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Sample records for subject pid number

  1. 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...

  2. Pelvic Inflammatory Disease (PID)

    Science.gov (United States)

    ... a serious condition, in women. 1 in 8 women with a history of PID experience difficulties getting pregnant. You can prevent PID if you know how to protect yourself. What is PID? Pelvic inflammatory disease is an infection of a woman’s reproductive organs. It is a complication often caused ...

  3. PIDs, Types and the Semantic Web

    Science.gov (United States)

    Schwardmann, Ulrich

    2017-04-01

    PID Information Types are becoming a crucial role in scientific data management because they can provide state (what) and binding (where) information about digital objects as attributes of the PID. This is a similar but much more flexible approach than the well known mime type characterization, because both of these types concepts allow to decide about preconditions for processes in advance and before touching the data. One aspect of this is the need for standards and correctness of the used types to ensure reliability for the processes operating on the digital objects. This requires registries and schemas for PID InfoTypes and suggests an automated schema generation process. Such a process in combination with data type registries will be described in more detail in the intended talk. Another aspect of PID InfoTypes is its intrinsic grammar as subject-predicate-object triple, with the PID as subject, the type as predicate and its value (often again a PID) as object in this relation. Given the registration of types and the proposed syntactical rigidness of the value, guaranteed by the schema, together with the use of PIDs in subject and predicate, the type concept has the ability to overcome the fuzziness and lack of reliability of semantic web categories with its URL references and possibly changing locations and content. The intended talk will also describe this approach in more detail, discusses the differences to linked data and describes some necessary technological developments for the type concept to keep up with the possibilities currently provided by the semantic web.

  4. 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

    2016-09-05

    For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.

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

    Directory of Open Access Journals (Sweden)

    Rodrigo Hernández-Alvarado

    2016-09-01

    Full Text Available For decades, PID (Proportional + Integral + Derivative-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles where parameters (weight, buoyancy, added mass, among others change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.

  6. Dynamic PID loop control

    International Nuclear Information System (INIS)

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

    2011-01-01

    The Horizontal Test Stand (HTS) SRF Cavity and Cryomodule 1 (CM1) of eight 9-cell, 1.3GHz SRF cavities are operating at Fermilab. For the cryogenic control system, how to hold liquid level constant in the cryostat by regulation of its Joule-Thompson JT-valve is very important after cryostat cool down to 2.0 K. The 72-cell cryostat liquid level response generally takes a long time delay after regulating its JT-valve; therefore, typical PID control loop should result in some cryostat parameter oscillations. This paper presents a type of PID parameter self-optimal and Time-Delay control method used to reduce cryogenic system parameters oscillation.

  7. Impact of PID on industrial rooftop PV-installations

    Science.gov (United States)

    Buerhop, Claudia; Fecher, Frank W.; Pickel, Tobias; Patel, Tirth; Zetzmann, Cornelia; Camus, Christian; Hauch, Jens; Brabec, Christoph J.

    2017-08-01

    Potential induced degradation (PID) causes severe damage and financial losses even in modern PV-installations. In Germany, approximately 19% of PV-installations suffer from PID and resulting power loss. This paper focuses on the impact of PID in real installations and how different evaluated time intervals influence the performance ratio (PR) and the determined degradation rate. The analysis focuses exemplarily on a 314 kWp PV-system in the Atlantic coastal climate. IR-imaging is used for identifying PID without operation interruption. Historic electric performance data are available from a monitoring system for several years on system level, string level as well as punctually measured module string IV- curves. The data sets are combined for understanding the PID behavior of this PV plant. The number of PID affected cells within a string varies strongly between 1 to 22% with the string position on the building complex. With increasing number of PID-affected cells the performance ratio decreases down to 60% for daily and monthly periods. Local differences in PID evolution rates are identified. An average PR-reduction of -3.65% per year is found for the PV-plant. On the string level the degradation rate varied up to 8.8% per year depending on the string position and the time period. The analysis reveals that PID generation and evolution in roof-top installations on industrial buildings with locally varying operation conditions can be fairly complex. The results yield that local operating conditions, e.g. ambient weather conditions as well as surrounding conditions on an industrial building, seem to have a dominating impact on the PID evolution rate.

  8. Perancangan Kendali Pid Dengan Matlab

    OpenAIRE

    Sukamta, Sri

    2010-01-01

    Perancangan PID Controller selama ini menggunakan metoda trial and error dengan perhitungan yangmemakan waktu lama. MatLab yang dilengkapi Control Toolbox, membantu perancang untuk melihatrespon berbagai kombinasi konstanta dengan variasi input yang berbeda. Penggunaan MatLab ini sangatmembantu perancang dalam menentukan kombinasi di antara P, I, dan D Controller untuk menghasilkansistem pengaturan yang baik dan sederhana.

  9. Pelvic Inflammatory Disease (PID)

    Science.gov (United States)

    ... types of infections. Bacterial Vaginosis: A type of vaginal infection caused by the overgrowth of a number of ... of the uterus at the top of the vagina. Chlamydia: A sexually transmitted infection caused by bacteria that can lead to pelvic ...

  10. The number of subjects per variable required in linear regression analyses

    NARCIS (Netherlands)

    P.C. Austin (Peter); E.W. Steyerberg (Ewout)

    2015-01-01

    textabstractObjectives To determine the number of independent variables that can be included in a linear regression model. Study Design and Setting We used a series of Monte Carlo simulations to examine the impact of the number of subjects per variable (SPV) on the accuracy of estimated regression

  11. An analytical method for PID controller tuning with specified gain and phase margins for integral plus time delay processes.

    Science.gov (United States)

    Hu, Wuhua; Xiao, Gaoxi; Li, Xiumin

    2011-04-01

    In this paper, an analytical method is proposed for proportional-integral/proportional-derivative/proportional-integral-derivative (PI/PD/PID) controller tuning with specified gain and phase margins (GPMs) for integral plus time delay (IPTD) processes. Explicit formulas are also obtained for estimating the GPMs resulting from given PI/PD/PID controllers. The proposed method indicates a general form of the PID parameters and unifies a large number of existing rules as PI/PD/PID controller tuning with various GPM specifications. The GPMs realized by existing PID tuning rules are computed and documented as a reference for control engineers to tune the PID controllers. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  12. 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

  13. A person is not a number: discourse involvement in subject-verb agreement computation.

    Science.gov (United States)

    Mancini, Simona; Molinaro, Nicola; Rizzi, Luigi; Carreiras, Manuel

    2011-09-02

    Agreement is a very important mechanism for language processing. Mainstream psycholinguistic research on subject-verb agreement processing has emphasized the purely formal and encapsulated nature of this phenomenon, positing an equivalent access to person and number features. However, person and number are intrinsically different, because person conveys extra-syntactic information concerning the participants in the speech act. To test the person-number dissociation hypothesis we investigated the neural correlates of subject-verb agreement in Spanish, using person and number violations. While number agreement violations produced a left-anterior negativity followed by a P600 with a posterior distribution, the negativity elicited by person anomalies had a centro-posterior maximum and was followed by a P600 effect that was frontally distributed in the early phase and posteriorly distributed in the late phase. These data reveal that the parser is differentially sensitive to the two features and that it deals with the two anomalies by adopting different strategies, due to the different levels of analysis affected by the person and number violations. Copyright © 2011 Elsevier B.V. All rights reserved.

  14. 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...

  15. Wireless Sensor Network Congestion Control Based on Standard Particle Swarm Optimization and Single Neuron PID.

    Science.gov (United States)

    Yang, Xiaoping; Chen, Xueying; Xia, Riting; Qian, Zhihong

    2018-04-19

    Aiming at the problem of network congestion caused by the large number of data transmissions in wireless routing nodes of wireless sensor network (WSN), this paper puts forward an algorithm based on standard particle swarm⁻neural PID congestion control (PNPID). Firstly, PID control theory was applied to the queue management of wireless sensor nodes. Then, the self-learning and self-organizing ability of neurons was used to achieve online adjustment of weights to adjust the proportion, integral and differential parameters of the PID controller. Finally, the standard particle swarm optimization to neural PID (NPID) algorithm of initial values of proportion, integral and differential parameters and neuron learning rates were used for online optimization. This paper describes experiments and simulations which show that the PNPID algorithm effectively stabilized queue length near the expected value. At the same time, network performance, such as throughput and packet loss rate, was greatly improved, which alleviated network congestion and improved network QoS.

  16. PID controller tuning using metaheuristic optimization algorithms for benchmark problems

    Science.gov (United States)

    Gholap, Vishal; Naik Dessai, Chaitali; Bagyaveereswaran, V.

    2017-11-01

    This paper contributes to find the optimal PID controller parameters using particle swarm optimization (PSO), Genetic Algorithm (GA) and Simulated Annealing (SA) algorithm. The algorithms were developed through simulation of chemical process and electrical system and the PID controller is tuned. Here, two different fitness functions such as Integral Time Absolute Error and Time domain Specifications were chosen and applied on PSO, GA and SA while tuning the controller. The proposed Algorithms are implemented on two benchmark problems of coupled tank system and DC motor. Finally, comparative study has been done with different algorithms based on best cost, number of iterations and different objective functions. The closed loop process response for each set of tuned parameters is plotted for each system with each fitness function.

  17. Designing PID-Fuzzy Controller for Pendubot System

    Directory of Open Access Journals (Sweden)

    Ho Trong Nguyen

    2017-12-01

    Full Text Available In the paper, authors analize dynamic equation of a pendubot system. Familiar kinds of controller – PID, fuzzy controllers – are concerned. Then, a structure of PID-FUZZY is presented. The comparison of three kinds of controllers – PID, fuzzy and PID-FUZZY shows the better response of system under PID-FUZZY controller. Then, the experiments on the real model also prove the better stabilization of the hybrid controller which is combined between linear and intelligent controller.

  18. Discrete PID Tuning Using Artificial Intelligence Techniques

    Directory of Open Access Journals (Sweden)

    Petr DOLEŽEL

    2009-06-01

    Full Text Available PID controllers are widely used in industry these days due to their useful properties such as simple tuning or robustness. While they are applicable to many control problems, they can perform poorly in some applications. Highly nonlinear system control with constrained manipulated variable can be mentioned as an example. The point of the paper is to string together convenient qualities of conventional PID control and progressive techniques based on Artificial Intelligence. Proposed control method should deal with even highly nonlinear systems. To be more specific, there is described new method of discrete PID controller tuning in this paper. This method tunes discrete PID controller parameters online through the use of genetic algorithm and neural model of controlled system in order to control successfully even highly nonlinear systems. After method description and some discussion, there is performed control simulation and comparison to one chosen conventional control method.

