm, capable to provide the accuracy at the temperature range required. The system c...

  14. A Fuzzy Predictive PID Control Scheme for the Excitation System of Synchronous Generator

    Directory of Open Access Journals (Sweden)

    Zheng Yang

    2016-01-01

    Full Text Available With the rapid development of the process control theories in the electrical engineering, new control strategies which lead to better performances are urgently demanded for the excitation control of synchronous generators. For the sake of improving the convergence rate of the terminal voltage and covering the weakness in the adaptability of operational conditions of conventional controls in disturbances, a fuzzy predictive PID excitation control method is proposed in this paper. This control scheme can be divided into three steps in every sample interval: PID parameter adaptation, rolling state prediction and real-time control movement integration. Numerical simulations have been conducted under different operational conditions with the proposed method as well as the conventional ones, respectively. Experimental comparisons indicate the superiority in voltage regulation performance of the proposed method.

  15. Multi-objective optimization based on Genetic Algorithm for PID controller tuning

    Institute of Scientific and Technical Information of China (English)

    WANG Guo-liang; YAN Wei-wu; SHAO Hui-he

    2009-01-01

    To get the satisfying performance of a PID controller, this paper presents a novel Pareto - based multi-objective genetic algorithm ( MOGA), which can be used to find the appropriate setting of the PID controller by analyzing the pareto optimal surfaces. Rated settings of the controller by two criteria, the error between output and reference signals and control moves, are listed on the pareto surface. Appropriate setting can be chosen under a balance between two criteria for different control purposes. A controller tuning problem for a plant with high order and time delay is chosen as an example. Simulation results show that the method of MOGA is more efficient compared with traditional tuning methods.

  16. 数字PID控制器的FPGA实现与仿真%FPGA Implementation and Simulation of Digital PID Controller

    Institute of Scientific and Technical Information of China (English)

    许国宏; 宋征; 王耀磊

    2015-01-01

    根据增量式PID控制器的工作原理,设计了一种基于FPGA的数字PID控制器,采用FPGA并行结构,使用自顶向下的设计方法完成了控制器的VHDL分层设计,最终实现了对控制量的精确控制。经过仿真测试表明,该设计方案有效可行,并且具有结构简单、性能可靠、控制效果良好及实用性强等优点。%According to the working principle of incremental PID controller,a kind of Digital PID Controller based on FPGA is de⁃signed,and using the FPGA parallel structure,The top-down design methodology is used to complete the controller VHDL layered design,Finally realized the precise control of control quantity.Through simulation tests show that the design scheme is effective and feasible,and has the advantages of simple structure、reliable performance、good control effect and strong practicability etc.

  17. Simulation of Networked Control System based on Smith Compensator and Single Neuron Incomplete Differential Forward PID

    Directory of Open Access Journals (Sweden)

    Haitao Zhang

    2011-12-01

    Full Text Available In the networked control system with random time delay in forward and feedback channels, a kind of controller based on Smith compensator and signal neuron incomplete differential forward PID is presented. First, using root locus method and simulink simulation software, the influences of network’s time delay on the system stability and dynamic performance are analyzed. Then, combined with incomplete differential forward PID control algorithm, Smith compensation model is established. Compared with existing Smith compensator, the proposed control model is easy to be implemented, and can also get better control performance in the case of miss-matching compensator model. Finally, the simulation research on a DC motor is done, and the simulation results show the effectiveness of the proposed method.

  18. Simulation of Using PID Controller to Control the Slug of Platform Separator%模拟 PID 控制器对平台分离器段塞的控制

    Institute of Scientific and Technical Information of China (English)

    倪玲英; 何生兵

    2015-01-01

    考虑到混相输送极易在管道的立管段形成严重段塞流,影响管道和下游油气水处理设备的正常工作,造成巨大的经济损失,利用OLGA多相流瞬态模拟软件对海底管道进行段塞流预测,并通过OLGA软件模拟PID控制器对严重段塞流的自动控制。结果表明,利用PID控制器能够有效进行严重段塞流的控制,推荐在管道设计时应用OLGA软件先进行段塞流的预测,再通过OLGA软件进行PID控制系统的参数设计。%Considering that the fatal drawback of mixing transportation is its tendency to form severe slugs, which seriously obstructs the normal operations of pipeline and its downstream processing equipment, it may result in great economy losses. Based on OLGA ( the transient multiphase flow simulator) , the severe slugs of a sub-sea pipeline is predicted.With the help of OLGA, the simulation of the controlling of severe slugs using PID controller is performed.The result shows that PID controller can effectively control severe slugs, and it is highly recommended to use OLGA to predict severe slugs and design the parameters of PID controller during pipeline design stage.

  19. An Attitude Control of Flexible Spacecraft Using Fuzzy-PID Controller

    Science.gov (United States)

    Park, Jong-Oh; Im, Young-Do

    This primary objective of this study is to demonstrate simulation and ground-based experiment for the attitude control of flexible spacecraft. A typical spacecraft structure consists of the rigid body and flexible appendages which are large flexible solar panels, parabolic antennas built from light materials in order to reduce their weight. Therefore the attitude control has a big problem because these appendages induce structural vibration under the excitation of external forces. A single-axis rotational simulator with a flexible arm is constructed with on-off air thrusters and reaction wheel as actuation. The simulator is also equipped with payload pointing capability by simultaneous thruster and DC servo motor actuation. The experiment of flexible spacecraft attitude control is performed using only the reaction wheel. Using the reaction wheel the performance of the fuzzy-PID controller is illustrated by simulation and experimental results for a single-axis rotational simulator.

  20. Brushless DC Motor Self-Adaption Fuzzy PID Control System%无刷直流电机自适应模糊PID控制系统

    Institute of Scientific and Technical Information of China (English)

    王国玲; 李振宇; 范自道

    2013-01-01

      针对无刷直流电机传统PID控制存在精度低、抗干扰能力差及模糊控制稳态精度不高等问题,研究了一种自适应模糊PID控制方法。论文分析了直流无刷电机的工作原理,建立了直流无刷电机自适应模糊PID控制系统的计算机仿真数学模型,设计了系统速度环的模糊PID控制器,仿真结果表明,与传统PID控制相比,自适应模糊PID控制的BLDCM系统具有更高的稳定性和控制精度、更快的动态响应速度。%For the lower precision,bad anti-interference capability of traditional PID control and lower stable precision of fuzzy control for brushless DC motor,an adaptive fuzzy-PID control was deeply investigated in this paper. Working theory of brushless DC motor was analyzed,the simulated mathematical model of adaptive fuzzy-PID control for brushless DC motor was established,and the fuzzy-PID controller of speed regulator was designed. The results of simulation verified the better stability,the faster dynamic speed of adaptive fuzzy-PID control for brushless DC motor compared to traditional PID control.

  1. Chicken barn climate and hazardous volatile compounds control using simple linear regression and PID

    Science.gov (United States)

    Abdullah, A. H.; Bakar, M. A. A.; Shukor, S. A. A.; Saad, F. S. A.; Kamis, M. S.; Mustafa, M. H.; Khalid, N. S.

    2016-07-01

    The hazardous volatile compounds from chicken manure in chicken barn are potentially to be a health threat to the farm animals and workers. Ammonia (NH3) and hydrogen sulphide (H2S) produced in chicken barn are influenced by climate changes. The Electronic Nose (e-nose) is used for the barn's air, temperature and humidity data sampling. Simple Linear Regression is used to identify the correlation between temperature-humidity, humidity-ammonia and ammonia-hydrogen sulphide. MATLAB Simulink software was used for the sample data analysis using PID controller. Results shows that the performance of PID controller using the Ziegler-Nichols technique can improve the system controller to control climate in chicken barn.

  2. An optimal PID controller via LQR for standard second order plus time delay systems.

    Science.gov (United States)

    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.

  3. 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.

  4. The power stability of a fiber amplifier based on a multifunction card and PID control program

    Science.gov (United States)

    Zhang, Linjie; Yang, Wenguang; Zhang, Hao; Zhao, JianMing; Jia, Suotang

    2016-06-01

    The power stability of a fiber amplifier was significantly improved by means of simultaneously controlling the current of a fiber amplifier and the diffraction efficiency of an acousto-optical modulator. The real-time fluctuation of laser power was recorded by a multifunction card and processed by a proportional–integral–derivative (PID) control program. The feedback loop voltage was introduced to the fiber laser amplifier and acoustic-optic modulator through the analog output of the multifunction card. The control method based on a multifunction card and PID program has good scalability, flexibility and reliability for the complex system on the condition in which the frequency and power of the laser need to be precisely stabilized.

  5. 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.

  6. 一种自适应PID控制算法%AN ADAPTIVE PID CONTROL ALGORITHM

    Institute of Scientific and Technical Information of China (English)

    赵建华; 沈永良

    2001-01-01

    In this paper, by combining PID control algorithm with adaptive technology of modern control theory, we obtain an adaptive PID control algorithm and make computer simulation for various time varying parametric models. Results of the simulation prove effectiveness of the algorithm.%将现代控制理论的自适应技术与经典的PID控制算法相结合,推导出一种自适应PID控制算法,并在计算机上对不同对象及时变参数进行了数字仿真.结果表明这种自适应PID控制算法的有效性.

  7. Path Planning and Tracking for Vehicle Parallel Parking Based on Preview BP Neural Network PID Controller

    Institute of Scientific and Technical Information of China (English)

    季学武; 王健; 赵又群; 刘亚辉; 臧利国; 李波

    2015-01-01

    In order to diminish the impacts of external disturbance such as parking speed fluctuation and model un-certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based on pre-view back propagation (BP) neural network PID controller. The forward BP neural network can adjust the parameters of PID controller in real time. The preview time is optimized by considering path curvature, change in curvature and road boundaries. A fuzzy controller considering barriers and different road conditions is built to select the starting po-sition. In addition, a kind of path planning technology satisfying the requirement of obstacle avoidance is introduced. In order to solve the problem of discontinuous curvature, cubic B spline curve is used for curve fitting. The simulation results and real vehicle tests validate the effectiveness of the proposed path planning and tracking methods.

  8. An adaptive PID like controller using mix locally recurrent neural network for robotic manipulator with variable payload.

    Science.gov (United States)

    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. PMID:26920088

  9. An adaptive PID like controller using mix locally recurrent neural network for robotic manipulator with variable payload.

    Science.gov (United States)

    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.

  10. PID temperature controller in pig nursery: improvements in performance, thermal comfort, and electricity use.

    Science.gov (United States)

    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 electricity use to produce 1 kg of body weight (2.88 kWh kg(-1)), specific cost (0.75 R$ kg(-1)), weight gain (7.3 kg), daily weight gain (0.21 kg day(-1)), and feed conversion (1.71) than the system with thermostat (3.98 kWh kg(-1); 1.03 R$ kg(-1); 5.2 kg; 0.15 kg day(-1), and 2.62, respectively). The results indicate that the PID-controlled heating system is more efficient in electricity use and provides better conditions for thermal comfort and animal performance than heating with thermostat. PMID:26712531

  11. PID temperature controller in pig nursery: improvements in performance, thermal comfort, and electricity use

    Science.gov (United States)

    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 < 0.001) more efficient in terms of electricity use to produce 1 kg of body weight (2.88 kWh kg-1), specific cost (0.75 R kg-1), weight gain (7.3 kg), daily weight gain (0.21 kg day-1), and feed conversion (1.71) than the system with thermostat (3.98 kWh kg-1; 1.03 R kg-1; 5.2 kg; 0.15 kg day-1, and 2.62, respectively). The results indicate that the PID-controlled heating system is more efficient in electricity use and provides better conditions for thermal comfort and animal performance than heating with thermostat.

  12. A PSO-PID quaternion model based trajectory control of a hexarotor UAV

    Science.gov (United States)

    Artale, Valeria; Milazzo, Cristina L. R.; Orlando, Calogero; Ricciardello, Angela

    2015-12-01

    A quaternion based trajectory controller for a prototype of an Unmanned Aerial Vehicle (UAV) is discussed in this paper. The dynamics of the UAV, a hexarotor in details, is described in terms of quaternion instead of the usual Euler angle parameterization. As UAV flight management concerns, the method here implemented consists of two main steps: trajectory and attitude control via Proportional-Integrative-Derivative (PID) and Proportional-Derivative (PD) technique respectively and the application of Particle Swarm Optimization (PSO) method in order to tune the PID and PD parameters. The optimization is the consequence of the minimization of a objective function related to the error with the respect to a proper trajectory. Numerical simulations support and validate the proposed method.

  13. A Novel Memristive Multilayer Feedforward Small-World Neural Network with Its Applications in PID Control

    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.

  14. CAMC和PID并行控制在数控伺服系统中的应用%Application of CAMC and PID Concurrent Control in CNC Servo System

    Institute of Scientific and Technical Information of China (English)

    赵鹏兵; 章磊

    2011-01-01

    According to the nonlinear and time-varying parameters characters of the CNC electro-hydraulic position servo system,a CAMC and PID concurrent control method was designed. The PID controller was used as the feedback control to ensure the stability and disturbance suppression. CAMC was used as the feed-forward compensation controller to ensure the control precision and response speed. The dynamic simulation of the position servo system was made in MATLAB. The simulation results show that the CAMC and PID concurrent control has fast response speed and good steady-state precision which performance is better than that of classic PID controller.%针对数控电液位置伺服系统的非线性、参数时变性等特点,设计一种基于CAMC和PID并行控制的方案.以PID为反馈控制来保证系统的稳定性且抑制扰动,以CAMC为前馈补偿控制器来确保系统的控制精度和响应速度.在MAT-LAB环境下对位置伺服系统进行动态仿真.仿真结果表明:基于CAMC和PID的并行控制响应速度快,稳态精度高,其控制性能远优于传统PID控制器.

  15. Realization and simulation of rocket servo system based on PID control--improved expert adaptive PID control%PID控制在火箭炮伺服系统中的仿真实现--改进的专家自适应PID控制

    Institute of Scientific and Technical Information of China (English)

    张原; 黄文静; 桑路路

    2013-01-01

    Given that the traditional PID control system can not give consideration to the static performance and dynamic perfor-mance, this paper presents a new practical design of PID control algorithm based on the analysis of both traditional PID control-ler and expert adaptive controller, which can be used in the field of servo rocket system. In addition, this paper studies how to de-sign the type of improved expert adaptive controller suitable for the controlled plant. The simulation of traditional PID control method and improved expert adaptive PID control method are implemented based on MATLAB/Simulink. Meanwhile, the simu-lation results explain that improved expert adaptive controller is an effective method to be used in the servo rocket system.%  针对传统PID(Proportional-Integral-Derivative)控制无法兼顾部分系统的静态性能和动态性能,结合专家PID控制原理,提出了一种改进的专家自适应PID控制器的设计方案,对某火箭炮伺服系统进行仿真跟踪。给出了伺服系统的分析设计过程,利用MATLAB/Simulink完成了改进的专家自适应PID控制器在某伺服系统中的仿真应用,得到了良好的跟踪特性图,说明了该方法的有效性。

  16. Temperature control of a steam generator by means of an hybrid system PID-RLC; Control de las temperaturas de un generador de vapor mediante un sistema hibrido PID-RLC

    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.

  17. Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop.

    Science.gov (United States)

    Tepljakov, Aleksei; Gonzalez, Emmanuel A; Petlenkov, Eduard; Belikov, Juri; Monje, Concepción A; Petráš, Ivo

    2016-01-01

    The problem of changing the dynamics of an existing DC motor control system without the need of making internal changes is considered in the paper. In particular, this paper presents a method for incorporating fractional-order dynamics in an existing DC motor control system with internal PI or PID controller, through the addition of an external controller into the system and by tapping its original input and output signals. Experimental results based on the control of a real test plant from MATLAB/Simulink environment are presented, indicating the validity of the proposed approach.

  18. 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.

  19. Intelligent vehicle steering control system based on fuzzy-PID%基于 Fuzzy-PID智能车舵机控制系统

    Institute of Scientific and Technical Information of China (English)

    张晓群

    2011-01-01

    为提高智能车舵机的响应速度,分析了智能车控制系统的特点以及应用常规模糊控制器进行控制的局限性,提出了模糊PID控制算法.推导出模糊PID控制器消除稳态误差的原理,并介绍了模糊PID控制器的设计方法.实验结果表明,模糊PID控制器既能消除稳态误差,又有很强的鲁棒性,对于具有非线性和迟滞性特点的智能车舵机控制系统具有良好的控制性能.%To increase response speed of the intelligent automobile, fuzzy-PID control algorithm is proposed by analyzing the characteristics of smart car and limitation of a conventional fuzzy controller. The principle how fuzzy-PID controller eliminates the steady-state error is deduced. The design method of the fuzzy-PID controller is introduced. Experiments showed that the fuzzy-PID controller can eliminate the steady-state error and has good robustness. It has good performance in smart car system and has the character of nonlinear and hysterics.

  20. 基于PLC的锅炉液位模糊自适应PID控制%Fuzzy Self-Adaptive PID Control of Boiler Liquid Level Based on PLC

    Institute of Scientific and Technical Information of China (English)

    郑文; 张运波

    2013-01-01

    以小型PLC锅炉液位控制为例,介绍了PLC实现锅炉液位模糊自适应PID控制的方法,并总结了PLC实现模糊自适应PID程序设计的关键技术。实验结果表明,无论是动态指标,还是静态指标,都比常规PID控制优越,为应用PLC实现复杂控制算法提供了程序设计方法。%Take the boiler’s liquid level control based on small PLC as an example, the realization method of boiler’s liquid level fuzzy self-adaptive PID control is introduced and the key technology of fuzzy self-adaptive PID program design by PLC is summarized. Through the experimental results, dynamic index and static index are superior to the normal PID. The method of program design is provided to realize the complex control algorithm based-on PLC.

  1. Control of Perceptual Image Quality Based on PID for Streaming Video

    Institute of Scientific and Technical Information of China (English)

    SONG Jian-xin

    2003-01-01

    Constant levels of perceptual quality of streaming video is what ideall users expect. In most cases, however, they receive time-varying levels of quality of video. In this paper, the author proposes a new control method of perceptual quality in variable bit rate video encoding for streaming video. The image quality calculation based on the perception of human visual systems is presented. Quantization properties of DCT coefficients are analyzed to control effectively. Quantization scale factors are ascertained based on the visual mask effect. A Proportional Integral Difference ( PID ) controller is used to control the image quality. Experimental results show that this method improves the perceptual quality uniformity of encoded video.

  2. Research on Parameter Self-adjusting PID Controller based on Fuzzy Rules%基于模糊规则参数自整定PID控制器的仿真研究

    Institute of Scientific and Technical Information of China (English)

    林辉

    2011-01-01

    针对常规PID控制器参数整定不易、适应性差、控制精度不理想的现状,提出了在动态过程中参数自整定的模糊PID控制系统.利用模糊理论在线对PID参数进行调整,构成参数自整定PID控制器.通过MATLAB/SIMULINK仿真,仿真结果表明,与经典的PID控制方式相比较,该控制方式在快速性、稳态性及准确性方面都有较大提高.%Aimed at the actuality problem of routine PID controller such as poor adaptability and low controlling precision. the adjustment of PID parameters in a dynamic process was designed to improve the adaptability and the control accuracy. The paper focused on the design of parameter auto-tuning PID controller based on fuzzy rules. on-line adjustment of PID parameter is carried on by using fuzzy theory to establish controller for PID parameter adjustment. The simulation is made by MATLAB/SIMULINK, the simulation results show that the control method is greatly improved in the aspects such as rapidity, stabilization and accuracy compared with classical PID controller.

  3. Performance Enhancement of a Dynamic System Using PID Controller Tuning Formulae

    Directory of Open Access Journals (Sweden)

    Jyotiprakash Patra

    2011-09-01

    Full Text Available The proportional integral derivative (PID controller is the most dominant form of automatic controller in industrial use today. With this technique, it is necessary to adjust the controller parameters according to the nature of the process. Thus, for effective control of a HVDC system, for example, specific values need to be chosen for the P, I and D parameters, which will be different for the values required to control, for example, an induction motor drive. This tailoring of controller to process is known as controller tuning. Controller tuning is easily and effectively performed using tuning rules (i.e. formulae for controller tuning, based on process information. Such tuning rules allow the easy set up of controllers to achieve optimum performance at commissioning. Importantly, they allow ease of re -commissioning if the characteristics of the process change. The paper communicates the results of recent work in the collation of industry-relevant PI and PID controller tuning rules, which may be applied to a variety of applications in power electronics, machines and drives.

  4. Evolutionary Tuning Method for PID Controller Parameters of a Cruise Control System Using Metamodeling

    Directory of Open Access Journals (Sweden)

    M. N. Ab Malek

    2009-01-01

    Full Text Available For long time the optimization of controller parameters uses the well-known classical method such as the Ziegler-Nichols and the Cohen-Coon tuning techniques. Despite its effectiveness, these off-line tuning techniques can be time consuming especially for a case of complex nonlinear system. This paper attempts to show a great deal on how Metamodeling techniques can be utilized to tune the PID controller parameters quickly. Note that the plant use in this study is the cruise control system with 2 different models, which are the linear model and the nonlinear model. The difference between both models is that the disturbances were taken into consideration for the nonlinear model, but in the linear model the disturbances were assumed as zero. The Radial Basis Function Neural Network Metamodel is able to prove that it can minimize the time in tuning process as it is able to give a good approximation to the optimum controller parameters in both models of this system.

  5. 稳定回路智能分区PID控制方案研究%Study on intelligent partitioning PID control scheme for stabilization loop

    Institute of Scientific and Technical Information of China (English)

    陈国栋; 贺文涛

    2014-01-01

    目前工程上普遍采用经典PID控制方法对稳定回路进行控制。但是,由于非线性因素的存在,实际产品往往高频去耦指标较差。以某型系统结构为研究对象,不基于模型的辨识,在模糊PID的基础上,提出并设计了一种智能分区PID控制方案。通过Simulink仿真验证,与传统PID控制方法相比,智能分区PID控制方案对稳定回路的动态特性有明显的改善,对齿隙等非线性因素有很好的抑制能力。%Currently,classical PID control appoach is used generally to control the stabilization loop. However,due to the nonlinear factors,the actual products often have poor decoupling index in high frequency. Taking a certain system architecture as the research object in this paper,an intelligent partitioning PID control scheme is proposed and designed according to fuzzy PID control theory. The result of Simulink simulation indicates that,in comparison with the traditional PID control method,the intelligent partitioning PID control scheme can improve the dynamic characteristics of stabilization loop more obviously,and has better ability to inhibit the nonlinear factors.

  6. Robust PID Design Based on Static H∞ Loop-Shaping Method for Steam Generator Water Level Control%基于静态H∞-回路成形方法的蒸汽发生器水位鲁棒PID设计

    Institute of Scientific and Technical Information of China (English)

    周世梁; 刘玉燕; 段锋

    2012-01-01

    The problem for control of steam generator water level is complex because its complicated shrink and parameters of its model vary with operation conditions. Static H∞loop shaping is used to design the robust PID controller for the steam generator. Simulation results show that the control efficiency of this scheme is better than that of the other three H∞loop shaping based methods, and the derived controller has good reference tracking capability, distribution rejection ability and acceptable control performance at different operation points.%核电厂蒸汽发生器(SG)水位存在“收缩”与“膨胀”的逆动力学效应、随运行功率而变化的动力学特性,对其水位控制系统在各种工况下的调节品质要求较高.本研究基于静态H∞-回路成形方法设计SG水位的鲁棒比例积分微分( PID)控制器.仿真结果证实该方法所设计的鲁棒PID控制器的有效性优于其他3种基于H∞-回路成形方法设计的控制器,所得的鲁棒PID控制器具有良好的给定值跟踪、抗干扰性能,并能在负荷变化的情况下保持较好的控制能力.

  7. UAV Controller Based on Adaptive Neuro-Fuzzy Inference System and PID

    Directory of Open Access Journals (Sweden)

    Ali Moltajaei Farid

    2013-01-01

    Full Text Available ANFIS is combining a neural network with a fuzzy system results in a hybrid neuro-fuzzy system, capable of reasoning and learning in an uncertain and imprecise environment. In this paper, an adaptive neuro-fuzzy inference system (ANFIS is employed to control an unmanned aircraft vehicle (UAV.  First, autopilots structure is defined, and then ANFIS controller is applied, to control UAVs lateral position. The results of ANFIS and PID lateral controllers are compared, where it shows the two controllers have similar results. ANFIS controller is capable to adaptation in nonlinear conditions, while PID has to be tuned to preserves proper control in some conditions. The simulation results generated by Matlab using Aerosim Aeronautical Simulation Block Set, which provides a complete set of tools for development of six degree-of-freedom. Nonlinear Aerosonde unmanned aerial vehicle model with ANFIS controller is simulated to verify the capability of the system. Moreover, the results are validated by FlightGear flight simulator.

  8. Intelligent Model Building and GPC-PID Based Temperature Curve Control Strategy for Metallurgical Industry

    Directory of Open Access Journals (Sweden)

    Shuanghong Li

    2016-01-01

    Full Text Available Laminar cooling process is a large-scale, nonlinear system, so the temperature control of such system is a difficult and complex problem. In this paper, a novel modeling method and a GPC-PID based control strategy for laminar cooling process are proposed to control the global temperature curve to produce high quality steel. First, based on the analysis of the cooling process of laminar flow, a new TS fuzzy model which possesses intelligence and self-learning ability is established to improve the temperature prediction accuracy. Second, the target temperature curve can be divided into several subgoals and each subgoal can be described by a CARIMA type of model. Then, by the decentralized predictive control method, GPC-PID based control strategy is introduced to guarantee the laminar cooling process to achieve subtargets, respectively; in that way the steel plate temperature will drop along the optimal temperature curve. Moreover, by employing the dSPACE control board into the process control system, the matrix process ability is added to the production line without large-scale reconstruction. Finally, the effectiveness and performance of the proposed modeling and control strategy are demonstrated by the industrial data and metallography detection in one steel company.

  9. Multi-objective PID control for non-Gaussian stochastic distribution system based on two-step intelligent models

    Institute of Scientific and Technical Information of China (English)

    YI Yang; ZHANG TianPing; GUO Lei

    2009-01-01

    A new method for controlling the shape of the conditional output probability density function (PDF) for general nonlinear dynamic stochastic systems is proposed based on B-spline neural network (NN) model and T-S fuzzy model. Applying NN approximation to the measured PDFs, we transform the con-cerned problem into the tracking of given weights. Meanwhile, the complex multi-delay T-S fuzzy model with exogenous disturbances, parametric uncertainties and state constraints is used to represent the nonlinear weight dynamics. Moreover, instead of the non-convex design algorithms and PI control, the improved convex linear matrix inequality (LMI) algorithms and the generalized PID controller are pro-posed such that the multiple control objectives including stability, robustness, tracking performance and state constraint can be guaranteed simultaneously. Simulations are performed to demonstrate the efficiency of the proposed approach.

  10. PID控制器参数调整的滚动优化算法%Receding Horizon Optimization Approach to PID Controller Parameters Auto-tuning

    Institute of Scientific and Technical Information of China (English)

    许敏; 李少远; 蔡文剑

    2005-01-01

    A novel supervised receding horizon optimal scheme is presented for discrete time systemsin the process control. In the employing level, PID controller is used, while the receding horizonapproach is applied to the optimized level. The considered problem is to optimize the employing levelPID controller parameters through minimizing a generalized predictive control criterion. Comparedwith a fixed parameters PID controller, the proposed algorithm provides well performance over arange of operating condition.

  11. Grid Connected WECS with A Five Level DCMLI using PID Controller

    Directory of Open Access Journals (Sweden)

    G.Balaji

    2014-07-01

    Full Text Available This paper deals with the analysis, modeling and control system for permanent magnet synchronous generator (PMSG based wind turbine connected to the grid. A wind energy conversion using DC-DC Buck- Boost Converter for permanent magnet synchronous generator (PMSG based variable speed wind energy conversion system (WECS has been proposed which is integrated with grid using five-level diode clamped multilevel (DCMLI inverter. In this work the instantaneous values of input side current and voltage of DC-DC buck-boost converter are utilized for implementing the PID controller. The proposed work is verified by the simulation in Powersim.

  12. Velocity relaxed and craziness-based swarm optimized intelligent PID and PSS controlled AVR system

    Energy Technology Data Exchange (ETDEWEB)

    Chatterjee, A.; Mukherjee, V. [Department of Electrical Engineering, Asansol Engineering College, Asansol, Vivekananda Sarani, Kanyapur, West Bengal 713305 (India); Ghoshal, S.P. [Department of Electrical Engineering, National Institute of Technology, Durgapur, West Bengal 713209 (India)

    2009-09-15

    This paper explores a comparative performance study of two new classes of particle swarm optimization techniques, one with velocity update relaxation (VURPSO) and the other based on novel position, velocity updating strategy and craziness (CRPSO). Both VURPSO and CRPSO highly enhance searching ability. Genetic algorithm (GA) is considered for the sake of comparison. Finally, it is revealed that while applying in two power systems applications (PID controlled AVR system, PSS controlled AVR system), VURPSO exhibits better transient performance than CRPSO/GA. For on-line, off-nominal conditions, Takagi Sugeno fuzzy logic is applied to obtain on-line responses for both the system models. (author)

  13. Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

    Science.gov (United States)

    Khozhaev, I. V.; Gayvoronskiy, S. A.

    2016-04-01

    Autonomous underwater vehicles are often used for performing scientific, emergency or other types of missions under harsh conditions and environments, which can have non-stable, variable parameters. So, the problem of developing autonomous underwater vehicle motion control systems, capable of operating properly in random environments, is highly relevant. The paper is dedicated to the synthesis of a PID-controller of a trim robust control system, capable of keeping an underwater vehicle stable during a translation at different angles of attack. In order to synthesize the PID-controller, two problems were solved: a new method of synthesizing a robust controller was developed and a mathematical model of an underwater vehicle motion process was derived. The newly developed mathematical model structure is simpler than others due to acceptance of some of the system parameters as interval ones. The synthesis method is based on a system poles allocation approach and allows providing the necessary transient process quality in a considered system.

  14. Photovoltaic System Regulation Based on a PID Fuzzy Controller to Ensure a Fixed Settling Time

    Directory of Open Access Journals (Sweden)

    Paula A. Ortiz-Valencia

    2013-11-01

    Full Text Available The main objective of the controllers in photovoltaic systems (PV is to ensure the maximum extraction of the available power. Those controllers usually combine the action of a maximum power point tracking algorithm (MPPT with a voltage regulator, which has the function of rejecting disturbances at the panel terminals. Such controllers are commonly based on PI and PID structures, it requiring linearized models at an operating point. But, due to disturbances generated by the environment and the load, the operating point of the system changes drastically, which hinder to obtain the desired system performance. This paper proposes to regulate the PV system using a Fuzzy PID controller, which adapts to changes in solar irradiance and load oscillations. This characteristic guarantees a constant settling time, which is required to precisely define the period of the MPPT algorithm. In the case of classical linear controllers, the period of the MPPT algorithm is set to the worst case (longest period which generates additional power losses by slowing down the tracking of the optimal operating point. Therefore, the solution proposed in this paper improves the overall system efficiency. Finally, such a solution is validated through simulations in Matlab®.