  19. The number of subjects per variable required in linear regression analyses.

    Science.gov (United States)

    Austin, Peter C; Steyerberg, Ewout W

    2015-06-01

    To determine the number of independent variables that can be included in a linear regression model. We used a series of Monte Carlo simulations to examine the impact of the number of subjects per variable (SPV) on the accuracy of estimated regression coefficients and standard errors, on the empirical coverage of estimated confidence intervals, and on the accuracy of the estimated R(2) of the fitted model. A minimum of approximately two SPV tended to result in estimation of regression coefficients with relative bias of less than 10%. Furthermore, with this minimum number of SPV, the standard errors of the regression coefficients were accurately estimated and estimated confidence intervals had approximately the advertised coverage rates. A much higher number of SPV were necessary to minimize bias in estimating the model R(2), although adjusted R(2) estimates behaved well. The bias in estimating the model R(2) statistic was inversely proportional to the magnitude of the proportion of variation explained by the population regression model. Linear regression models require only two SPV for adequate estimation of regression coefficients, standard errors, and confidence intervals. Copyright © 2015 The Authors. Published by Elsevier Inc. All rights reserved.

  20. Copy number variation in subjects with major depressive disorder who attempted suicide.

    Science.gov (United States)

    Perlis, Roy H; Ruderfer, Douglas; Hamilton, Steven P; Ernst, Carl

    2012-01-01

    Suicide is one of the top ten leading causes of death in North America and represents a major public health burden, particularly for people with Major Depressive disorder (MD). Many studies have suggested that suicidal behavior runs in families, however, identification of genomic loci that drive this efffect remain to be identified. Using subjects collected as part of STAR D, we genotyped 189 subjects with MD with history of a suicide attempt and 1073 subjects with Major Depressive disorder that had never attempted suicide. Copy Number Variants (CNVs) were called in Birdsuite and analyzed in PLINK. We found a set of CNVs present in the suicide attempter group that were not present in in the non-attempter group including in SNTG2 and MACROD2 - two brain expressed genes previously linked to psychopathology; however, these results failed to reach genome-wide signifigance. These data suggest potential CNVs to be investigated further in relation to suicide attempts in MD using large sample sizes.

  1. DRIVING VEHICLES SUBJECT TO A CUSTOMS RESTRICTIONS AGREEMENT WITH ORDINARY SWISS NUMBER PLATES

    CERN Document Server

    Relations with the Host States Service

    2001-01-01

    The Swiss Permanent Mission to the International Organisations in Geneva has just confirmed to CERN that it is not necessary to hold a carte de légitimation or an attestation de fonctions issued by the Swiss Federal Department of Foreign Affairs to drive a vehicle subject to a customs restrictions agreement (engagement douanier), i.e. purchased or imported free of tax and customs duty, provided that the vehicle concerned is registered on ordinary Swiss number plates and not on diplomatic plates. We should like to remind you that the documents published by the Relations with the Host States Service since 1996 can be consulted on the Service's Web pages (http://www.cern.ch/relations/), which are updated as soon as new information is received from the Authorities of the Host States.

  2. Subjectivity

    Directory of Open Access Journals (Sweden)

    Jesús Vega Encabo

    2015-11-01

    Full Text Available In this paper, I claim that subjectivity is a way of being that is constituted through a set of practices in which the self is subject to the dangers of fictionalizing and plotting her life and self-image. I examine some ways of becoming subject through narratives and through theatrical performance before others. Through these practices, a real and active subjectivity is revealed, capable of self-knowledge and self-transformation. 

  3. Glomerular hypertrophy in subjects with low nephron number: contributions of sex, body size and race.

    Science.gov (United States)

    Puelles, Victor G; Douglas-Denton, Rebecca N; Zimanyi, Monika A; Armitage, James A; Hughson, Michael D; Kerr, Peter G; Bertram, John F

    2014-09-01

    We have shown that low nephron number (Nglom) is a strong determinant of individual glomerular volume (IGV) in male Americans. However, whether the same pattern is present in female Americans remains unclear. The contributions of body surface area (BSA) and race to IGV in the context of Nglom also require further evaluation. Kidneys without overt renal disease were collected at autopsy in Mississippi, USA. The extremes of female Nglom were used to define high and low Nglom for both sexes. Nglom and IGV were estimated by design-based stereology. A total of 24 African and Caucasian American females (n = 12 per race; 6 per Nglom extreme) were included. These subjects were subsequently matched to 24 comparable males by age and Nglom and to 18 additional males by age, Nglom and BSA. IGV average and variance were very similar in female African and Caucasian Americans with high and low Nglom. Males with low Nglom from both races showed greater IGV average and variance than comparable females matched by age and Nglom. These differences in IGV between sexes were not observed in Caucasian Americans with low Nglom that were matched by age, Nglom and BSA. In contrast, glomeruli from African Americans were larger than those from Caucasian Americans, especially in subjects with high Nglom. While female Americans with low Nglom did not show glomerular hypertrophy, comparable males with low Nglom showed marked glomerular hypertrophy that was closely associated with high BSA. Glomerular size in African Americans may be confounded by multiple additional factors. © The Author 2014. Published by Oxford University Press on behalf of ERA-EDTA. All rights reserved.

  4. Investigating PID Shunting in Polycrystalline Silicon Modules via Multiscale, Multitechnique Characterization

    Energy Technology Data Exchange (ETDEWEB)

    Harvey, Steven P [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Moseley, John [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Norman, Andrew [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Hacke, Peter L [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Johnston, Steven [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Al-Jassim, Mowafak M [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Stokes, Adam [Colorado School of Mines; Gorman, Brian [Colorado School of Mines

    2018-02-27

    We investigated the potential-induced degradation (PID) shunting mechanism in multicrystalline-silicon photovoltaic modules by using a multiscale, multitechnique characterization approach. Both field-stressed modules and laboratory-stressed mini modules were studied. We used photoluminescence, electroluminescence, and dark lock-in thermography imaging to identify degraded areas at the module scale. Small samples were then removed from degraded areas, laser marked, and imaged by scanning electron microscopy. We used simultaneous electron-beam induced current imaging and focused ion beam milling to mark around PID shunts for chemical analysis by time-of-flight secondary-ion mass spectrometry or to isolate individual shunt defects for transmission electron microscopy and atom-probe tomography analysis. By spanning a range of 10 orders of magnitude in size, this approach enabled us to investigate the root-cause mechanisms for PID shunting. We observed a direct correlation between recombination active shunts and sodium content. The sodium content in shunted areas peaks at the SiNX/Si interface and is consistently observed at a concentration of 0.1% to 2% in shunted areas. Analysis of samples subjected to PID recovery, either activated by electron beam or thermal effects only, reveals that recovery of isolated shunts correlates with diffusion of sodium out of the structural defects to the silicon surface. We observed the role of oxygen and chlorine in PID shunting and found that those species - although sometimes present in structural defects where PID shunting was observed - do not play a consistent role in PID shunting.

  5. The Notion of Subject in South Asian Languages. South Asian Studies Publication Series, Number 2.

    Science.gov (United States)

    Verma, Manindra K., Ed.

    The following papers on subject in South Asian languages are compiled here: (1) "Subject in Sanskrit" by George Cardona; (2) "Is Sinhala a Subject Language? (or, How Restricted is Your PNP?)" by James W. Gair; (3) "Some Syntactic Reflexes of Sub-Categories of Agent in Hindi" by Peter Edwin Hook; (4) "The Notion…

  6. Robust PID Controller for a Pneumatic Actuator

    Directory of Open Access Journals (Sweden)

    Skarpetis Michael G.

    2016-01-01

    Full Text Available In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provide a suboptimal solution for tracking error minimization. Simulation results are presented for the nonlinear model.

  7. Quadrotor trajectory tracking using PID cascade control

    Science.gov (United States)

    Idres, M.; Mustapha, O.; Okasha, M.

    2017-12-01

    Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.

  8. 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....

  9. Simultaneous gains tuning in boiler/turbine PID-based controller clusters using iterative feedback tuning methodology.

    Science.gov (United States)

    Zhang, Shu; Taft, Cyrus W; Bentsman, Joseph; Hussey, Aaron; Petrus, Bryan

    2012-09-01

    Tuning a complex multi-loop PID based control system requires considerable experience. In today's power industry the number of available qualified tuners is dwindling and there is a great need for better tuning tools to maintain and improve the performance of complex multivariable processes. Multi-loop PID tuning is the procedure for the online tuning of a cluster of PID controllers operating in a closed loop with a multivariable process. This paper presents the first application of the simultaneous tuning technique to the multi-input-multi-output (MIMO) PID based nonlinear controller in the power plant control context, with the closed-loop system consisting of a MIMO nonlinear boiler/turbine model and a nonlinear cluster of six PID-type controllers. Although simplified, the dynamics and cross-coupling of the process and the PID cluster are similar to those used in a real power plant. The particular technique selected, iterative feedback tuning (IFT), utilizes the linearized version of the PID cluster for signal conditioning, but the data collection and tuning is carried out on the full nonlinear closed-loop system. Based on the figure of merit for the control system performance, the IFT is shown to deliver performance favorably comparable to that attained through the empirical tuning carried out by an experienced control engineer. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Productive Activities and Subjective Well-Being among Older Adults: The Influence of Number of Activities and Time Commitment

    Science.gov (United States)

    Baker, Lindsey A.; Cahalin, Lawrence P.; Gerst, Kerstin; Burr, Jeffrey A.

    2005-01-01

    This study examines relationships among three measures of subjective well-being (life satisfaction, happiness and depressive symptoms), and two global measures of productive activity (number of activities and time commitment). We argue that participation in multiple productive activities should increase subjective well-being because these…

  11. Alpha-1 antitrypsin Pi*SZ genotype: estimated prevalence and number of SZ subjects worldwide

    Directory of Open Access Journals (Sweden)

    Blanco I

    2017-06-01

    Full Text Available Ignacio Blanco,1 Patricia Bueno,2 Isidro Diego,3 Sergio Pérez-Holanda,4 Beatriz Lara,5 Francisco Casas-Maldonado,6 Cristina Esquinas,7 Marc Miravitlles7,8 1Alpha1-Antitrypsin Deficiency Spanish Registry (REDAAT, Lung Foundation Breathe, Spanish Society of Pneumology (SEPAR, Barcelona, Spain; 2Internal Medicine Department, County Hospital of Jarrio, Principality of Asturias, Spain; 3Materials and Energy Department, School of Mining Engineering, Oviedo University, Principality of Asturias, Spain; 4Surgical Department, University Central Hospital of Asturias, Oviedo, Spain; 5Respiratory Medicine Department, Coventry and Warwickshire University Hospital, Coventry, UK; 6Pneumology Department, University Hospital San Cecilio, Granada, Spain; 7Pneumology Department, Hospital Universitari Vall d’Hebron, Barcelona, Spain; 8CIBER de Enfermedades Respiratorias (CIBERES, Barcelona, Spain Abstract: The alpha-1 antitrypsin (AAT haplotype Pi*S, when inherited along with the Pi*Z haplotype to form a Pi*SZ genotype, can be associated with pulmonary emphysema in regular smokers, and less frequently with liver disease, panniculitis, and systemic vasculitis in a small percentage of people, but this connection is less well established. Since the detection of cases can allow the application of preventive measures in patients and relatives with this congenital disorder, the objective of this study was to update the prevalence of the SZ genotype to achieve accurate estimates of the number of Pi*SZ subjects worldwide, based on studies performed according to the following criteria: 1 samples representative of the general population, 2 AAT phenotyping characterized by adequate methods, and 3 selection of studies with reliable results assessed with a coefficient of variation calculated from the sample size and 95% confidence intervals. Studies fulfilling these criteria were used to develop tables and maps with an inverse distance-weighted (IDW interpolation method, to

  12. Improved fuzzy PID controller design using predictive functional control structure.

    Science.gov (United States)

    Wang, Yuzhong; Jin, Qibing; Zhang, Ridong

    2017-11-01

    In conventional PID scheme, the ensemble control performance may be unsatisfactory due to limited degrees of freedom under various kinds of uncertainty. To overcome this disadvantage, a novel PID control method that inherits the advantages of fuzzy PID control and the predictive functional control (PFC) is presented and further verified on the temperature model of a coke furnace. Based on the framework of PFC, the prediction of the future process behavior is first obtained using the current process input signal. Then, the fuzzy PID control based on the multi-step prediction is introduced to acquire the optimal control law. Finally, the case study on a temperature model of a coke furnace shows the effectiveness of the fuzzy PID control scheme when compared with conventional PID control and fuzzy self-adaptive PID control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Using PIDs to Support the Full Research Data Publishing Lifecycle

    Science.gov (United States)

    Waard, A. D.