  15. Fuzzy PID Adaptive Smith Control of Temperature and Humidity Decoupling%温湿度解耦的模糊PID-自适应Smith控制

    Institute of Scientific and Technical Information of China (English)

    张盼盼; 赵钢

    2012-01-01

    Considering the large time delay, nonlinearity, time-variation and coupling and the difficulty in establishing accurate mathematic model for both temperature and humidity control of industrial air conditioning systems,a control scheme that combines feed-forward compensation decoupling,fuzzy PID and adaptive Smith pre-evaluation compensation was proposed to overcome the shortcomings of the PID control on temperature and humidity. Simulation results show that this scheme can solve the coupling problem of temperature and humidity and can improve control accuracy and stability, and it can promote strong robustness of the system and has a-daptability and good static-dynamic performance.%工业空调PID控制系统的温湿度控制具有大时滞、非线性、时变性和耦合性,难以建立精确的数学模型.提出前馈补偿解耦、模糊PID与自适应Smith预估补偿算法相结合的控制方案,以弥补常规PID控制在温湿度控制系统的不足.仿真结果表明:该方案既解决了温湿度耦合问题又提高了控制的精度和稳定性,增强了系统的鲁棒性和适应性,具有较好的动、静态性能.

  16. Three Phase Motor Centrifugal Machines Speed Control Using Pid Fuzzy Method

    Directory of Open Access Journals (Sweden)

    Trio Yus Peristiaferi

    2015-03-01

    Full Text Available Induction motor speed settings are still done manually by changing the position of the shaft or the size of the puli engine centrifugal. This method resulted in an arrangement with the speed of the motor will be difficult to control as expected. Inappropriate speed settings can also lead  to  less  sugar  production  results.  It  is  therefore  necessary  to maintain the control method of motor speed when load is added while experiencing the process of starting, spinning and breaking. The controller that is used is the PID Fuzzy. In a using simulation and implementation of  using  controller PID Fuzzy  having  the  averages  error  when  processing starting, spinning and breaking a dising about 0.51 % and about 1.06 %. So this final project hoped can help increase the efficiency of the centrifugal on sugar factory machine.

  17. 倒立摆的模糊PID控制%Fuzzy PID Control of Inverted Pendulum

    Institute of Scientific and Technical Information of China (English)

    黎亮

    2012-01-01

    本文在研究了倒立摆的系统构成的基础上分析得到了其动力学模型,并通过线性化处理推导出倒立摆在工作点附近的线性模型.通过对影响倒立摆稳定因素的分析,提出一种模糊PID的控制策略.该控制策略包括3个环路.通过理论分析和反复调整,本文得到了3个环路控制器的优化参数.最后,通过Matlab仿真和硬件在环实验,模糊PID控制的有效性将会得到验证.%This paper analyzed the dynamical model of the inverted pendulum based on the study of system structure of the pendulum. And the linear model around the balance point was derived via linearization. Based on the analysis of the factors impacting the balance of the inverted pendulum, a fuzzy PID control strategy is proposed. The control strategy consists of three loops. Through theoretical analysis and experimental adjustment, optimized parameters of the three-loop controllers were gained in this paper. Finally, the performance of the fuzzy PID controllers were evaluated through Matlab simulation and hardware-in-the-loop experiments.

  18. Implementation of ON/OFF and PID controller using TCP Protocol Based on Virtual Instrumentation

    Directory of Open Access Journals (Sweden)

    Abhyarthana Bisoyi , Umesh Chandra Pati

    2013-03-01

    Full Text Available LabVIEW(Laboratory Virtual InstrumentEngineering Workbenchisthe softwarewhichgives virtual existence ofhardware, reduces its costand hencetermed as Virtual Instrumentation.Thispaper deals with the implementation ofON/OFFand PID controller for controlling the temperatureof a heating element inside a wooden box with thehelp of LabVIEW. In this software,TransmissionControl Protocol (TCPis used for developing anonline transmission processbetween client andserver. Client has control overthe set point andServer has control over the temperature. Inhardware section, a DataAcquisition (DAQ cardreads temperature from sensor and delivers toServer. With the help of internet protocol,clientprovides the value ofset point according to whichthe control actions aretaken by the server.Thepaper also includes discussions regarding theadvantages and disadvantages of TCP/IP.

  19. Research on the Temperature Controller Based on PID%基于PID的温度控制器研究

    Institute of Scientific and Technical Information of China (English)

    张彤

    2012-01-01

    温度控制应用非常广泛。采用PID的温度控制器,能极大解决温度控制中诸多问题,更有利于温度控制器在实际环境中的应用。文中详细论述了PID调节原理、PID算法的数字化分析,温度控制器分析。%The temperature controller is widely used. Adopting PID temperature controller can greatly solve many problems in temperature control and better application of temperature controller in the actual environment. This article discussed in detail the PID regulation principle, the digital analysis of PID, analysis of temperature controller.

  20. Energy Management System Based on Fuzzy fractional order PID Controller for Transient Stability Improvement in Microgrids with Energy Storage

    DEFF Research Database (Denmark)

    Moafi, Milad; Marzband, Mousa; Savaghebi, Mehdi;

    2016-01-01

    in the islanded Microgrid (MG). To increase performance for a wide range of power system operating conditions, an energy management systems (EMS) is proposed based on a fuzzy fractional order PID (FFOPID) controller. It is able to analyze and simulate the dynamic behavior in grid connected MGs. This controller...... storage (ES) is used to improve the system dynamic response, reduce the distortion and provide damping for frequency oscillations caused by renewable resources. ES overload capacity is utilized for rapid initial control of frequency in MG. To achieve this goal, EMS based on fuzzy decision mechanism...... combined with a PID-controller (termed as FLPID) and Fuzzy fractional order PID (termed as FFOPID) are implemented according to the characteristics and limitations of overloading and state of charge (SOC). The obtained results show good performance of FFOPID controllers by improving the transient stability...

  1. Fuzzy self-tuning PID control of the operation temperatures in a two-staged membrane separation process

    Institute of Scientific and Technical Information of China (English)

    Lei Wang; Wencai Du; Hai Wang; Hong Wu

    2008-01-01

    A two-staged membrane separation process for hydrogen recovery from refinery gases is introduced. The principle of the gas membrane separation process and the influence of the operation temperatures are analyzed. As the conventional PID controller is difficult to make the operation temperatures steady, a fuzzy self-tuning PID control algorithm is proposed. The application shows that the algorithm is effective, the operation temperatures of both stages can be controlled steadily, and the operation flexibility and adaptability of the hydrogen recovery unit are enhanced with safety. This study lays a foundation to optimize the control of the membrane separation process and thus ensure the membrane performance.

  2. Discussion on PID control theory analysis%谈PID控制的理论分析

    Institute of Scientific and Technical Information of China (English)

    施春宁; 张中华; 王涛

    2012-01-01

    This paper summarized the basic theory of conventional PID control,aiming at the basic laws in ratio,differential and integral calculus etc.and some researches on the proper combination of basic control laws are to achieve the effective control of the controlled objects.Also discussion on the role in improving system control performance.%综述了常规PID控制的基础理论,针对比例、微分、积分等基本控制规律和用这些基本控制规律的适当组合实现对被控对象的有效控制进行了研究,并讨论了它们在改善系统控制性能方面所起的作用。

  3. A PID Positioning Controller with a Curve Fitting Model Based on RFID Technology

    Directory of Open Access Journals (Sweden)

    Young-Long Chen

    2013-03-01

    Full Text Available The global positioning system (GPS is an important research topic to solve outdoor positioning problems, but GPSis unable to locate objects accurately and precisely indoors. Some available systems apply ultrasound or opticaltracking. This paper presents an efficient proportional-integral-derivative (PID controller with curve fitting model formobile robot localization and position estimation which adopts passive radio frequency identification (RFID tags ina space. This scheme is based on a mobile robot carries an RFID reader module which reads the installed low-costpassive tags under the floor in a grid-like pattern. The PID controllers increase the efficiency of captured RFID tagsand the curve fitting model is used to systematically identify the revolutions per minute (RPM of the motor. Wecontrol and monitor the position of the robot from a remote location through a mobile phone via Wi-Fi and Bluetoothnetwork. Experiment results present that the number of captured RFID tags of our proposed scheme outperformsthat of the previous scheme.

  4. Firefly algorithm optimized fuzzy PID controller for AGC of multi-area multi-source power systems with UPFC and SMES

    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.

  5. Power-stabilization of high frequency gyrotrons using a double PID feedback control for applications to many high power THz spectroscopy

    OpenAIRE

    Kuleshov, Alexei; Ueda, Keisuke; Idehara, Toshitaka

    2013-01-01

    High stabilization of the output power of high frequency gyrotrons for high power THzspectroscopy is an important issue in order to extend the applications of gyrotrons to wider subjects.For this objective, we tried a PID feedback control on a heater current of a triode magnetroninjection gun (MIG) for stabilization of an electron beam current and an additional PID control ofan anode voltage of the gun for direct stabilization of output power. This double PID controlachieves effective respons...

  6. Performance Study of PID and Fuzzy Controllers for Position Control of 6 DOF arm Manipulator with Various Defuzzification Strategies

    Directory of Open Access Journals (Sweden)

    Kharidege Ahmed

    2016-01-01

    Full Text Available Today’s arm manipulators are more and more demanding in terms of productivity. Conventional controllers are not always able to provide good and accurate results. To complete a position movement of the manipulator’s end-effector, a set of joint angles of manipulator first required to be converted to the position coordinates by using the forward kinematics method, and each joint rotation is executed using a servomotor feedback control. The kinematic model has been validated using MATLAB® robotics toolbox. An end-effector based 6 degree of freedom (6-DOF platform is proposed in this work which uses DC servomotor for actuation of the three revolute joints. PID controller is used as a reference benchmark. And FLC controller with different defuzzification strategies was employed. Results were compared in terms of time response criteria. Simulation results using MATLAB are demonstrated that PID has superior performance in terms of transient parameters. In Steady state response, both PID and FLC manage to converge to the desired output but in terms of overshot FLC is outperformed.

  7. 液压系统流量PID闭环控制实验研究%Study on Closed Loop Control Experiment of Hydraulic System Flow PID

    Institute of Scientific and Technical Information of China (English)

    刘永; 杨彬

    2016-01-01

    为了提高液压系统的流量控制精度,消除稳态误差,设计了流量PID闭环控制系统。通过在Labview软件中编制测控程序,将实测流量值与目标值的差值输入PID控制器,通过PID控制器输出的转速控制电压调整伺服电机转速,从而使实际输出流量达到目标设定值。实验结果表明:实际输出流量值能很好地跟随、响应目标流量值变化;流量闭环控制系统对阶跃、正弦、斜坡压力干扰信号的校正能力较强。%In order to improve the flow control precision of hydraulic system and eliminate the steady-state error, the flow PID closed loop control system was designed. Through the measurement and control program written in Labview software, the difference between flow measurement value and the target value was inputted the PID controller. The speed control voltage of servo motor PID controller was outputted through PID controller. By adjusting the rotational speed of servo motor, the actual output flow can reach the set value. The experimental results show that the actual flow value can follow and respond to the change of target flow. The flow closed loop control system has strong anti interference ability for the step, sine and slope pressure disturbance signal.

  8. The Intelligence PID Control of the Ambulation Track of the Robot%机械人移动轨迹的智能PID控制

    Institute of Scientific and Technical Information of China (English)

    周巨青

    2014-01-01

    过程控制系统广泛的采用PID控制,它的系统直接关系到生产过程的平稳和产品的最终质量,因而其优化设计十分重要。常规PID控制得到了广泛的应用,但是不难满足高精度要求。智能PID控制吸取了智能控制和常规PID控制的优点,能够满足很多场合的高精度的要求。用于机械人移动控制取得了很好的效果。采用神经网络,可实现对机器人动力学方程中未知部分的精确逼近,从而实现无需建模的控制。%PID control is widely used in proces control systems. The performance of the controllers is dirrectly related to the sta⁃bility of the processes and the quality of product, so it is very valuable for their optimai design.The normal regulations PID con⁃trol have already been applied extensively,but can't satisfy a high accuracy request.The intelligence PID control absorb the advan⁃tage of the intelligence control and the normal regulations PID control,can satisfy the request of the high accuracy of a lot of situa⁃tions.Used for the robot ambulation control obtained good result.Adopt the nerve network, can carry out to approach to the pre⁃cision that didn't know part, carried out and don't need a control of set up the mold thus.

  9. Study of Constant Voltage Control on Small Steam Generator Based on PID Algorithm

    Directory of Open Access Journals (Sweden)

    Yanjun Xiao

    2014-03-01

    Full Text Available The object of this study is a kind of 3 kW small steam generator, which can recover waste heat through making use of 0.1~0.3 MPa steam. This can exploit secondary energy efficiently. The electricity generated can be commonly used as factory lighting, heating, fan and emergency power supply. But the generation voltage of the existed steam turbine is instable, especially when the steam pressure and the load of the generator changes suddenly. This can pose a threat to electrical safety and greatly limit the market of small steam generator. In this study, PID control algorithm is used to control the amount of steam into the turbine of generator system. And the closed-loop control system can make a real-time feedback regulation to the steam, so that the generator voltage can be stable. The user's electrical safety requirements are satisfied as well.

  10. Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot

    OpenAIRE

    Afsaneh Salehi; Farzin Piltan; Mahmoud Mousavi; Arzhang Khajeh; Mohammad Reza Rashidian

    2013-01-01

    Refer to this paper, an intelligent-fuzzy feed-forward computed torque estimator for Proportional-Integral-Derivative (PID) controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately and it is the most used in robot manipulators. In order to remove steady-state error caused by uncertainties and noise, the integrator gain has to be ...

  11. 一种柔性直流输电系统PID-ANFIS优化控制方法%A control method of PID-ANFIS controller for VSC-HVDC

    Institute of Scientific and Technical Information of China (English)

    杨天; 霍琳琳

    2015-01-01

    Due to the PI control system for VSC-HVDC has problems of parameters difficult to set, too many control users, and so on, a novel controller composed of PID function and multiple-output ANFIS (PID-ANFIS) is presented, which is made up of neural network, two order fuzzy control and PID control. A treble cooperative PSO (TCPSO) is also presented to optimize PID-ANFIS controller’s neural parameters. TCPSO is forged by harmonizing the grouping cooperation, the dimension-reduced cooperation and memory cooperation, which is able to improve the precision of optimizing neural networks. This paper provides the process of PID-ANFIS parameters training by TCPSO. Then, the TCPSO based PID-ANFIS controller performs the function of direct power control. The simulation results show that the controller presented has significant advantages of faster speed, smaller overshoot and better robustness by comparing to PI and it is a viable choice for VSC-HVDC control system.%针对柔性直流输电系统(Voltage Source Converter based High-Voltage Direct-Current, VSC-HVDC)双闭环控制中PI控制存在参数整定困难及控制器数量过多等问题,提出一种具有PID功能的自适应神经元模糊推理系统(Adaptive Neuro-Fuzzy Inference System with PID function, PID-ANFIS)控制器用于该系统控制。其中,PID-ANFIS控制器兼有神经网络控制、二阶模糊控制及PID功能;同时提出的基于三重合作粒子群算法(Treble Cooperative Particle Swarm Optimization, TCPSO)用于优化该控制器中神经网络参数。TCPSO采用由降维合作、分组合作与记忆合作组成的三重合作策略,极大程度上提升了神经网络参数优化的精度。深入研究了TCPSO优化PID-ANFIS控制器参数的步骤。基于TCPSO优化的PID-ANFIS控制器能够实现VSC-HVDC系统的直接功率控制效果。仿真结果表明该控制器具有控制速度快、超调量小、抗干扰能力强等优点,是VSC-HVDC控制系统的一个可行方案。

  12. Fuzzy PID Controllers Using Matlab GUI Based for Real Time DC Motor Speed Control

    OpenAIRE

    Suhas Yadav*1

    2014-01-01

    In this paper, an integrated electronic system has been designed, constructed and tested. Controlling DC (Direct current) Motor drive is design and development of real time MATLAB –GUI based using fuzzy logic controller. First, a controller is designed according to fuzzy rules such that the systems are fundamentally robust. To obtain the globally optimal values, parameters of the fuzzy controller are improved by MATLAB-GUI based FLC and IFLC algorithms optimization model. Comp...

  13. 基于模糊自适应PID控制器的多轴车辆转向控制系统设计及仿真%Design of Multi-axle Vehicle Steering Control System and Simulation Based on Fuzzy Adaptive PID Controller

    Institute of Scientific and Technical Information of China (English)

    文桂林; 韩汪利; 周兵

    2011-01-01

    A 2-DOF model of the five-axle all terrain crane with some simplifications is proposed, and based on the assumption of zero side-slip angle of mass center and the proportional control strategy, the function relating the angles of the rear and the front axles. and the velocity are derived. With some simplifications with respect to the proportional valve and the cylinder, a mathematical model of the steering system in Matlab/Simulink is established. In order to overcome the weakness of the traditional PID controller, a fuzzy adaptive PID controller of the rear axle steering angle is built in Matlab by using its fuzzy logic control toolbox. Through the real-time determination of the PID parameters, a high control precision is achieved. A steady state correring simulation is carried out under 25km/h, and the comparison of the simulation and theoretical values shows that fhe fuzzy adaptive PID controller works well, with quick system response and good following peformance.%通过对多轴转向车辆数学模型进行简化,获得某型号五轴全路面起重机的二自由度操纵动力学模型,并基于零质心侧偏角控制策略推导出各后轮转角与前轮转角及车速的函数关系.在对比例阀和转向执行机构(液压缸)进行简化的基础上,在Matlab/Simulink中建立了转向系统完整的数学模型.为克服传统PID控制器的缺点,基于Matlab模糊逻辑控制模块建立了转向系统模糊自适应PID控制器,对PID控制器各个控制参数进行在线整定,以此获得较高的控制精度.以25km/h速度下稳态回转试验对该控制器进行仿真验证.经过仿真分析后发现,该模糊控制器取得很好的效果,系统响应迅速,跟随性好,完全能满足控制需要.

  14. Non-Contact Linear Actuator Position Sensor Having a PID-Compensating Controller

    Science.gov (United States)

    Alhorn, Dean C. (Inventor); Howard, David E. (Inventor)

    2001-01-01

    A position sensor or controller generates a response signal in existing armature windings of an actuator and detects the response signal to determine the position of the armature. To generate the response signal, the actuator includes a sensor excitation winding near the armature. Two sensor excitation windings can be provided, above and below the armature, to cancel out z components and thus allow for a variable gap. The sensor excitation winding or windings are supplied with an excitation signal to induce the response signal in the armature windings. The response signal is derived by differentially amplifying and frequency filtering a raw output of the armature windings. The response signal is demodulated to determine position. If a position controller rather than a mere sensor is desired, the position signal can be buffered, PID compensated, amplified, and fed back to the armature windings.

  15. Stability of PID-Controlled Linear Time-Delay Feedback Systems

    CERN Document Server

    Martelli, Gianpasquale

    2008-01-01

    The stability of feedback systems consisting of linear time-delay plants and PID controllers has been investigated for many years by means of several methods, of which the Nyquist criterion, a generalization of the Hermite-Biehler Theorem, and the root location method are well known. The main purpose of these researches is to determine the range of controller parameters that allow stability. Explicit and complete expressions of the boundaries of these regions and computation procedures with a finite number of steps are now available only for first-order plants, provided with one time delay. In this note, the same results, based on Pontryagin's studies, are presented for arbitrary-order plants.

  16. Underwater Acoustic Signal Acquisition System Based on ZigBee and Fuzzy PID Control%采用 ZigBee 和模糊 PID 控制的水声信号采集系统

    Institute of Scientific and Technical Information of China (English)

    张国光

    2015-01-01

    In the research of underwater guidance weapons development and field test ,it needs to receive the signal ac‐quisition of underwater acoustic array ,records the data for collection .According to the need ,field data analysis and real‐time or offline processing are taken .It is important to analyze performance data to effectively improve guided weapons research of underwater acoustic signal acquisition system .An underwater acoustic signal acquisition system is proposed based on ZigBee and fuzzy PID control .The underwater acoustic signal is obtained with the ZigBee recognizer and identification model ,signal filtering and intermediate frequency amplifier design are taken ,and the effective suppression of interference noise is obtained . The experimental results show that the system has real‐time data acquisition performance ,and signal processing performance is good ,to improve the signal detection performance through the fuzzy PID control .Human‐computer interaction perform‐ance is good ,and it has good application value in underwater acoustic signal processing and information acquisition and other fields .%在水下制导武器的研究、开发、外场试验中,都需要采集水声基阵的接收信号,并实时记录采集数据,根据需要进行现场数据分析和实时或离线处理。研究水声信号采集系统对有效提高制导武器的数据分析性能具有重要意义。提出一种基于 ZigBee 和模糊 PID 控制的水声信号采集系统设计方案,通过 ZigBee 识别模型中的识别器获取 ZigBee 水声信号,进行信号滤波和中频放大设计,实现对干扰噪声的有效抑制。实验结果表明,设计的系统具有较好的实时数据采集和信号处理性能,通过模糊 PID 控制提高信号检测性能,系统的实时性和人机交互性好,在水声信号处理和信息采集等领域具有较好的应用价值。

  17. Fuzzy PID Control System for the Pulling Technique of Laser Crystal%激光晶体提拉生长模糊PID控制系统

    Institute of Scientific and Technical Information of China (English)

    杨军良; 尚付鹏; 高鹏

    2009-01-01

    本文设计了基于ARM Cortex-M3核、针对上称重法激光晶体的生长的控制方案硬件平台,运用模糊PID自适应控制算法对称重信号进行模糊处理确定晶体生长瞬间所需的温度场,根据生长模型在理论上进行了仿真,并实际运用到TDL-J50型激光单晶炉设备,实现了激光晶体的瞬时生长速率的精确而平稳的自动控制.%Fuzzy PID control system based on ARM Cortex-M3 core has been designed for the process of pulling technique of laser crystal.The temperature distribution for the crystal growth can be determined by adapting Fuzzy PID control algorithm on the weighing singnal.According to the growth model,the simulation has been finished theoretically, the systerm has been used in TDL-J50 practically,and the accurate and stable control of crystal growing instantaneous rate for Fuzzy PID control during the crystal growing process was realized.

  18. 基于模糊 PID 的模型参考自适应 IMC汽包水位控制%Model reference adaptive inner model﹣based control in boiler drum water level based on fuzzy﹣PID control

    Institute of Scientific and Technical Information of China (English)

    李晶; 王旭刚

    2015-01-01

    Against the problems of drum water level in utility boilers,such as nonlinearity and false water level,large overshoot,slow response speed and poor anti﹣interference ability of the control system during operation,a fuzzy inference based model reference self﹣adapting internal model control (IMC)method was proposed.By combining the fuzzy control with the IMC,this method uses the relative arithmetic to design the IM controller.It regulates the fuzzy adjusting PID parameters online according to the deviation e and its changing rate ec between the reference model output and the object's actual output.Moreover,on the basis of the Simulink platform,numerical simulation was performed to verify this drum water level control sys﹣tem using the above method.At last,the results were compared with that controlled by the internal model PID.The results show that,the fuzzy PID based model reference self﹣adaptive IMC has stronger self﹣adapt﹣ability,anti﹣interference ability and better robustness,which can guarantee the stability of the water level better.%针对发电厂锅炉汽包水位具有非线性特性、存在虚假水位,且运行过程中控制系统超调量大、响应速度慢、抗干扰能力差等问题,提出了一种基于模糊推理的模型参考自适应内模控制(IMC)方法。将模糊控制方法和 IMC 方法相结合,采用相消法设计 IMC 器,根据参考模型输出与实际被控对象输出的偏差 e 及其变化率 ec 在线模糊调节 PID 参数。通过 Simulink 对基于模糊 PID 的模型参考自适应 IMC 的汽包水位控制系统进行仿真验证,并与 IMC﹣PID 的汽包水位控制系统进行对比。结果表明,基于模糊 PID 的模型参考自适应 IMC 方法自适应能力更强,抗干扰能力和鲁棒性更好,能够更好地保证水位的稳定。

  19. Typical Feedback PID Control for a Class of Process with Integrator and Dead Time%一类非自衡对象的典型反馈型PID控制

    Institute of Scientific and Technical Information of China (English)

    冀晓翔; 汤伟

    2012-01-01

    针对一类非自衡对象,提出了一种基于典型反馈模型的PID控制器(TF— PID);采用全极点型逼近方法对被控对象的时滞环节做近似处理,并在内模控制原理的基础之上导出一种基于典型反馈模型的PID控制器参数整定策略,从而得到PID控制器的整定参数;仿真结果表明,所设计的控制方法具有更优的设定值跟踪性能和干扰抑制性能,并且实现二者分离控制.%For a class of integrator and time delay process, presents a PID controller based on a typical feedback model (TF-PID). All -pole-type approximating substitute for delay part of the controlled object, and get a parameter tuning strategy of the PID controller based on the typical feedback model from IMC principle, thereby, get the tuning parameters of the PID controller. The simulation results show that the designed control method makes better set point tracking performance and the interference suppression performance, and the two performance of the system can be controlled separately.

  20. 基于最优Oustaloup的分数阶PID参数整定%Tuning of Fractional PID Controllers Based on Optimal Oustaloup

    Institute of Scientific and Technical Information of China (English)

    齐乃明; 宋志国; 秦昌茂

    2012-01-01

    The majority of current engineering control systems use the traditional P1D controller, as the fractional order PID inherites the advantages of the traditional PID, and has better control quality and greater robustness, so for high-precision digital implementation of fractional calculus and fractional-order PID controllers practical application in complex systems of engineering. A new high-precision fractional calculus digital realization algorithm-the optimal Oustaloup digital realization was proposed, through establishs control system simulation model, uses diagram-type model combined with the optimal ITAE performance index to design fractional PID parameters, through simulation examples, the method can further optimize the controller parameters to improve control precision and control effect, it facilitate fractional order PID parameter design of non-linear systems and complex systems.%目前工程控制中大部分系统采用传统PID控制,由于分数阶PID继承了传统PID的优点,并且具有更好的控制品质及更强的鲁棒性,因此针对分数阶微积分的高精度数字实现及分教阶PID控制器在工程复杂系统中的实际应用,提出一种新的分数阶微积分高精度数字实现算法-最优Oustaloup数字实现,并建立控制系统的仿真模型,利用框图式模型结合最优ITAE性能指标来整定分数阶PID的参数.通过实例仿真验证,谊方法能进一步优化控制器参数,提高控制精度及获得更好的控制效果,便于非线性系统度复杂系统的分数阶PID参数整定.

  1. Application of IMC-PID controller in a brushless DC motor speed control system%内模PID控制器在无刷直流电机调速系统中的应用

    Institute of Scientific and Technical Information of China (English)

    秦刚; 谭进; 吴丹怡; 杜超

    2012-01-01

    针对无刷直流电机中传统PID控制器参数调节复杂、对环境适应能力较弱等问题,在分析内模控制与经典PID控制的内部对应关系的基础上,综合其优点,设计采用了一种基于内部模型的PID控制器(简称IMC-PID)对无刷直流电机进行调速。在建立对象理论模型的基础上,通过对控制器在线仿真比较表明:针对本设计对象,基于内部模型的PID控制器不论在系统阶跃响应或是扰动跟踪等控制效果上都能到达经典PID控制的要求,同时还降低了参数设计的复杂性和随机性。%This paper focuses on the problem that complexity and inconvenience of the traditional PID controller parameters adjustment and the weakness of its ability to adapt to the environment in brushless DC motor, analyzes the internal corresponding relationship of the internal model control and the classic PID, combines their advantages, designs a PID controller based on internal model to control speed of the brnshless DC motor. Based on the creation of object theoretical models, the online simulation and compare of controller shows that: to this object, the PID controller based on internal model can reach the requirements of the classic PID control in system step response and disturbance tracking control, while reducing the complexity and randomness of the parameters design.

  2. Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator.

    Science.gov (United States)

    Londhe, P S; Singh, Yogesh; Santhakumar, M; Patre, B M; Waghmare, L M

    2016-07-01

    In this paper, a robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P-prismatic, R-revolute) planar parallel manipulator (motion platform) with three degrees-of-freedom (DOF) in the presence of parameter uncertainties and external disturbances. The proposed control law consists of mainly two parts: first part uses a feed forward term to enhance the control activity and estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics, and the second part uses a PID-like fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system. Experimental results are presented to show the effectiveness of the proposed control scheme. PMID:27012441

  3. Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator.

    Science.gov (United States)

    Londhe, P S; Singh, Yogesh; Santhakumar, M; Patre, B M; Waghmare, L M

    2016-07-01

    In this paper, a robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P-prismatic, R-revolute) planar parallel manipulator (motion platform) with three degrees-of-freedom (DOF) in the presence of parameter uncertainties and external disturbances. The proposed control law consists of mainly two parts: first part uses a feed forward term to enhance the control activity and estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics, and the second part uses a PID-like fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system. Experimental results are presented to show the effectiveness of the proposed control scheme.

  4. Back calculation Anti Windup PID controller on Several Well-Known Tuning Method for Glycerin Bleaching Process Temperature Regulation

    OpenAIRE

    Mohd Hafiz A. Jalil; Mohd Nasir Taib; M. H. Fazalul Rahiman; Rohaiza Hamdan

    2015-01-01

    The aim of this paper is to comprehend the performance of back calculation anti windup scheme with difference tracking time constant, Ta on Proportional – Integral - Derivative (PID) controller for improving temperature regulation of glycerin bleaching process.  Several available well tuning methods including Ziegler Nichols (ZN), Internal Model Control (IMC) and Integral Square Error (ISE)-Load are used and analyzed. The performance of the controller tuning methods are  compared based on per...

  5. PID Testing Method Suitable for Process Control of Solar Cells Mass Production

    OpenAIRE

    Xianfang Gou; Xiaoyan Li; Su Zhou; Shaoliang Wang; Weitao Fan; Qingsong Huang

    2015-01-01

    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, ...

  6. The Study of Inertial Platform Stabilization Loop Based on Fuzzy PID Control%模糊PID控制的惯性稳定回路

    Institute of Scientific and Technical Information of China (English)

    刘义; 郭建都; 金倩

    2012-01-01

    模糊控制可有效提高惯稳回路的控制精度.由于实际的惯稳模型对模糊信号响应不足,可对控制对象的输入信号u(k)进行适当放大以加快系统输出的响应速度.对传统PID与模糊PID控制的仿真研究结果表明,模糊自适应PID控制对惯稳回路的控制效果要明显优于传统PID,不仅几乎不存在超调量,而且tr、t(1)非常理想,因此模糊PID控制完全有可能应用于实际的惯稳回路.%Fuzzy PID control can improve the precision of stabilization loop. Since the actual model of stabilized platform can't generate adequate response to fuzzy signal, input signal of control object can be properly amplified to speed up the system output response speed. Traditional PID and Fuzzy PID Control Simulation results show that the effect of the fuzzy adaptive PID control is much better than the traditional PID control, not only nearly overshot is nearly eliminated, but and control results are satisfactory. Therefore, Fuzzy PID control can be possibly used in practical stabilized platform entirely.

  7. A Novel Fractional-Order PID Controller for Integrated Pressurized Water Reactor Based on Wavelet Kernel Neural Network Algorithm

    OpenAIRE

    Yu-xin Zhao; Xue Du; Geng-lei Xia

    2014-01-01

    This paper presents a novel wavelet kernel neural network (WKNN) with wavelet kernel function. It is applicable in online learning with adaptive parameters and is applied on parameters tuning of fractional-order PID (FOPID) controller, which could handle time delay problem of the complex control system. Combining the wavelet function and the kernel function, the wavelet kernel function is adopted and validated the availability for neural network. Compared to the conservative wavelet neural ne...

  8. Pengembangan Bioelectrical Impedance Sebagai Control Commands Pengaturan Kecepatan Gerak Kursi Roda Dengan Metoda PID Controller

    OpenAIRE

    Juli Sardi; Ali Basrah Pulungan

    2014-01-01

    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 sour...