    2016-12-01

    Persistent identifiers can help support scientific research, track scientific impact and let researchers achieve recognition for their work. We discuss a number of ways in which Elsevier utilizes PIDs to support the scholarly lifecycle: To improve the process of storing and sharing data, Mendeley Data (http://data.mendeley.com) makes use of persistent identifiers to support the dynamic nature of data and software, by tracking and recording the provenance and versioning of datasets. This system now allows the comparison of different versions of a dataset, to see precisely what was changed during a versioning update. To present research data in context for the reader, we include PIDs in research articles as hyperlinks: https://www.elsevier.com/books-and-journals/content-innovation/data-base-linking. In some cases, PIDs fetch data files from the repositories provide that allow the embedding of visualizations, e.g. with PANGAEA and PubChem: https://www.elsevier.com/books-and-journals/content-innovation/protein-viewer; https://www.elsevier.com/books-and-journals/content-innovation/pubchem. To normalize referenced data elements, the Resource Identification Initiative - which we developed together with members of the Force11 RRID group - introduces a unified standard for resource identifiers (RRIDs) that can easily be interpreted by both humans and text mining tools. https://www.force11.org/group/resource-identification-initiative/update-resource-identification-initiative, as can be seen in our Antibody Data app: https://www.elsevier.com/books-and-journals/content-innovation/antibody-data To enable better citation practices and support robust metrics system for sharing research data, we have helped develop, and are early adopters of the Force11 Data Citation Principles and Implementation groups (https://www.force11.org/group/dcip) Lastly, through our work with the Research Data Alliance Publishing Data Services group, we helped create a set of guidelines (http

  14. 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.

  15. 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.

  16. Knot numbers used as labels for identifying subject matter of a khipu

    Directory of Open Access Journals (Sweden)

    Alberto Saez-Rodriguez

    2013-03-01

    Full Text Available This investigation presents a new way to look at the numerical khipu, a knotted-string recording device from Pachacamac (Peru, and the types of information it contains. In addition to celestial coordinates, khipu knots apparently pertain to an early form of double-entry accounting. This study hypothesizes that the khipu sample has the recording capacity needed to register double-entry-like accounts. After the identification of its subject matter, the khipu sample was studied in an attempt to ascertain whether the knot values could represent instructions from the Inca state administration to a local accounting center. The results indicate that the numerical information in the pairing quadrants (determined by the distribution of S- and Z-knots should be read from top to bottom along the full length of the string and can then provide certain complementary details regarding the projected corn stocks of the Inca stat

  17. SUBJECT «NUMBER SYSTEMS» IN TWO-LEVELED FORMAT PREPARATION TEACHERS OF MATHEMATICS

    Directory of Open Access Journals (Sweden)

    V. I. Igoshin

    2017-01-01

    Full Text Available The aim of this article is to analyze the format of a two-leveled training – bachelor and master – future teachers of mathematics from the point of view of the content of mathematical material, which is to develop prospective teachers of mathematics at those two levels, shaping their professional competence.Methods. The study involves the theoretical methods: the analysis of pedagogical and methodical literature, normative documents; historical, comparative and logical analysis of the content of pedagogical mathematical education; forecasting, planning and designing of two-leveled methodical system of training of future teachers of mathematics.Results and scientific novelty. The level differentiation of the higher education system requires developing the appropriate curricula for undergraduate and graduate programs. The fundamental principle must be the principle of continuity – the magister must continue to deepen and broaden knowledge and skills, along with competences acquired, developed and formed on the undergraduate level. From these positions, this paper examines the course «Number Systems» – the most important in terms of methodology course for future mathematics teachers, and shows what content should be filled with this course at the undergraduate level and the graduate level. At the undergraduate level it is proposed to study classical number systems – natural, integer, rational, real and complex. Further extensions of the number systems are studied at the graduate level. The theory of numeric systems is presented as a theory of algebraic systems, arising at the intersection of algebra and mathematical logic. Here we study algebras over a field, division algebra over a field, an alternative algebra with division over the field, Jordan algebra, Lie algebra. Comprehension of bases of the theory of algebras by the master of the «mathematical education» profile will promote more conscious

  18. Evaluating subjective cognitive impairment in the adult epilepsy clinic: Effects of depression, number of antiepileptic medications, and seizure frequency.

    Science.gov (United States)

    Feldman, Lauren; Lapin, Brittany; Busch, Robyn M; Bautista, Jocelyn F

    2018-04-01

    Subjective cognitive complaints are a frequent concern of patients with epilepsy. The Aldenkamp-Baker Neuropsychological Assessment Schedule (ABNAS) is a patient-reported scale validated to measure adverse cognitive effects of antiepileptic drugs (AEDs). The goals of this study were to identify predictors of patient-reported cognitive dysfunction and to assess the relationship between subjective and objective cognitive impairment. The Cleveland Clinic Knowledge Program Data Registry was used to identify adult patients seen in outpatient epilepsy clinic from January to May 2015 and who completed the following scales: ABNAS for subjective cognitive impairment, Patient Health Questionnaire (PHQ-9) for depression, Generalized Anxiety Disorder 7-item (GAD-7) scale, Quality of Life in Epilepsy (QOLIE-10), and EuroQOL five dimensions questionnaire (EQ-5D) for health-related quality of life. Topiramate (TPM) was considered a high-risk medication for cognitive impairment. Patients were categorized into groups based on total ABNAS score: subjective cognitive impairment (ABNAS>15; N=270) and no subjective cognitive impairment (ABNAS≤15; N=400). Multivariable logistic regression models were constructed to identify independent predictors of subjective cognitive impairment. In a subset of patients who had neuropsychological testing within 6months of completing the ABNAS (N=60), Pearson correlations and multivariable logistic regression models, controlling for number of AEDs, depression, and anxiety, assessed the relationship between subjective cognitive impairment and objective cognitive performance on measures of intelligence, attention/working memory, verbal fluency, naming, processing speed, manual dexterity, visuomotor processing, and verbal memory. Forty percent of patients in the overall sample (N=270/670) reported cognitive impairment. The variables most strongly associated with subjective cognitive impairment were PHQ-9 score, number of AEDs, and seizure frequency. In

  19. 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.

  20. Research on digital PID control algorithm for HPCT

    International Nuclear Information System (INIS)

    Zeng Yi; Li Rui; Shen Tianjian; Ke Xinhua

    2009-01-01

    Digital PID applied in high-precision HPCT (High-precision current transducer) based on Digital Signal Processor (DSP) TMS320F2812 and special D/A converter was researched. By using increment style PID Control algorithm, the stability and precision of high-precision HPCT output voltage is improved. On basis of deeply analysing incremental digital PID, the scheme model of HPCT is proposed, the feasibility simulation using Matlab is given. Practical hardware circuit verified the incremental PID has closed-loop control process in tracking HPCT output voltage. (authors)

  1. Application of integral-separated PID algorithm in orbit feedback

    International Nuclear Information System (INIS)

    Xuan, K.; Bao, X.; Li, C.; Li, W.; Liu, G.; Wang, J.; Wang, L.

    2012-01-01

    The algorithm in the feedback system has important influence on the performance of the beam orbit. PID (Proportion Integration Differentiation) algorithm is widely used in the beam orbit feedback system; however, the deficiency of PID algorithm is a big overshooting in strong perturbations. In order to overcome the deficiencies, the integral-separated PID algorithm is developed. When the closed orbit distortion is too large, it cancels integration action until the closed orbit distortion is lower than the separation threshold value. The implementation of integral-separated PID algorithm with MATLAB is described in this paper. The simulation results show that this algorithm can improve the control precision. (authors)

  2. Wireless Sensor Network Congestion Control Based on Standard Particle Swarm Optimization and Single Neuron PID

    Science.gov (United States)

    Yang, Xiaoping; Chen, Xueying; Xia, Riting; Qian, Zhihong

    2018-01-01

    Aiming at the problem of network congestion caused by the large number of data transmissions in wireless routing nodes of wireless sensor network (WSN), this paper puts forward an algorithm based on standard particle swarm–neural PID congestion control (PNPID). Firstly, PID control theory was applied to the queue management of wireless sensor nodes. Then, the self-learning and self-organizing ability of neurons was used to achieve online adjustment of weights to adjust the proportion, integral and differential parameters of the PID controller. Finally, the standard particle swarm optimization to neural PID (NPID) algorithm of initial values of proportion, integral and differential parameters and neuron learning rates were used for online optimization. This paper describes experiments and simulations which show that the PNPID algorithm effectively stabilized queue length near the expected value. At the same time, network performance, such as throughput and packet loss rate, was greatly improved, which alleviated network congestion and improved network QoS. PMID:29671822

  3. Closed-loop step response for tuning PID-fractional-order-filter controllers.

    Science.gov (United States)

    Amoura, Karima; Mansouri, Rachid; Bettayeb, Maâmar; Al-Saggaf, Ubaid M

    2016-09-01

    Analytical methods are usually applied for tuning fractional controllers. The present paper proposes an empirical method for tuning a new type of fractional controller known as PID-Fractional-Order-Filter (FOF-PID). Indeed, the setpoint overshoot method, initially introduced by Shamsuzzoha and Skogestad, has been adapted for tuning FOF-PID controller. Based on simulations for a range of first order with time delay processes, correlations have been derived to obtain PID-FOF controller parameters similar to those obtained by the Internal Model Control (IMC) tuning rule. The setpoint overshoot method requires only one closed-loop step response experiment using a proportional controller (P-controller). To highlight the potential of this method, simulation results have been compared with those obtained with the IMC method as well as other pertinent techniques. Various case studies have also been considered. The comparison has revealed that the proposed tuning method performs as good as the IMC. Moreover, it might offer a number of advantages over the IMC tuning rule. For instance, the parameters of the fractional controller are directly obtained from the setpoint closed-loop response data without the need of any model of the plant to be controlled. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  4. The Parrot UAV Controlled by PID Controllers

    OpenAIRE

    Koszewnik Andrzej

    2014-01-01

    The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered dire...

  5. 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.

  6. Computer simulation system of neural PID control on nuclear reactor

    International Nuclear Information System (INIS)

    Chen Yuzhong; Yang Kaijun; Shen Yongping

    2001-01-01

    Neural network proportional integral differential (PID) controller on nuclear reactor is designed, and the control process is simulated by computer. The simulation result show that neutral network PID controller can automatically adjust its parameter to ideal state, and good control result can be gotten in reactor control process

  7. Analytical one parameter method for PID motion controller settings

    NARCIS (Netherlands)

    van Dijk, Johannes; Aarts, Ronald G.K.M.

    2012-01-01

    In this paper analytical expressions for PID-controllers settings for electromechanical motion systems are presented. It will be shown that by an adequate frequency domain oriented parametrization, the parameters of a PID-controller are analytically dependent on one variable only, the cross-over

  8. Research on laser cladding control system based on fuzzy PID

    Science.gov (United States)

    Zhang, Chuanwei; Yu, Zhengyang

    2017-12-01

    Laser cladding technology has a high demand for control system, and the domestic laser cladding control system mostly uses the traditional PID control algorithm. Therefore, the laser cladding control system has a lot of room for improvement. This feature is suitable for laser cladding technology, Based on fuzzy PID three closed-loop control system, and compared with the conventional PID; At the same time, the laser cladding experiment and friction and wear experiment were carried out under the premise of ensuring the reasonable control system. Experiments show that compared with the conventional PID algorithm in fuzzy the PID algorithm under the surface of the cladding layer is more smooth, the surface roughness increases, and the wear resistance of the cladding layer is also enhanced.

  9. Self tuning fuzzy PID type load and frequency controller

    International Nuclear Information System (INIS)

    Yesil, E.; Guezelkaya, M.; Eksin, I.

    2004-01-01

    In this paper, a self tuning fuzzy PID type controller is proposed for solving the load frequency control (LFC) problem. The fuzzy PID type controller is constructed as a set of control rules, and the control signal is directly deduced from the knowledge base and the fuzzy inference. Moreover, there exists a self tuning mechanism that adjusts the input scaling factor corresponding to the derivative coefficient and the output scaling factor corresponding to the integral coefficient of the PID type fuzzy logic controller in an on-line manner. The self tuning mechanism depends on the peak observer idea, and this idea is modified and adapted to the LFC problem. A two area interconnected system is assumed for demonstrations. The proposed self tuning fuzzy PID type controller has been compared with the fuzzy PID type controller without a self tuning mechanism and the conventional integral controller through some performance indices

  10. LFC based adaptive PID controller using ANN and ANFIS techniques

    Directory of Open Access Journals (Sweden)

    Mohamed I. Mosaad

    2014-12-01

    Full Text Available This paper presents an adaptive PID Load Frequency Control (LFC for power systems using Neuro-Fuzzy Inference Systems (ANFIS and Artificial Neural Networks (ANN oriented by Genetic Algorithm (GA. PID controller parameters are tuned off-line by using GA to minimize integral error square over a wide-range of load variations. The values of PID controller parameters obtained from GA are used to train both ANFIS and ANN. Therefore, the two proposed techniques could, online, tune the PID controller parameters for optimal response at any other load point within the operating range. Testing of the developed techniques shows that the adaptive PID-LFC could preserve optimal performance over the whole loading range. Results signify superiority of ANFIS over ANN in terms of performance measures.

  11. O přímé syntéze PID regulátorů

    Czech Academy of Sciences Publication Activity Database

    Klán, Petr

    2006-01-01

    Roč. 12, č. 11 (2006), s. 61-64 ISSN 1210-9592 Institutional research plan: CEZ:AV0Z10300504 Keywords : PID control * direct synthesis * control ler design Subject RIV: BC - Control Systems Theory http://www.odbornecasopisy.cz/index.php?id_document=31500

  12. Intra-rater reliability of motor unit number estimation and quantitative motor unit analysis in subjects with amyotrophic lateral sclerosis.

    Science.gov (United States)

    Ives, Colleen T; Doherty, Timothy J

    2014-01-01

    To assess the intra-rater reliability of decomposition-enhanced spike-triggered averaging (DE-STA) motor unit number estimation (MUNE) and quantitative motor unit potential analysis in the upper trapezius (UT) and biceps brachii (BB) of subjects with amyotrophic lateral sclerosis (ALS) and to compare the results from the UT to control data. Patients diagnosed with clinically probable or definite ALS completed the experimental protocol twice with the same evaluator for the UT (n=10) and BB (n=9). Intra-rater reliability for the UT was good for the maximum compound muscle action potential (CMAP) (ICC=0.88), mean surface-detected motor unit potential (S-MUP) (ICC=0.87) and MUNE (ICC=0.88), and for the BB was moderate for maximum CMAP (ICC=0.61), and excellent for mean S-MUP (ICC=0.94) and MUNE (ICC=0.93). A significant difference between tests was found for UT MUNE. Comparing subjects with ALS to control subjects, UT maximum CMAP (p<0.01) and MUNE (p<0.001) values were significantly lower, and mean S-MUP values significantly greater (p<0.05) in subjects with ALS. This study has demonstrated the ability of the DE-STA MUNE technique to collect highly reliable data from two separate muscle groups and to detect the underlying pathophysiology of the disease. This was the first study to examine the reliability of this technique in subjects with ALS, and demonstrates its potential for future use as an outcome measure in ALS clinical trials and studies of ALS disease severity and natural history. Copyright © 2013 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

  13. Control of force during rapid visuomotor force-matching tasks can be described by discrete time PID control algorithms.

    Science.gov (United States)

    Dideriksen, Jakob Lund; Feeney, Daniel F; Almuklass, Awad M; Enoka, Roger M

    2017-08-01

    Force trajectories during isometric force-matching tasks involving isometric contractions vary substantially across individuals. In this study, we investigated if this variability can be explained by discrete time proportional, integral, derivative (PID) control algorithms with varying model parameters. To this end, we analyzed the pinch force trajectories of 24 subjects performing two rapid force-matching tasks with visual feedback. Both tasks involved isometric contractions to a target force of 10% maximal voluntary contraction. One task involved a single action (pinch) and the other required a double action (concurrent pinch and wrist extension). 50,000 force trajectories were simulated with a computational neuromuscular model whose input was determined by a PID controller with different PID gains and frequencies at which the controller adjusted muscle commands. The goal was to find the best match between each experimental force trajectory and all simulated trajectories. It was possible to identify one realization of the PID controller that matched the experimental force produced during each task for most subjects (average index of similarity: 0.87 ± 0.12; 1 = perfect similarity). The similarities for both tasks were significantly greater than that would be expected by chance (single action: p = 0.01; double action: p = 0.04). Furthermore, the identified control frequencies in the simulated PID controller with the greatest similarities decreased as task difficulty increased (single action: 4.0 ± 1.8 Hz; double action: 3.1 ± 1.3 Hz). Overall, the results indicate that discrete time PID controllers are realistic models for the neural control of force in rapid force-matching tasks involving isometric contractions.

  14. Research on fuzzy PID control to electronic speed regulator

    Science.gov (United States)

    Xu, Xiao-gang; Chen, Xue-hui; Zheng, Sheng-guo

    2007-12-01

    As an important part of diesel engine, the speed regulator plays an important role in stabilizing speed and improving engine's performance. Because there are so many model parameters of diesel-engine considered in traditional PID control and these parameters present non-linear characteristic.The method to adjust engine speed using traditional PID is not considered as a best way. Especially for the diesel-engine generator set. In this paper, the Fuzzy PID control strategy is proposed. Some problems about its utilization in electronic speed regulator are discussed. A mathematical model of electric control system for diesel-engine generator set is established and the way of the PID parameters in the model to affect the function of system is analyzed. And then it is proposed the differential coefficient must be applied in control design for reducing dynamic deviation of system and adjusting time. Based on the control theory, a study combined control with PID calculation together for turning fuzzy PID parameter is implemented. And also a simulation experiment about electronic speed regulator system was conducted using Matlab/Simulink and the Fuzzy-Toolbox. Compared with the traditional PID Algorithm, the simulated results presented obvious improvements in the instantaneous speed governing rate and steady state speed governing rate of diesel-engine generator set when the fuzzy logic control strategy used.

  15. Performance Analysis of Fuzzy-PID Controller for Blood Glucose Regulation in Type-1 Diabetic Patients.

    Science.gov (United States)

    Yadav, Jyoti; Rani, Asha; Singh, Vijander

    2016-12-01

    This paper presents Fuzzy-PID (FPID) control scheme for a blood glucose control of type 1 diabetic subjects. A new metaheuristic Cuckoo Search Algorithm (CSA) is utilized to optimize the gains of FPID controller. CSA provides fast convergence and is capable of handling global optimization of continuous nonlinear systems. The proposed controller is an amalgamation of fuzzy logic and optimization which may provide an efficient solution for complex problems like blood glucose control. The task is to maintain normal glucose levels in the shortest possible time with minimum insulin dose. The glucose control is achieved by tuning the PID (Proportional Integral Derivative) and FPID controller with the help of Genetic Algorithm and CSA for comparative analysis. The designed controllers are tested on Bergman minimal model to control the blood glucose level in the facets of parameter uncertainties, meal disturbances and sensor noise. The results reveal that the performance of CSA-FPID controller is superior as compared to other designed controllers.

  16. Beam closed orbit feedback based on PID control

    International Nuclear Information System (INIS)

    Xuan Ke; Wang Lin; Liu Gongfa; Li Weimin; Li Chuan; Wang Jigang; Bao Xun; Xu Hongliang

    2013-01-01

    The algorithm in the feedback system has important influence on the performance of the beam orbit. Good feedback algorithm can greatly improve the beam orbit stability. In this paper, the theory of beam closed orbit correction, the principle of PID control and the beam closed orbit feedback correction using PID control were introduced. The simulation results were given. Compared with least-square method, the PID feedback algorithm makes the steady-state error smaller and more accurate, and enhances the beam orbit stability. (authors)

  17. PID control for chaotic synchronization using particle swarm optimization

    Energy Technology Data Exchange (ETDEWEB)

    Chang, W.-D. [Department of Computer and Communication, Shu-Te University, Kaohsiung 824, Taiwan (China)], E-mail: wdchang@mail.stu.edu.tw

    2009-01-30

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

  18. PID control for chaotic synchronization using particle swarm optimization

    International Nuclear Information System (INIS)

    Chang, W.-D.