  9. Research and Implementation of Robot PID Control Algorithm%机器人PID控制算法研究与实现

    Institute of Scientific and Technical Information of China (English)

    王志勃; 毕艳茹

    2014-01-01

    Describe how to create a PID controller for robot to do line following in this paper. Aiming at the platform of double DC motor driven robot,relying on the characteristics that the robot works on to do line following,design the walk driving algorithm based on PID controller for the robot,realizing the walking control for robot. Comparing and integrating the three parameters in the PID controller for the control process,make its coordination in the process of control,it can precisely drive for robot walking in the discrete state. The algo-rithm has been applied many times in the national vocational skills competition of robot application project,the practice shows that the al-gorithm has the advantage of strong adaptability,high precision and low error.%文中描述了如何使用PID控制器实现对巡线机器人的行走控制。针对依靠双轮直流电机驱动的机器人平台,依靠引导线进行行走的特点,设计了基于PID控制器的行走驱动算法,实现对机器人行走的控制。在算法中对比、整合PID控制器中三个参数,使其在控制过程中协调发挥作用,实现在离散状态下机器人行走巡线的精确控制。该算法多次应用在全国职业技能大赛机器人应用项目中,通过实践表明该算法具有适应性强、控制精度高、调整误差小的优点。

  10. 挠性航天器姿态机动的变论域自整定模糊PID控制%Variable Universe Self-tuning Fuzzy PID Controller of Attitude Maneuver for Flexible Spacecraft

    Institute of Scientific and Technical Information of China (English)

    魏凤美; 赵育善; 师鹏

    2014-01-01

    建立了带有太阳翼的挠性航天器的姿态动力学模型,应用改进的罗德里格参数来描述姿态运动学模型。针对挠性航天器模型参数不确定性和环境干扰等问题,提出了变论域自整定模糊比例积分微分(PID)控制方案,构建了计算简单并且可以达到控制精度的伸缩因子。基于Matlab/Simulink进行了仿真验证,结果表明,变论域自整定模糊 PID 控制响应速度比传统PID控制、模糊PID控制快350 s,且无超调,不仅能够使航天器完成对目标姿态的机动,而且能够有效地抑制挠性太阳翼的振动。%The attitude dynamical equations of flexible spacecraft with solar panels were established, and the attitude kinematic equations were described by modified Rodrigues parameters (MRPs ) in order to prevent the singularity of the large angle maneuver. A variable universe self-tuning fuzzy PID controller was proposed for model uncertainties and environmental disturbances. A new shrinkable factor was designed, and it was easy to calculate and could achieve the accuracy. Numerical simulation based on Matlab/Simulink shows that the response of the variable universe self-tuning fuzzy PID controller are 350 s faster than that of the conventional PID and fuzzy PID controllers, and that it has no overshoot and can realize the effective control of attitude maneuver and effectively suppress the vibration of solar panels.

  11. The Two-course PID Fuzzy Control System%具有双层调节作用的PID模糊控制系统

    Institute of Scientific and Technical Information of China (English)

    丁革媛; 宋扬; 郑宏云

    2011-01-01

    Proposes one kind of PID fuzzy control system.Because this PID fuzzy controller can auto-adapted adjust the proportion,the integral,the differential function,thus enable the system to have auto-adapted to be strong,the control time short merit,has overcome the traditional PID controller shortcoming,and has realized the PID fuzzy controller on-line adjustment.%提出一种PID模糊控制系统。由于该PID模糊控制器具有自适应地调节比例、积分、微分的作用,从而使系统具有自适应性强、调节时间短的优点,克服了传统PID控制器的缺点,并实现了PID模糊控制器的在线调节。

  12. Tactical Network Congestion Control Based on Improved Neuron PID%基于改进的神经元 PID 战术网络拥塞控制

    Institute of Scientific and Technical Information of China (English)

    张丽丽; 王玉惠; 陈哨东; 吴庆宪

    2013-01-01

    未来信息化的网络中心战中,网络拥塞问题成为制约战争信息有效传输的瓶颈。单神经元PID拥塞控制算法中,系统的稳定性和超调量等性能对于神经元的增益系数K的依赖性很大,结合无需辨识的自适应控制算法,动态地调整增益系数K;另外,为了进一步提高控制器品质,加入调整因子在线调整神经元权值的学习率;最后将改进后的算法应用到战术网络拥塞控制中。仿真结果验证了所提算法的有效性。%In the information network centric warfare,the network congestion problem becomes the bottleneck of warfare information transformation .In single neuron PID congestion control,the neuron gain K is the main factor affecting the system performance of stability and overshoot,which is totally depended on expertise and is highly subjective .In this paper,the neuron gain K is adjusted dynamically combined with identification-free adaptive control algorithm .In addition,in order to improve the quality of the controller,the adjustment factor is introduced to adjust the learning rate of neuron weight .The simulation results in the tactical network verified the effectiveness and feasibility of the improved algorithm .

  13. Intelligent PID controller based on bacterial foraging optimization%细菌觅食优化的智能PID控制

    Institute of Scientific and Technical Information of China (English)

    黄伟锋; 林卫星; 范怀科; 史夏波; 程涛

    2011-01-01

    传统的PID在控制过程中,尤其针对复杂被控对象易产生振荡和较大的超调,甚至控制系统无法稳定,为了解决这个问题,采用了一种新的基于细菌觅食优化(Bacterial Foraging Optimization,BFO)的智能PID控制方法,针对该算法收敛速度慢的缺陷,对步长及搜索范围做了一定的分析改进.通过与粒子群优化(Particle Swarm Optimization,PSO)智能PID参数整定控制的仿真结果比较,特别是在系统的动态性能指标以及输入信号的跟踪情况等方面进行对比分析,得出基于BFO智能PID控制的优缺点及有效性.%The traditional PID controller may easily lead to produce oscillation and big overshoot.Even the system is not stable in the control progress, especially for the complex system.In order to solve the problems, a new intelligent PID control method based on Bacterial Foraging Optimization (BFO) is used.This method is analyzed and improved.The simulation results are compared with the Particle Swarm Optimization (PSO) intelligent PID parameter tuning method, especially in the system dynamic performances and the input signal track. The advantages, disadvantages and effectiveness of the intelligent PID control based on BFO are shown from the simulation results.

  14. 神经PID控制在SVPWM整流器VFDPC中的应用研究%Application and Research on Neural Network PID Control in VFDPC of SVPWM Rectifier

    Institute of Scientific and Technical Information of China (English)

    景利学; 苏宏升; 赵伟

    2012-01-01

    The principle of VFDPC (virtual flux direct power control) for PWM rectifier was analyzed and the instantaneous power estimating equations based on virtual flux observer was obtained. The pure integral link is replaced by a second order link composed of two high-pass filter to filtering out the DC current. The DC voltage shifts problem caused by improper selection of integral initial value in virtual flux observer is solved. A neural network PID controller was designed in the voltage loop in order to improve the DC voltage stability of PWM rectifier. The simulation results show that, the PWM rectifier VFDPC system based on neural network PID control have the advantages of more stable DC voltage and better dynamic performance in start-up phase compared with the traditional PID control system.%分析了PWM整流器虚拟磁链直接功率控制(VFDPC)的工作原理,得出了基于虚拟磁链观测的瞬时功率估算式.设计了2个高通滤波器级联构成的二阶环节代替纯积分器滤除直流分量来解决虚拟磁链观测中存在的因积分初值选取不当造成的直流偏移问题.为提高PWM整流器直流电压稳定性,在电压外环设计了神经PID控制器.仿真结果表明,与传统PID控制相比,基于神经PID控制的SVPWM整流器直接功率控制系统直流侧电压稳定、动态性能更好.

  15. Smith adaptive control based on fuzzy immune PID%基于模糊免疫PID-Smith自适应控制算法的研究

    Institute of Scientific and Technical Information of China (English)

    周颖; 王润泽; 宋丹丹; 杨鹏

    2011-01-01

    针对缺乏精确模型的生物发酵过程中温度的大滞后过程,传统的PID难以达到满意的控制效果.基于专家系统的模糊控制能对一些非线性、模型不是很精确的系统进行控制,在一定程度上能够克服大滞后给系统带来的不利影响,然而模糊控制对延迟时间较大的系统进行控制时容易产生振荡.针对生物发酵过程大滞后系统,本文采用非线性划分的模糊语言变量的模糊免疫自适应Smith控制方案,该方案中自适应Smith预估器能很大程度改善系统的控制品质,增强系统的鲁棒性和抗扰性.非线性划分的模糊语言变量的模糊免疫控制能提高系统的响应时间及其控制精度.两种方法结合,较好利用了非线性划分的模糊语言变量的模糊免疫PID与自适应Smith预估控制的优点.仿真结果表明,基于模糊免疫PID的Smith预估器控制的有效性.%For lack of an accurate model for temperature with large time delay in fermentation processes, the traditional PID control is difficult to acquire satisfying result. As for some nonlinear systems which don't possess accurate models,the fuzzy control based on expert system can overcome the adverse effects caused by large time delay to some extent, but it easily cause oscillation to the long time delay system. Aiming at large delay system in fermentation process, an adaptive smith control method with nonliner division of fuzzy linguistic variable based on fuzzy immune control is proposed in this paper. In this method, the adaptive Smith predictor can improve the control performance and enhance the system robustness and immunity, and the fuzzy immune control can improve system response time and control precision, thus the combination of them can bring their advantages into full play. The simulation results show the effectiveness of this approach.

  16. A Study of the Design of Acceleration Control System for Missiles

    Science.gov (United States)

    Kajita, Takanori; Eguchi, Hirofumi

    A 2-degrees of freedom PID controller is designed for a maneuvering acceleration control system. This design method is based on the combination of PID and IPD controller. Results show that (1) IP controller is superior to PI controller for the damper loop controller, (2) the selection of PI or IP controller as for the acceleration controller depends on the tradeoffs between the responsibility and the reduction of inverse response.

  17. New Algorithm for the Smoothing Speed Control of Induction Motor in Electric Car based on Self-Tuning Parameter PID-Fuzzy Logic

    Directory of Open Access Journals (Sweden)

    Dedid Cahya Happyanto

    2012-05-01

    Full Text Available Driving system of electric car for low speed has a performance of controller that is not easily set up on large span so it does not give a comfort to passengers. The study has been tested in the bumpy road conditions, by providing disturbances in the motor load, it is to describe the condition of the road. To improve the system performance, the speed and torque controller was applied using Field Oriented Control (FOC method. In this method, On-Line Proportional Integral Derivative Fuzzy Logic Controller (PID-FLC is used to give dynamic response to the change of speed and maximum torque on the electric car and this results the smooth movement on every change of car performance both in fast and slow movement when breaking action is taken. Optimization of membership functions in Fuzzy PID controller is required to obtain a new PID parameter values which is done in autotuning in any changes of the input or disturbance. PID parameter tuning in this case using the Ziegler-Nichols method based on frequency response. The mechanism is done by adjusting the PID parameters and the strengthening of the system output. The test results show that the controller Fuzzy Self-Tuning PID appropriate for Electric cars because they have a good response about 0.85% overshoot at to changes in speed and braking of electric cars.

  18. Estudio del comportamiento de un Control MPC [Control Predictivo Basado en el Modelo] comparado con un Control PID en una Planta de Temperatura

    Directory of Open Access Journals (Sweden)

    Emil Hernández-Arroyo

    2014-07-01

    Full Text Available Presenta un estudio comparativo entre el Control Predictivo basado en el Modelo [MPC] y el control PID, en una planta piloto de temperatura. Se encontró que el control MPC presenta mejor comportamiento, con un tiempo de asentamiento de 1000 segundos y una sobre-elongación de 5 °C, y que el PID presenta un tiempo de asentamiento de 2000 segundos y una sobre-elongación de 40 °C. Simultáneamente, se presenta una forma alternativa para controlar y monitorear en tiempo real la variable temperatura; para ello se dispone de un computador de escritorio que utiliza el software MATLAB 7.1 y la herramienta Real-Time Windows Target.

  19. Real Time Implementation of PID and Fuzzy PD Controllers for DC-Servo Motor Based on Lab View Environment

    Directory of Open Access Journals (Sweden)

    Safaa M. Z. Al-Ubaidi

    2012-06-01

    Full Text Available This paper presents an implementation of conventional PID (CPID controller using Ziegler-Nichols rules and fuzzy PD (FPD controller for position servo motor control based on Lab View (Laboratory Virtual Instrument Engineering Workbench Environment through Data Acquisition (DAQ Device PCI- 6521 of National Instrument's and Data Acquisition Accessory Board Model (CB-68LP.CPID controller is perhaps the most well-known and most widely used in industrial applications. However, it has been known that CPID controller generally don’t work well for non-linear systems, higher order and time-delayed linear system and particularly complex and vague system. To overcome these difficulties, this paper proposes to use the FPD controller for a servo motor system instead of CPID. The parameters of servo motor used are completely unknown. The FPD structure has two-input single-output and fairly similar characteristic to its conventional counterpart and provides good performance. Simple rules base are used for FPD (nine rules only. Performance evaluation was carried out via a comparison study for the proposed control scheme and other existing control scheme, such as CPID controller. The critical point for this experiment on position system is a steady state error and settling time.  The performance showing that the FPD has less settling time and zero steady state error over its CPID. The algorithms of FPD and CPID controllers are implemented using PID, Fuzzy Logic and simulation toolkits of the Lab View environment.

  20. Design Intelligent Model-free Hybrid Guidance Controller for Three Dimension Motor

    Directory of Open Access Journals (Sweden)

    Abdol Majid Mirshekaran

    2014-10-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy hybrid guidance Controller for three dimensions spherical motor is presented in this research. A three dimensions spherical motor is well equipped with conventional control techniques and, in particular, various PID controllers which demonstrate a good performance and successfully solve different guidance problems. Guidance control in a three dimensions spherical motor is performed by the PID controllers producing the control signals which are applied to systems torque. The necessary reference inputs for a PID controller are usually supplied by the system's sensors based on different data. The popularity of PID Fuzzy hybrid guidance Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base. Linear type PID controller is used to modify PID fuzzy logic theory to design hybrid guidance methodology. This research is used to reduce or eliminate the fuzzy and conventional PID controller problem based on minimum rule base fuzzy logic theory and modified it by PID method to control of spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  1. Study of Fuzzy Adaptive PID Control of Brushless DC Motor%无刷直流电机模糊自适应PID控制的研究

    Institute of Scientific and Technical Information of China (English)

    潘晓磊; 赵川; 吕海立

    2016-01-01

    为了提高无刷直流电机控制系统的动、静态性能,将模糊控制结合PID控制算法应用到无刷直流电机速度控制系统中。在分析了无刷直流电机速度控制系统的基础上,利用PSIM与MATLAB/Simulink共同建立了无刷直流电动机模糊自适应PID控制的仿真模型,充分发挥了PSIM和MATLAB/Simulink各自在仿真方面的优势,简化了建立仿真模型的过程。仿真结果表明,采用模糊PID集成控制算法能够使无刷直流电机速度控制系统具有更快的响应速度和更强的抗干扰能力,对无刷直流电机控制系统的设计具有一定的指导意义。%In order to improve the static and dynamic performance of brushless DC motor control system, fuzzy control combined with PID control algorithm is applied to the brushless DC motor speed control system, the integration of fuzzy PID control algorithm. On the analysis of the brushless dc motor speed control system, using the MATLAB/Simulink to establish brushless DC motor speed control system simulation model. Among them, the control system of brushless DC motor drive model and control algorithm were established in PSIM and MATLAB/Simulink environment, give full play to their advantages, the PSIM and MATLAB simplifies the process of establishing simulation model. The simulation results show that the integration of fuzzy PID control algorithm can make the brushless DC motor speed control system has better dynamic and static performance and strong anti-jamming capability, the design of brushless DC motor control system has a certain guiding significance.

  2. The Self-Adaptive Fuzzy PID Controller in Actuator Simulated Loading System

    OpenAIRE

    Chuanhui Zhang; Xiaodong Song

    2013-01-01

    This paper analyzes the structure principle of the actuator simulated loading system with variable stiffness, and establishes the simplified model. What’s more, it also does a research on the application of the self-adaptive tuning of fuzzy PID(Proportion Integration Differentiation) in actuator simulated loading system with variable stiffness. Because the loading system is connected with the steering system by a spring rod, there must be strong coupling. Besides, there are also the parametri...

  3. Application of PID based on adaptive genetic algorithms in wind velocity control system of wind tunnels%自适应遗传 PID 算法在风洞风速控制中的应用

    Institute of Scientific and Technical Information of China (English)

    尼文斌; 董金刚; 刘书伟; 贺丽慧; 付增良

    2015-01-01

    In order to accomplish the wind speed control system for a FDxx wind tunnel,a PID parameter setting method based on adaptive online genetic algorithm was designed.In the case of the limited gas source for a wind tunnel test,the algorithm can quickly establish the flow field and ensure the stability time of the flow.First,joint coding is done with these parameters. With elitist strategy adopted in early genetic evolution stage,a non-linear selection method based on roulette selection is introduced in the last period.So optimum individuals are preserved and the population diversity is increased.The fixed value thus would not be exceeded in the dynamic adjustment process.The objective function is set up with the error absolutes and variation rate accompanied by penalty functions.When the fixed value is exceeded,the excess is taken as the optimal.This method has been applied in a field debugging of FDXX wind tunnel.The result shows that it is fast,effective and reliable to use online adaptive genetic algorithms to set the PID control parameters.%风速控制是风洞的核心控制部分,风速控制系统的优劣直接影响风洞性能指标,为了完成 FDxx 风洞的风速控制系统,设计了一种基于自适应在线遗传算法的 PID 参数整定方法,在风洞气源资源有限的情况下,快速建立流场,确保流场稳定时间。首先对控制参数进行联合编码,在种群个体进化前期采用锦标赛精英保留策略,后期采用基于轮盘赌非线性选择方法,加快算法收敛速度,同时避免了算法过早陷入局部最优,交叉选用单点交叉,变异采用均匀取反法,动态调整过程为了减小甚至避免超调,采用误差绝对值及误差和误差变化率加权方式设计目标函数,并采取了惩罚措施,即一旦产生超调,将超调量作为最优指标的一项,现场测试验证了算法的可靠性及实用性。

  4. A Novel Fractional-Order PID Controller for Integrated Pressurized Water Reactor Based on Wavelet Kernel Neural Network Algorithm

    Directory of Open Access Journals (Sweden)

    Yu-xin Zhao

    2014-01-01

    Full Text Available This paper presents a novel wavelet kernel neural network (WKNN with wavelet kernel function. It is applicable in online learning with adaptive parameters and is applied on parameters tuning of fractional-order PID (FOPID controller, which could handle time delay problem of the complex control system. Combining the wavelet function and the kernel function, the wavelet kernel function is adopted and validated the availability for neural network. Compared to the conservative wavelet neural network, the most innovative character of the WKNN is its rapid convergence and high precision in parameters updating process. Furthermore, the integrated pressurized water reactor (IPWR system is established by RELAP5, and a novel control strategy combining WKNN and fuzzy logic rule is proposed for shortening controlling time and utilizing the experiential knowledge sufficiently. Finally, experiment results verify that the control strategy and controller proposed have the practicability and reliability in actual complicated system.

  5. The Distribution Population-based Genetic Algorithm for Parameter Optimization PID Controller%基于分布种群遗传算法的PID控制器参数优化整定

    Institute of Scientific and Technical Information of China (English)

    陈庆更; 王宁

    2005-01-01

    Enlightened by distribution of creatures in natural ecology environment, the distribution population-based genetic algorithm (DPGA) is presented in this paper. The searching capability of the algorithm is improved by competition between distribution populations to reduce the search zone.This method is applied to design of optimal parameters of PID controllers with examples, and the simulation results show that satisfactory performances are obtained.

  6. Statistic PID Tracking Control for Non-Gaussian Stochastic Systems Based on T-S Fuzzy Model

    Institute of Scientific and Technical Information of China (English)

    Yang Yi; Hong Shen; Lei Guo

    2009-01-01

    A new robust proportional-integral-derivative (PID) tracking control framework is considered for stochastic systems with non-Gaussian variable based on B-spline neural network approximation and T-S fuzzy model identification.The tracked object is the statistical information of a given target probability density function (PDF),rather than a deterministic signal.Following B-spline approximation to the integrated performance function,the concerned problem is transferred into the tracking of given weights.Different from the previous related works,the time delay T-S fuzzy models with the exogenous disturbances are applied to identify the nonlinear weighting dynamics.Meanwhile,the generalized PID controller structure and the improved convex linear matrix inequalities (LMI) algorithms are proposed to fulfil the tracking problem.Furthermore,in order to enhance the robust performance,the peak-to-peak measure index is applied to optimize the tracking performance.Simulations are given to demonstrate the efficiency of the proposed approach.

  7. 基于风能转换系统的模糊PID自适应控制%Wind Energy Conversion Systems Using Fuzzy Self-Adaptive PID Control

    Institute of Scientific and Technical Information of China (English)

    李意扬; 吴定会

    2013-01-01

    In order to capture maximum energy under rated wind speed, a fixed pitch wind power generation control system based on fuzzy self-adaptive PID technology was designed. A variable speed fixed pitch controller of the wind energy conversion system based on the fuzzy self-adaptive PID technology was proposed, then the wind turbine and the variable speed fixed pitch models were set up. By using the generator power error calculated from theoretical maximum captured wind power as input, the controllers parameters were regulated online according to the wind conditions, which was self-adaptive. The simulation results demonstrated that feasibility of the proposed fuzzy control method based on the gauss membership function. With the proposed controller the wind energy capture ratio could be maintained around its optimal value 0. 476 and the tip speed ratio around its optimal value 7. It was able to capture the maximum power below the rated wind velocity.%以额定风速以下风能的最大捕获为目标,设计了基于模糊PID自适应控制的桨距控制器.以发电机产生的电能与理论计算的风轮最大捕获的风能误差为输入设计控制器,该控制器在运行时根据风况在线调整PID参数,实现自整定.仿真结果表明,在额定风速以下,基于高斯型隶属度函数的模糊控制方法能够将风能转换系数控制在最优值0.476附近,叶尖速比可以维持在最优值7附近,能够实现额定风速以下的最大风能捕获.

  8. Novel Approach to Nonlinear PID Parameter Optimization Using Ant Colony Optimization Algorithm

    Institute of Scientific and Technical Information of China (English)

    Duan Hai-bin; Wang Dao-bo; Yu Xiu-fen

    2006-01-01

    This paper presents an application of an Ant Colony Optimization (ACO) algorithm to optimize the parameters in the design of a type of nonlinear PID controller. The ACO algorithm is a novel heuristic bionic algorithm, which is based on the behaviour of real ants in nature searching for food. In order to optimize the parameters of the nonlinear PID controller using ACO algorithm,an objective function based on position tracing error was constructed, and elitist strategy was adopted in the improved ACO algorithm. Detailed simulation steps are presented. This nonlinear PID controller using the ACO algorithm has high precision of control and quick response.

  9. Disain dan Implementasi Kontrol PID Model Reference Adaptive Control untuk Automatic Safe Landing pada Pesawat UAV Quadcopter

    Directory of Open Access Journals (Sweden)

    Teddy Sudewo

    2012-09-01

    Full Text Available Pada fase penerbangan quadcopter, fase landing (pendaratan merupakan fase paling kritis, dimana resiko terjadi kecelakaan paling besar. Permasalahan tersebut muncul karena adanya beberapa kendala, seperti kendala pada struktur rangka pesawat yang kecil, peningkatan beban pada sayap pesawat serta pengaruh angin sehingga menyebabkan pesawat tidak stabil. Pada penelitian tugas akhir ini, didesain suatu sistem kontrol pada UAV quadcopter menggunakan kontrol PID dengan Model Reference Adaptive Control (MRAC. Sistem pengendalian berbasis MRAC menawarkan beberapa kelebihan untuk mengatasi karakteristik plant non-linear salah satunya quadcopter. MRAC merupakan kontrol adaptif dimana performansi keluaran sistem (proses akan mengikuti performansi keluaran model referensinya. Pada tugas akhir ini, model referensi sudah ditentukan diawal dan spesifikasinya tetap sehingga dapat langsung didisain mekanisme adaptasi dari MRAC. Parameter proses θ (a1,a2,b0,b1 diestimasi menggunakan metode Extended Least Square, parameter proses tersebut akan mentuning parameter kontroler (k0,k1,k2,k3 sehingga menghasilkan sinyal kontrol PID. Hasil pengujian menunjukkan bahwa ketika terjadi perubahan parameter pada plant, kontroler mampu memperbaiki respon agar tetap dapat mengikuti model referensinya dan dalam mengatasi gangguan metode adaptasi MRAC memiliki kemampuan yang baik dilihat dari waktu yang dibutuhkan yang relatif singkat.

  10. Compensation of Actuator’s Saturation by Using Fuzzy Logic and Imperialist Competitive Algorithm in a System with PID Controller

    Directory of Open Access Journals (Sweden)

    Abbas Ali Zamani

    2012-07-01

    Full Text Available Physical systems always include constraints and limits. Usually, the limits and constraints, in the control systems, are appeared as temperature and pressure limits or pumps capacity. One of the existing limits in the systems with PID controller is associated with the actuator’s saturation limits. With the saturating of the actuator, the controller’s output and plant’s input will be different and the output signal of controller do not lead the system and their states could not update correctly where this issue makes the system response undesirable. In this paper, by adding a fuzzy compensator that it’s parameters are tuned using imperialist competitive algorithm, the actuator saturation is prevented and the important parameters of the system response, such as setting time and overshoot, are improved.

  11. Intelligent PID congestion control algorithm%智能PID拥塞控制算法

    Institute of Scientific and Technical Information of China (English)

    陈金华; 孙金生

    2004-01-01

    针对主动队列管理(AQM:Active Queue Management)几种算法存在响应时间较长并在时延较大时都不能使队长度收敛到期望值的问题,提出一种智能PID(Proportional Integral Differential)控制主动队列管理算法,给出了该算法的详细描述.仿真实验表明,该算法不仅在时延较小的情况下是稳定的、鲁棒的,且响应速度优于REM(Random Exponential Marking),PI(Proportional Integral)控制,PID控制等算法.同时,对于大时延的网络,该算法也是稳定、收敛的.

  12. Tuning fractional PID controllers for a Steward platform based on frequency domain and artificial intelligence methods

    Science.gov (United States)

    Copot, Cosmin; Zhong, Yu; Ionescu, Clara; Keyser, Robin

    2013-06-01

    In this paper, two methods to tune a fractional-order PI λ D μ controller for a mechatronic system are presented. The first method is based on a genetic algorithm to obtain the parameter values for the fractionalorder PI λ D μ controller by global optimization. The second method used to design the fractional-order PI λ D μ controller relies on an auto-tuning approach by meeting some specifications in the frequency domain. The real-time experiments are conducted using a Steward platform which consists of a table tilted by six servo-motors with a ball on the top of the table. The considered system is a 6 degrees of freedom (d.o.f.) motion platform. The feedback on the position of the ball is obtained from images acquired by a visual sensor mounted above the platform. The fractional-order controllers were implemented and the performances of the steward platform are analyzed.

  13. 电液比例位置控制系统Fuzzy-PID控制的应用%Application of Fuzzy-PID Control for Electro-hydraulic Proportional Position Control System

    Institute of Scientific and Technical Information of China (English)

    刘保杰; 强宝民

    2012-01-01

    For the problem of real-time performance and severe time-variable of a electro-hydraulic proportional valve for cylin-der position control system,a new type of PID algorithm was suggested. The fuzzy control combined the algorithm formed fuzzy-PID control, and the application of these algorithm on electro-hydraulic proportional position control system was researched. The tracking effects on sine signals were compared conventional PID control with fuzzy-PID control though defferent experimental conditions. The results show that the fuzzy-PID control have better accuracy and stability than the conventional PID control.%针对电液比例阀控缸位置控制系统实时性能差和具有严重时变性的特点,设计了一种新型PID控制算法,并将该算法与模糊控制相结合构成Fuzzy-PID控制,对其在电液比例位置控制系统上的应用进行研究.通过实验比较不同工况下该系统Fuzzy-PID控制和常规PID控制对正弦信号的跟踪效果.结果表明:Fuzzy-PID控制比常规PID控制具有更好的精度和稳定性.

  14. Design Robust Controller for Rotary Kiln

    Directory of Open Access Journals (Sweden)

    Omar D. Hernández-Arboleda

    2013-11-01

    Full Text Available This paper presents the design of a robust controller for a rotary kiln. The designed controller is a combination of a fractional PID and linear quadratic regulator (LQR, these are not used to control the kiln until now, in addition robustness criteria are evaluated (gain margin, phase margin, strength gain, rejecting high frequency noise and sensitivity applied to the entire model (controller-plant, obtaining good results with a frequency range of 0.020 to 90 rad/s, which contributes to the robustness of the system.

  15. Study of a Grey PID (Proportional,Integral and Differential) Control System for Ball Mill Load in a Thermal Power Plant%火电厂钢球磨煤机负荷的灰色PID控制系统研究

    Institute of Scientific and Technical Information of China (English)

    程启明; 闵乐聪; 李芹; 王志萍

    2009-01-01

    火电厂钢球磨煤机的负荷对象具有大滞后、慢时变、强非线性等复杂特性,采用常规控制方法难以获得满意的控制效果,提出了基于灰色预测PID控制的球磨机负荷控制方法,它融合了灰色预测与常规PID控制这两者的设计思想,将灰色预测在线预测结果代替被控对象测量值,再进行PID控制运算.Simulink仿真结果表明,灰色预测PID控制在控制的快速性、稳定性、适应性、鲁棒性、抗干扰性上均优于常规PID控制和带Simth预估PID控制.%The load of a ball mill in a thermal power plant features such complicated characteristics as a big lagging,slow time variation and strong non-linearity etc.,and it is difficult for conventional control methods to obtain a satisfactory control effectiveness.Therefore,the authors have presented a method for controlling the load of a ball mill based on a grey prediction PID(proportional,integral and differential) control,which integrates the design approach of the grey prediction with that of the conventional PID control,replaces the measured values of the controlled object with the on-line predicted results obtained from the grey prediction,and then performs a PID control operation.The Simulink simulation results show that the grey prediction-based PID control is superior to the conventional PID control and Simth-prediction-based PID one in respect of speediness,stability,adaptability,robustness and disturbance-resistant capability.

  16. 电力机车辅助电机PID控制研究%Research on electric locomotive auxiliary motor PID control

    Institute of Scientific and Technical Information of China (English)

    王安明; 林辉

    2012-01-01

    电力机车辅助电机主要是为了保证主电路的正常工作而设计的辅助设备,其是否投入工作取决于主电路的工作状态,即使在环境温度很低的情况下。尽管主电路工作在牵引或制动工况。但这些辅助设备服务的主电路电器设备的温升并不高,这不仅造成能源浪费,增加了设备的损耗,降低其使用寿命,同时也产生很大的机械和电磁噪声,影响乘务作业人员工作的舒适度。选择PID控制策略。以新型传感器为牵引电机的温升检测装置,以PLC作为系统控制单元,以HMI为系统的人机界面,完成了系统硬件方案设计。借助专用工具设计PLC和HMI的软件。实现了电力机车辅助电机的PlD控制..%Electric locomotive auxiliary motor is mainly in order to ensure the main circuit of the normal work and the design of auxiliary equipment, the work is dependent on the working state of the circuit, even when the environmental temperature is low, although the main circuit working in traction or braking, but these auxiliary equipment service main circuit electrical equipment temperature rise is not high, which not only cause energy waste, inerease the equipment loss, reduce its service life, but also greatly influence crew workers working comfort,makes the mechanical and electromagnetic noise. PID is chosen as control strategy, with new sensor for traction motor temperature rise test device, taking PLC as the system control unit, with HMI as the man-machine interface of the system, the system hardware design, using special tool to design PLC and HMI software, realizes the electric locomotive auxiliary motor PID control.

  17. Application of dimensional analysis in systems modeling and control design

    CERN Document Server

    Balaguer, Pedro

    2013-01-01

    Dimensional analysis is an engineering tool that is widely applied to numerous engineering problems, but has only recently been applied to control theory and problems such as identification and model reduction, robust control, adaptive control, and PID control. Application of Dimensional Analysis in Systems Modeling and Control Design provides an introduction to the fundamentals of dimensional analysis for control engineers, and shows how they can exploit the benefits of the technique to theoretical and practical control problems.

  18. Saturated Steam Power Generation Control Model Based on Fuzzy-PID%基于模糊自适应 PID 的饱和蒸汽发电控制研究

    Institute of Scientific and Technical Information of China (English)

    陈琳; 吴青柏; 张立杰

    2013-01-01

      饱和蒸汽发电项目中汽轮机是一个典型的工业过程控制对象,具有时变、非线性和滞后等显著特点。基于汽轮机发电机运行过程的控制要求,提出了一种自适应模糊PID控制方法。结合汽轮机发电机运行和模糊PID控制解决非线性、滞后性及时变等问题的特点,基于从发电站现场采集到的数据,建立了控制模型,并利用MATLAB/Simulink对系统进行了仿真,从而验证了该方案的可行性,为发电机控制提出了一种新的方案。%The steam turbine in saturated steam power generation project is a typical industrial process control object ,with the features such as time‐varying ,nonlinear and hysteresis .Based on the control requirement of steam turbine generator operation ,this paper put forward a kind of adaptive fuzzy PID control method .Combining the features of the steam turbine generator operation and fuzzy PID controller ,the paper analyzed the data collected from power station ,established a control model ,and carried out the simulation study by MATLAB/Simulink .The simulation results verify the feasibility of this scheme and lay a good foundation for the control scheme’s application in generator operation process .

  19. Fractional order differentiation and robust control design crone, h-infinity and motion control

    CERN Document Server

    Sabatier, Jocelyn; Melchior, Pierre; Oustaloup, Alain

    2015-01-01

    This monograph collates the past decade’s work on fractional models and fractional systems in the fields of analysis, robust control and path tracking. Themes such as PID control, robust path tracking design and motion control methodologies involving fractional differentiation are amongst those explored. It juxtaposes recent theoretical results at the forefront in the field, and applications that can be used as exercises that will help the reader to assimilate the proposed methodologies. The first part of the book deals with fractional derivative and fractional model definitions, as well as recent results for stability analysis, fractional model physical interpretation, controllability, and H-infinity norm computation. It also presents a critical point of view on model pseudo-state and “real state”, tackling the problem of fractional model initialization. Readers will find coverage of PID, Fractional PID and robust control in the second part of the book, which rounds off with an extension of H-infinity ...

  20. The Research of UPS Inverter Based on PID and Repetitive Control%基于PID和重复控制的UPS逆变器的研究

    Institute of Scientific and Technical Information of China (English)

    张震; 柴文野; 潘登; 任冲

    2011-01-01

    A control strategy combining repetitive control with PID control for UPS output voltage is proposed according to the free static -error tracking characteristic belonging to repetitive control and fast response characteristic belonging to PID control. The repetitive control reduces the distortion which the periodic disturbance produces and enhances steady state performance; the PID control reduces overshooting number and oscillation when the system receives the big perturbation and improves dynamic performance of system. The results show that the compound control makes the system achieve good dynamic and static performance and improve output voltage quality of inverter.%根据重复控制的无静态误差跟踪性和PID控制的快速响应特性,提出了UPS逆变器输出电压的重复与PID复合控制策略.重复控制可以减小周期性扰动产生的畸变,提高了系统的稳态性能;PID控制可以减小当系统受到较大的扰动时出现的超调和振荡,改善了系统的动态性能.实验结果表明,这种复合控制使系统得到了良好的动态和稳态特性,提高了逆变器的输出电压质量.

  1. Application research of a PID controller based on optimal fused estimation%基于最优融合估计的PID控制器应用研究

    Institute of Scientific and Technical Information of China (English)

    崔崇信; 任思璟; 王安华; 徐益民; 董金波

    2012-01-01

    Under the linear minimum variance optimal fused estimation criterion, based on the Ric-cati equation, a globally optimal multi-sensor weighted measurement fusion Kalman filter is presented for single channel CARMA signals with control input. Applied to the design of PID controller, it can improve the filter precision and reduce the steady-state error. A simulation experiment with speed control system of micro swimming robot shows its effectiveness.%在线性最小方差最优融合估计准则下,基于Riccati方程,对于带控制输入的单通道CAR-MA信号,提出了全局最优多传感器加权观测融合Kalman滤波器.应用于PID控制器的设计中,可以提高滤波精度,减小稳态误差.通过对微泳动机器人速度控制系统的仿真实验,说明了其有效性.

  2. Cotton-gin automation by using adaptive fuzzy immune PID controller%基于自适应模糊免疫PID的轧花自动控制系统

    Institute of Scientific and Technical Information of China (English)

    董全成; 冯显英

    2013-01-01

    轧花自动控制是棉花加工过程自动化的重要环节,对棉花加工质量、产量等有着重要影响。以轧花机喂花辊的转速作为控制量,在含潮率、籽棉等级等因素发生变化时,通过调节喂花辊转速,来实时控制喂花量大小,以保持合适的籽棉卷的密度,来达到轧花自动控制的目的。根据轧花工艺特点,用模糊控制、免疫控制与传统PID控制相结合,设计了自适应模糊免疫PID控制系统来控制喂花辊的转速,通过实时修正PID参数来保持控制系统的稳定性。用Matlab对自适应模糊免疫PID、模糊免疫PID和自适应模糊PID 3种控制系统进行了仿真比较分析,同时对基于自适应模糊免疫PID控制的轧花实时运行数据进行了分析,仿真及运行结果表明所设计控制系统在轧花自动控制中是有效和可行的,其在稳定性、鲁棒性上比其他2种智能控制系统性能优越。该控制方法为轧花自动控制提供了一种新的控制策略。%The cotton-gin automation is an important component in the cotton production process and also can affect cotton production quality, output, and profit etc. If keeping a constant seed cotton feed rate, a jam would appeared likely between the rotary knife and ribs of the cotton-gin stand when the moisture regain or seed cotton grade changed. In this paper, the automatic control system was designed that monitored and adjusted the seed cotton feed rate to produce a pre-selected load level on the cotton-gin stand rotary knife while automatically compensating for differences in the seed cotton such as trash and moisture regain content. In this automatic control system, an electrical transducer that is part of the automatic control system measured the input signal from a motor driving the rotary knife, and then proportionately converted and sent this signal as a direct current to the PLC by the AD module. Then the PLC sent the numerical signal to

  3. 基于模糊PID在饼干生产线温度控制的研究%Biscuit Production Line Temperature Control Research Based on Fuzzy PID

    Institute of Scientific and Technical Information of China (English)

    2013-01-01

    In view of the temperature control process in the very great time hysteresis and the very strong environment disturbance,can not satisfy the request well with the general PID control method, the compatible fuzzy regular strategy adjusts PID to be possible very good solution this question. Uses the MATLAB simulation research, composes one based on the fuzzy-PID control temperature control system, the application result indicated that this control has the good sound of something astir state property energy, compatibility strong and so on characteristics.%  针对温度控制过程中很大的时滞性和很强的环境性干扰,用一般的PID控制方法不能很好地满足要求,兼容模糊规则策略调节PID可以很好的解决这个问题。采用MATLAB仿真研究,组成一个基于模糊-PID控制的温度调节系统,应用结果表明,该控制具有良好的动静态性能,适应性强等特点。

  4. Optimal controller design for structural damage detection

    Science.gov (United States)

    Lew, Jiann-Shiun

    2005-03-01

    The virtual passive control technique has recently been applied to structural damage detection, where the virtual passive controller only uses the existing control devices, and no additional physical elements are attached to the tested structure. One important task is to design passive controllers that can enhance the sensitivity of the identified parameters, such as natural frequencies, to structural damage. This paper presents a novel study of an optimal controller design for structural damage detection. We apply not only passive controllers but also low-order and fixed-structure controllers, such as PID controllers. In the optimal control design, the performance of structural damage detection is based on the application of a neural network technique, which uses the pattern of the correlation between the natural frequency changes of the tested system and the damaged system.

  5. Penerapan PID Predictive Air-Ratio Controller Pada Mesin Mobil Mitsubishi Tipe 4G63 Untuk Meminimumkan Emisi Gas Buang

    Directory of Open Access Journals (Sweden)

    Hendre Angga Prasetya

    2012-09-01

    Full Text Available Seiring dengan adanya perkembangan sistem otomasi dalam dunia otomotif saat ini. dituntut untuk menghasilkan mesin dengan kadar emisi gas buang yang berada diambang batas kewajaran dan hemat bahan bakar sehingga diperlukan suatu sistem terhadap berbagai macam variabel yang mempengaruhi performansi mesin. Untuk menjaga supaya pemakaian bahan bakar pada kondisi optimal dapat diperoleh dengan cara mengatur waktu injeksi bahan bakar. Sistem waktu injeksi bahan bakar ini dipengaruhi oleh kecepatan mesin dan tekanan pada intake manifold. Dengan adanya pengaturan terhadap waktu injeksi bahan bakar akan meningkatkan efektifitas pembakaran yang secara tidak langsung juga mengurangi kadar emisi pada gas buang pada saat kondisi kecepatan stasioner. Pada tugas akhir ini, akan dilakukan penelitian tentang pengaruh waktu pengapian dan waktu injeksi yang diterapkan pada sistem pengaturan injeksi bahan bakar yang diaplikasikan pada mesin Mitsubishi 4G63 untuk mengatur waktu injeksi bahan bakar dan waktu pengapian pada saat mesin dalam kecepatan stasioner. Penelitian ini diujikan pada mesin Mitsubshi 4G63 empat silinder sebagai plant dengan kondisi kecepatan stasioner. Penerapan PID Predictive Air-Ratio Controller memberikan waktu injeksi  yang tepat pada saat kecepatan stasioner sehingga dapat menmaksimalkan perbandingan rasio udara sebesar 14,7 :1 standar performansi mesin .

  6. Realization of Intelligent Neuron PID Control with Relay Self-Tuning Arithmetic%用继电自整定实现神经元PID智能控制

    Institute of Scientific and Technical Information of China (English)

    楚彦君; 马龙; 巨林仓

    2001-01-01

    In order to meet the requirement of in dustry process control,new methods for tuning PID need to be applied.The neuron self-tuning PID controller combined with relay self-tuning is presented.The i n itial values for neuron self-tuning PID controller are acquired from relay self -tuning arithmetic,then the control mode is switched to adaptive mode.The intel ligent neuron PID control is thus realized.Its stability is analyzed and the sim ulation by using simulink of matlab is done.The satisfied results are achieved.%当前工业过程对控制品质要求越来越高,需要更先进的PID控制器参数整定方法来满足过程控制的要求。该文提出了神经元自适应PID控制器与PID继电自整定相结合构成PID智能控制系统的方法,即利用PID继电自整定算法获取神经元自适应PID控制器权系数的初值,然后将得到的初值送到神经元自适应PID控制器,并且切换到自适应控制模式,从而实现神经元PID智能控制。同时分析了神经元自适应控制系统的稳定性,用Matlab中的Simulink进行了仿真模拟,得到了满意的结果。

  7. A novel PID-based control approach for switched-reluctance motors

    OpenAIRE

    Loria, Antonio; Espinosa-Perez, G.; Chumacero, Erik

    2012-01-01

    We propose a control strategy for switched-reluctance motors with unknown load, which consists in two separate control loops, for the rotor (mechanical) dynamics and the stator (electrical) dynamics. The novelty of the approach resides in using an alternative rotor model which corresponds to that of an harmonic oscillator hence, it is linear in the rotation coordinates. The control law is of proportional-integral-derivative type and it is implemented through a virtual control input, generated...

  8. 直接甲醇燃料电池的模糊PID控制研究%Fuzzy PID control of the direct methanol fuel cell

    Institute of Scientific and Technical Information of China (English)

    廉洁; 陈雨

    2012-01-01

    The direct methanol fuel cell(DMFC) is regarded as a complex nonlinear systems.With the help of modern control theory and fuzzy control technology,the state space model is established,the adaptive parameters fuzzy PID controller is designed,fuzzy control rules are provided,and a multi input-output system is converted to a single input-output system.Using Matlab simulation software simulation of the system is made in which the cathode air feed speed is the input quantities and the output power is output quantity.The results show that designed control program can effectively improve the performance of the DMFC system.%视直接甲醇燃料电池DMFC(Direct Methanol Fuel Cell)为复杂的非线性系统,综合应用现代控制理论和模糊控制技术,建立状态空间模型,设计参数自适应模糊PID控制器,规定模糊控制规则,把多输入多输出系统转换为单输入单输出系统.采用Matlab软件,对以阴极空气进料速度为输入量,以电堆的输出功率为输出量的系统进行仿真.结果表明,所设计的控制方案能够有效提高DMFC系统的工作性能.

  9. The programming and implementation of PID control algorithms in Siemens PLC%PID控制算法在西门子PLC中编程及实现

    Institute of Scientific and Technical Information of China (English)

    何军红; 尹旭佳; 史常胜

    2012-01-01

    分析了PID控制位置式和增量式基本算法,其应用在工业控制领域相当广泛.采用西门子可编程控制器S7-300 PLC作为控制器,通过梯形图方式编写了PID的通用控制算法,用FB功能块进行了封装.通过选择合适的PID控制参数,可以满足实际工程的不同需求.该控制算法已经在实际的处理项目、地铁通风空调等多个工程项目中成功应用.%This paper analyzes the positional and the incremental algorithm based on the PID control, which is widely used in the industrial automation field. With the Siemens S7 -300 PLC as a controller, the PID common control algorithm is realized in the way of ladder and packaged it in a function block. By selecting the appropriate PID parameters, it can be used in kinds of practical engineering programs. The control algorithm has been successfully applied in the actual processing project and subway ventilation air conditioning project.

  10. GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2012-10-01

    Full Text Available Congetive method is used in this research to create portfilo of movement robot manipulator. Gradient descent (GD artificial intelligence based switching feedback linearization controller was used and robot’s postures and trajectory were expected in MATLAB/SIMULINK environment. Feedback linearization controller (CTC is an influential nonlinear controller to certain systems which it is based on feedback linearization and computes the required torques using the nonlinear feedback control law in certain systems. Practically a large amount of systems have uncertainties accordingly this method has a challenge. Switching feedback linearization controller is a significant combination nonlinear stable-robust controller under condition of partly uncertain dynamic parameters of system. This technique is used to control of highly nonlinear systems especially in nonlinear time varient nonlinear dynamic system. To increase the stability and robustness with regards to improve the robustness switching methodology is applied to feedback linearization controller. Lyapunov stability is proved in proposed controller based on switching function. To compensate for the dependence on switching parameters baseline methodology is used.The nonlinear model dynamic formulation problem in uncertain system can be solved by using artificial intelligence theorem. Fuzzy logic theory is used to estimate the system dynamic. Forward kinematics implemented the manipulator's movements. Results validated the robot's range of possible postures and trajectories.

  11. Design of multivariable controllers for robot manipulators

    Science.gov (United States)

    Seraji, H.

    1986-01-01

    The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.

  12. Further Characterization of 394-GHz Gyrotron FU CW GII with Additional PID Control System for 600-MHz DNP-SSNMR Spectroscopy

    Science.gov (United States)

    Ueda, Keisuke; Matsuki, Yoh; Fujiwara, Toshimichi; Tatematsu, Yoshinori; Ogawa, Isamu; Idehara, Toshitaka

    2016-09-01

    A 394-GHz gyrotron, FU CW GII, has been designed at the University of Fukui, Japan, for dynamic nuclear polarization (DNP)-enhanced solid-state nuclear magnetic resonance (SSNMR) experiments at 600-MHz 1H resonant frequency. After installation at the Institute for Protein Research (IPR), Osaka University, Japan, a PID feedback control system was equipped to regulate the electron gun heater current for stabilization of the electron beam current, which ultimately achieved stabilization of output power when operating in continuous wave (CW) mode. During exploration to further optimize operating conditions, a continuous tuning bandwidth of approximately 1 GHz was observed by varying the operating voltage at a fixed magnetic field. In the frequency range required for positive DNP enhancement, the output power was improved by increasing the magnetic field and the operating voltage from their initial operational settings. In addition, fine tuning of output frequency by varying the cavity cooling water temperature was demonstrated. These operating conditions and ancillary enhancements are expected to contribute to further enhancement of SSNMR signal.

  13. Further Characterization of 394-GHz Gyrotron FU CW GII with Additional PID Control System for 600-MHz DNP-SSNMR Spectroscopy

    Science.gov (United States)

    Ueda, Keisuke; Matsuki, Yoh; Fujiwara, Toshimichi; Tatematsu, Yoshinori; Ogawa, Isamu; Idehara, Toshitaka

    2016-04-01

    A 394-GHz gyrotron, FU CW GII, has been designed at the University of Fukui, Japan, for dynamic nuclear polarization (DNP)-enhanced solid-state nuclear magnetic resonance (SSNMR) experiments at 600-MHz 1H resonant frequency. After installation at the Institute for Protein Research (IPR), Osaka University, Japan, a PID feedback control system was equipped to regulate the electron gun heater current for stabilization of the electron beam current, which ultimately achieved stabilization of output power when operating in continuous wave (CW) mode. During exploration to further optimize operating conditions, a continuous tuning bandwidth of approximately 1 GHz was observed by varying the operating voltage at a fixed magnetic field. In the frequency range required for positive DNP enhancement, the output power was improved by increasing the magnetic field and the operating voltage from their initial operational settings. In addition, fine tuning of output frequency by varying the cavity cooling water temperature was demonstrated. These operating conditions and ancillary enhancements are expected to contribute to further enhancement of SSNMR signal.

  14. A Fuzzy PID Approach for the Vibration Control of the FSPM

    OpenAIRE

    Zhu-Feng Shao; Xiaoqiang Tang; Li-Ping Wang; Zheng You

    2013-01-01

    This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM), which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The research object is a 40m scale model of the Feed Support System (FSS) for the Five‐hundred‐meter Aperture Spherical radio Telescope ...

  15. A novel adaptive PID controller based on Actor-Critic learning%基于执行器-评价器学习的自适应PID控制

    Institute of Scientific and Technical Information of China (English)

    陈学松; 杨宜民

    2011-01-01

    Owing to the lack of the self-tuning for PID parameters in typical PID(T-PID) controllers, a self tuning PID control strategy using Actor-Critic learning(AC-PID) is proposed. Actor-Critic learning is used to tune PID parameters of the controller in an adaptive way. The policy function of Actor and the value function of Critic are approximated by a simple radial basis function neural network. The system error, the first and the second-order differences of system error are employed as inputs to the radial basis function network. The mapping from the system states to PID parameters is realized by the Actor, and the temporal difference(TD) error is evaluated by the Critic. Based on the structure of Actor-Critic learning and TD error performance index, the block diagram of the controller is developed. Two simulation results show that the proposed controller is efficient and perfectly adaptable with fast responses, providing better performances than the typical PID controller.%针对传统PID控制器无法在线自整定参数的不足,提出了一种基于执行器一评估器(Actor-Critic,AC)学习的自适应PID控制器结构与学习算法.该控制器利用AC学习实现PID参数的自适应整定,采用一个径向基函数网络同时对Actor的策略函数和Critic的值函数进行逼近.径向基函数网络的输入为系统误差、误差的一次差分和二次差分,Actor实现系统状态到PID参数的映射,Critic则对Actor的输出进行评判并且生成时序差分(temporaldifference,TD)误差信号.基于AC学习的体系结构和TD误差性能指标,给出了控制器设计的步骤流程图.两个仿真实验表明:与传统的PID控制器相比,基于AC学习的PID控制器在响应速度和自适应能力方面要优于传统PID控制器.

  16. 大型风力机恒功率桨距非线性PID控制方法研究%RESEARCH ON BLADE PITCH NONLINEAR PID CONTROL FOR A LARGE-SCALE WIND TURBINE UNDER CONSTANT POWER

    Institute of Scientific and Technical Information of China (English)

    郑黎明; 林宇; 陈严; 吴捷

    2012-01-01

    建立了基于功率/桨距敏感性的变桨系统模型,综合出桨距非线性PID控制方法.通过Bladed软件计算不同桨距角下功率变化的敏感性,在Bladed外部控制器条件下,获得该方法和固有方法下系统输出的对照结果并进行分析和总结.%A new pitch regulation model based on power-pitch sensitivity was derived, and pitch nonlinear PID control was designed. Sensitivity of power variation under different pitch angle were figured out by mean of Bladed. System control results under Bladed external controllers of renovated and conventional approach were compared and analyzed, which is benefit to wind turbine control design.

  17. A tuning method for robust PID controller during fast transient; Une methode de reglage de correcteur PID robuste pour transitique rapide

    Energy Technology Data Exchange (ETDEWEB)

    Laroche, E. [Lab. des Sciences de l' Image, de l' Informatique et de la Teledetection, UMR 7005, Pole API, 67 - Illkirch (France); Mendes, E. [Laboratoire de Genie Electrique de Paris, UMR 8507, 91 - Gilf sur Yvette (France); Louis, J.P.; Bonnassieux, Y.; Abou-Kandil, H. [Laboratoire d' Electricite, Signaux et Robotique, UPRESA 8029, 94 - Cachan (France)

    2002-07-01

    In this paper is presented a method for tuning a robust controller well adapted for positioning a load of variable inertia fed by an electric actuator. This method relies on a multi-model pole assignment and minimizes effect of measurement noise. It has been implemented on the benchmark 'fast transitic' located at the LGEP. Thus compared to a classical pole assignment method, the gain of robustness has been shown. The actuator used is an induction machine with flux-oriented control, which is known for its sensitivity to rotor parameter estimation errors. In order to check robustness, a model accounting to this phenomenon is developed and stability margins are computed. (authors)

  18. PID Neural Network Decoupling Control Based on Particle Swarm Optimization%基于粒子群算法的PID神经网络解耦控制

    Institute of Scientific and Technical Information of China (English)

    周西峰; 林莹莹; 郭前岗

    2013-01-01

    基于粒子群的优化算法具有对整个参数空间进行高效并行搜索的特点以及PID神经网络的自调节和自适应特性,设计了具有PID结构的多变量自适应神经网络控制器。该算法采用粒子群算法优化PID神经网络初始权值,并将优化后的最优初始权值控制非线性耦合系统。系统仿真结果表明,粒子群优化后的PID神经网络控制器具有逼近控制目标更快、响应时间较短的显著优点。该控制策略可在大范围内克服系统的非线性和强耦合问题,具有一定的理论研究价值和工程实用价值。%The automatic control of such a system is a research focus in the process control area. A multivariable adaptive PID Artificial Neural Network ( ANN) controller was introduced,which was based on the characteristics of Particle Swarm Optimization ( PSO) algo-rithm searching the parameter space concurrently and efficiently,and the self-regulation and adaptability of PID artificial neuron net-works. Utilize the PSO to optimize the initial weight value of PID neural network,successfully achieve the control strategy of a nonlinear coupling system using the improved PID neural network with those obtained from the original PID neural network. The new control strate-gy could overcome nonlinear and strong coupling features of the system in a wide range and is expected to have certain theoretical and en-gineering application value.

  19. High-order sliding modes and intelligent PID controllers: First steps toward a practical comparison

    OpenAIRE

    Riachy, Samer; Fliess, Michel; Join, Cédric

    2011-01-01

    International audience; This communication is devoted to a "practical" comparison between high-order sliding modes and the recently introduced model-free control. The perfect knowledge of the relative degree of the output variable, which is a standard assumption for sliding modes, is assumed here. Our comparisons are based on two concrete case-studies and on numerous computer simulations. The smoothness of the input variables, the robustness with respect to noises and the straightforward exte...

  20. Performance assessment of PID and IMC tuning methods for a mixing process with time delay.

    Science.gov (United States)

    Selvi, J Arputha Vijaya; Radhakrishnan, T K; Sundaram, S

    2007-06-01

    A flow process with time delay has been considered for modeling and control. A dilute solution of sodium chloride is used as tracer and an online conductivity measurement unit as sensor and recorder. The objective of the current study is to design control algorithms and present corresponding robust control analysis for the process. The control methodologies considered are (i) conventional PID control and (ii) internal model control (IMC). The control structures are comparatively analyzed using standard robustness measures for stability and performance. Of the two control algorithms, conventional PID and IMC, IMC exhibits faster settling time, no overshoot, better set-point tracking and disturbance rejection, and good robust performance than the PID control scheme.

  1. Brushless DC motor control system based on expert PID%基于专家PID的直流无刷电机控制系统*

    Institute of Scientific and Technical Information of China (English)

    张浩; 吴新开

    2015-01-01

    由于直流无刷电机存在时变性、非线性、不确定性、难以建模等特点,采用常规的PID很难达到理想的控制效果。通过专家PID控制理论并结合实践研究,提出一种高性能的速度控制方案。基于多旋翼飞行器常用的无刷电机转速控制这一实验平台,采用编码器测速实现无刷电机的闭环控制。无刷电机速度PID控制器的引入,开辟了多旋翼飞行器电机控制和姿态控制的新思路。%The brushless DC motor has the characteristics of time varing, nonliner, uncertainty and hardly modeling, so it is difficult to obtain ideal control effect by using conventional PID control. It is hoped to find a high-performance speed control scheme through the theory and practical research of expert PID. Based on the experiment platform of commonly used brushless motor speed control for multi rotor aircraft, the encoder is applied to measure the rotational speed and realize its closed-loop control. The introduction of brushless motor speed PID controller has opened up new ideas for motor control and attitude control of multi rotor aircraft.

  2. Brushless DC motor control system based on expert PID%基于专家PID的直流无刷电机控制系统*

    Institute of Scientific and Technical Information of China (English)

    张浩; 吴新开

    2015-01-01

    The brushless DC motor has the characteristics of time varing, nonliner, uncertainty and hardly modeling, so it is difficult to obtain ideal control effect by using conventional PID control. It is hoped to find a high-performance speed control scheme through the theory and practical research of expert PID. Based on the experiment platform of commonly used brushless motor speed control for multi rotor aircraft, the encoder is applied to measure the rotational speed and realize its closed-loop control. The introduction of brushless motor speed PID controller has opened up new ideas for motor control and attitude control of multi rotor aircraft.%由于直流无刷电机存在时变性、非线性、不确定性、难以建模等特点,采用常规的PID很难达到理想的控制效果。通过专家PID控制理论并结合实践研究,提出一种高性能的速度控制方案。基于多旋翼飞行器常用的无刷电机转速控制这一实验平台,采用编码器测速实现无刷电机的闭环控制。无刷电机速度PID控制器的引入,开辟了多旋翼飞行器电机控制和姿态控制的新思路。

  3. Exploration of Fuzzy-PID Technology Applied to Water Level Control of Boiler%模糊PID技术在控制锅炉汽包水位的初探

    Institute of Scientific and Technical Information of China (English)

    张鑫; 舒凌峰; 吕坤

    2013-01-01

    The boiler automatic control level in our company is low now. There are many problems, such as incomplete burning high oxygen content and great heat loss of exhaust gas. These problems not only results in low boiler thermal efficiency and big waste of energy directly, but also brings about great harm to the surroundings. Therefore,it is importan to perfect the boiler computer control system. Based on Siemens 300PLC platform, Fuzzy-PID controller is designed for the boiler control system in our company to overcome the shortcomings of great inertia and non-linearity of the boiler control system . The whole control system is made have a good effect in combination with high of steady-state accuracy of PIO control.On the basis of combining Fuzzy-PID control with traditional PID control, a complete and practical automatic control system is designed for the boiler in our company.%目前使用的锅炉自动控制水平较低,存在燃烧不彻底、排烟氧含量偏高、排烟热损失大等问题,直接造成了锅炉热效率低下和大量能源的浪费,同时也给环境带来很大的污染,所以完善锅炉的计算机控制具有重要的意义.采用西门子300PLC为开发平台,设计模糊PID控制器应用于锅炉控制系统克服了锅炉控制系统的大惯性、非线性等特点,并结合PID控制稳态精度高的特点,使控制系统有良好的控制效果.在研究模糊控制与传统PID控制相结合的基础上,以锅炉为对象,设计了一套完善、实用的自动控制系统.

  4. 基于RBF神经网络PID的无人动力伞控制%Unmanned Powered Parachute Aircraft Control Based on RBF Neural Network PID

    Institute of Scientific and Technical Information of China (English)

    张昊; 陈自力; 齐晓慧

    2012-01-01

    Unmanned powered parachute aircraft is a complicated nonlinear dynamics object. It is difficult to describe by precise mathematical model. For the integrated system with nonlinear time-varying and strong coupling characters, since it cannot acquire the satisfied control result using the traditional PID control method, a self-turning PID control strategy based on RBF network is put forward in this paper. This method uses the ability of self-study and self-adaptability of RBF network to turn parameters of system, accordingly, realizes the setting of PID controller parameters. Simulation result in Matlab indicates that it can get satisfied control result, shorter adjusting time, better stability, better self-adaptability and robustness using this method .%动力伞是一个复杂的非线性动力学对象,难以用精确的数学模型描述.对于这种具有非线性、时变和强耦合特性的综合系统,采用传统PID控制方法不能得到满意的控制效果,因此提出一种基于RBF神经网络的PID控制方法.该方法利用RBF神经网络的自学习、自适应能力自调整系统的控制参数,从而实现对PID控制器各参数的优化整定.在Matlab软件中的仿真结果表明,该方法可实现对动力伞有效的控制,并且与传统PID相比,具有更短的调节时间,更好的稳定性、自适应性和鲁棒性.

  5. 基于参数实时最优整定的智能PID控制器研究%Research of Intelligent PID Controller Based on Parameters Real-time Optimal Tuning

    Institute of Scientific and Technical Information of China (English)

    邓木生

    2011-01-01

    在参数时变系统中,为了解决PID参数不易实时调整问题,提出了基于PID控制律的智能控制方法;其主要思想是以PID的控制律作为神经网络输入输出模型,以PID的3个参数作为神经网络权值,通过对PID的控制模型进行实时在线训练,获得PID的最佳参数,从而实现对参数时变系统的最优控制;研究结果表明,基于PID控制模型的神经网络优化方法在处理非线性和时变系统时具有很强的鲁棒性,因而是一种有效的智能控制方法.%The intelligent control approach based on PID control law is proposed in this paper for solving the problem to be difficult to adjust PID parameters in parameters time-varying system. The main idea is that the optimum control of parameters time-varying system is a-chieved with PID control model as input-output model of neural network, and with the three PID parameters as the weights of neural network, obtaining optimal PID parameters through the real-time online training of PID control model. The results show that the neural network optimization method based on the PID control model has strong robustness in dealing with nonlinear and time-varying systems. Hence, the method presented is an effective approach of intelligent control.