    2009-01-01

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

  19. Non-fragile multivariable PID controller design via system augmentation

    Science.gov (United States)

    Liu, Jinrong; Lam, James; Shen, Mouquan; Shu, Zhan

    2017-07-01

    In this paper, the issue of designing non-fragile H∞ multivariable proportional-integral-derivative (PID) controllers with derivative filters is investigated. In order to obtain the controller gains, the original system is associated with an extended system such that the PID controller design can be formulated as a static output-feedback control problem. By taking the system augmentation approach, the conditions with slack matrices for solving the non-fragile H∞ multivariable PID controller gains are established. Based on the results, linear matrix inequality -based iterative algorithms are provided to compute the controller gains. Simulations are conducted to verify the effectiveness of the proposed approaches.

  20. System studies in PA: Development of process influence diagram (PID) for SFR-1 repository near-field + far-field

    International Nuclear Information System (INIS)

    Stenhouse, M.J.; Miller, W.M.; Chapman, N.A.

    2001-05-01

    Scenario development is a key component of the performance assessment (PA) process for radioactive waste disposal, the primary objective being to ensure that all relevant factors associated with the future evolution of the repository system are properly considered in PA. As part of scenario development, a list of features, events and processes (FEPs) are identified and assembled, representing the Process System, with interactions/influences between FEPs incorporated in a Process Influence Diagram (PID). This report documents the technical work conducted between 1997 and the end of 1999 under the Systems Studies Project. The overall objective of this project has been the construction of a PID for the SFR-1 repository (final repository for reactor waste), this PID being the first stage in the identification of scenarios to describe future evolution of this repository. The PIDs discussed in this report have been created using two software applications: existing commercial software (Business Modeller, Infotool AB. Stockholm, Sweden) and, more recently, a newly developed software tool SPARTA (Enviros QuantiSci, Henley, U.K.). Although the focus of this report is on the application of SPARTA to PID development, it is important to document the work carried out prior to SPARTA being available, in order to provide a complete record of the entire SFR-1 PID development effort as well as preserving the context of the multi-year project. Following a description of the different disposal sections of the SFR-1 and the various near-field barriers, the sequential development (i.e. near-field of Silo, BMA, BLA, BTF sections; far-field; integrated near-field + far-field) of the PID for SFR-1 repository system using Business Modeller is described. Owing to the complexity of the repository, in terms of number of both different disposal sections (Silo, BLA, BMA, BTF) and barriers associated with each section, the two-dimensional (2D) PID created for SFR-1 using Business Modeller is

  1. System studies in PA: Development of process influence diagram (PID) for SFR-1 repository near-field + far-field

    Energy Technology Data Exchange (ETDEWEB)

    Stenhouse, M.J. [Monitor Scientific, LLC, Denver, CO (United States); Miller, W.M.; Chapman, N.A. [QuantiSci Ltd., Melton Mowbray (United Kingdom)

    2001-05-01

    Scenario development is a key component of the performance assessment (PA) process for radioactive waste disposal, the primary objective being to ensure that all relevant factors associated with the future evolution of the repository system are properly considered in PA. As part of scenario development, a list of features, events and processes (FEPs) are identified and assembled, representing the Process System, with interactions/influences between FEPs incorporated in a Process Influence Diagram (PID). This report documents the technical work conducted between 1997 and the end of 1999 under the Systems Studies Project. The overall objective of this project has been the construction of a PID for the SFR-1 repository (final repository for reactor waste), this PID being the first stage in the identification of scenarios to describe future evolution of this repository. The PIDs discussed in this report have been created using two software applications: existing commercial software (Business Modeller, Infotool AB. Stockholm, Sweden) and, more recently, a newly developed software tool SPARTA (Enviros QuantiSci, Henley, U.K.). Although the focus of this report is on the application of SPARTA to PID development, it is important to document the work carried out prior to SPARTA being available, in order to provide a complete record of the entire SFR-1 PID development effort as well as preserving the context of the multi-year project. Following a description of the different disposal sections of the SFR-1 and the various near-field barriers, the sequential development (i.e. near-field of Silo, BMA, BLA, BTF sections; far-field; integrated near-field + far-field) of the PID for SFR-1 repository system using Business Modeller is described. Owing to the complexity of the repository, in terms of number of both different disposal sections (Silo, BLA, BMA, BTF) and barriers associated with each section, the two-dimensional (2D) PID created for SFR-1 using Business Modeller is

  2. Froude number fractions to increase walking pattern dynamic similarities: application to plantar pressure study in healthy subjects.

    Science.gov (United States)

    Moretto, P; Bisiaux, M; Lafortune, M A

    2007-01-01

    The purpose of this study was to determine if using similar walking velocities obtained from fractions of the Froude number (N(Fr)) and leg length can lead to kinematic and kinetic similarities and lower variability. Fifteen male subjects walked on a treadmill at 0.83 (VS(1)) and 1.16ms(-1) (VS(2)) and then at two similar velocities (V(Sim27) and V(Sim37)) determined from two fractions of the N(Fr) (0.27 and 0.37) so that the average group velocity remained unchanged in both conditions (VS(1)=V (Sim27)andVS(2)=V (Sim37)). N(Fr) can theoretically be used to determine walking velocities proportional to leg lengths and to establish dynamic similarities between subjects. This study represents the first attempt at using this approach to examine plantar pressure. The ankle and knee joint angles were studied in the sagittal plane and the plantar pressure distribution was assessed with an in-shoe measurement device. The similarity ratios were computed from anthropometric parameters and plantar pressure peaks. Dynamically similar conditions caused a 25% reduction in leg joint angles variation and a 10% significant decrease in dimensionless pressure peak variability on average of five footprint locations. It also lead to heel and under-midfoot pressure peaks proportional to body mass and to an increase in the number of under-forefoot plantar pressure peaks proportional to body mass and/or leg length. The use of walking velocities derived from N(Fr) allows kinematic and plantar pressure similarities between subjects to be observed and leads to a lower inter-subject variability. In-shoe pressure measurements have proven to be valuable for the understanding of lower extremity function. Set walking velocities used for clinical assessment mask the effects of body size and individual gait mechanics. The anthropometric scaling of walking velocities (fraction of N(Fr)) should improve identification of unique walking strategies and pathological foot functions.

  3. 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.

  4. A novel memristive multilayer feedforward small-world neural network with its applications in PID control.

    Science.gov (United States)

    Dong, Zhekang; Duan, Shukai; Hu, Xiaofang; Wang, Lidan; Li, Hai

    2014-01-01

    In this paper, we present an implementation scheme of memristor-based multilayer feedforward small-world neural network (MFSNN) inspirited by the lack of the hardware realization of the MFSNN on account of the need of a large number of electronic neurons and synapses. More specially, a mathematical closed-form charge-governed memristor model is presented with derivation procedures and the corresponding Simulink model is presented, which is an essential block for realizing the memristive synapse and the activation function in electronic neurons. Furthermore, we investigate a more intelligent memristive PID controller by incorporating the proposed MFSNN into intelligent PID control based on the advantages of the memristive MFSNN on computation speed and accuracy. Finally, numerical simulations have demonstrated the effectiveness of the proposed scheme.

  5. Systematic design approach of fuzzy PID stabilizer for DC-DC converters

    International Nuclear Information System (INIS)

    Guesmi, K.; Essounbouli, N.; Hamzaoui, A.

    2008-01-01

    DC-DC converters process electrical energy by switching between a fixed number of configurations. The objective of controlling these systems is to provide better performances, ensure closed loop stability and guarantee a simple predictable behaviour. Based on a converter averaged model, we propose, in this paper, a systematic design approach of a fuzzy PID. The choice of controller parameters stands on the whole system stability requirements. Extension of the obtained asymptotic stability to structural stability is presented to show that the developed controller ensures also a simple and predictable behaviour of the converter. Finally, we illustrate the efficiency of the proposed fuzzy PID design approach through simulations in voltage mode as well as in current mode control

  6. 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)

  7. Reduced Synapse and Axon Numbers in the Prefrontal Cortex of Rats Subjected to a Chronic Stress Model for Depression

    Science.gov (United States)

    Csabai, Dávid; Wiborg, Ove; Czéh, Boldizsár

    2018-01-01

    Stressful experiences can induce structural changes in neurons of the limbic system. These cellular changes contribute to the development of stress-induced psychopathologies like depressive disorders. In the prefrontal cortex of chronically stressed animals, reduced dendritic length and spine loss have been reported. This loss of dendritic material should consequently result in synapse loss as well, because of the reduced dendritic surface. But so far, no one studied synapse numbers in the prefrontal cortex of chronically stressed animals. Here, we examined synaptic contacts in rats subjected to an animal model for depression, where animals are exposed to a chronic stress protocol. Our hypothesis was that long term stress should reduce the number of axo-spinous synapses in the medial prefrontal cortex. Adult male rats were exposed to daily stress for 9 weeks and afterward we did a post mortem quantitative electron microscopic analysis to quantify the number and morphology of synapses in the infralimbic cortex. We analyzed asymmetric (Type I) and symmetric (Type II) synapses in all cortical layers in control and stressed rats. We also quantified axon numbers and measured the volume of the infralimbic cortex. In our systematic unbiased analysis, we examined 21,000 axon terminals in total. We found the following numbers in the infralimbic cortex of control rats: 1.15 × 109 asymmetric synapses, 1.06 × 108 symmetric synapses and 1.00 × 108 myelinated axons. The density of asymmetric synapses was 5.5/μm3 and the density of symmetric synapses was 0.5/μm3. Average synapse membrane length was 207 nm and the average axon terminal membrane length was 489 nm. Stress reduced the number of synapses and myelinated axons in the deeper cortical layers, while synapse membrane lengths were increased. These stress-induced ultrastructural changes indicate that neurons of the infralimbic cortex have reduced cortical network connectivity. Such reduced network connectivity is likely

  8. Reduced Synapse and Axon Numbers in the Prefrontal Cortex of Rats Subjected to a Chronic Stress Model for Depression

    Directory of Open Access Journals (Sweden)

    Dávid Csabai

    2018-01-01

    Full Text Available Stressful experiences can induce structural changes in neurons of the limbic system. These cellular changes contribute to the development of stress-induced psychopathologies like depressive disorders. In the prefrontal cortex of chronically stressed animals, reduced dendritic length and spine loss have been reported. This loss of dendritic material should consequently result in synapse loss as well, because of the reduced dendritic surface. But so far, no one studied synapse numbers in the prefrontal cortex of chronically stressed animals. Here, we examined synaptic contacts in rats subjected to an animal model for depression, where animals are exposed to a chronic stress protocol. Our hypothesis was that long term stress should reduce the number of axo-spinous synapses in the medial prefrontal cortex. Adult male rats were exposed to daily stress for 9 weeks and afterward we did a post mortem quantitative electron microscopic analysis to quantify the number and morphology of synapses in the infralimbic cortex. We analyzed asymmetric (Type I and symmetric (Type II synapses in all cortical layers in control and stressed rats. We also quantified axon numbers and measured the volume of the infralimbic cortex. In our systematic unbiased analysis, we examined 21,000 axon terminals in total. We found the following numbers in the infralimbic cortex of control rats: 1.15 × 109 asymmetric synapses, 1.06 × 108 symmetric synapses and 1.00 × 108 myelinated axons. The density of asymmetric synapses was 5.5/μm3 and the density of symmetric synapses was 0.5/μm3. Average synapse membrane length was 207 nm and the average axon terminal membrane length was 489 nm. Stress reduced the number of synapses and myelinated axons in the deeper cortical layers, while synapse membrane lengths were increased. These stress-induced ultrastructural changes indicate that neurons of the infralimbic cortex have reduced cortical network connectivity. Such reduced network

  9. Neural PID Control Strategy for Networked Process Control

    Directory of Open Access Journals (Sweden)

    Jianhua Zhang

    2013-01-01

    Full Text Available A new method with a two-layer hierarchy is presented based on a neural proportional-integral-derivative (PID iterative learning method over the communication network for the closed-loop automatic tuning of a PID controller. It can enhance the performance of the well-known simple PID feedback control loop in the local field when real networked process control applied to systems with uncertain factors, such as external disturbance or randomly delayed measurements. The proposed PID iterative learning method is implemented by backpropagation neural networks whose weights are updated via minimizing tracking error entropy of closed-loop systems. The convergence in the mean square sense is analysed for closed-loop networked control systems. To demonstrate the potential applications of the proposed strategies, a pressure-tank experiment is provided to show the usefulness and effectiveness of the proposed design method in network process control systems.