  6. Research on Single Neuron PID Control for Electronic Universal Material Testing Machine%电子万能材料试验机单神经元PID控制器研究

    Institute of Scientific and Technical Information of China (English)

    杨敏

    2011-01-01

    A single neuron PID control is applied to the control of electronic universal material testing machine based on the traditional PID control. This paper researches on its structure and control algorithm and uses MATLAB/SIMULINK software for traditional PID control and single neuron PID control separately to simulate it. The results show that the single neuron PID control is more effective in realizing constant force,constant displacement and permanent deformation control of the electronic universal material testing machine.%在分析传统PID控制的基础上,提出将单神经元PID控制应用于电子万能材料试验机的控制上.对其结构和控制算法进行研究,并利用MATLAB/SIMU LINK对电子万能材料试验机传统PID控制和单神经元PID控制进行仿真研究,结果表明单神经元PID控制更有利于电子万能材料试验机实现恒力、恒位移和恒变形控制.

  7. Adaptive Fuzzy PID Based Control Strategy For 3Phase 4Wire Shunt Active Filter To Mitigate Current Harmonics Of Grid Interconnection Of Renewable Energy Based Distribution System

    Directory of Open Access Journals (Sweden)

    Kaleemullah

    2016-06-01

    Full Text Available This paper presents a new control strategy for controlling the shunt active power filter to compensate reactive power and to reduce the unwanted harmonics in the grid current. Shunt active filter act as a current source which is connected in parallel with a non-linear load and controlled to produce the required compensating current. The proposed control strategy is based on the fuzzy PID controller which is used for determining the reference compensating currents of the three-phase shunt active power filters. Simulations are carried out using MATLAB/SIMULINK to verify the performance of the proposed controller. The output shows the controller has fast dynamic response high accuracy of tracking DC voltage reference and robust to load parameters variations.

  8. RBFNN在翻车机转速PID控制中的应用%Application of RBFNN in PID Control of the Car Dumper's Rotary Velocity

    Institute of Scientific and Technical Information of China (English)

    郑德忠; 王立

    2012-01-01

    根据当代物流的高速高效特点,对翻车机的转速进行基于径向积函数(RBF)神经网络辨识的自适应PID的控制,该方法是利用神经网络的自学习能力来弥补PID控制的在线运算能力,即利用RBF神经网络对PID控制中的3个重要参数实时调整,使得该种控制方法集合了神经网络的实时自适应性和PID控制快速方便的特点,比传统的单纯PID控制更适合当代大型工业系统控制,其能够针对受控对象的某一时刻的特征迅速进行在线运算,并且提出利用递推极大似然估计法对RBFNN网络权值进行训练,可以迅速达到稳定状态,超调量很小,渐进性好,克服了实际系统控制中的稳定性与响应速度的矛盾.将其应用于翻车机角速度的优化控制中,并进行仿真,得出该控制方法的准确性与鲁棒性可以达到满意效果.%According to the characteristics of current labour exchange which are high speed and high effective, in this paper we describe a adaptive PID control method of the car dumper' s rotational velocity based on RBFNN, thi9 method can improve the online operational capability of the conventional PID controller by using the neural network which has the learning capability. In other words, the parameters of the PID controller are adjusted by the RBFNN. Thus, this control method has gathered the characteristics of the neural network and the PID control. Compared to the traditional pure PID control, this method is more suitable for the major industry systems control of the present age. It can be able to aim at the controlled object' s characteristic of certain time and carry on the online operation rapidly, moreover, proposed using the recursive maximum likelihood estimation to train the network weights of RBFNN, and then may arrive the steady state very quickly. At the same time, the overflow is very little and well Progressive. Therefore, it has gathered the control stability and the speed in the reality

  9. Intelligent Greenhouse Monitoring and Control System Based on Internet of Things and Fuzzy PID Technology%基于物联网和模糊 PID 技术的温室智能监控系统

    Institute of Scientific and Technical Information of China (English)

    束慧

    2014-01-01

    According to the characteristics of greenhouse ,including wide scope ,many monitoring point ,difficult wiring ,nonlinear , large time delay and difficult to determine control model ,wireless sensor node ,gathering node and intelligent control node are de‐signed by using CC2530 to real-time collect parameters ,such as temperature and humidity ,illumination ,and so on .Zigbee technology is used to realize the data transmission between wireless sensor nodes .GPRS technology is used to realize data transmission between nodes and monitoring platform .Smith pre-estimated fuzzy PID control algorithm is used to control wet curtain ,soaking sun-shade net ,blower fan and other equipment using .Field long running shows that the system is economical and practical ,has high control precision ,stable and reliable running ,and can meet the requirement of greenhouse production .%针对温室范围广、监控点多、布线困难、且具有非线性、大延时、控制模型难以确定等特性,以 CC2530为核心设计了无线传感器节点、汇聚节点及智能控制节点,实现对温湿度、光照等参数的实时采集,以 Zigbee 技术实现各无线传感器节点之间的数据传输;以 GPRS 技术实现汇聚节点与监控平台的对接,采用带 Smith 预估器的模糊 PID控制算法实现对遮阳网、风机、湿帘、均热扇等设备的控制,经现场长时间运行表明,整个系统经济实用,控制精度高,运行稳定可靠,满足大棚生产要求。

  10. FUZZY-PID Control of Nonlinear Active Suspension for Rigid-Flexible Coupling Model%刚柔耦合非线性主动悬架系统的 FUZZY-PID控制

    Institute of Scientific and Technical Information of China (English)

    刘海潮; 刘夫云; 张骥; 王珂; 杨孟杰

    2016-01-01

    To solve the control technical problem of commercial vehicle front suspension, the paper presents a new fuzzy-PID controller for active suspension.Firstly, a detailed rigid-flexible model of the vehicle was established by applying the multi-body dynamics method and the finite element method.Secondly, a fuzzy-PID controller was designed for active suspension system based on the idea of variable domain, then programmed by means of Matlab.Finally, the joint simulation was carried out based on the ADAMS and the Matlab/Simulink.The joint simulation model can simulate vehicle dynamic response with the control of ASS under random road by using different control strategies, the results show that the proposed active suspension is considerably superior to the other strategies, and effectively improve the smooth performance of the vehicle.%针对商用车前悬架主动控制问题,运用有限元和多体动力学方法,对车架进行柔性化处理,建立了某型商用车刚柔耦合整车模型;基于变论域理论设计了主动悬架模糊控制器并通过Matlab编写了控制算法,利用ADAMS与Matlab/Simulink对主动悬架系统进行联合仿真。在随机路面输入下,对多种控制策略进行了仿真分析与性能对比,结果表明该控制方法明显优于其他控制策略,能有效提高汽车的平顺性能。

  11. Steel pipe's fixed-length cutting control system based on fuzzy self-adaptive PID%基于模糊自适应PID的钢管定长切割控制系统

    Institute of Scientific and Technical Information of China (English)

    盛强

    2011-01-01

    Aiming at the weak points of traditional steel pipe's fixed-length cutting control method on flying-saw machine,a control strategy based on the fuzzy self-adaptive PID method was proposed. The inputs required by the control model are fixed-length cutting error and the error change rate,and the model gives the correct additional setpoint for the three parameters of PID control individually. Thus the on-line automatic adjustment of the PID parameters was achieved. The fuzzy self-adaptive PID control was compared with traditional PID by simulation through Matlab. The results indicate that the steel pipe's fixed-length cutting dynamic control performs much better by using the fuzzy self-adaptive PID control strategy.%针对钢管定尺飞锯传统定长切割控制策略存在的问题,提出了采用模糊自适应PID的控制策略.控制器输入取钢管的定长切割偏差e和偏差变化率ec,输出取PID控制器3个参数的修正量,从而实现了PID参数的在线自整定.采用Matlab语言,进行了常规PID控制与模糊自适应PID控制动态性能的仿真比较.研究结果表明,采用模糊自适应PID控制可明显提高定尺飞锯定长切割控制系统的动态性能.

  12. Application of a novel Fuzzy PID Controller in the Motor Servo System%一种新型模糊PID控制器在伺服系统的应用

    Institute of Scientific and Technical Information of China (English)

    胡晓磊; 喻俊志

    2009-01-01

    In order to improve the swift dynamic characteristics of permanent magnet synchronous motor (PMSM) and re-t strain influence on servo system performance owing to uncertain factors of parameter diversification and load distur-bance, a novel fuzzy switch algorithm based on smooth switch is proposed and a new fuzzy PID compound controller was designed,which is adopted in the PMSM servo system.The simulative and experimental results show that the controller has advantages of both fuzzy controller and PID controller,which improves the dynamic performance and enhances the stability of system.%为了提高伺服系统的快速动态特性,抑制电机参数变化和负载大范围变化对系统性能的影响.提出了一种新颖的基于平滑切换的模糊PID控制的切换算法.在此基础上设计了相应的控制器,并应用于永磁同步电机(Permanent Magnet Synchronous Motor,简称PMSM)伺服系统控制.仿真和实验结果表明,该控制器同时具备模糊控制和PID控制的优点,切换平滑,加快了误差收敛的速度,提高了系统的动态性能,保证了系统的稳定性.

  13. A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs

    Directory of Open Access Journals (Sweden)

    Anton Civit-Balcells

    2012-03-01

    Full Text Available In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN, which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control.

  14. Study on EPS Using Sugeno-Fuzzy and PID Filter Control%电动助力转向系统Sugeno型模糊及PID的滤波控制研究

    Institute of Scientific and Technical Information of China (English)

    刘俊; 陈无畏

    2009-01-01

    在阐述车辆电动助力转向系统结构与工作原理的基础上,建立其动态数学模型.针对助力电机目标电流输出控制的特点,建立了Sugeno型模糊控制器,同时采用PID闭环反馈控制助力电机实际电流,并由幅频复合滤波对控制信号进行滤波处理,从而进一步提高了控制效果.模拟仿真、硬件在环仿真试验结果表明,该设计方法对控制性能的改善是明显的.%Based on introducing the structure and work principle of vehicle EPS,a dynamic mathe-matical model was established. According to the characteristics of output control of assist power motor objective current, Sugeno- fuzzy controller was designed, at the same time, PID closed- loop feedback controller was applied to control the actual motor current. To make the control effect better,the con-trol signals were filtered with scope and frequency filter. The result of analog simulation, hardware-in -loop simulation test shows that the performance of control becomes better by using this design.

  15. Fuzzy-PID控制在数字式硫熏中和系统中的应用%The Application of Fuzzy-PID Control in the Digital Sulphitation System

    Institute of Scientific and Technical Information of China (English)

    陈剑华; 王盛; 冯春亚; 卢锦华; 韦何光

    2014-01-01

    In order to improve the digital sulphitation control precision, to avoid local perturbation problems caused by unstable flow of mixed juice and valve switch, etc., a Fuzzy-PID combined algorithm is proposed based on fuzzy control. This fuzzy control strategy can overcome the deficiencies that a conventional PID control doesn’t achieve efficiently, such as a smooth and stable control of sulfur smoked process. The results of MATLAB simulation and industrial field application proved that Fuzzy-PID control has the characteristics of flexibility, fast response, adaptability, etc. with good control effect.%为了提高数字式硫熏中和控制系统的控制精度,同时避免混合汁入汁不稳、阀门开关等局部扰动问题,并针对常规 PID 控制难以实现平滑稳定的硫熏中和控制效果,运用一种基于模糊控制的Fuzzy-PID复合控制算法,有效弥补了常规PID控制的不足。通过MATLAB仿真分析与工业现场的使用,证明Fuzzy-PID具备控制灵活、响应速度快、适应性强等优点,取得了良好的控制效果。

  16. Control design for the SISO system with the unknown order and the unknown relative degree.

    Science.gov (United States)

    Zhao, Chunzhe; Li, Donghai

    2014-07-01

    For the uncertain system whose order, relative degree and parameters are unknown in the control design, new research is still in need on the parameter tuning and close-loop stability. During the last 10 years, much progress is made in the application and theory research of the active disturbance rejection control (ADRC) for the uncertain system. In this study, the necessary and sufficient conditions are established for building the ADRC for the minimum-phase system and the open-loop stable system when the plant parameters, orders and relative degrees are unknown, the corresponding ideal dynamics are analyzed, and the theoretical results are verified by the simulations. Considering the wide application and the long history of the PID/PI controller, a method is given to design ADRC quickly based on the existing (generalized or conventional) PID/PI controller. A plenty of simulations are made to illustrate this PID/PI-based design method and the corresponding close-loop performances. The simulation examples include the minimum/nonminimum-phase plants, the stable/integrating plants, the high/low-order plant, and the plants with time delays. Such plants are from a wider scope than the theoretical result, and representative of many kinds of the industrial processes. That leads to a new way to simplify the ADRC design via absorbing the engineering experience in designing the PID/PI controller.

  17. Design Intelligent Robust Model-base Sliding Guidance Controller for Spherical Motor

    Directory of Open Access Journals (Sweden)

    Mojtaba Yaghoot

    2014-03-01

    Full Text Available Stability, robust and reliability are the main objectives to design a controller for highly nonlinear spherical motor. Most of linear and nonlinear controllers are stable, model-base controllers are reliable but in this group sliding mode controller is a robust controller. Therefore in this research sliding mode controller is used to design stable, robust and reliable controller. For intelligence part, the minimum rule base Proportional Integral Derivative (PID Fuzzy hybrid guidance Controller for three dimensions spherical motor is presented in this research. Guidance control in a three dimensions spherical motor is performed by the robust sliding mode controllers producing the control signals which are applied to systems torque. Sliding mode controller has an important problem, namely chattering. In this research, chattering-free sliding mode controller is design as a robust guidance controller to their robust performance in a wide range of operating conditions. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a PI-like controller to have the minimum rule base. Nonlinear type robust sliding mode controller is used to modify PID fuzzy logic theory to design robust and reliable hybrid guidance methodology. This research is used to reduce or eliminate the fuzzy and conventional sliding mode controller problem based on minimum rule base fuzzy logic theory and modified it by sliding mode method to control of spherical motor system.

  18. Fuzzy PID-based control of the walk-aided exoskeleton robot%基于模糊PID的助行外骨骼机器人控制研究

    Institute of Scientific and Technical Information of China (English)

    钟翠华; 沈林勇; 任昭霖; 邵文韫

    2011-01-01

    为了研究外骨骼机器人的步态控制,提出了一种基于模糊PID的算法,首先给出机器人的一般增量式PID控制算法,然后根据机器人关节角度误差和误差变化量的参数,选择了隶属函数,最后结合实际操作经验,建立了模糊规则表,完成了对PID参数的在线自整定.试验结果表明,模糊PID控制方法能够使外骨骼机器人平稳运动,初步实现了机器人的步态控制.%In order to realize the gait control, the fuzzy PID-based control algorithm was proposed.Firstly, the general incremental PID control algorithm of the robot was given.Then, the membership functions were selected according to the parameters of the angle error and the variations of the error of the robot.Finally, the table of fuzzy control was established for the online auto-tuning of the PID parameters based on the actual operating experience.The test results show that the fuzzy PID control could make the exoskeleton robot walk steadily and finish the gait control of the robot preliminarily.

  19. Locking IR and UV diode lasers to a visible laser using a LabVIEW PID controller on a Fabry-Perot signal

    CERN Document Server

    Kwolek, J M; Goodman, D S; Smith, W W

    2015-01-01

    Simultaneous laser locking of IR and UV lasers to a visible reference laser is demonstrated via a Fabry-Perot cavity. LabVIEW is used to analyze the input and an internal PID algorithm converts the Fabry-Perot signal to an analog locking feedback signal. The locking program stabilized both lasers to a long term stability of less than 12 MHz, with the lab-built IR laser undergoing signi?cant improvement in frequency stabilization. The results of this study demonstrate the viability of a simple computer-controlled, non temperature-stabilized Fabry-Perot locking scheme for our applications, laser cooling of Ca+ ions, and its use in other applications with similar modest frequency stabilization requirements.

  20. High dynamic GPS carrier tracking loop design utilizing PID%应用PID思想的高动态GPS载波跟踪环路设计

    Institute of Scientific and Technical Information of China (English)

    高帅和; 赵琳; 丁继成

    2011-01-01

    传统的GPS载波跟踪环路对载体的高速运动敏感,难以适应动态环境下基带处理的要求,因此提出一种应用PID思想,融合频率误差微分控制项的环路优化设计方案.分析了载波跟踪环路锁相环的基本结构,将环路中对本地数控振荡器的控制近似为PI模型;根据锁相环的相位输出结果,提取频率误差量,作为增加的微分控制项的输入;适当选取模型参数,构建应用PID控制的GPS载波跟踪环路.仿真结果初步表明,改进方案的环路达到稳态时间比原始方案缩短了10 ms以上,在动态适应性方面显著优于传统跟踪环路.%Traditional GPS carrier tracking loop in GPS receiver is sensitive to high-speed motion of the vehicle, which is difficult to meet the requirements of baseband processing in dynamic environment. So an improved tracking loop scheme is put forward which applies proportion, integration and differentiation (PID)control to fuse differential control items of frequency errors. The basic structure of the carrier tracking phase locked loop (PLL) is analyzed, and the control on the local numerically controlled oscillator (NCO) is approximated to be PI model. According to the phase output of PLL, the magnitude of fiequency error is extracted and taken as the input of the added differential control items. The model parameters are appropriately selected to construct the GPS carrier tracking loop utilizing PID. The simulation results indicate that the improved scheme could reduce the settling time by more than I0 ms, which is more suitable to work in high dynamic environment than traditional tracking loop.

  1. Analysis and design of hybrid control systems

    Energy Technology Data Exchange (ETDEWEB)

    Malmborg, J.

    1998-05-01

    Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales. The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool. To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method 78 refs, 51 figs, 2 tabs

  2. 挖掘机器人电液比例位置自调整模糊PID控制技术研究%Research on Self-Tuning Fuzzy PID Control for Electro-Hydraulic Proportion Positional Control System of Robotic Excavator

    Institute of Scientific and Technical Information of China (English)

    骆云志; 张春华; 王钤

    2014-01-01

    A method of electro-hydraulic proportional position control based on fuzzy PID self-tuning control strategy is designed, in the light of the problem of servo control precision because of the hysteresis, uncertainty and nonlinearity of work devices and hydraulic system of the robotic excavator. Introduce the structure of electro-hydraulic proportional positional control system and the principle of fuzzy self-tuning PID controller parameters, forms the fuzzy PID control rule table. It also introduces a method of midpoint down fusion fuzzy inference and defuzzification techniques. Simulating and experimental results indicate the method has good robustness and meets technology requirements.%针对挖掘机器人工作装置液压系统存在滞后、不确定性和非线性,不能实现有效精确控制的问题,设计一种基于模糊PID的电液比例位置自调整控制策略。介绍了电液比例位置控制系统组成和自调整模糊PID控制器原理,建立了控制规则表,采用中点向下融合法进行模糊推理和去模糊化处理。仿真与实验验证结果表明:该控制方法具有很好的鲁棒性,控制效果满足技术要求。

  3. A hybrid fly fruit algorithm for PID control parameters optimization%一种用于PID控制参数优化的混合果蝇算法

    Institute of Scientific and Technical Information of China (English)

    宋娟

    2015-01-01

    In order to improve optimization performance of fly fruit optimization algorithm( FOA),put forward an assemblage of subsection optimization of a hybrid fly fruit optimization algorithm( hybrid FOA,HFOA),which introduces steady particle swarm optimization( PSO )algorithm into FOA parameters optimization of individual flying distance and smell concentration judgement value,meanwhile,the hybrid method adopts ITAE as fitness function and is applied to a class of unstable systems in PID control. Matlab simulation verification show that HFOA algorithm has fast convergence,good stability and high precision,and it verifies that application of HFOA in PID control parameter optimization are feasible and effective.%针对果蝇优化算法( FOA)收敛速度快但寻优精度低的缺点,为了改善果蝇算法的优化性能,提出一种混合果蝇优化算法( HFOA)。HFOA采用分段优化的思想,在优化过程后期采用收敛稳定性较好的粒子群优化( PSO)算法优化果蝇算法中果蝇个体飞行距离和味道浓度的判定值,采用误差性能指标积分准则ITAE作为适应度函数,并将优化方案应用于一类不稳定系统的PID控制。Matlab仿真验证表明:HFOA计算高效,具有良好的稳定性,收敛精度高,进而验证了HFOA应用于PID控制参数优化是可行而有效的。

  4. Simulation Study of CVT Speed Ratio based on Fuzzy- PID Control Theory%基于模糊PID控制的CVT速比仿真研究

    Institute of Scientific and Technical Information of China (English)

    周萍; 聂晋; 孙跃东

    2011-01-01

    Aiming at a certain motorcycle type equipped with the metal - belt continuously variable transmission ( CVT), torque model and fuel consumption model of its engine are established which provides target curves concerning to rotation speed adjustment features. Then after the aimed speed ratios of CVT was acquired, the driveline model is simplified in a mass - concentration method. Based on the fuzzy - PID principles, a fuzzy - PID control algorithm to optimize the performance is put forward where speed ratio change rate of CVT is regarded as the control object. In the platform of simulink, simulation is done for the auto model with CVT containing this algorithm in variable cases of starting - up, accelerating and braking. The results could demonstrate that the real ratio can follow the target ratio exactly as expected.%针对装备金属带式无级变速器的某款具体车型,建立了其发动机的转矩模型和油耗模型,基于此得出了目标转速调节特性曲线.之后,确定了无级变速传动的目标速比,并按照质量集中法简化了传动系统的模型.结合模糊PID的控制原理,提出了以CVT速比变化率为控制对象的模糊PID控制算法.在SIMULINK平台下对包含该控制算法的CVT整车模型进行了起步、加速以及爬坡等工况的仿真研究.结果表明,实际速比对目标速比有很好的跟随效果.

  5. AI-based adaptive control and design of autopilot system for nonlinear UAV

    Indian Academy of Sciences (India)

    Anil Kumar Yadav; Prerna Gaur

    2014-08-01

    The objective of this paper is to design an autopilot system for unmanned aerial vehicle (UAV) to control the speed and altitude using electronic throttle control system (ETCS) and elevator, respectively. A DC servo motor is used for designing of ETCS to control the throttle position for appropriate amount of air mass flow. Artificial Intelligence (AI)-based controllers such as fuzzy logic PD, fuzzy logic PD + I, self-tuning fuzzy logic PID (STF-PID) controller and fuzzy logic-based sliding mode adaptive controller (FLSMAC) are designed for stable autopilot system and are compared with conventional PI controller. The target of throttle, speed and altitude controls are to achieve a wide range of air speed, improved energy efficiency and fuel economy with reduced pollutant emission. The energy efficiency using specific energy rate per velocity of UAV is also presented in this paper.

  6. Design of Piston Air Compressor Unit Control System based Converter

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    <正>Based on the running characteristics and high energy consumption of air compressors in coal mines,an air pressure PID closed loop control system has been designed in this paper.The system is composed of PLC, converter and sensors etc and adopts the control method of converter triple-evaporator which makes air supply"need-based".The designed system has been applied in multiple coal mines and the results show its energy saving is remarkable and potential application is widely.

  7. 基于MSP430单片机的模糊PID帆板控制系统%Fuzzy PID panel control system based on MSP430

    Institute of Scientific and Technical Information of China (English)

    顾诚甦

    2012-01-01

    Bsed on the TI company' s ultra-low power MCUMPS430 as the core, the system can convert the rotate angle to a digital quantity by photoelectric encoder, use the fuzzy PID control to make the MPS430 generate PWM pulses to control the voltage of a DC motor,in order to control the speed of the motor, change fan wind effect. After the application of this control strategy, the system operates stably. The control precision is high, and the control effect is better.%系统以TI公司的超低功耗MCUMPS430单片机为核心,利用光电编码器将旋转的角度转换为数字量,采用模糊PID控制策略使单片机产生PWM脉冲来控制直流电机的电压,以达到控制电机转速,改变风扇风力的效果,应用此控制策略后,系统稳定运行,控制精度高,达到了较好的控制效果.

  8. PID Parameters of PSO-GA Combination Algorithm Optimization and Design of Visual Platform%PSO-GA组合算法优化PID参数及可视化平台设计

    Institute of Scientific and Technical Information of China (English)

    范晋伟; 梅钦; 李海涌; 宁堃; 金爱韦

    2013-01-01

    PID控制是机床伺服控制系统中广泛应用的一种控制方式,PID参数是否合理直接影响着伺服系统的性能.以MKS8332A数控凸轮轴磨床砂轮架伺服系统为模型,提出一种基于粒子群-遗传组合算法(PSO-GA)的PID控制器参数优化方法.仿真结果表明,该算法寻优性能比单独的遗传算法和粒子群算法表现更为优异,证实了该算法能有效的优化伺服系统PID参数.为了使用户无需去了解复杂的算法源代码,而只需在平台上进行操作就可以解决PID参数的优化问题.多种智能算法被引入称为可视化平台的优化软件设计,用MATLAB GUI编程环境构建了PID参数可视化平台,为用户提供一个友好的图形界面.%PID control is widely used in machine tool servo control system.Whether the parameters are reasonable or not is very important to affect the performance of the servo control system.MKS8332A CNC camshaft grinding wheel servo system is seen as a model,PID controller parameters optimization method based on PSO-GA combination algorithm is proposed.The simulation results in PID controller parameters optimization show that the algorithm is superior to the single GA or PSO algorithm,which confirmed that the algorithm can effectively optimize the PID controller parameters of the servo system.In order not to make users need to understand the complex source code of the algorithms,optimization problem of PID parameters can be solved just to execute operations on the platform.Some intelligent algorithms are introduced to the optimization software,called visual platform,using MATLAB GUI programming environment to construct PID parameters visual platform,which provide a friendly graphical interface for users.

  9. Cascade PID control in the application of wind cabinet%串级PID控制在风柜控制中的应用

    Institute of Scientific and Technical Information of China (English)

    胡蕾; 詹惠琴; 刘子宽

    2011-01-01

    在我国洁净室技术起始于上世纪60年代,当时,洁净室技术是为满足军工、精密仪器、航空仪表和电子行业的产品质量需求,满足这些行业加工和实验研究的精密化、微型化、纯度、质量和可靠性而诞生的一门新兴技术[1]。利用PID控制原理,基于STEP7和WINCC的串级PID来控制风柜的阀门,从而实现对被控区域温湿度精准的控制。该系统控制方案已经应用于某实验室的洁净室控制风柜,使用结果表明,该系统控制方案具有控制方便,控制效果好,响应速度快,稳定度高,精度高等优点,且各项性能指标均符合要求。%Clean room technology in China was originated in the 60s of last century.At the time,clean room technology for the quality requirements of military,precision instruments,aircraft instrumentation and electronics industry,was borned as an emerging technology,to meet the needs of these industries processing and experimental study of precision,miniaturization,purity,quality and reliability.The system uses PID control principle,adopts Siemens PLC S7-300,on the base of STEP7 and WINCC' s cascade PID to control air cabinet,to achieve the precise temperature and humidity on the charged area。The system control program has been applied to a laboratory clean room control air cabinet,The results show that the system control program is easy to control,good effect,Fast response;High stability;and high precision。 Besides,the performance indicators are in line with requirements.

  10. 主动队列管理的PI/PID拥塞控制器的调节%Tuning PI/PID Congestion Controller for Active Queue Management

    Institute of Scientific and Technical Information of China (English)

    郑国庆; 张平健

    2007-01-01

    Active Queue Management strategies are important means for internet congestion control. However, it is hard to configure the controlling parameters to achieve good tradeoff among a set of performance objectives. Much work is devoted to find effective ways to parameter tuning. A simplified PI/PID controller for Active Queue Management was proposed and an empirical formula was utilized to tune the parameter of the controller. Simulation results demonstrate that the new controller shows some advantages over the traditional ones.%主动队列管理是一类重要的互联网拥塞控制策略.然而,要调节控制参数以达到性能目标是比较困难的,目前,许多研究工作致力于寻找简明有效的调节方法.提出了网络拥塞控制中主动队列管理的PI/PID控制器的一个简化模型,给出了控制器参数调节的经验公式.仿真结果表明,新的拥塞控制器简单易行,并具有系统响应时间短、网络流量吞吐率高等优点.

  11. WS/PIDS: standard interoperable PIDS in web services environments.

    Science.gov (United States)

    Vasilescu, E; Dorobanţu, M; Govoni, S; Padh, S; Mun, S K

    2008-01-01

    An electronic health record depends on the consistent handling of people's identities within and outside healthcare organizations. Currently, the Person Identification Service (PIDS), a CORBA specification, is the only well-researched standard that meets these needs. In this paper, we introduce WS/PIDS, a PIDS specification for Web Services (WS) that closely matches the original PIDS and improves on it by providing explicit support for medical multimedia attributes. WS/PIDS is currently supported by a test implementation, layered on top of a PIDS back-end, with Java- and NET-based, and Web clients. WS/PIDS is interoperable among platforms; it preserves PIDS semantics to a large extent, and it is intended to be fully compliant with established and emerging WS standards. The specification is open source and immediately usable in dynamic clinical systems participating in grid environments. WS/PIDS has been tested successfully with a comprehensive set of use cases, and it is being used in a clinical research setting.

  12. Control system design guide

    Energy Technology Data Exchange (ETDEWEB)

    Sellers, David; Friedman, Hannah; Haasl, Tudi; Bourassa, Norman; Piette, Mary Ann

    2003-05-01

    The ''Control System Design Guide'' (Design Guide) provides methods and recommendations for the control system design process and control point selection and installation. Control systems are often the most problematic system in a building. A good design process that takes into account maintenance, operation, and commissioning can lead to a smoothly operating and efficient building. To this end, the Design Guide provides a toolbox of templates for improving control system design and specification. HVAC designers are the primary audience for the Design Guide. The control design process it presents will help produce well-designed control systems that achieve efficient and robust operation. The spreadsheet examples for control valve schedules, damper schedules, and points lists can streamline the use of the control system design concepts set forth in the Design Guide by providing convenient starting points from which designers can build. Although each reader brings their own unique questions to the text, the Design Guide contains information that designers, commissioning providers, operators, and owners will find useful.

  13. 模糊PID控制器在聚丙烯生产中的应用%Studies of A Fuzzy & PID controller with Applications in Polypropylene Processes

    Institute of Scientific and Technical Information of China (English)

    李杰

    2012-01-01

    以聚丙烯生产为工业背景,针对聚丙烯的生产过程是一个大滞后、时变、非线性的复杂系统,普通PID控制器有参数整定不良,性能欠佳,对运行工矿的适应性很差等方面的问题,本文提出了模糊加PID的控制方案,并结合聚合反应控制的特点,提出了聚合反应温度的模糊加PID控制的方案,并取得了较好的仿真结果。%On the background of the polypropylene process, With regard to the practical problems of a kinds of nonlinear,long delay temperature processes,Common Fuzzy controller has its default and disadvantage in nonlinear,long delay temperature processes. On the basis of the soft-sensing model of Melt Index, and the characteristics of the ploy processes, A fuzzy & PID control plan is presented to control the temperate of the process, the simulation results are successful.

  14. 精馏过程提馏段温度的前馈和免疫PID-P串级控制研究%Research of feed-forward and immune PID-P cascade control for rectifier temperature

    Institute of Scientific and Technical Information of China (English)

    周国雄; 吴舒辞; 周健; 晏密英; 蒋辉平

    2010-01-01

    借鉴生物免疫反馈响应过程的调节规律,针对精馏过程内部机理复杂、参数动态变化的特点,提出一种前馈补偿和免疫PID-P串级控制方法.内环采用P控制器以快速消除再沸器蒸汽压力不稳定波动,外环采用免疫PID控制器以保证提馏段温度稳定在给定值,同时前馈控制器用于克服外界不可控干扰.结果表明,该控制策略优于常规控制,具有较强的鲁棒性和抗干扰能力.

  15. Brushless DC Motor Control System Design Based on DSP2812

    Directory of Open Access Journals (Sweden)

    Wei Min

    2016-01-01

    Full Text Available By comparison various control methods currently for permanent magnet brushless DC motor, on the basis of motor principle analysis, a current smallest and most real-time all-digital rare earth permanent magnet brushless DC motor control system is designed. The high-speed digital signal processor DSP2812 is applied as the main control unit. The fuzzy PID control algorithm is used to control rectifier regulator and speed, which the speed and current is double closed loop in the system. The principle of control system, control strategy and software is analyzed in this paper. The system has some features such as less overshoot, rapid response speed, good performance of anti-jamming, simple structure, high control precision, flexible in changing control policies and so on. Validity of the design is verified by prototype test.

  16. 前馈PID控制器在钻柱运动补偿系统中的应用%Application of feedforward PID control in deep-sea drill string motion compensation system

    Institute of Scientific and Technical Information of China (English)

    张文凡; 廖辉

    2012-01-01

    Aiming at the problem that load of drill string motion compensation system is very heavy in deep-sea, which will take a long response time of system, and the process of compensation movement occurred delaying and oscillating, the feedward PID controller of drill string motion compensation system was put forward, on the basis of the forecast output of the trend of load, a feed forward compensation control method was used to reduce the effects of the changement of the load, improve the respons time of system. Meanwhile, a PID feed back control method was used to reduce the errors which caused by others reason, improve the control accuration of the system. The research results show that this method has some guidance and practical value to the design of controller of high inertia loads of motion compensation device in deep-sea.%针对“深海钻柱运动补偿系统负载大时,钻柱运动补偿系统响应的时间长,使得补偿系统在控制过程中出现滞后、反馈补偿出现振荡”等问题,设计了钻柱运动补偿系统中的前馈PID控制器.根据对负载变化趋势的预测结果,采取前馈补偿的方法来减小补偿系统负载变化对钻压产生的影响,提高了系统的响应速度;同时,引入PID反馈控制消除补偿系统在前馈控制过程中产生的误差,提高了系统跟踪补偿的精度.研究结果表明,该方法对于大惯性负载的运动补偿装置控制器的设计具有一定的借鉴意义和实用价值.

  17. Application of an intelligent fuzzy PID in temperature control system%一种智能模糊PID在温度控制系统中的应用

    Institute of Scientific and Technical Information of China (English)

    吴剑威; 唐立新

    2013-01-01

    针对温度控制系统时变性、非线性、滞后性等特点,设计了一种智能模糊PID(Intelligent Fuzzy PID,IF-PID)控制算法.系统误差较大时采用模糊控制(Fuzzy);误差较小时通过阈值函数切换到微分独立模糊PID(Fuzzy PID,F-PID)控制.利用Matlab的Simulink工具箱建立模型,并做了PID控制、Fuzzy控制以及IF-PID控制仿真对比实验.仿真结果表明,IF-PID在超调量、调节时间等性能指标上都明显优于其他控制算法,具有良好的自适应性和鲁棒性,特别适合时变滞后非线性系统的控制,是一种理想的控制算法.

  18. 基于遗传算法的足球机器人模糊PID优化控制策略%Discussion of Fuzzy PID Controller Based on Genetic Algorithms for Soccer Robot

    Institute of Scientific and Technical Information of China (English)

    张小川; 魏建新; 郭鲁; 吴杰

    2012-01-01

    以足球机器人系统为实验平台,论证了遗传算法模糊PID控制技术应用于足球机器人运动控制的可行性,并提出了具体实施方法。将传统PID控制与模糊控制相结合,通过PID算法提高控制准确性,通过模糊推理实现在线调整kp、ki、kd等关键参数,提高系统的控制性能。改进了模糊控制中的控制规则和隶属函数,提高了合理性和系统控制精度。仿真结果表明,该方法比一般PID控制方法具有更好的控制性能指标。%An application of Fuzzy-PID based on genetic algorithms in soccer robot control is presen- ted based on soccer robot system after analyzing the kinematic model of soccer robots. The concrete implementation method of combining PID control with fuzzy control is put forward. The accuracy is en- sured by PID controller, whose performance can be enhanced with the kp, ki and kd key parameters which come from the fuzzy control. At the same time, this paper improved the control rules and mem- bership functions in the fuzzy control, so as to improve the reasonableness and the control precision of the system. Experimental results show that the control performance index based on GA is better than that of the general PID parameters tuning methods.

  19. Simulation Research of Compound Control in CNC Servo System Based on CMAC and PID%基于CMAC与PID的复合控制在CNC伺服系统中的仿真研究

    Institute of Scientific and Technical Information of China (English)

    敖茂尧

    2013-01-01

    针对CNC伺服系统存在非线性、多变量、强耦合的特点,在分析其控制原理与数学模型的基础上,结合PID控制与CMAC的优点,提出了一种新型的CMAC与PID复合控制方法,并应用于CNC伺服系统中.通过Simulink建模与仿真,最终实验结果表明相对于传统PID控制,CMAC与PID复合控制具有更好的实时性、鲁棒性,超调量更小,控制精度更高.%Aim at the CNC Servo Systems with nonlinear, multivariable and strong coupling characteristics, this paper proposed a new type of compound control method based on the analysis of control principle and mathematical model. This new compound control method combined the advantage between PID control and CMAC, and was used in CNC Servo Systems. Through the Simulink modeling and simulation , the experimental results indicated the compound control between CMAC and PID had better real-time performance, robustness, smaller overshoot, and higher control accuracy than traditional PID control.

  20. Investigation of optimal control system for arc spraying

    Institute of Scientific and Technical Information of China (English)

    Li Heqi; Li Chunxu

    2005-01-01

    Arc-voltage feedback PID ( Proportional plus Integral plus Differential) controller and arc-current feedback PID controller are designed with an algorithm of discrete PID. In order to realize parameters optimization and adaptation of the arc-spraying process and to reduce blindness in selecting process parameters, a serial communication interface between PC and MCU (Micro Control Unit) is designed so that on-line modification of the PID control parameters is implemented. A genetic algorithm is adopted to optimize PID control parameters. Meanwhile, the error between the actual value and the setting value of spraying current is selected as the judgment criterion to determine the adaptability for the algorithm. The best optimal population of PID control parameters can be obtained, so that the optimal controlling in arc-spraying process is realized and an excellent coating of arc-spraying is obtained.

  1. 同步发电机励磁系统智能PID控制仿真研究%Simulation on Intelligent PID Control for Excitation System of Synchronous Generator

    Institute of Scientific and Technical Information of China (English)

    苏渊

    2011-01-01

    针对同步发电机励磁调节系统在参数寻优和控制性能方面存在的问题,利用遗传算法快速的搜索能力,找到提升控制性能的参数,在此基础上,将模糊控制与PID控制结合,利用模糊推理方法在线调整PID控制参数,在MATLAB环境下进行了系统仿真,结果表明,控制性能较普通PID控制更为优越.%For solving the problems in parameters optimization and control performance of the excitation system of synchronous generator, the rapid searching ability of Genetic Algorithm is used to find out the parameters which can improve control performance. After combining fuzzy control and PID control together, the PID parameters can be adjusted online by fuzzy reasoning. The MATLAB-based simulation shows that the control performance of this model is better than that of conventional PID control.

  2. Research on Pulsed MIG Welding Power Supply Based on The Fuzzy Self-Adaptive PID Control%基于模糊自适应整定PID控制的脉冲MIG焊电源研究

    Institute of Scientific and Technical Information of China (English)

    孙伟城; 李磊

    2016-01-01

    The power source of Pulse MIG Welding is essentially Arc Welding Inverter Power Source. The control system of Arc Welding Inverter Power Supply have some properties of time-varying, nonlinear and so on. It is difficult to achieve precise control effect for us to use the traditional digital PID. Aiming at these problems,This article analyzed method and mechanism of dissimilar metal joining of Aluminum to Steel by Pulse MIG Welding. This paper proposes a current closed-loop control scheme based on fuzzy self-adaptive PID control .There build the control model by MATLAB,and compared with the traditional PID control .The simulation results show that the Pulse MIG Welding power source applied the fuzzy self-adaptive PID control, the output current has better stability and accuracy.%脉冲MIG焊电源本质上就是弧焊逆变电源。弧焊逆变电源控制系统具有时变性、非线性的性质,采用传统的数字PID控制难以达到精确的控制效果。针对上述问题,文中通过对铝-钢异种金属脉冲旁路耦合电弧MIG焊方法及机理的分析,提出了一种基于模糊自适应整定PID控制的电流闭环控制方案,通过MATLAB搭建了控制模型,并与传统PID控制进行了仿真比较。仿真结果表明,在脉冲MIG焊电源中采用模糊自适应整定PID控制系统,输出电流具有更好的稳定性和精确性。

  3. 基于模糊PID的全方位移动机器人运动控制%Motion Control of Omni-directional Robot Based on Fuzzy PID Control

    Institute of Scientific and Technical Information of China (English)

    田琦; 李琪; 姚鹏; 赵媛

    2011-01-01

    通过对足球机器人运动学模型的分析,考虑到系统的时变、非线性和干扰大等特点,以全向移动机器人为研究平台,提出一种将模糊控制与传统的PID控制相结合的方法,应用到足球机器人的运动控制系统中。针对足球机器人运动控制中的重点问题,着重提出了基于模糊控制的动态调整PID控制器的3个参数kp、ki、kd的设计方法。实验表明,该控制器能较好地改善控制系统对轮速的控制效果。%Through analysis of the kinematics model of soccer robot,with time change,nonlinear and other characteristics of this system in consideration,a control method combining fuzzy control with traditional PID control is presented.To solve the problems of robot soccer motion system,the methods of dynamically regulate the three PID parameters(kp,ki,kd) based on fuzzy control is proposed.The improvement of control effect is verified by experimental result.

  4. 某武器系统静变电源的优化PID控制研究%The Researching of Optimized PID Control Technology in the Arms System Static Inverter

    Institute of Scientific and Technical Information of China (English)

    牛江川; 樊波; 林茂; 苏杨

    2012-01-01

    This article proposed the optimized PID controller plan to increase the quality of the Static Inverter output voltage in the arms system, according to the error signal size this plan uses of the particle swarm optimization PID controller parameters adjusting conveniently, real-time makes the online adjustment to the system control measures. Based on Matlab/Simulink, the system was simulated under the circumstance of the Static Inverter. Compare with the normal PID control, the analysis of the optimized PID controller simulation results showed that the overshoot was reduced, the quality of anti-interference and robust were enhanced, and it needs short time to attain balance after the outside interference, it also enables the voltage of the static inverter around the specified value.%为提高某武器系统静止变频电源(简称静变电源)输出电压的质量,本文研究了基于优化PID的控制方法,根据误差信号的波动大小,利用粒子群算法在线优化PID控制器的参数,并实时地对系统控制量进行调整。在Matlab/Simulink环境下,对于系统在静变电源控制中的应用进行了仿真。并与常规的PID控制进行比较,仿真结果表明采用粒子群优化的PID控制器减少了超调量,抗干扰性和鲁棒性强,受外界干扰后恢复平衡所需的时间短,也使得系统输出电压能够维持在给定值附近。

  5. Realization of fuzzy PID control on S7 -300 PLC and its application%模糊PID控制在S7-300PLC中的实现及应用

    Institute of Scientific and Technical Information of China (English)

    焦舟波; 石红瑞

    2011-01-01

    针对双容水箱的液位控制,采用模糊自适应PID串级控制方案.模糊自适应PID算法不需要建立精确模型,并保留了传统PID算法的优点,基于模糊规则在线调整PID参数.在西门子S7-300 PLC中,使用编程软件Step7中梯形图和STL语言编写程序,开发了模糊自适应PID模块.将该算法应用于双容水箱的液位控制,实验结果表明,相对于串级PID控制,模糊自适应PID串级控制系统在超调量、调节时间、抗干扰等方面有更好的控制品质.%Aiming at the level control of coupled-tanks, a fuzzy adaptive PID cascade control strategy based on fuzzy logic was proposed. It was not necessary to build an accurate mathematical model, and it retained the advantages of the traditional P1D algorithm. The fuzzy PID algorithm adjusted PID parameters on line based on fuzzy rules. This algorithm was developed on Siemens S7 - 300 PLC and programmed with ladder diagram and STL language in Step7. And a fuzzy adaptive P1D module was obtained. It was applied to control the level of coupled-tanks. The experimental results showed that the overshot, the adjusting time and the capacity of anti-interference of fuzzy adaptive PtD cascade control were superior to those of cascade PID control.

  6. ROBUST TEMPERATURE CONTROLLER DESIGN FOR A CHEMICAL PROCESS

    Directory of Open Access Journals (Sweden)

    G.Glan Devadhas

    2010-10-01

    Full Text Available This paper attempts to tuning out a new PID control strategy to provide Robust Control for a Chemical process. Chemical process control is a challenging problem due to the strong on-line non-linearity and extreme sensitivity to disturbances of the process. The proposed method has the advantage that it takes into account all the parameters variations associated with the process. The variations in the process parameters are modeled as a gaussian noise and an adaptive gaussian filter is placed in the feedback path. The adaptivegaussian filter in the feedback path adapts its filter coefficients based on a kalman estimation algorithm. This adaptive filter adapts so as to maintain the mean square error a minimum. The LQG (Linear Quadratic Gaussian in Robust Control is used in designing of the proposed strategy. The analysis of a PID tuning [7] strategy and the necessity of such an adaptive strategy is also explored in this paper. The proposed strategy of Robust Control has been designed for a First Order Lag Plus Delay (FOLPD process. The proposed strategy ofRobust Control has been simulated for an FOLPD process in SIMULINK.

  7. 基于Matlab\\Simulink对半主动悬架的Fuzzy-PID控制仿真研究%Simulation of Fuzzy-PID control of semi-active suspension based on Matlab\\Simulink

    Institute of Scientific and Technical Information of China (English)

    郝莉红; 王志腾; 陈洪

    2013-01-01

    建立了2自由度1/4半主动悬架的数学模型,采用模糊控制和PID联合使用的模糊PID控制方法,利用Matlab\\Simulink对半主动悬架模型的各平顺性指标做了仿真分析,由仿真分析得出模糊PID控制方法可以有效地提高操作稳定性和行驶平顺性,并验证了模糊PID控制具有较好的自适应能力.%The paper first established a 2-degree of freedom 1/4 semi-active suspension mathematical model. Fuzzy control method combined with PID and fuzzy P1D control methods was adopted and Matlab\\Simulink was used for the analysis of the ride comfort indexes of the model. Results show that the fuzzy PID control method can effectively improve the operation stability and the running ride comfort, which verifies the adaptive ability of fuzzy PID control.

  8. Design of an Artificial Intelligence PID Controller%仿人智能PID控制器设计

    Institute of Scientific and Technical Information of China (English)

    童春霞; 张天桥

    2005-01-01

    PID控制算法简单,参数调整方便,应用广泛.但是常规的PID控制器参数往往整定不良、性能欠佳,对运行工况的适应性很差.该文设计的仿人智能PID控制器用正态函数拟和模糊控制规则,辅以根据误差和误差变化率的调整,能根据实际情况调整和完善PID参数,具有鲁棒性强,响应速度快,稳态精度高等优点.该方法在导弹自动驾驶仪的设计中有很好的应用效果.

  9. The MICE PID Instrumentation

    CERN Document Server

    Bonesini, M

    2008-01-01

    The international Muon Ionization Cooling Experiment (MICE) will carry out a systematic investigation of ionization cooling of a muon beam. As the emittance measurement will be done on a particle-by-particle basis, sophisticated beam instrumentation is needed to measure particle coordinates and timing vs RF. A PID system based on three time-of-flight stations, two Aerogel Cerenkov detectors and a KLOE-like calorimeter has been constructed in order to keep beam contamination ($e, \\pi$) well below 1%. The MICE time-of-flight system will measure timing with a resolution better than 70 ps per plane, in a harsh environment due to high particle rates, fringe magnetic fields and electron backgrounds from RF dark current.

  10. Design Intelligent Model-free Hybrid Guidance Controller for Three Dimension Motor

    OpenAIRE

    Abdol Majid Mirshekaran; Farzin Piltan; Nasri Sulaiman; Alireza Siahbazi; Ali Barzegar; Mahmood Vosoogh

    2014-01-01

    The minimum rule base Proportional Integral Derivative (PID) Fuzzy hybrid guidance Controller for three dimensions spherical motor is presented in this research. A three dimensions spherical motor is well equipped with conventional control techniques and, in particular, various PID controllers which demonstrate a good performance and successfully solve different guidance problems. Guidance control in a three dimensions spherical motor is performed by the PID controllers producing the control ...

  11. 模糊自适应PID算法在磁悬浮实时控制系统中的应用研究%Application Research on Fuzzy PID Algorithm in Real-time Control System of Magnetic Levitation

    Institute of Scientific and Technical Information of China (English)

    李明然; 贺建军

    2012-01-01

    针对磁悬浮系统的复杂非线性及模型不确定的特点,采用模糊PID算法对其进行控制,以满足系统对动态性能和静态性能的要求;结合PID实时控制中的经验,建立合理的模糊规则,模糊推理机构根据不同的偏差e、偏差变化率ec对PID参数Kp、Ki和Kd进行自校正;在磁悬浮实验装置中进行实时控制实验,通过与常规PID控制效果的比较来验证模糊PID控制器的性能;在系统输入存在正弦扰动时,模糊PID控制器使系统响应过程中的振荡幅度得到明显减小,干扰对控制效果的影响被减弱;实验证明,模糊PID控制器具有较强的鲁棒性和抗干扰能力,对于磁悬浮这种非线性系统具有良好的控制效果.%Aiming at the characteristics of the complex nonlinearity and uncertain model, fuzzy PID algorithm is adopted to satisfy the requirements of dynamic and static performance in the control of magnetic levitation system. Based on the experience in the real time PID control experiment, fuzzy control rules are established. According to different deviation e and deviation rate of changeec. , PID parameters Kp , K, and KdWere accomplished self tuning by fuzzy inference mechanism. The real- time control experiment is done in the magnetic levitation device in order to verify the control performance of fuzzy PIDconlroller. When system input exists sinusoidal disturbance, the oscillation amplitude cif the system in response process and the impact of interference are reduced obviously by fuzzy PID controller. The experiment proves that this fuzzy PID controller owns better robustness and stronger anti - interference and has good control performance for the nonlinear system such as magnetic levitation system.

  12. Applied Control Systems Design

    CERN Document Server

    Mahmoud, Magdi S

    2012-01-01

    Applied Control System Design examines several methods for building up systems models based on real experimental data from typical industrial processes and incorporating system identification techniques. The text takes a comparative approach to the models derived in this way judging their suitability for use in different systems and under different operational circumstances. A broad spectrum of control methods including various forms of filtering, feedback and feedforward control is applied to the models and the guidelines derived from the closed-loop responses are then composed into a concrete self-tested recipe to serve as a check-list for industrial engineers or control designers. System identification and control design are given equal weight in model derivation and testing to reflect their equality of importance in the proper design and optimization of high-performance control systems. Readers’ assimilation of the material discussed is assisted by the provision of problems and examples. Most of these e...

  13. 基于STC89C58的PID控制电动车翘翘板%Electric Car Seesaw Controlled by PID Algorithm Based on STC89C58 MCU

    Institute of Scientific and Technical Information of China (English)

    刘潇

    2013-01-01

    本设计采用STC89 C58作为核心处理器,以步进电机为驱动电机。主要功能包括PID算法对步进电机运动控制,角度信号采集与处理,红外循迹。本系统实验最终结果为电动车沿引黑线运动至翘翘板平衡点,经过一定的动态平衡后在翘翘板中间平衡。%This design uses a STC89C58 as the core processor and the stepper motor as the driving motor .The key features include stepper motor motion control with PID algorithm;signal acquisition and processing , and the infrared tracking .The end result of experi-ments on the system for electric motor car shows that when it moves along the black line to the seesaw balance point and after a certain amount of dynamic equilibrium , the motor car will be balanced between the seesaw .

  14. Induction motor control design

    CERN Document Server

    Marino, Riccardo; Verrelli, Cristiano M

    2010-01-01

    ""Nonlinear and Adaptive Control Design for Induction Motors"" is a unified exposition of the most important steps and concerns in the design of estimation and control algorithms for induction motors. A single notation and modern nonlinear control terminology is used to make the book accessible to readers who are not experts in electric motors at the same time as giving a more theoretical control viewpoint to those who are. In order to increase readability, the book concentrates on the induction motor, eschewing the much more complex and less-well-understood control of asynchronous motors. The

  15. Simulation research on control algorithm of differential pressure casting process

    Institute of Scientific and Technical Information of China (English)

    Chai Yan; Jie Wanqi; Yang Bo

    2009-01-01

    To improve the precision of the filling pressure curve of differential pressure casting controlled with PID controller,the model of differential pressure casting process is established and two pressure-difference control systems using PID algorithm and Dahlin algorithm are separately designed in MATLAB. The scheduled pressure curves controlled with PID algorithm and Dahlin algorithm,respectively,are comparatively simulated in MATLAB.The simulated pressure curves obtained show that the control precision with Dahlin algorithm is higher than that with PID algorithm in the differential pressure casting process,and it was further verified by production practice.

  16. Implementasi Kontrol PID pada Mesin Pengembang Roti

    Directory of Open Access Journals (Sweden)

    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.

  17. FPGA-BASED CONTROL OF THERMOELECTRIC COOLERS FOR LASER DIODE TEMPERATURE REGULATION

    Directory of Open Access Journals (Sweden)

    AHTESHAM ALI

    2012-04-01

    Full Text Available The proportional-integral-derivative (PID controller is the most used controller in the industry. Field programmable gate arrays (FPGAs allow efficient implementation of PID controllers. This paper presents the temperature regulation of a 48W laser diode through thermoelectric coolers (TECs. The temperature regulation system is designed and tested. The results demonstrate the feasibility and applicability of PID control through FPGA.

  18. Design of tension control system for fiber placement equipments

    Directory of Open Access Journals (Sweden)

    Hongjie CHANG

    2015-10-01

    Full Text Available Aiming at the tension control requirements of automatic fiber placement equipments and the problems of traditional tension control system, the hammer tension control system is designed. The hammer is used as a buffer unit in the system, and the tension can be indirectly controlled by the position of the hammer. The system adopts the motion controller as the core element of the system, the AC servo motor as the actuator and the laser position sensor as the detector. The fuzzy PID control algorithm is used for the position control of hammer, which can avoid tension fluctuation by full consideration of the acceleration of the hammer. Prototype experimental results show that this system can avoid the problems of disconnection and relaxation of fiber, meanwhile, the static difference ratio and fluctuation ratio can meet the requirements of engineering practice.

  19. Intelligent Control System of Tobacco Baking Room Based on Fuzzy PID%基于模糊PID的智能烟叶烤房控制系统

    Institute of Scientific and Technical Information of China (English)

    江泳; 陈晓雷; 胡智宏

    2008-01-01

    根据烟叶烤房的特点及常规 PID 控制器的局限性,设计了基于模糊PID的烟叶烤房控制系统.采用模糊控制理论,根据系统运行过程中的偏差绝对值及偏差的积累绝对值,对 PID 参数进行实时校正.当系统参数或工况发生变化时,逐步调整 PID 参数值,使系统控制性能处于最优控制状态,实现对 PID 参数的在线智能校正.该系统解决了传统PID控制由于烟叶烤房模型不确定性、纯滞后等特点带来的不足.试验和实际运行表明,该系统提高了烤房的温湿度控制精度和烟叶烘烤质量.

  20. Control system design method

    Science.gov (United States)

    Wilson, David G.; Robinett, III, Rush D.

    2012-02-21

    A control system design method and concomitant control system comprising representing a physical apparatus to be controlled as a Hamiltonian system, determining elements of the Hamiltonian system representation which are power generators, power dissipators, and power storage devices, analyzing stability and performance of the Hamiltonian system based on the results of the determining step and determining necessary and sufficient conditions for stability of the Hamiltonian system, creating a stable control system based on the results of the analyzing step, and employing the resulting control system to control the physical apparatus.

  1. Power System Stabilizer Design Based on Model Reference Robust Fuzzy Control

    Directory of Open Access Journals (Sweden)

    Mohammad Reza Yazdchi

    2012-04-01

    Full Text Available Power System Stabilizers (PSS are used to generate supplementary damping control signals for the excitation system in order to damp the Low Frequency Oscillations (LFO of the electric power system. The PSS is usually designed based on classical control approaches but this Conventional PSS (CPSS has some problems in power system control and stability enhancement. To overcome the drawbacks of CPSS, numerous techniques have been proposed in literatures. In this study a new method based on Model Reference Robust Fuzzy Control (MRRFC is considered to design PSS. In this new approach, in first an optimal PSS is designed in the nominal operating condition and then power system identification is used to obtain model reference of power system including optimal PSS. With changing system operating condition from the nominal condition, the error between obtained model reference and power system response in sent to a fuzzy controller and this fuzzy controller provides the stabilizing signal for damping power system oscillations just like PSS. In order to model reference identification a PID type PSS (PID-PSS is considered for damping electric power system oscillations. The parameters of this PID-PSS are tuned based on hybrid Genetic Algorithms (GA optimization method. The proposed MRRFC is evaluated against the CPSS at a single machine infinite bus power system considering system parametric uncertainties. The simulation results clearly indicate the effectiveness and validity of the proposed method.

  2. Nutrient Control Design Manual

    Science.gov (United States)

    The purpose of this EPA design manual is to provide updated, state‐of‐the‐technology design guidance on nitrogen and phosphorus control at municipal Wastewater Treatment Plants (WWTPs). Similar to previous EPA manuals, this manual contains extensive information on the principles ...

  3. Controller design and performance of the Spacelab instrument pointing system

    Science.gov (United States)

    Woelker, A.

    The Spacelab instrument pointing system (IPS) is designed for high-precision pointing of space experiments. The IPS demonstrated its performance during the maiden flight on the Shuttle in July 1985. The control system provides three-axis pointing and stabilization in the arcsec range for a variety of experiments. The envisaged pointing accuracy as well as the structural flexibility of the plant and disturbances imposed challenging requirements on the controller design. The control system comprises a feedback loop with attenuation filters and PID control as well as feed-forward compensation of external disturbances. Based on optical sensor and gyro measurements the attitude is determined via a special version of the Kalman filter.

  4. Fuzzy PID Adaptive Control Algorithm of Pulling-up Mechanism on the Cassava Harvester%木薯收获机块根拔起机构自适应控制算法研究

    Institute of Scientific and Technical Information of China (English)

    郑贤; 陈科余; 杨望; 杨坚; 李杨

    2017-01-01

    The pulling-up cassava harvester can ’ t pulling up the cassava root accurately according to the variation of cassava growth condition and soil condition,and its root pulling off loss rate is very high when the cassava growth condi-tion and soil condition have a big change. To solve the problem,this paper adopts the co_simulation technology and uses fuzzy PID adaptive control algorithm which based on the optimal velocity to control the cassava root lifting velocity accord-ing to the pulling force change,and regards reducing root pulling off loss rate as a goal,it shows that the optimizational fuzzy PID adaptive control algorithm can make the speed of gear rack swing hydraulic cylinder track the given speed curve very well,and the whole machine is very well in the self-adaption and it can adapt to different working load.%针对挖拔式木薯收获机无法根据木薯块根生长情况和土质情况的变化实现精确控制木薯块根拔起,且在木薯块根生长情况和土质情况变化大时其块根拔断损失率高的情况,采用联合仿真技术,以较优块根拔起速度模型为基础,根据拔起力变化,控制木薯收获机拔起速度使其达到减少块根拔断损失率的目标,对木薯块根拔起过程进行模糊PID 自适应控制,且对模糊PID 自适应控制算法进行了优化和物理试验验征。结果表明:在木薯块根拔起过程中,优化的模糊 PID 控制算法能使齿轮齿条摆动液压缸转速很好地跟踪给定转速曲线,且整机的自适应控制效果好,能适应不同的工作载荷。

  5. Primary Immuno-deficiencies (PID

    Directory of Open Access Journals (Sweden)

    Javad Ghaffari1

    2009-01-01

    Full Text Available (Received 6 June, 2009 ; Accepted 22 July, 2009AbstractBackground and purpose: Primary immune-deficiencies (PID are associated with a wide range of clinical disorders along with variable symptoms. The aim of this study was to evaluate and improve our knowledge regarding PID from patients that were referred to Booali Sina Hospital.Materials and methods: We evaluated all of PID`s that were referred to Booali Sina Hospital from their data records. Demography, clinical and laboratory data were recorded and then analyzed.Results: In the duration of 3 years, we had 10 patients with PID (7 males and 3 females. Of these cases, 5 had hum oral (50%, 1case had phagocytic (10%, 3 cases had cellular (30% and 1 case had hyper IgE syndrome (10%. Many of them had respiratory and otitis media infections, while a few patients had adenitis, gastroenteritis, liver abscesses, bleedings and malignancy.Conclusion: PID is a diverse disorder that involves different immune systems. Knowledge from patient’s clinical symptoms and consideration in their differential diagnosis can be helpful in early diagnosis and an effective treatment.J Mazand Univ Med Sci 2009; 19(70: 76-80 (Persian

  6. Research on fuzzy auto-tuning PID control of CNC servo system%CNC机床伺服系统中模糊自整定PID控制研究

    Institute of Scientific and Technical Information of China (English)

    陈建文; 李垒; 宋锦春; 何占军

    2012-01-01

    在CNC机床伺服进给系统中,控制对象的位置、速度具有不确定性和非线性,很难去建立精确的数学模型,而常规PID控制器的参数无法随着被控对象参数的变化而及时调整.模糊控制降低了对被控对象数学模型的要求,只需把经验知识转化为控制策略,进而使模型难以确定的复杂系统得以有效的控制,模糊PID控制器结合了常规PID控制和模糊控制的优点,将其应用于CNC机床伺服进给系统中,在MATLAB环境下进行仿真分析,结果表明,模糊自整定PID控制器具有更好鲁棒性,改善了伺服进给系统的动态性能.%In servo feed system of CNC machine tools,the position and velocity of controlled object have the characteristics of randomness and nonlinearity,which is difficult to establish accurate mathematical mode Is. However, the parameters of conventional PID controller can't be adjusted immediately with the f parameters changing of the controlled object,Yet the fuzzy control reduces the request of mathematical mod- el for controlled object by only transforming the experience to control strategy,and the complex system will be controlled ejfectively.Therefore fuzzy PID controller,combining the advantages of conventional PID con-trol and fuzzy control,is applied in servo feed system of CNC machine tools, and simulated and analyzed in MATLAB, which result shows that the fuzzy auto-tuning PID controller improves the dynamic performance of the servo feed system with its better robustness.

  7. Study on String Loop Liquid Control System Based on Improved Particle Swarm Optimization Neural Network PID Control%串级液位控制系统的改进粒子群神经网络PID控制研究

    Institute of Scientific and Technical Information of China (English)

    敖茂尧

    2014-01-01

    串级液位控制系统是工业过程控制中最典型的系统,针对该系统具有不确定性和时变性的特点,首先在分析串级液位控制系统的结构和控制原理的基础上,采用实验建模的方法建立了系统的数学模型;然后充分利用 PID 结构简单、抗干扰能力强的特点以及神经网络具有自学习和自适应的特长,引入粒子群算法对网络权值进行优化,提出了一种基于改进粒子群算法的神经网络 PID 控制器,既克服了 BP神经网络收敛速度慢,容易陷入局部极小值的缺点,也克服了粒子群算法容易陷入局部最优的缺点;最后在 MATLAB环境下进行串级液位系统的仿真试验对系统的性能进行分析,实验结果表明,该控制算法具有良好的实时性、鲁棒性,抗干扰能力强,显著提高了系统的性能指标。%String loop liquid control system is the typical system in industry process control.The system has the characteristics of uncer-tainty and time-variable.Based on analysis of the structure and control principle of string loop liquid control system,this paper has built systemic mathematical model by modeling.Then,introduce particle swarm algorithm to optimize the network's weight combined with the characteristics of PID simple structure,strong anti-interference ability and the advantage of the neural network's self-learning and self-a-daptive.Advance a kind neural network PID controller based on improved particle swarm algorithm.The algorithm conquered slow conver-gence speed and easily getting into local dinky value of BP neural network,and easily getting into local optimization of particle swarm.Ana-lyze the system's performance by string loop liquid control system's experiment in MATLAB.The result indicated that the control system had good realtime,robustness and strong anti-interference ability.The capability of the system is improved notably.