  10. 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.

  11. Evaluation of RTD and thermocouple for PID temperature control in ...

    African Journals Online (AJOL)

    Evaluation of RTD and thermocouple for PID temperature control in distributed control system laboratory. D. A. A. Nazarudin, M. K. Nordin, A. Ahmad, M. Masrie, M. F. Saaid, N. M. Thamrin, M. S. A. M. Ali ...

  12. Variable Structure PID Control to Prevent Integrator Windup

    Science.gov (United States)

    Hall, C. E.; Hodel, A. S.; Hung, J. Y.

    1999-01-01

    PID controllers are frequently used to control systems requiring zero steady-state error while maintaining requirements for settling time and robustness (gain/phase margins). PID controllers suffer significant loss of performance due to short-term integrator wind-up when used in systems with actuator saturation. We examine several existing and proposed methods for the prevention of integrator wind-up in both continuous and discrete time implementations.

  13. Tuning of PID load frequency controller for power systems

    International Nuclear Information System (INIS)

    Tan Wen

    2009-01-01

    PID tuning of load frequency controllers for power systems is discussed in this paper. The tuning method is based on a two-degree-of-freedom internal model control (IMC) design method, and the performance of the resulting PID controller is related to two tuning parameters thus detuning is easy when necessary. Then an anti-GRC scheme is proposed to overcome the generation rate constraints. Finally, the method is extended to two-area cases.

  14. Improved PID control for triaxial testing liquefied specimen

    DEFF Research Database (Denmark)

    Sabaliauskas, Tomas; Ibsen, Lars Bo

    Using a frictionless triaxial apparatus, sand specimens can be tested at relatively high axial strains, even while liquefying. However, liquefying specimens have extremely nonlinear stiffness, thus standard PID control does not perform well. To maintain control over applied loads, the PID...... controller was modified to adapt to disturbed soil states. The proposed methods expand the scope of testing towards options which are otherwise inaccessible by triaxial testing....

  15. APPLICATION OF NONLINEAR PID CONTROLLER IN SUPERCONDUCTING MAGNETIC ENERGY STORAGE

    OpenAIRE

    PENG, Xiaotao; CHENG, Shijie

    2011-01-01

    As a new control strategy, Nonlinear PID(NLPID) controller has been introduced in the power system successfully. The controller is free of planting model foundation in the design procedure and realized simply. In this paper, a nonlinear PID controller used for superconducting magnetic energy storage (SMES) unit connected to a power system is proposed. Purpose of designing such controller is to improve the stability of the power system in a relatively wide operation range. The design procedure...

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

    International Nuclear Information System (INIS)

    Arjoni Amir

    2008-01-01

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

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

    OpenAIRE

    Bikash Dey; Lusika Roy

    2014-01-01

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

  18. Interleukin-1 Receptor Antagonist and Interleukin-4 Genes Variable Number Tandem Repeats Are Associated with Adiposity in Malaysian Subjects

    Directory of Open Access Journals (Sweden)

    Yung-Yean Kok

    2017-01-01

    Full Text Available Interleukin-1 receptor antagonist (IL1RA intron 2 86 bp repeat and interleukin-4 (IL4 intron 3 70 bp repeat are variable number tandem repeats (VNTRs that have been associated with various diseases, but their role in obesity is elusive. The objective of this study was to investigate the association of IL1RA and IL4 VNTRs with obesity and adiposity in 315 Malaysian subjects (128 M/187 F; 23 Malays/251 ethnic Chinese/41 ethnic Indians. The allelic distributions of IL1RA and IL4 were significantly different among ethnicities, and the alleles were associated with total body fat (TBF classes. Individuals with IL1RA I/II genotype or allele II had greater risk of having higher overall adiposity, relative to those having the I/I genotype or I allele, respectively, even after controlling for ethnicity [Odds Ratio (OR of I/II genotype = 12.21 (CI = 2.54, 58.79; p=0.002; II allele = 5.78 (CI = 1.73, 19.29; p=0.004]. However, IL4 VNTR B2 allele was only significantly associated with overall adiposity status before adjusting for ethnicity [OR = 1.53 (CI = 1.04, 2.23; p=0.03]. Individuals with IL1RA II allele had significantly higher TBF than those with I allele (31.79±2.52 versus 23.51±0.40; p=0.005. Taken together, IL1RA intron 2 VNTR seems to be a genetic marker for overall adiposity status in Malaysian subjects.

  19. Coordinate control of integral reactor based on single neuron PID controller

    International Nuclear Information System (INIS)

    Liu Yan; Xia Hong

    2014-01-01

    As one of the main type of reactors in the future, the development of the integral reactor has attracted worldwide attention. On the basis of understanding the background of the integral reactor, the author will be familiar with and master the power control of reactor and the feedwater flow control of steam generator, and the speed control of turbine (turbine speed control is associated with the turbine load control). According to the expectative program 'reactor power following turbine load' of the reactor, it will make coordinate control of the three and come to a overall control scheme. The author will use the supervisory learning algorithm of Hebb for single neuron PID controller with self-adaptation to study the coordinate control of integral reactor. Compared with conventional PI or PID controller, to a certain extent, it solves the problems that traditional PID controller is not easy to tune real-time parameters and lack of effective control for a number of complex processes and slow-varying parameter systems. It improves the security, reliability, stability and flexibility of control process and achieves effective control of the system. (authors)

  20. [Statistical (Poisson) motor unit number estimation. Methodological aspects and normal results in the extensor digitorum brevis muscle of healthy subjects].

    Science.gov (United States)

    Murga Oporto, L; Menéndez-de León, C; Bauzano Poley, E; Núñez-Castaín, M J

    Among the differents techniques for motor unit number estimation (MUNE) there is the statistical one (Poisson), in which the activation of motor units is carried out by electrical stimulation and the estimation performed by means of a statistical analysis based on the Poisson s distribution. The study was undertaken in order to realize an approximation to the MUNE Poisson technique showing a coprehensible view of its methodology and also to obtain normal results in the extensor digitorum brevis muscle (EDB) from a healthy population. One hundred fourteen normal volunteers with age ranging from 10 to 88 years were studied using the MUNE software contained in a Viking IV system. The normal subjects were divided into two age groups (10 59 and 60 88 years). The EDB MUNE from all them was 184 49. Both, the MUNE and the amplitude of the compound muscle action potential (CMAP) were significantly lower in the older age group (page than CMAP amplitude ( 0.5002 and 0.4142, respectively pphisiology of the motor unit. The value of MUNE correlates better with the neuromuscular aging process than CMAP amplitude does.

  1. Optimization Settings in the Fuzzy Combined Mamdani PID Controller

    Science.gov (United States)

    Kudinov, Y. I.; Pashchenko, F. F.; Pashchenko, A. F.; Kelina, A. Y.; Kolesnikov, V. A.

    2017-11-01

    In the present work the actual problem of determining the optimal settings of fuzzy parallel proportional-integral-derivative (PID) controller is considered to control nonlinear plants that is not always possible to perform with classical linear PID controllers. In contrast to the linear fuzzy PID controllers there are no analytical methods of settings calculation. In this paper, we develop a numerical optimization approach to determining the coefficients of a fuzzy PID controller. Decomposition method of optimization is proposed, the essence of which was as follows. All homogeneous coefficients were distributed to the relevant groups, for example, three error coefficients, the three coefficients of the changes of errors and the three coefficients of the outputs P, I and D components. Consistently in each of such groups the search algorithm was selected that has determined the coefficients under which we receive the schedule of the transition process satisfying all the applicable constraints. Thus, with the help of Matlab and Simulink in a reasonable time were found the factors of a fuzzy PID controller, which meet the accepted limitations on the transition process.

  2. Cylinder Position Servo Control Based on Fuzzy PID

    Directory of Open Access Journals (Sweden)

    Shibo Cai

    2013-01-01

    Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.

  3. PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance

    Directory of Open Access Journals (Sweden)

    Hossein Rouhani

    2017-06-01

    Full Text Available Closed-loop controlled functional electrical stimulation (FES applied to the lower limb muscles can be used as a neuroprosthesis for standing balance in neurologically impaired individuals. The objective of this study was to propose a methodology for designing a proportional-integral-derivative (PID controller for FES applied to the ankle muscles toward maintaining standing balance for several minutes and in the presence of perturbations. First, a model of the physiological control strategy for standing balance was developed. Second, the parameters of a PID controller that mimicked the physiological balance control strategy were determined to stabilize the human body when modeled as an inverted pendulum. Third, this PID controller was implemented using a custom-made Inverted Pendulum Standing Apparatus that eliminated the effect of visual and vestibular sensory information on voluntary balance control. Using this setup, the individual-specific FES controllers were tested in able-bodied individuals and compared with disrupted voluntary control conditions in four experimental paradigms: (i quiet-standing; (ii sudden change of targeted pendulum angle (step response; (iii balance perturbations that simulate arm movements; and (iv sudden change of targeted angle of a pendulum with individual-specific body-weight (step response. In paradigms (i to (iii, a standard 39.5-kg pendulum was used, and 12 subjects were involved. In paradigm (iv 9 subjects were involved. Across the different experimental paradigms and subjects, the FES-controlled and disrupted voluntarily-controlled pendulum angle showed root mean square errors of <1.2 and 2.3 deg, respectively. The root mean square error (all paradigms, rise time, settle time, and overshoot [paradigms (ii and (iv] in FES-controlled balance were significantly smaller or tended to be smaller than those observed with voluntarily-controlled balance, implying improved steady-state and transient responses of FES

  4. PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance.

    Science.gov (United States)