  8. Investigation on the use digital controls instead of PID analog controls in the level control of steam generators of nuclear power PWR

    International Nuclear Information System (INIS)

    The aim of this study is to identify current alternatives for the implementation of digital controllers in the level control of steam generators of nuclear power PWR (Pressurized Water Reaetor). It is intended to identify the types of digital controls that are available from the theoretical and conceptual viewpoints for this purpose. We investigate the advantages and disadvantages of each controller model. From this assessment are pointed the most suitable models in hierarchical scale. This evaluation also serves to suggest possible types of control installation as a whole, where the level control of the steam generators becomes just one of many controls that are part of the plant. In this case, the use of digital controls allows the non-linear and multivariable treatment which is characteristic of complex systems, such as the nuclear power generation. The treatment of nonlinearities and multivariable aspects allows a more detailed study of the stability of these plants when they are subject to transients or several accidents, such as the case of losing external power of transients. In the specific case of steam generators, the instabilities result from the emergence of the shrink and swell phenomenas, depending on the load variations of thermonuclear plant. The application of several types and digital controllers, considering these inherent characteristics of the level control of steam generators, allows to infer which types of controllers are more appropriate to treat instabilities of this type and to make conjectures in its use for the cases of more complex instabilities, considering the integration of all nucleus-plant controls.

  9. 一种陀螺稳定平台自适应模糊-PID复合控制方法%Adaptive fuzzy-PID hybrid control method of gyro stabilized platform

    Institute of Scientific and Technical Information of China (English)

    朱倚娴; 陆源; 许江宁; 程向红

    2014-01-01

    机械摩擦、器件工作饱和区等不确定因素会导致陀螺稳定平台系统参数的波动和非线性特性,为解决非线性因素对稳定平台控制系统性能的影响,提出了一种自适应模糊-PID复合控制方法。引入自适应因子δ实现模糊控制和PID控制的复合,误差较大时增强模糊控制的作用以加快系统响应,误差较小时增强PID控制的作用以实现无静差调节。采用自调整量化因子ker(er)、kec(ec)实现基本论域的在线调整,提高了模糊控制器的灵敏度。仿真结果表明,在干扰冲击和短时常值干扰情况下,自适应模糊-PID复合控制与常规模糊控制相比,抗干扰能力显著增强,平台稳定精度提高0.4'左右。%System parameters of gyro stabilized platform are unpredictable because of the uncertainty factors such as mechanical friction, the saturation characteristic of the driver module, etc. To suppress the error caused by the nonlinear characteristics, an adaptive fuzzy-PID hybrid control method is proposed. The adaptive factorδis set up to combine fuzzy control and PID control. When the large attitude error of the platform is detected, the effect of fuzzy control is enhanced to decrease the system response time. And the conventional PID control effect is enhanced to eliminate the static error when the attitude error is small. Self-adjusting quantitative factors ker(er) andkec(ec) are proposed to adjust the basic domain of the fuzzy controller online, which improves the sensitivity of the control loop. The simulation results show that, in both cases of pulse and step interference,theadaptive fuzzy-PID hybrid control can improve the accuracy of platform attitude about 0.4 arc min and enhance its capability of anti-jamming compared to ordinary fuzzy control.

  10. FRF based position controller design through system identification for A hydraulic cylinder

    Energy Technology Data Exchange (ETDEWEB)

    Seo, Hyoung Kyu; Kim, Dong Hwan [Dept. of Mechanical Design and Robot Engineering, Seoul National University of Science and Technology, Seoul (Korea, Republic of); Park, Jong Won [Reliability Assessment Center, Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2015-11-15

    In this study, we have focused on the design of a controller and an operating program for the operation of the hydraulic actuators used in a shaker. To control the motion of the shaker accurately, the position of each hydraulic cylinder should be controlled precisely even under an uncertain environment. For this purpose, we have suggested a control algorithm using an FRF (frequency response function) based control which senses the behavior of the actuator in advance, calculates a transfer function through the system identification method, and provides the final control input. The experimental results on the performance of this system were compared with that of a simple PID control algorithm.

  11. Small Agricultural Machinery Path Intelligent Tracking Control Based on Fuzzy Immune PID%基于免疫模糊PID的小型农业机械路径智能跟踪控制

    Institute of Scientific and Technical Information of China (English)

    熊中刚; 叶振环; 贺娟; 陈连贵; 令狐金卿

    2015-01-01

    为实现复杂环境下小型农业机械田间作业时的路径跟踪控制,提出了基于免疫模糊PID (比例-积分-微分)的智能路径跟踪控制方法.首先,路径跟踪控制被分解为自动直线导航和自动转向控制任务,并分别构建了能够实现自动导航的模糊控制器和基于免疫模糊PID控制的自动转向方法.该设计在无人驾驶高速插秧机硬件系统基础上,开发了基于双激光源定位技术、电子罗盘和角度传感器的自动导航控制系统.其次,根据自动导航控制系统构造和工作原理,提出了直线和曲线路径跟踪的方法.最后,利用Matlab/Simulink仿真平台和插秧机的运动学模型对所设计的路径跟踪控制原理和模糊控制器进行了有效性验证,同时完成了包括直线和曲线的路径跟踪试验.当插秧机以1 m/s的速度进行直线跟踪时,最大跟踪偏差只有4 cm,平均跟踪偏差为0.84 cm;当以同样的速度做曲线跟踪时,曲线路径跟踪时的最大偏差为0.6 m,平均跟踪偏差控制在12 cm以内.仿真和试验结果表明,该套控制系统能够有效地控制无人驾驶高速插秧机按预定路径行走.%An intelligent path tracking control method is proposed based on fuzzy immune PID (proportional-integral-differential), to realize path tracking control for small agricultural machinery in complex environment. Firstly, a path tracking control task is decomposed into linear automatic navigation control task and automatic steering control task, and a fuzzy controller for automatic navigation and an automatic steering control method based on fuzzy immune PID are constructed. An automatic navigation control system is developed with dual laser source localization technology, electronic compass and angle sensor based on the hardware system of the unmanned high speed transplanter. Secondly, the straight line and the curve line path tracking methods are

  12. Simple PID parameter tuning method based on outputs of the closed loop system

    Science.gov (United States)

    Han, Jianda; Zhu, Zhiqiang; Jiang, Ziya; He, Yuqing

    2016-05-01

    Most of the existing PID parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the PID tuning scheme to be directly based on the input-output response of the closed-loop system. Thus, a new parameter tuning scheme for PID controllers without explicit mathematical model is developed in this paper. The paper begins with a new frequency domain properties analysis of the PID controller. After that, the definition of characteristic frequency for the PID controller is given in order to study the mathematical relationship between the PID parameters and the open-loop frequency properties of the controlled system. Then, the concepts of M-field and θ-field are introduced, which are then used to explain how the PID control parameters influence the closed-loop frequency-magnitude property and its time responses. Subsequently, the new PID parameter tuning scheme, i.e., a group of tuning rules, is proposed based on the preceding analysis. Finally, both simulations and experiments are conducted, and the results verify the feasibility and validity of the proposed methods. This research proposes a PID parameter tuning method based on outputs of the closed loop system.

  13. Intelligent Controller Design for a Chemical Process

    Directory of Open Access Journals (Sweden)

    Mr. Glan Devadhas G

    2010-12-01

    Full Text Available Chemical process control is a challenging problem due to the strong on*line non*linearity and extreme sensitivity to disturbances of the process. Ziegler – Nichols tuned PI and PID controllers are found to provide poor performances for higher*order and non–linear systems. This paper presents an application of one*step*ahead fuzzy as well as ANFIS (adaptive*network*based fuzzy inference system tuning scheme for an Continuous Stirred Tank Reactor CSTR process. The controller is designed based on a Mamdani type and Sugeno type fuzzy system constructed to model the dynamics of the process. The fuzzy system model can take advantage of both a priori linguistic human knowledge through parameter initialization, and process measurements through on* line parameter adjustment. The ANFIS, which is a fuzzy inference system, is implemented in the framework of adaptive networks. The proposed ANFIS can construct an input*output mapping based on both human knowledge (in the form of fuzzy if*then rules and stipulated input*output data pairs. In this method, a novel approach based on tuning of fuzzy logic control as well as ANFIS for a CSTR process, capable of providing an optimal performance over the entire operating range of process are given. Here Fuzzy logic control as well as ANFIS for obtaining the optimal design of the CSTR process is explained. In this approach, the development of rule based and the formation of the membership function are evolved simultaneously. The performance of the algorithm in obtaining the optimal tuning values has been analyzed in CSTR process through computer simulation.

  14. Simulation of single neuron PID control for the union station crude oil dehydration process based on SIMULINK-S functions%基于SIMULINK-S函数的联合站脱水单神经元PID仿真

    Institute of Scientific and Technical Information of China (English)

    邹益民

    2014-01-01

    The oil-water separation process of the gathering and transportation union station was the key procedure to ensure the quality of crude oil product.In this paper, on the basis of in-depth study of the dynamics behavior of oil-water separation and settlement process, its mathematical model was de-duced.The single neuron PID controller had the self-learning and adaptive capabilities, thus to some extends, solved the difficulties for traditional PID lack of tuning controller parameters on line real-time, and improved the controller ability of adapting to system and environmental change.In SIMULINK, a va-riety of custom simulation models could be built using S-Function conveniently and flexibly.As used herein, the dynamic model of single neuron PID controller was built quickly by SIMULINK S-Function Builder module, and the single neuron PID control algorithm was also simulation researched in SIMU-LINK.Simulation results showed that algorithm could effectively improve the control quality.%集输联合站的油水分离是保证产出原油质量的关键工艺过程。该文在对油水分离沉降过程动态特性深入研究的基础之上,给出了其数学模型。单神经元PID控制具有自学习和自适应能力,在一定程度上解决了传统PID调节器不易在线实时整定参数的不足,提高了控制器对系统和环境变化的适应能力。 SIMULINK中可用S-Function方便灵活地构建各种自定义仿真模型。该文使用SIMULINK中的S-Function Builder模块以快速构建单神经元PID控制模块,并在SIMU-LINK中对单神经元PID控制方案进行了仿真研究,仿真结果表明该算法可获得更好的调节质量。

  15. Optimum Setting of Controller Using Soft Computing Techniques for a Chemical System

    Directory of Open Access Journals (Sweden)

    G. Glandevadhas

    2011-01-01

    Full Text Available Problem statement: The aim of this study is to present an intelligent tuning technique for PID controller that are simple and still result in good closed loop behavior. The idea is to start with a tuned conventional PID controller, replace it with an equivalent intelligent controllers like Fuzzy, ANN, Genetic and PSO techniques implies fine tuned nonlinear PID controller which is most suitable for nonlinear process like Continuous stirred tank reactor. The performance of various optimization techniques and intelligent techniques are compared. Approach: In this study we present soft computing techniques to design and tune the PID controller. The objective is tominimise the steady state error and to obtain the optimum response. Results: The comparisons amoung the Conventional PID, Fuzzy Sliding PID, Simulated Anneling PID and PSO tuned PID controllers PSO PID implies better result for the nonlinear chemical process. Conclusion: With the nonlinear model of CSTR process the PSO tuned PID controller implies the optimum response for both setpoint and load variations.

  16. Optimal Flow Control Design

    Science.gov (United States)

    Allan, Brian; Owens, Lewis

    2010-01-01

    In support of the Blended-Wing-Body aircraft concept, a new flow control hybrid vane/jet design has been developed for use in a boundary-layer-ingesting (BLI) offset inlet in transonic flows. This inlet flow control is designed to minimize the engine fan-face distortion levels and the first five Fourier harmonic half amplitudes while maximizing the inlet pressure recovery. This concept represents a potentially enabling technology for quieter and more environmentally friendly transport aircraft. An optimum vane design was found by minimizing the engine fan-face distortion, DC60, and the first five Fourier harmonic half amplitudes, while maximizing the total pressure recovery. The optimal vane design was then used in a BLI inlet wind tunnel experiment at NASA Langley's 0.3-meter transonic cryogenic tunnel. The experimental results demonstrated an 80-percent decrease in DPCPavg, the reduction in the circumferential distortion levels, at an inlet mass flow rate corresponding to the middle of the operational range at the cruise condition. Even though the vanes were designed at a single inlet mass flow rate, they performed very well over the entire inlet mass flow range tested in the wind tunnel experiment with the addition of a small amount of jet flow control. While the circumferential distortion was decreased, the radial distortion on the outer rings at the aerodynamic interface plane (AIP) increased. This was a result of the large boundary layer being distributed from the bottom of the AIP in the baseline case to the outer edges of the AIP when using the vortex generator (VG) vane flow control. Experimental results, as already mentioned, showed an 80-percent reduction of DPCPavg, the circumferential distortion level at the engine fan-face. The hybrid approach leverages strengths of vane and jet flow control devices, increasing inlet performance over a broader operational range with significant reduction in mass flow requirements. Minimal distortion level requirements

  17. Pelvic Inflammatory Disease (PID) Fact Sheet

    Science.gov (United States)

    ... sexually transmitted diseases (STDs) can cause 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 ... sexually transmitted diseases. The content here can be syndicated (added to ...

  18. Study on Fractional Order PID Control and Parameter Optimization of Pumped Storage Unit%抽水蓄能机组分数阶PID控制及参数优化研究

    Institute of Scientific and Technical Information of China (English)

    曹健; 李超顺; 张楠; 曾探; 陈海兵; 朱耀伟

    2016-01-01

    Because of the complex structure, complicated operation modes and frequently switching of operating conditions, the pumped storage unit (PSU) is easily tends to fall into the“S” feature area. Compared to conventional hydroelectric generating unit, it faces more stability problems and risk of deteriorating the power supply quality and stability of the entire grid. Respect to the disadvantages of PID control on PSU, this paper proposed fractional PID (FOPID) control and corresponding parameter optimization method. In order to improve the effectiveness of parameter optimization of FOPID control, a fuzzy gravitational search algorithm (FGSA) is proposed. In the searching process, the FGSA tunes the gravitational attenuation index adaptively by fuzzy inference. By controlling the value of the gravitational constant, the exploration and exploitation of the algorithm can be adjusted dynamically as to improve the ability of the algorithm to optimize parameters. An actual pumped storage power station unit is taken into consideration in our country. Based on comparisons of the control strategies combined of different optimization methods and PID control rules, it’s found that the proposed FGSA-FOPID control strategy can effectively improve the dynamic performance of pumped storage unit regulating system under unload condition with speed disturbance.%由于抽水蓄能机组水泵水轮机调节系统结构复杂,工况类型多且转换频繁,容易受水泵水轮机全特性曲线反“S”特性的影响,因此其运行稳定问题比一般机组更加严峻,严重时甚至会影响到电网的供电质量和安全稳定。本文针对传统 PID 控制在抽水蓄能机组应用中的不足,提出了抽水蓄能机组的分数阶 PID (FOPID)控制及其参数优化方法。为提高FOPID控制参数优化效果,提出了一种模糊引力搜索算法(FGSA),该算法在迭代搜索过程中,对引力衰减指数进行动态的模糊推理,

  19. Design, modelling and control of a micro-positioning actuator based on magnetic shape memory alloys

    Science.gov (United States)

    Minorowicz, Bartosz; Leonetti, Giuseppe; Stefanski, Frederik; Binetti, Giulio; Naso, David

    2016-07-01

    This paper presents an actuator based on magnetic shape memory alloys (MSMAs) suitable for precise positioning in a wide range (up to 1 mm). The actuator is based on the spring returned operating mode and uses a Smalley wave spring to maintain the same operating parameters of a classical coil spring, while being characterized by a smaller dimension. The MSMA element inside the actuator provides a deformation when excited by an external magnetic field, but its behavior is characterized by an asymmetric and saturated hysteresis. Thus, two models are exploited in this work to represent such a non-linear behavior, i.e., the modified and generalized Prandtl-Ishlinskii models. These models are particularly suitable for control purposes due to the existence of their analytical inversion that can be easily exploited in real time control systems. To this aim, this paper investigates three closed-loop control strategies, namely a classical PID regulator, a PID regulator with direct hysteresis compensation, and a combined PID and feedforward compensation strategy. The effectiveness of both modelling and control strategies applied to the designed MSMA-based actuator is illustrated by means of experimental results.

  20. Design of active disturbance rejection controller for space optical communication coarse tracking system

    Science.gov (United States)

    Gu, Jian; Ai, Yong

    2015-10-01

    In order to improve the dynamic tracking performance of coarse tracking system in space optical communication, a new control method based on active disturbance rejection controller (ADRC) is proposed. Firstly, based on the structure analysis of coarse tracking system, the simplified system model was obtained, and then the extended state observer was designed to calculate state variables and spot disturbance from the input and output signals. Finally, the ADRC controller of coarse tracking system is realized with the combination of nonlinear PID controller. The simulation experimental results show that compared with the PID method, this method can significantly reduce the step response overshoot and settling time. When the target angular velocity is120mrad/s, tracking error with ADRC method is 30μrad, which decreases 85% compared with the PID method. Meanwhile the disturbance rejection bandwidth is increased by 3 times with ADRC. This method can effectively improve the dynamic tracking performance of coarse tracking and disturbance rejection degree, with no need of hardware upgrade, and is of certain reference value to the wide range and high dynamic precision photoelectric tracking system.

  1. 基于模糊PID控制MPPT在光伏系统中的仿真研究%MPPT control research of photovoltaic system based on the fuzzy PID control

    Institute of Scientific and Technical Information of China (English)

    陈丽; 韩辉

    2013-01-01

    Because photovoltaic cells change in the external conditions , the output characteristics also change. In order to improve the efficiency of photovoltaic power system, we need to carry on the maximum power point tracking. In the light of the situation that the photovoltaic system is a nonlinear controlled object, and the presence of unknown disturbance characteristics, we use the method that the fuzzy controller adjusts the parameters of the PID controller which based on fuzzy PID to apply to the photovoltaic systems, in order to meet the needs of rapid response and eliminate the PV output power at the maximum power point oscillation effectively , reducing energy loss. The simulation results show that, the controller can quickly, accurately track the maximum power point of photovoltaic cells, reduce the steady-state oscillation, improve the work efficiency of the photovoltaic cell.%由于光伏电池在外界条件发生变化时,其输出特性也随之变化.为了提高光伏系统的效率,需要对其进行最大功率跟踪.针对光伏系统为非线性被控对象,以及存在不确定未知扰动的特性,采用模糊控制器实时调整PID控制器参数的模糊PID控制方法,将其运用到光伏系统中,以满足光伏系统的快速响应,有效消除光伏电池输出功率在最大功率点的振荡,减少能量损失.仿真结果证明,该控制器能快速、准确的跟踪光伏电池的最大功率点,减少稳态时振荡,提高光伏电池工作效率.

  2. Design of PLC Program of DC Motor Speed Regulation Based on PID Algorithm%基于PID算法的直流电机调速的PLC程序设计

    Institute of Scientific and Technical Information of China (English)

    王海涛; 吴钦木; 韦书龙; 刘江宁

    2012-01-01

    Both ends of armature voltage of DC motor are used as feedback terminal. The Siemens $7-200 PLC is used as controller. The PID loop control instruction is used to make calculation. The PWM wave is output and the DC motor speed regulation is implemented.%以直流电机电枢两端电压作为反馈,采用西门子S7-200PLC作为控制器,利用其PID回路控制指令进行计算,然后输出PWM波,达到对直流电机转速进行调节的目的。

  3. IMC-PID Application to Control Exit Temperature of Heating Furnace%内模PID控制在加热炉出口温度控制中的应用

    Institute of Scientific and Technical Information of China (English)

    汤志武

    2013-01-01

    针对加热炉非线性、大滞后、大惯性的特点,采用内模PID控制方法对其出口温度进行控制.仿真与实践结果表明内模PID控制器具有良好的性能,出口温度能够得到良好地控制.%In petroleum refineries,heating furnace is commonly used though it consumes much energy; and the exit temperature as an important index of heating furnace control means great to follow-up technical process.Regarding the nonlinearity and large time delay and inertia of the heating furnace,the IMC-PID control method was employed to control the furnace' s exit temperature.Simulation results and application in-situ show that this method has good performance in the exit temperature control.

  4. CONVEX CONTROLLER DESIGN APPLIED TO AC INDUCTION MOTOR TO SATISFY MULTIPLE SIMULTANEOUS SPECIFICATIONS

    Institute of Scientific and Technical Information of China (English)

    LEE Seung-Ju; SUN Dong; MILLS James K

    2006-01-01

    The application of a closed-loop specification oriented feedback control design method,which addresses the design of controllers to satisfy multiple simultaneous conflicting closed-loop performance specifications is presented. The proposed approach is well suited to the design of controllers which must meet a set of conflicting performance specifications. Gain tuning is central to the design process, however, the tuning process is greatly simplified over that presented by the problem of tuning a PID controller for example. The proposed control method is applied to an AC induction motor, with an inner-loop flux vector controller applied to design a position control system. Experimental results verify the effectiveness of this method.

  5. TCSC Nonlinear Adaptive Damping Controller Design Based on RBF Neural Network to Enhance Power System Stability

    DEFF Research Database (Denmark)

    Yao, Wei; Fang, Jiakun; Zhao, Ping;

    2013-01-01

    the characteristics of the conventional PID, but adjust the parameters of PID controller online using identified Jacobian information from RBFNN. Hence, it has strong adaptability to the variation of the system operating condition. The effectiveness of the proposed controller is tested on a two-machine five-bus power...

  6. 基于扰动观测的非圆零件CNC加工的迭代学习复合PID控制%Hybrid PID Control with Iterative Learning Based on Disturbance Observer for Non-circular Part CNC Machining

    Institute of Scientific and Technical Information of China (English)

    江思敏; 王先逵

    2014-01-01

    在加工高精度非圆零件时,通常先产生非圆零件的轮廓生成直线伺服器的运动轨迹,然后高响应直线伺服器按照生成的运动轨迹进行往复运动,并和驱动非圆零件的主轴同步控制。非圆零件加工轨迹的控制精度是影响零件数控加工的重要因素。提出一种基于扰动观测的数字 PID 和迭代学习复合控制算法,根据非圆轮廓轨迹表现的周期性特征,使用数字 PID 和迭代学习控制的方法,可以有效达到非圆零件加工的控制精度,加工过程中的扰动同样影响零件的加工精度,通过扰动观测器来实现对扰动的有效反馈补偿控制,提高系统的控制精度,从而使非圆截面的切削控制精度得到提高,非圆零件的加工精度也可以得到显著提高。%During machining the high accuracy non-circular part, normally the trajectory of non-circular part profile is generated, and then the fast response linear servo motor drive the cutting tool to do reciprocating moving, and control the cutting tool synchronously with the spindle. The control accuracy of the non-circular part trajectory is critical to affect the non-circular part CNC machining. Based on the periodic features of non-circular profile trajectory, the control algorithm which is hybrid control of PID and iterative learning control has been effectively developed for non-circular profile generation. Because the load disturbance can negatively affect the control accuracy, so the disturbance observer is integrated to the control algorithm. The final motion accuracy of linear actuator has been improved, and the machining accuracy of the non-circular turning is improved.

  7. Plasma-MIG hybrid arc welding with PID increment constant current or voltage control algorithm%增量型PID恒流恒压控制的Plasma-MIG复合电弧焊接

    Institute of Scientific and Technical Information of China (English)

    杨涛; 张生虎; 高洪明; 吴林; 许可望; 刘永贞

    2013-01-01

    Plasma-MIG复合电弧焊接对电源的外特性输出及焊接过程控制有着很高的要求,以VC++软件开发工具为平台,推导了适合于Plasma-MIG复合电弧焊接的增量型PID控制算法,实现了对复合电弧焊接过程控制及电源外特性的要求.结果表明,增量型PID恒流恒压控制能够满足Plasma-MIG对电源外特性的输出要求.Plasma电弧和MIG电弧并不是相互独立的,两者以共享的电磁空间、导电气氛和焊丝为媒介建立起耦合关系.Plasma-MIG复合电弧焊接过程中,增量型PID控制下的Plasma电弧能够自发的调节自身电参数,来稳定电弧空间的电流密度,使得焊接过程中无飞溅.采用控制后,Plasma-MIG复合电弧焊焊接过程焊缝铺展好,焊接过程稳定,焊缝成形好.%Output characteristics of the power supply and welding process control are important factors for plasma-MIG hybrid arc welding. PID increment control algorithm suitable for Plasma-MIG hybrid arc welding was developed based on VC + + language in this paper, which optimized the output characteristics of the power supply and welding process control. The results show that the plasma arc and MIG arc were coupled with each other by sharing the electro-magnetic space, gas and filler metal. Plasma are controlled by PID increment control algorithm was capable of stabilizing the current density through the arc due to its self-adjusting function, without sputtering in the welding process. High stability, molten metal with excellent liquidity and weld with smooth surface were realized by plasma-MIG hybrid arc welding with PID increment control algorithm.

  8. Design of Synthetic Optimizing Neuro Fuzzy Temperature Controller for Dual Screw Profile Plastic Extruder Using Labview

    Directory of Open Access Journals (Sweden)

    Ravi Samikannu

    2011-01-01

    Full Text Available Problem statement: The temperature control in plastic extrusion machine is an important factor to produce high quality plastic products. The first order temperature control system in plastic extrusion comprises of coupling effects, long delay time and large time constants. Controlling temperature is very difficult as the process is multistage process and the system coupled with each other. In order to conquer this problem the system is premeditated with neuro fuzzy controller using LabVIEW. Approach: The existing technique involved is conventional PID controller, Neural controller, mamdani type Fuzzy Logic Controller and the proposed method is neuro fuzzy controller. Results: Manifest feature of the proposed method is smoothing of undesired control signal of conventional PID, neural controller and mamdani type FLC controller. The software incorporated the LabVIEW graphical programming language and MATLAB toolbox were used to design temperature control in plastic extrusion system. Hence neuro fuzzy controller is most powerful approach to retrieve the adaptiveness in the case of nonlinear system. Conclusion: The tuning of the controller was synchronized with the controlled variable and allowing the process at its desired operating condition. The results indicated that the use of proposed controller improve the process in terms of time domain specification, set point tracking and also reject disturbances with optimum stability.

  9. 单神经元PID控制在炼油装置塔顶pH控制中的应用%Application of Single Neuron PID Control in pH Control of Tower Top in Refining Units

    Institute of Scientific and Technical Information of China (English)

    徐朝阳; 陈江; 黄善祥

    2013-01-01

    pH是过程工业中一个常见的控制对象,尤其在炼油装置中对pH的控制尤为重要.文中先分析炼油装置塔顶pH的控制特点,若pH控制不好会对设备产生严重的腐蚀,这样导致设备的寿命有所下降,更影响炼油质量.再通过仿真得出合理的控制算法,能有限减小pH滞后带来的影响.最后通过PLC的编程,实现对整个系统的控制,使改进的算法在实际中得到很好地应用,可有效解决炼油装置塔顶pH控制难的问题.%pH is a common controlled parameter in the process industry,and especially it is very important in the refining units.This paper analyzed the characteristic of pH control in the tower of refining units,because it will reduce the life of the equipment at the corrosion station without being controlled well,especially influence the quality of petroleum products.Then the paper came up with a better control method according to the simulation between the common and the improved single neuron PID control which could reduce the influence from the long delayed pH value.A better method was used well in the reality with the help of PLC controller to solve the problem of the pH control of the tower top in refining units well.

  10. Improved PSO-based Multivariable PID-like Neural Network Control%基于改进PSO算法的多变量PID型神经网络控制

    Institute of Scientific and Technical Information of China (English)

    冯冬青; 邢广成; 费敏锐; 陈铁军

    2011-01-01

    Making full use of the advantages of simple construction and strong stability of PID and self-learning and adaptability of neural networks, introducing PSO (Particle Swarm Optimization) algorithm, a multivariable adaptive neural network conroller was designed. It was composed of a hybrid locally connected recurrent network with an activation feedback and an output feedback in the hidden layer, PSO algorithm was applied in neural network parameter leaming. On the basis of the research and analysis for PSO, the variability factor and inertia weight self-adaptability strategy were introduced to improve the PSO algorithm. The improved PSO algorithm not only plays the advantage of fast convergence speed, but also conquers the shortcoming of PSO algorithm which is easily plunging into the local minimum, and improved the performance of control system greatly. Finally, simulation of the control of double inverted pendulum shows that the proposed algorithm has strong robust ability.%充分利用PID结构简单、稳定性强的良好性能以及神经网络的自学习和自适应的特长,引入粒子群优化(PSO)学习算法,设计一种多变量自适应PID型神经网络控制器.神经网络的隐含层由带有输出反馈和激活反馈的混合局部连接递归网络组成,采用PSO学习算法优化神经网络参数.在深入研究分析PSO算法的基础上,引入变异因子和惯性权重自适应策略对该算法进行改进,既发挥了PSO算法随机优化收敛速度快的优点,又克服了该算法易陷入局部最优点的缺点,显著提高了控制系统的性能指标.最后,通过对二级倒立摆控制的仿真分析,证明该算法具有较强的鲁棒性.

  11. 智能PID控制方法的研究现状及应用展望%Intelligent PID Control of the Status and the Application of Prospect

    Institute of Scientific and Technical Information of China (English)

    王威; 杨平

    2008-01-01

    在传统PID控制基础上,融合了先进智能控制思想和传统PID控制的智能PID控制器在很多方面表现出更好的特性.现今的PID控制已逐渐向智能化、自适应化、最优化的趋势发展.介绍了几种常见的智能PID控制器,如模糊PID、神经网络PID、遗传算法PID控制等.分析了它们各自的典型结构及特点,并总结了近年来智能PID控制器研究的重点方向和存在的问题,最后论述了智能PID控制器的应用前景.

  12. Plasma Response Models for Controller Design on TCV

    Science.gov (United States)

    Lister, J. B.; Vyas, P.; Albanese, R.; Ambrosino, G.; Ariola, M.; Villone, F.; Coutlis, A.; Limebeer, D. J. N.; Wainwright, J. P.

    1997-11-01

    The control of the plasma position and shape on present tokamaks is usually based on simple but reliable PID controllers. These controllers are either empirically tuned or based on simplistic models. More detailed models could be exploited by modern control theory to benefit the controller design, since the improvement in performance depends on the accuracy of the model. Linearized models of the plasma shape and position have been developed for TCV limited and diverted plasmas. These include a simple rigid current displacement model for zIp and the CREATE-L model for position and shape. The latter is an a priori phenomenological model which assumes that the plasma is in permanent MHD equilibrium and that the current profile is determined by only l_i, β_p, and I_p. Variations of the CREATE-L model based on different assumptions are also tested. A purely mathematical model developed from experimental observations on TCV was also developed. The accuracy and consistency of these models has been extensively tested on TCV and the CREATE-L model is in excellent agreement with open and closed loop experiments. The implications for controller design on TCV, and the suitability of these models for ITER controller design is assessed.

  13. Drag-based composite super-twisting sliding mode control law design for Mars entry guidance

    Science.gov (United States)

    Zhao, Zhenhua; Yang, Jun; Li, Shihua; Guo, Lei

    2016-06-01

    In this paper, the drag-based trajectory tracking guidance problem is investigated for Mars entry vehicle subject to uncertainties. A composite super twisting sliding mode control method based on finite-time disturbance observer is proposed for guidance law design. The proposed controller not only eliminates the effects of matched and mismatched disturbances due to uncertainties of atmospheric models and vehicle aerodynamics but also guarantees the continuity of control action. Numerical simulations are carried out on the basis of Mars Science Laboratory mission, where the results show that the proposed methods can improve the Mars entry guidance precision as compared with some existing guidance methods including PID and ADRC.

  14. Research on Intelligent Controller of Vibratory Pile Drivers Based on Composite Synchronization Control Scheme and Fuzzy PID Control Aalgorithm%基于复合式同步控制策略和模糊PID控制算法的振动打桩机的智能控制器研究

    Institute of Scientific and Technical Information of China (English)

    汤炳新; 王小虎; 麻岳军; 王雪琴; 朱灯林

    2011-01-01

    To improve the efficiency of pile driving and achieve stepless frequency and torque online regulation, a scheme of synchronized control was used in the control of vibratory pile drivers. In view of nonlinear and time varying characteristics of the electro--hydraulic servo system, an intelligent synchronized control system with fuzzy PID parameters was developed, taking calculational advantages of single--chip microcomputer(SCM) and compromising composite synchronization control scheme and fuzzy control theories. Experimental results indicate that the fuzzy PID controller can improve the dynamic characteristics and its control effect is better than that of conventional PID controller.%将同步控制思想应用在振动打桩机中,实现在线无级调频调矩,从而提高打桩效率。针对电液伺服系统存在的非线性、时变性以及模型不确定性等特点,利用单片机的计算优势,融合复合式同步控制策略和模糊控制理论,构成一种智能型模糊PID参数同步控制系统。实验结果表明:模糊P1D控制器可以改善系统的动态特性,控制效果明显优于常规PID控制器。

  15. 基于VRFT的IMC-PID方法及其在水厂浊度控制中的仿真研究%Research on VRFT-based IMC-PID Method and Simulation of Turbidity Control in Water Supply Plant

    Institute of Scientific and Technical Information of China (English)

    哀微; 朱学峰

    2011-01-01

    Considering the nonlinearity and time-variant, large time constant and dead time in water supply proeess,a data-driven method virtual reference feedback tuning(VRFT) was introduced to the IMC-PID tuning, and a novel VRFT-IMC tuning method without using model parameters was presented. This method combines strong robust in IMC and model-free adaptive in data-driven control. Simulation results show that IMCPID method based on VRFT outperforms the traditional IMC-PID, and can be used for initial tuning of the controller and auto-tuning in the turbidity control.%针对城市供水出水浊度过程的大惯性、大时滞、非线性以及时变等特点,将虚拟参考反馈整定数据驱动方法引入到IMC-PID控制器的整定中来,提出了一种不基于模型参数的VRFT-IMC参数整定方法.该方法集合了内模控制鲁棒性强和数据驱动控制的自适应性两方面的优点,仿真表明其控制性能优于普通IMC-PID控制器,可望用于出水浊度等复杂过程控制器参数的初始整定和实时自整定.

  16. 多路分离式PID模数混合主动噪声控制技术研究%Study on Multi-Channel Active Noise Control with Analogue-Digital Mixed PID

    Institute of Scientific and Technical Information of China (English)

    李世振; 李功宇; 母向东

    2011-01-01

    Aiming at the characteristics of multi-harmonic frequency noise that most of electromechanical products possess, a new approach called multi-channel active noise control with analogue-digital mixed PID technique is proposed in this paper.This approach combines both multi-analogue filtering and digital phase automatic tracking PID techniques.A test of noise reduction in the duct was carried out.The results show that approach performs well for reducing multi-harmonic frequency noise in the duct.Due to the difficulty in application of the active noise control technique in 3D sound field, the sound concentrator is used to transfer the sound field from 3D into 1D in order to apply the new approach.Meanwhile, the dry-type transformer is taken as an experiment object to verify this new approach.%针对机电产品具有的多谐频噪声特性,提出一种多路分离式模拟滤波与数字PID相位自动跟踪相结合的模数混合主动噪声控制方法,消声实验结果表明该方法在多谐频管道噪声消除中稳定有效.针对目前三维声场主动噪声控制工程应用难的状况,提出利用通风道或窗结构将三维声场聚声为一维声场实现主动噪声控制的工程技术并以干式变压器为对象进行探索研究.

  17. Design and simulation of a motion controller for a wheeled mobile-robot autonomous navigation

    Science.gov (United States)

    Alhaj Ali, Souma M.; Hall, Ernest L.

    2005-10-01

    This paper describes the development of PD, PID Computed-Torque (CT), and a PD digital motion controller for the autonomous navigation of a Wheeled Mobile Robot (WMR) in outdoor environments. The controllers select the suitable control torques, so that the WMR follows the desired path produced from a navigation algorithm described in a previous paper. PD CT, PID CT, and PD digital controllers were developed using a linear system design procedure to select the feedback control signal that stabilizes the tracking error equation. The torques needed for the motors were computed by using the inverse of the dynamic equation for the WMR. Simulation software was developed to simulate the performance and efficiency of the controllers. Simulation results verified the effectiveness of the controllers under different motion trajectories, comparing the performance of the three controllers shows that the PD digital controller was the best where the tracking error did not exceed .05 using 20 msec sample period. The significance of this work lies in the development of CT and digital controllers for WMR navigation, instead of robot manipulators. These CT controllers will facilitate the use of WMRs in many applications including defense, industrial, personal, and medical robots.

  18. Integrated control-structure design

    Science.gov (United States)

    Hunziker, K. Scott; Kraft, Raymond H.; Bossi, Joseph A.

    1991-01-01

    A new approach for the design and control of flexible space structures is described. The approach integrates the structure and controller design processes thereby providing extra opportunities for avoiding some of the disastrous effects of control-structures interaction and for discovering new, unexpected avenues of future structural design. A control formulation based on Boyd's implementation of Youla parameterization is employed. Control design parameters are coupled with structural design variables to produce a set of integrated-design variables which are selected through optimization-based methodology. A performance index reflecting spacecraft mission goals and constraints is formulated and optimized with respect to the integrated design variables. Initial studies have been concerned with achieving mission requirements with a lighter, more flexible space structure. Details of the formulation of the integrated-design approach are presented and results are given from a study involving the integrated redesign of a flexible geostationary platform.

  19. New intelligent numeral PID controller and application%新型智能数字PID控制器及其应用

    Institute of Scientific and Technical Information of China (English)

    刘国繁; 王迎旭; 伍萍辉

    2006-01-01

    针对BP神经网络-PID控制器盲目选取PID参数初值容易陷入局部最小和给定值大幅变化引起系统性能变坏等问题,提出了一种新型智能数字PID控制器,用积分分离型数字PID取代BP神经网络-PID控制器的传统数字PID,抑制超调,改善系统性能;用继电器自整定法确定PID参数的初值,防止神经网络的局部极小问题.对时变和非时变非线性被控对象,分别用Matlab对新型智能数字PID和传统数字PID的控制效果进行了仿真.结果表明,新型智能数字PID控制器具有更好的控制效果和更好的鲁捧性.将该控制器用于某冶炼厂铅板生产中的铅液温度(坩锅温度)的控制,获得了满意的控制效果.

  20. PID Parameters Tuning of Servo Control System of Filament Winding Machine%纤维缠绕机伺服控制系统的PID参数整定方法

    Institute of Scientific and Technical Information of China (English)

    张俊华

    2012-01-01

    The control system of filament winding machine goes through mechanical control,hydraulic servo motor con- trol , computer control and general digita] control, PMAC and AC servo system are widely used in filament winding ma- chine. With the aid of feed - forward control, the combined control system with feed - forward and feedback is gotten. The combined system has rational PID parameters, less following error, high control precision and good robustness. The stability and reliability of the control system of the filament winding machine is greatly improved.%纤维缠绕机的控制系统经历了机械式、液压马达伺服控制式、微机控制式及通用数控式的发展变化,其中开放式运动控制器PMAC板卡及交流伺服系统得到广泛应用,在系统中引入前馈控制,构成了具有反馈和前馈的复合控制系统,该系统具有PID参数调整合理、跟随误差小、控制精度高、鲁棒性好等特点,大大提高了纤维缠绕机控制系统的稳定性和可靠性。

  1. RF control at SSCL - an object oriented design approach

    Energy Technology Data Exchange (ETDEWEB)

    Dohan, D.A. (SSCL, MS 4010, 2550 Beckleymeade Ave., Dallas, TX 75237 (United States)); Osberg, E. (SSCL, MS 4010, 2550 Beckleymeade Ave., Dallas, TX 75237 (United States)); Biggs, R. (SSCL, MS 4010, 2550 Beckleymeade Ave., Dallas, TX 75237 (United States)); Bossom, J. (SSCL, MS 4010, 2550 Beckleymeade Ave., Dallas, TX 75237 (United States)); Chillara, K. (SSCL, MS 4010, 2550 Beckleymeade Ave., Dallas, TX 75237 (United States)); Richter, R. (SSCL, MS 4010, 2550 Beckleymeade Ave., Dallas, TX 75237 (United States)); Wade, D. (SSCL, MS 4010, 2550 Beckleymeade Ave., Dallas, TX 75237 (United States))

    1994-12-15

    The Superconducting Super Collider (SSC) in Texas, the construction of which was stopped in 1994, would have represented a major challenge in accelerator research and development. This paper addresses the issues encountered in the parallel design and construction of the control systems for the RF equipment for the five accelerators comprising the SSC. An extensive analysis of the components of the RF control systems has been undertaken, based upon the Schlaer-Mellor object-oriented analysis and design (OOA/OOD) methodology. The RF subsystem components such as amplifiers, tubes, power supplies, PID loops, etc. were analyzed to produce OOA information, behavior and process models. Using these models, OOD was iteratively applied to develop a generic RF control system design. This paper describes the results of this analysis and the development of bridges' between the analysis objects, and the EPICS-based software and underlying VME-based hardware architectures. The application of this approach to several of the SSCL RF control systems is discussed. ((orig.))

  2. 分布式神经元PID在不均衡系统同步控制中的应用%Application of Distributed Neuron PID in Synchronous Controlling of au Unbalanced System

    Institute of Scientific and Technical Information of China (English)

    乌建中; 侯贤士; 陈吉

    2009-01-01

    The hydraulic turnover mechanism,using a dual cylinder hinge,is an advanced blade mould closing equipment of high technologies,mostly used for megawatt class wind blades above 40 meters,where more than three mechanisms are arranged along one blade mould at the same time.Obviously,there will be an unbalanced load on each mechanism due to the irregular shape of moulds and the inaccurate installing locations.The synchronous performance of multiple rotating arms.during a large-angle rotating process,directly influences the service life of blade moulds and the production quality of wind blades.For the turnover mechanism toenjoy high reliability,adaptability and control accuracy,a newcontrol method using the distributed single neuron PID algorithm is proposed for a synehmnons control of angular displacement of rotating arms.An improved LMS algorithm is used in the learning process,and the gain of the neuron output is adjusted automatically by the neuron based on the motion analysis results.Through rotating motion analysis with iterations,some basic parameters aredetermined,and a mechanical and hydraulic combined simulation model in AMESim is established,including a planar mechanical model.The LabVIEW subprogram of neuron PID could be nm through dynamic shared memory simultaneously.Finally,the results of traditional PID and neuron PID are shown in the gaule plot.It is shown through simulation results as well as practical applications that this method enjoys a good conlaml accuracy for nonlinear and time variant unbalanced systems.%大型风电叶片模具的合模或脱模,采用双缸铰接的液压翻转机构,其在大角度翻转过程中多转臂同步性能将直接影响翻转模具的寿命和叶片生产质量.针对该翻转设备可靠性、适应性和控制精度要求较高的特点,提出一种分布式的单神经元PID控制算法对机构转臂进行角位移同步控制,学习过程采用改进的LMS算法,并根据运动分析结果实现神经元输

  3. 恒线速无卡旋切机变速进给自整定PID控制%Self-tuning PID Control of Variable Speed Feed for Log-core Veneer Lathe

    Institute of Scientific and Technical Information of China (English)

    杨素珍

    2012-01-01

    In current variable speed feed system of log-core veneer lathe, the uncertainty and interference can not be compensated by using open-loop control, the parameters are hard to determined and the controller is complicate by using closed-loop control. To deal with these problems, a composite controller combining feed forward and PID control with online parameters self-tuning based on single neural network is proposed. The structure of the controller is simple, the system interference is eliminated effectively, its stabilization time is short and its accuracy is high, the effectiveness of this controller is proved by the simulation result.%针对当前无卡旋切机的变速进给系统存在开环控制下无法补偿系统不确定性和干扰,闭环控制下控制器复杂且控制参数不易确定,提出一种结合前馈和基于单神经元网络在线参数自整定PID控制的复合控制器,该控制器结构简单,有效消除系统干扰,且收敛迅速,控制精度高,仿真结果表明该控制器的有效性。

  4. Synthesis water level control by fuzzy logic

    Directory of Open Access Journals (Sweden)

    P. Berk

    2011-04-01

    Full Text Available Purpose: This paper focuses on evolving of two types fuzzy and classical PID liquid level controller and examining whether they are better able to handle modelling uncertainties. A two stage strategy is employed to design the synthesis fuzzy and classical PID controller with the process of the first and second order and implements disorder (quadratic function.Design/methodology/approach: The synthesis of fuzzy and classical PID liquid level controller was realized with the HP laptop 6830s Compaq NA779ES, software Matlab/Simulink 2008b, FIS (Fuzzy Inference System soft logical tool, input-output unit 500 Dragon Rider and ultrasonic sensor. Using the simulation program Matlab/Simulink/FIS we simulate the operation of fuzzy and classical controller in the liquid level regulating cycle and made a comparison between fuzzy and classical controller functioning.Findings: From the responses to step fuzzy and classical controller for first-order process shows that the actual value of the controlled variable takes the value one. Fuzzy and classical PID controller does not allow control derogation, which is also inappropriate for fuzzy and classical control cycle with incorporating disturbance. Classical PID controller in the first-order process provides short-term regulation, such as fuzzy PID controller. In fuzzy control cycle with fuzzy PID controller and incorporating disturbance in the process of second-order the control cycle is stable and at certain predetermined parameters (integral gain a control does not allow deviations.Research limitations/implications: In future research, the robustness of the fuzzy logic controller will be investigated in more details.Practical implications: Using fuzzy liquid level controller can reduce power consumption by 25%. Originality/value: Fuzzy logic controller is useful in applications of nonlinear static characteristic, where classical methods with usually classical PID controllers cannot be a satisfactory outcome

  5. Decoupling Control Design for the Module Suspension Control System in Maglev Train

    Directory of Open Access Journals (Sweden)

    Guang He

    2015-01-01

    Full Text Available An engineering oriented decoupling control method for the module suspension system is proposed to solve the coupling issues of the two levitation units of the module in magnetic levitation (maglev train. According to the format of the system transfer matrix, a modified adjoint transfer matrix based decoupler is designed. Then, a compensated controller is obtained in the light of a desired close loop system performance. Optimization between the performance index and robustness index is also carried out to determine the controller parameters. However, due to the high orders and complexity of the obtained resultant controller, model reduction method is adopted to get a simplified controller with PID structure. Considering the modeling errors of the module suspension system as the uncertainties, experiments have been performed to obtain the weighting function of the system uncertainties. By using this, the robust stability of the decoupled module suspension control system is checked. Finally, the effectiveness of the proposed decoupling design method is validated by simulations and physical experiments. The results illustrate that the presented decoupling design can result in a satisfactory decoupling and better dynamic performance, especially promoting the reliability of the suspension control system in practical engineering application.

  6. 用于飞轮储能单元的神经元自适应比例-积分-微分控制算法%Neuron Adaptive PID Control Algorithm With Application to Flywheel Energy Storage System Unit

    Institute of Scientific and Technical Information of China (English)

    王磊; 杜晓强; 宋永端

    2014-01-01

    提出了一种应用于飞轮储能系统的神经元自适应比例-积分-微分(proportional integral differential,PID)控制算法。该算法基于传统的双闭环调速系统与神经网络理论,实现对飞轮驱动电机的控制,使飞轮驱动电机能够根据系统要求,驱动飞轮储能单元储存或释放能量。运用李亚普诺夫稳定性理论证明了该控制算法的稳定性和有效性,并给出了其稳定性条件。经过仿真验证,该算法可以有效地实现对飞轮储能单元的充放电控制,其控制参数可以随着系统的运行自适应调节,飞轮储能单元的控制精度和鲁棒性也有所提高。%A neural adaptive proportional integral differential (PID) control algorithm applied to flywheel energy storage system is proposed. Based on traditional doubly closed-loop governing system and neural network theory the proposed algorithm implements the control of driving motor of flywheel to make the motor driving the flywheel energy storage unit to store up or release energy according to the demand of power grid. Both stability and validity of the proposed control algorithm are proved by Lyapunov theory, and the stability conditions of the proposed control algorithm are given. Simulation results show that using the proposed control algorithm the energy storage or release of flywheel energy storage unit can be controlled effectively, and the control parameters of flywheel energy storage unit can be adaptively adjusted according to power grid operation, and both control accuracy and robustness of flywheel energy storage unit can be improved.

  7. Feedback control for counterflow thrust vectoring with a turbine engine: Experiment design and robust control design and implementation

    Science.gov (United States)

    Dores, Delfim Zambujo Das

    2005-11-01

    Engineering research over the last few years has successfully demonstrated the potential of thrust vector control using counterflow at conditions up to Mach 2. Flow configurations that include the pitch vectoring of rectangular jets and multi-axis vector control in diamond and axisymmetric nozzle geometries have been studied. Although bistable (on-off) fluid-based control has been around for some time, the present counterflow thrust vector control is unique because proportional and continuous jet response can be achieved in the absence of moving parts, while avoiding jet attachment, which renders most fluidic approaches unacceptable for aircraft and missile control applications. However, before this study, research had been limited to open-loop studies of counterflow thrust vectoring. For practical implementation it was vital that the counterflow scheme be used in conjunction with feedback control. Hence, the focus of this research was to develop and experimentally demonstrate a feedback control design methodology for counterflow thrust vectoring. This research focused on 2-D (pitch) thrust vectoring and addresses four key modeling issues. The first issue is to determine the measured variable to be commanded since the thrust vector angle is not measurable in real time. The second related issue is to determine the static mapping from the thrust vector angle to this measured variable. The third issue is to determine the dynamic relationship between the measured variable and the thrust vector angle. The fourth issue is to develop dynamic models with uncertainty characterizations. The final and main goal was the design and implementation of robust controllers that yield closed-loop systems with fast response times, and avoid overshoot in order to aid in the avoidance of attachment. These controllers should be simple and easy to implement in real applications. Hence, PID design has been chosen. Robust control design is accomplished by using ℓ1 control theory in

  8. Anti-rollover Control System Design of Articulated Off-road Vehicles

    Directory of Open Access Journals (Sweden)

    Wang Shuai

    2016-01-01

    Full Text Available This paper designs an anti-rollover control system to improve articulated off-road vehicle rollover safety. This controller consists two level control which target to two different instability stages: 1 the active swing bridge adjustment control algorithm for the first stage instability; and 2 the active braking control algorithm for the second stage instability. The first level control is based on fuzzy PID control and second is based on switch control, they work together to prevent the articulated wheel loader from rollover accident. Multi-body dynamics model of a ZL50 articulated wheel loader is built by commercial software RecurDyn, and the MBD model and controller model were co-simulated under the same solver in RecurDyn/CoLink. The co-simulation results show that, during the high speed steering rollover process, these two level controller work efficiently to reduce the roll angle and improve the vehicle rollover stability.

  9. Model parameter identification and parameter self-tunning of PID controller based on saturation relay feedback%基于饱和继电反馈的模型参数辨识及PID控制器参数自整定

    Institute of Scientific and Technical Information of China (English)

    刘海; 王储栋; 严怀诚; 孙京诰

    2012-01-01

    FID control and model-based advanced control strategy is widely used in industrial process. To design PID controller or model-based advanced controller and achieve good performance, accurate ultimate parameter and model parameter is needed. In this paper, relay feedback method is employed. Relay signal is used to the industrial plant which can be approximated as first order plus dead time model. Model parameters and ultimate parameter can be identified from the oscillating curve of the plant. The model parameter identification formula is improved under mathematical derivation and lots of simulation experiment. Compared with ideal relay feedback, simulation results show that ultimate information can be identified more accurate through saturation relay feedback. Under accurate ultimate information and modified model parameter identification formula, model parameter can be identified accurately through saturation relay feedback. The exactly identification parameters provide a quantitative reference to design PID controller or model-based advanced controller.%PID控制和基于模型的先进控制广泛应用于工业过程中,为了很好的设计PID控制器或基于模型的先进控制器,确保取得较好的控制效果,需要准确的获取被控过程的临界信息及模型参数.本文采用继电反馈方法,对可以近似为一阶惯性纯滞后环节的工业对象施加继电激励信号,根据对象的振荡输出曲线,进行模型参数和临界信息的辨识.依据数学推理和大量仿真实验观察,本文改进了模型参数的辨识公式.仿真数据表明,相比理想继电反馈,饱和继电反馈对临界信息的辨识精度更高:在临界信息精确的情况下,依据改进的模型参数辨识公式,饱和继电反馈能够很好的辨识出被控对象的模型参数,从而为PID控制器或基于模型的先进控制器的设计提供了一个定量的参考依据.

  10. Fuzzy Control for Food Agricultural Robotics of a Degree

    Directory of Open Access Journals (Sweden)

    Lepeng Song

    2014-02-01

    Full Text Available In this study, we have a research of the fuzzy control for food agricultural robotics of a degree. Weeding robots can replace humans weeding activities, since the control system with nonlinear, robustness and a series of complex time-varying characteristics of the traditional PID control of the food agricultural robot end of the operation control effect cannot achieve the desired results, therefore, the design for the traditional use of classical PID control algorithm to control the food agricultural robot end of the operation of a series of drawbacks, combining cutting-edge control theory, fuzzy rule-based adaptive PID control strategy to control the entire system, so as to achieve the desired control effect. Experimental results show that the fuzzy adaptive PID control method for robot end postural control has better adaptability and track-ability.

  11. 基于PSO的WNN-PID自适应控制器在X光机高压电源中的应用%The Application of WNN-PID Adaptive Controller Based on PSO in the High Voltage Power Supply X-ray Machine

    Institute of Scientific and Technical Information of China (English)

    李璀; 刘荣; 邓艾; 唐超

    2012-01-01

    针对X光机应用技术要求,分析了X光机高压电源内部结构,结合小波神经网络控制技术,设计了基于粒子群算法(PSO)的小波神经网络PID(WNN-PID)自适应控制器,并应用于X光机高压电源,通过与其它控制器对比,证明了该控制器具有更好的控制性能。%In this paper,we focused on the requirements of the application technology of X-ray machine,to analyze the internal structure of the high voltage power supply X-ray machine;and then,we combine with the wavelet neural network control technology,designed the WNN-PID adaptive controller which is based on the PSO.Finally,we apply this controller to the high voltage power supply X-ray machine,and it is proved that it has a better control performance as compared with the other controllers.

  12. Optimization and simulation of the feedback control system of HL-2A

    International Nuclear Information System (INIS)

    Making use of the MATLAB language to analyze the stability of the plasma current and radial position control system in the HL-2A, the PID controller is designed and the system response is simulated. (authors)

  13. Model-based rational feedback controller design for closed-loop deep brain stimulation of Parkinson's disease

    Science.gov (United States)

    Gorzelic, P.; Schiff, S. J.; Sinha, A.

    2013-04-01

    Objective. To explore the use of classical feedback control methods to achieve an improved deep brain stimulation (DBS) algorithm for application to Parkinson's disease (PD). Approach. A computational model of PD dynamics was employed to develop model-based rational feedback controller design. The restoration of thalamocortical relay capabilities to patients suffering from PD is formulated as a feedback control problem with the DBS waveform serving as the control input. Two high-level control strategies are tested: one that is driven by an online estimate of thalamic reliability, and another that acts to eliminate substantial decreases in the inhibition from the globus pallidus interna (GPi) to the thalamus. Control laws inspired by traditional proportional-integral-derivative (PID) methodology are prescribed for each strategy and simulated on this computational model of the basal ganglia network. Main Results. For control based upon thalamic reliability, a strategy of frequency proportional control with proportional bias delivered the optimal control achieved for a given energy expenditure. In comparison, control based upon synaptic inhibitory output from the GPi performed very well in comparison with those of reliability-based control, with considerable further reduction in energy expenditure relative to that of open-loop DBS. The best controller performance was amplitude proportional with derivative control and integral bias, which is full PID control. We demonstrated how optimizing the three components of PID control is feasible in this setting, although the complexity of these optimization functions argues for adaptive methods in implementation. Significance. Our findings point to the potential value of model-based rational design of feedback controllers for Parkinson's disease.

  14. 基于单神经元PID算法的微小飞轮高精度控制%High-Accuracy Control for Micro Flywheel Based on Single Neuron PID Algorithm

    Institute of Scientific and Technical Information of China (English)

    张聪; 刘刚; 李光军

    2013-01-01

    为了实现微小卫星高精度稳定并满足微小卫星“快、好、省”的原则,针对微小飞轮动态响应慢,经典控制方法系统输出力矩动态性能、稳态精度达不到要求的问题,推导了基于永磁无刷直流电机的微小飞轮动力学模型.通过建立基于单神经元PID的力矩模式控制系统,对该算法进行分析,设计实现了以现场可编程门阵列为控制核心的数字控制方案.采用该方案在微小飞轮工程样机上进行PID与单神经元PID算法的对比实验,结果表明:单神经元PID算法简单易于实现,超调量小,提高了力矩输出精度;该方案实现简单,重量轻,功耗低,集成度高,精度高,满足微小卫星的技术特点.%In the light of characteristics and requirements of micro flywheel, classical control algorithms can't meet the requirements for dynamic performance and steady-state accuracy of torque output. In order to achieve high-accuracy stabilization for micro satellite and satisfy the principia of "quickness, goodness, retrenchment" , the dynamics model for the micro flywheel is deduced based on the permanent magnet brushless DC motor. The torque-mode control system for micro flywheel is established by using a single neuron PID (SNPID) algorithm and the algorithm is analyzed in detail. A digital control scheme is constructed and implemented by using Field Programmable Gate Array (FPGA) as control core. The comparative experiments are carried out and analyzed by using PID and SNPID algorithms for the micro flywheel prototype respectively. The experimental results indicate that the proposed SNPID algorithm is simple and easy to be realized with little over-shoot, quick response and excellent performance. And the output torque accuracy is improved obviously. The control scheme achieves easy realization, light weight, low power consumption, high integration, high-accuracy and technical characteristics for the micro satellite.

  15. Design of a wind turbine pitch angle controller for power system stabilisation

    DEFF Research Database (Denmark)

    Jauch, Clemens; Islam, S.M.; Sørensen, Poul Ejnar;

    2007-01-01

    The design of a PID pitch angle controller for a fixed speed active-stall wind turbine, using the root locus method is described in this paper. The purpose of this controller is to enable an active-stall wind turbine to perform power system stabilisation. For the purpose of controller design, the...... transfer function of the wind turbine is derived from the wind turbine's step response. The performance of this controller is tested by simulation, where the wind turbine model with its pitch angle controller is connected to a power system model. The power system model employed here is a realistic model of...... controller can effectively contribute to power system stabilisation. (c) 2007 Elsevier Ltd. All rights reserved....

  16. Design for controllability

    OpenAIRE

    Tsukaya, Hirokazu

    2012-01-01

    The safety of genetically modified crops remains a contested issue, given the potential risk for human health and the environment. To further reduce any risks and alleviate public concerns, terminator technology could be used both to tag and control genetically modified plants.

  17. A closed-loop particle swarm optimizer for multivariable process controller design

    Institute of Scientific and Technical Information of China (English)

    Kai HAN; Jun ZHAO; Zu-hua XU; Ji-xin QIAN

    2008-01-01

    Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem.A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories.At each time step,a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness.With this modification,limitations caused by a uniform inertia weight for the whole population are avoided,and the particles have enough diversity.After the effectiveness,efficiency and robustness are tested by benchmark functions,CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.

  18. 自适应模糊PID控制策略在中央空调系统中的应用研究%Application of of Self-adaptive Fuzzy PID Controllng Strategy to Central Air-conditioning System

    Institute of Scientific and Technical Information of China (English)

    许立

    2012-01-01

    The control process of the central air-conditioning system is complicated.By combining traditional PID control and fuzzy control,this paper introduces a designing method for self-adaptive fuzzy PID control and its application to controlling the central air-conditioning system.The experiments of the simulation model show that the self-adaptive fuzzy PID control makes up for the shortcomings of the fuzzy control and PID control,and has advantages of flexible control,high precision,rapid adjustment,small overshoot,good robustness and stability.So it is feasible.%中央空调系统的控制过程非常复杂,将传统的PID控制和模糊控制相结合,提出了一种自适应模糊PID控制的设计方法,并将其应用于中央空调系统的实际控制中.通过仿真模型的实验表明,自适应模糊PID控制弥补了模糊控制和PID控制的缺点,具有控制灵活,精度高,调节迅速,超调量小的优点,鲁棒性和稳定性好,具有一定的可行性.

  19. Integrated controls design optimization

    Science.gov (United States)

    Lou, Xinsheng; Neuschaefer, Carl H.

    2015-09-01

    A control system (207) for optimizing a chemical looping process of a power plant includes an optimizer (420), an income algorithm (230) and a cost algorithm (225) and a chemical looping process models. The process models are used to predict the process outputs from process input variables. Some of the process in puts and output variables are related to the income of the plant; and some others are related to the cost of the plant operations. The income algorithm (230) provides an income input to the optimizer (420) based on a plurality of input parameters (215) of the power plant. The cost algorithm (225) provides a cost input to the optimizer (420) based on a plurality of output parameters (220) of the power plant. The optimizer (420) determines an optimized operating parameter solution based on at least one of the income input and the cost input, and supplies the optimized operating parameter solution to the power plant.

  20. Embedded Sensors and Controls to Improve Component Performance and Reliability - System Dynamics Modeling and Control System Design

    Energy Technology Data Exchange (ETDEWEB)

    Melin, Alexander M. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Kisner, Roger A. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Fugate, David L. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

    2013-10-01

    This report documents the current status of the modeling, control design, and embedded control research for the magnetic bearing canned rotor pump being used as a demonstration platform for deeply integrating instrumentation and controls (I{\\&}C) into nuclear power plant components. This pump is a highly inter-connected thermo/electro/mechanical system that requires an active control system to operate. Magnetic bearings are inherently unstable system and without active, moment by moment control, the rotor would contact fixed surfaces in the pump causing physical damage. This report details the modeling of the pump rotordynamics, fluid forces, electromagnetic properties of the protective cans, active magnetic bearings, power electronics, and interactions between different dynamical models. The system stability of the unforced and controlled rotor are investigated analytically. Additionally, controllers are designed using proportional derivative (PD) control, proportional integral derivative (PID) control, voltage control, and linear quadratic regulator (LQR) control. Finally, a design optimization problem that joins the electrical, mechanical, magnetic, and control system design into one problem to balance the opposing needs of various design criteria using the embedded system approach is presented.