    Rouhani, Hossein; Same, Michael; Masani, Kei; Li, Ya Qi; Popovic, Milos R

    2017-01-01

    Closed-loop controlled functional electrical stimulation (FES) applied to the lower limb muscles can be used as a neuroprosthesis for standing balance in neurologically impaired individuals. The objective of this study was to propose a methodology for designing a proportional-integral-derivative (PID) controller for FES applied to the ankle muscles toward maintaining standing balance for several minutes and in the presence of perturbations. First, a model of the physiological control strategy for standing balance was developed. Second, the parameters of a PID controller that mimicked the physiological balance control strategy were determined to stabilize the human body when modeled as an inverted pendulum. Third, this PID controller was implemented using a custom-made Inverted Pendulum Standing Apparatus that eliminated the effect of visual and vestibular sensory information on voluntary balance control. Using this setup, the individual-specific FES controllers were tested in able-bodied individuals and compared with disrupted voluntary control conditions in four experimental paradigms: (i) quiet-standing; (ii) sudden change of targeted pendulum angle (step response); (iii) balance perturbations that simulate arm movements; and (iv) sudden change of targeted angle of a pendulum with individual-specific body-weight (step response). In paradigms (i) to (iii), a standard 39.5-kg pendulum was used, and 12 subjects were involved. In paradigm (iv) 9 subjects were involved. Across the different experimental paradigms and subjects, the FES-controlled and disrupted voluntarily-controlled pendulum angle showed root mean square errors of controlled balance were significantly smaller or tended to be smaller than those observed with voluntarily-controlled balance, implying improved steady-state and transient responses of FES-controlled balance. At the same time, the FES-controlled balance required similar torque levels (no significant difference) as voluntarily

  5. Parameters-tuning of PID controller for automatic voltage regulators using the African buffalo optimization

    Science.gov (United States)

    Mohmad Kahar, Mohd Nizam; Noraziah, A.

    2017-01-01

    In this paper, an attempt is made to apply the African Buffalo Optimization (ABO) to tune the parameters of a PID controller for an effective Automatic Voltage Regulator (AVR). Existing metaheuristic tuning methods have been proven to be quite successful but there were observable areas that need improvements especially in terms of the system’s gain overshoot and steady steady state errors. Using the ABO algorithm where each buffalo location in the herd is a candidate solution to the Proportional-Integral-Derivative parameters was very helpful in addressing these two areas of concern. The encouraging results obtained from the simulation of the PID Controller parameters-tuning using the ABO when compared with the performance of Genetic Algorithm PID (GA-PID), Particle-Swarm Optimization PID (PSO-PID), Ant Colony Optimization PID (ACO-PID), PID, Bacteria-Foraging Optimization PID (BFO-PID) etc makes ABO-PID a good addition to solving PID Controller tuning problems using metaheuristics. PMID:28441390

  6. 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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Enhanced pid vs model predictive control applied to bldc motor

    Science.gov (United States)

    Gaya, M. S.; Muhammad, Auwal; Aliyu Abdulkadir, Rabiu; Salim, S. N. S.; Madugu, I. S.; Tijjani, Aminu; Aminu Yusuf, Lukman; Dauda Umar, Ibrahim; Khairi, M. T. M.

    2018-01-01

    BrushLess Direct Current (BLDC) motor is a multivariable and highly complex nonlinear system. Variation of internal parameter values with environment or reference signal increases the difficulty in controlling the BLDC effectively. Advanced control strategies (like model predictive control) often have to be integrated to satisfy the control desires. Enhancing or proper tuning of a conventional algorithm results in achieving the desired performance. This paper presents a performance comparison of Enhanced PID and Model Predictive Control (MPC) applied to brushless direct current motor. The simulation results demonstrated that the PSO-PID is slightly better than the PID and MPC in tracking the trajectory of the reference signal. The proposed scheme could be useful algorithms for the system.

  8. A PID autotuner utilizing GPC and constraint optimization

    DEFF Research Database (Denmark)

    Henningsen, Arne; Christensen, Anders; Ravn, Ole

    1990-01-01

    A solution to the PID autotuning problem is presented which involves constraining the parameters of a discrete second-order discrete-time controller. The integrator is forced into the regulator by using a CARIMA model. The discrete-time regulator parameters are calculated by optimizing...... a generalized predictive control criterion, and the PID structure is ensured by constraining the parameters to a feasible set defined by the discrete-time Euler approximation of the ideal continuous-time PID controller. The algorithm is extended by incorporating constraints on the amplitude and slew......-rate of the control signal. Simulation studies for a system of coupled tanks have indicated that the method performs well, and that signal limitations can be included in a straightforward manner...

  9. Pinched hysteresis behavior in a PID-controlled resistor

    Directory of Open Access Journals (Sweden)

    M.A. Carrasco-Aguilar

    2018-06-01

    Full Text Available A current-controlled grounded resistor that exhibits a frequency-dependent pinched hysteresis loop is described. A mathematical model describing this behavior is derived and validated numerically, which has the form of a Proportional Integral-Derivative (PID controller. The proposed topology is build by using AD844 commercially available active device configured as second-generation current conveyor and experimental tests are compared with numerical simulations, showing a good agreement among them. Moreover, the proposed PID-controlled resistor can be reconfigured in order to be used in future applications such as programmable analog circuits. Keyword: Pinched hysteresis, Current conveyors, Nonlinear resistor, Proportional-Integral-Derivative Controller

  10. Adaptive fuzzy PID control for a quadrotor stabilisation

    Science.gov (United States)

    Cherrat, N.; Boubertakh, H.; Arioui, H.

    2018-02-01

    This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.

  11. 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

  12. LMI designmethod for networked-based PID control

    Science.gov (United States)

    Souza, Fernando de Oliveira; Mozelli, Leonardo Amaral; de Oliveira, Maurício Carvalho; Palhares, Reinaldo Martinez

    2016-10-01

    In this paper, we propose a methodology for the design of networked PID controllers for second-order delayed processes using linear matrix inequalities. The proposed procedure takes into account time-varying delay on the plant, time-varying delays induced by the network and packed dropouts. The design is carried on entirely using a continuous-time model of the closed-loop system where time-varying delays are used to represent sampling and holding occurring in a discrete-time digital PID controller.

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

    OpenAIRE

    A. Jayachitra; R. Vinodha

    2014-01-01

    Genetic algorithm (GA) based PID (proportional integral derivative) controller has been proposed for tuning optimized PID parameters in a continuous stirred tank reactor (CSTR) process using a weighted combination of objective functions, namely, integral square error (ISE), integral absolute error (IAE), and integrated time absolute error (ITAE). Optimization of PID controller parameters is the key goal in chemical and biochemical industries. PID controllers have narrowed down the operating r...

  14. System-wide hybrid MPC-PID control of a continuous pharmaceutical tablet manufacturing process via direct compaction.

    Science.gov (United States)

    Singh, Ravendra; Ierapetritou, Marianthi; Ramachandran, Rohit

    2013-11-01

    The next generation of QbD based pharmaceutical products will be manufactured through continuous processing. This will allow the integration of online/inline monitoring tools, coupled with an efficient advanced model-based feedback control systems, to achieve precise control of process variables, so that the predefined product quality can be achieved consistently. The direct compaction process considered in this study is highly interactive and involves time delays for a number of process variables due to sensor placements, process equipment dimensions, and the flow characteristics of the solid material. A simple feedback regulatory control system (e.g., PI(D)) by itself may not be sufficient to achieve the tight process control that is mandated by regulatory authorities. The process presented herein comprises of coupled dynamics involving slow and fast responses, indicating the requirement of a hybrid control scheme such as a combined MPC-PID control scheme. In this manuscript, an efficient system-wide hybrid control strategy for an integrated continuous pharmaceutical tablet manufacturing process via direct compaction has been designed. The designed control system is a hybrid scheme of MPC-PID control. An effective controller parameter tuning strategy involving an ITAE method coupled with an optimization strategy has been used for tuning of both MPC and PID parameters. The designed hybrid control system has been implemented in a first-principles model-based flowsheet that was simulated in gPROMS (Process System Enterprise). Results demonstrate enhanced performance of critical quality attributes (CQAs) under the hybrid control scheme compared to only PID or MPC control schemes, illustrating the potential of a hybrid control scheme in improving pharmaceutical manufacturing operations. Copyright © 2013 Elsevier B.V. All rights reserved.

  15. Performance Evaluation of a PID and a Fuzzy PID Controllers Designed for Controlling a Simulated Quadcopter Rotational Dynamics Model

    Directory of Open Access Journals (Sweden)

    Laith Jasim Saud

    2017-07-01

    Full Text Available This work is concerned with designing two types of controllers, a PID and a Fuzzy PID, to be used for flying and stabilizing a quadcopter. The designed controllers have been tuned, tested, and compared using two performance indices which are the Integral Square Error (ISE and the Integral Absolute Error (IAE, and also some response characteristics like the rise time, overshoot, settling time, and the steady state error. To try and test the controllers, a quadcopter mathematical model has been developed. The model concentrated on the rotational dynamics of the quadcopter, i.e. the roll, pitch, and yaw variables. The work has been simulated with “MATLAB”. To make testing the simulated model and the controllers more realistic, the testing signals have been applied by a user through a joystick interfaced to the computer. The results obtained indicated a general superiority in performance for the Fuzzy PID controller over the PID controller used in this work. This conclusion is based by the following figures:lesser ISA for the roll, pitch, and yaw consequently, lesser IAE for the roll, pitch, and yaw consequently, lesser rise time and settling time for the roll and pitch consequently, and lesser settling time for the yaw. Moreover, the FPID gave zero overshoot versus and in the PID case for the roll, pitch, and yaw consequently. Both controllers gave zero steady state error with close rise times for the yaw. This superiority of the FPID controller is gained as the fuzzy part of it continuously and online adapts the parameters of the PID part.

  16. Balancing Inverted Pendulum by Angle Sensing Using Fuzzy Logic Supervised PID Controller Optimized by Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Ashutosh K. AGARWAL

    2011-10-01

    Full Text Available Genetic algorithms are robust search techniques based on the principles of evolution. A genetic algorithm maintains a population of encoded solutions and guides the population towards the optimum solution. This important property of genetic algorithm is used in this paper to stabilize the Inverted pendulum system. This paper highlights the application and stability of inverted pendulum using PID controller with fuzzy logic genetic algorithm supervisor . There are a large number of well established search techniques in use within the information technology industry. We propose a method to control inverted pendulum steady state error and overshoot using genetic algorithm technique.

  17. 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…

  18. PID control of second-order systems with hysteresis

    NARCIS (Netherlands)

    Jayawardhana, Bayu; Logemann, Hartmut; Ryan, Eugene P.

    2008-01-01

    The efficacy of proportional, integral and derivative (PID) control for set point regulation and disturbance rejection is investigated in a context of second-order systems with hysteretic components. Two basic structures are studied: in the first, the hysteretic component resides (internally) in the

  19. PID control of second-order system with hysteresis

    NARCIS (Netherlands)

    Jayawardhana, B.; Logemann, H.; Ryan, E.P.

    2007-01-01

    The efficacy of proportional, derivative and integral (PID) control for set point regulation and disturbance rejection is investigated in a context of mechanical systems with hysteretic components. Two basic structures are studied: in the first, the hysteretic component resides (internally) in the

  20. Comparison between MPC and PID control for compact hydro ...

    African Journals Online (AJOL)

    This paper presents water temperature of a hydro distillation that have been modelled by using linear ARX Modal. Based on the modal obtained, a model predictive controller and PID controller have been developed. Both controller undergone the performance of controller tests that includes set point, set point change and ...

  1. PID motion control tuning rules in a damping injection framework

    NARCIS (Netherlands)

    Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano

    2013-01-01

    This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety

  2. A conserved two-component regulatory system, PidS/PidR, globally regulates pigmentation and virulence-related phenotypes of Burkholderia glumae.

    Science.gov (United States)

    Karki, Hari Sharan; Barphagha, Inderjit Kaur; Ham, Jong Hyun

    2012-09-01

    Burkholderia glumae is a rice pathogenic bacterium that causes bacterial panicle blight. Some strains of this pathogen produce dark brown pigments when grown on casamino-acid peptone glucose (CPG) agar medium. A pigment-positive and highly virulent strain of B. glumae, 411gr-6, was randomly mutagenized with mini-Tn5gus, and the resulting mini-Tn5gus derivatives showing altered pigmentation phenotypes were screened on CPG agar plates to identify the genetic elements governing the pigmentation of B. glumae. In this study, a novel two-component regulatory system (TCRS) composed of the PidS sensor histidine kinase and the PidR response regulator was identified as an essential regulatory factor for pigmentation. Notably, the PidS/PidR TCRS was also required for the elicitation of the hypersensitive response on tobacco leaves, indicating the dependence of the hypersensitive response and pathogenicity (Hrp) type III secretion system of B. glumae on this regulatory factor. In addition, B. glumae mutants defective in the PidS/PidR TCRS showed less production of the phytotoxin, toxoflavin, and less virulence on rice panicles and onion bulbs relative to the parental strain, 411gr-6. The presence of highly homologous PidS and PidR orthologues in other Burkholderia species suggests that PidS/PidR-family TCRSs may exert the same or similar functions in different Burkholderia species, including both plant and animal pathogens. © 2012 THE AUTHORS. MOLECULAR PLANT PATHOLOGY © 2012 BSPP AND BLACKWELL PUBLISHING LTD.

  3. Application and Simulation of Fuzzy Neural Network PID Controller in the Aircraft Cabin Temperature

    Directory of Open Access Journals (Sweden)

    Ding Fang

    2013-06-01

    Full Text Available Considering complex factors of affecting ambient temperature in Aircraft cabin, and some shortages of traditional PID control like the parameters difficult to be tuned and control ineffective, this paper puts forward the intelligent PID algorithm that makes fuzzy logic method and neural network together, scheming out the fuzzy neural net PID controller. After the correction of the fuzzy inference and dynamic learning of neural network, PID parameters of the controller get the optimal parameters. MATLAB simulation results of the cabin temperature control model show that the performance of the fuzzy neural network PID controller has been greatly improved, with faster response, smaller overshoot and better adaptability.

  4. Contribution of copy number variants to schizophrenia from a genome-wide study of 41,321 subjects

    DEFF Research Database (Denmark)

    Marshall, Christian R.; Howrigan, Daniel P.; Merico, Daniele

    2017-01-01

    Copy number variants (CNVs) have been strongly implicated in the genetic etiology of schizophrenia (SCZ). However, genome-wide investigation of the contribution of CNV to risk has been hampered by limited sample sizes. We sought to address this obstacle by applying a centralized analysis pipeline...

  5. Genomic study and Medical Subject Headings enrichment analysis of early pregnancy rate and antral follicle numbers in Nelore heifers

    DEFF Research Database (Denmark)

    Oliveira Junior, G. A.; Perez, B. C.; Cole, J. B.

    2017-01-01

    be considered in a functional enrichment analysis to identify biological mechanisms involved in fertility. Medical Subject Headings (MeSH) were detected using the MESHR package, allowing the extraction of broad meanings from the gene lists provided by the GWAS. The estimated heritability for HP was 0.28 +/- 0...... gains. In this study, we performed a genomewide association study (GWAS) to identify genetic variants associated with reproductive traits in Nelore beef cattle. Heifer pregnancy (HP) was recorded for 1,267 genotyped animals distributed in 12 contemporary groups (CG) with an average pregnancy rate of 0...

  6. Design and optimization of fuzzy-PID controller for the nuclear reactor power control

    International Nuclear Information System (INIS)

    Liu Cheng; Peng Jinfeng; Zhao Fuyu; Li Chong

    2009-01-01

    This paper introduces a fuzzy proportional-integral-derivative (fuzzy-PID) control strategy, and applies it to the nuclear reactor power control system. At the fuzzy-PID control strategy, the fuzzy logic controller (FLC) is exploited to extend the finite sets of PID gains to the possible combinations of PID gains in stable region and the genetic algorithm to improve the 'extending' precision through quadratic optimization for the membership function (MF) of the FLC. Thus the FLC tunes the gains of PID controller to adapt the model changing with the power. The fuzzy-PID has been designed and simulated to control the reactor power. The simulation results show the favorable performance of the fuzzy-PID controller.

  7. Neural PID Control of Robot Manipulators With Application to an Upper Limb Exoskeleton.

    Science.gov (United States)

    Yu, Wen; Rosen, Jacob

    2013-04-01

    In order to minimize steady-state error with respect to uncertainties in robot control, proportional-integral-derivative (PID) control needs a big integral gain, or a neural compensator is added to the classical proportional-derivative (PD) control with a large derivative gain. Both of them deteriorate transient performances of the robot control. In this paper, we extend the popular neural PD control into neural PID control. This novel control is a natural combination of industrial linear PID control and neural compensation. The main contributions of this paper are semiglobal asymptotic stability of the neural PID control and local asymptotic stability of the neural PID control with a velocity observer which are proved with standard weight training algorithms. These conditions give explicit selection methods for the gains of the linear PID control. An experimental study on an upper limb exoskeleton with this neural PID control is addressed.

  8. Two degree of freedom PID based inferential control of continuous bioreactor for ethanol production.

    Science.gov (United States)

    Pachauri, Nikhil; Singh, Vijander; Rani, Asha

    2017-05-01

    This article presents the development of inferential control scheme based on Adaptive linear neural network (ADALINE) soft sensor for the control of fermentation process. The ethanol concentration of bioreactor is estimated from temperature profile of the process using soft sensor. The prediction accuracy of ADALINE is enhanced by retraining it with immediate past measurements. The ADALINE and retrained ADALINE are used along with PID and 2-DOF-PID leading to APID, A2PID, RAPID and RA2PID inferential controllers. Further the parameters of 2-DOF-PID are optimized using Non-dominated sorted genetic algorithm-II and used with retrained ADALINE soft sensor which leads to RAN2PID inferential controller. Simulation results demonstrate that performance of proposed RAN2PID controller is better in comparison to other designed controllers in terms of qualitative and quantitative performance indices. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  9. The Facebook paths to happiness: effects of the number of Facebook friends and self-presentation on subjective well-being.

    Science.gov (United States)

    Kim, Junghyun; Lee, Jong-Eun Roselyn

    2011-06-01

    The current study investigates whether and how Facebook increases college-age users' subjective well-being by focusing on the number of Facebook friends and self-presentation strategies (positive vs. honest). A structural equation modeling analysis of cross-sectional survey data of college student Facebook users (N=391) revealed that the number of Facebook friends had a positive association with subjective well-being, but this association was not mediated by perceived social support. Additionally, we found that there was a negative curvilinear (inverted U-shape curve) relationship between Facebook friends and perceived social support. As for self-presentation strategies, whereas positive self-presentation had a direct effect on subjective well-being, honest self-presentation had a significant indirect effect on subjective well-being through perceived social support. Our study suggests that the number of Facebook friends and positive self-presentation may enhance users' subjective well-being, but this portion of happiness may not be grounded in perceived social support. On the other hand, honest self-presentation may enhance happiness rooted in social support provided by Facebook friends. Implications of our findings are discussed in light of affirmation of self-worth, time and effort required for building and maintaining friendships, and the important role played by self-disclosure in signaling one's need for social support.

  10. PI and PID controller tuning rule design for processes with delay, to achieve constant gain and phase margins for all values of delay

    OpenAIRE

    O'Dwyer, Aidan

    2001-01-01

    This paper will discuss the design of PI and PID controller tuning rules to compensate processes with delay, that are modelled in a number of ways. The rules allow the achievement of constant gain and phase margins as the delay varies.

  11. A Low Cost Mobile Robot Based on Proportional Integral Derivative (PID) Control System and Odometer for Education

    Science.gov (United States)

    Haq, R.; Prayitno, H.; Dzulkiflih; Sucahyo, I.; Rahmawati, E.

    2018-03-01

    In this article, the development of a low cost mobile robot based on PID controller and odometer for education is presented. PID controller and odometer is applied for controlling mobile robot position. Two-dimensional position vector in cartesian coordinate system have been inserted to robot controller as an initial and final position. Mobile robot has been made based on differential drive and sensor magnetic rotary encoder which measured robot position from a number of wheel rotation. Odometry methode use data from actuator movements for predicting change of position over time. The mobile robot is examined to get final position with three different heading angle 30°, 45° and 60° by applying various value of KP, KD and KI constant.

  12. Wind turbine pitch control using ICPSO-PID algorithm

    DEFF Research Database (Denmark)

    Xu, Chang; Tian, Qiangqiang; Shen, Wen Zhong

    2013-01-01

    For the traditional simplified first-order pitch-control system model, it is difficult to describe a real dynamic characteristic of a variable pitch action system, thus a complete high order mathematical model has to be developed for the pitch control of wind turbine generation (WTG). In the paper...... controller parameters quickly; and the feed-forward controller for wind speed can improve dynamics of a pitch-control system; additionally the power controller can allow a wind turbine to have a constant power output as a wind speed is over the rated one. Compared with a conventional PID, the controller...... with ICPSO-PID algorithm has a smaller overshoot, a shorter tuning time and better robustness. The design method proposed in the paper can be applied in a practical electro-hydraulic pitch control system for WTG....

  13. 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

  14. Osta ja pidä: yritysten joukkovelkakirjat vs. osakkeet

    OpenAIRE

    Nyqvist, Kim

    2012-01-01

    Opinnäytetyö käsittelee yrityksen joukkovelkakirjojen tuottoa ja siihen vaikuttavia tekijöitä osta ja pidä –sijoitusstrategian näkökulmasta. Vertailukohdaksi yrityksen joukkovelkakirjoille on valittu osakkeet, niiden tunnettavuuden ja vuotuisen tuoton takia, joka on vertauskelpoinen joukkovelkakirjojen maksamalle kupongille. Työn teoreettinen viitekehys koostuu yritysten joukkovelkakirjoista ja osakkeista. Painotus on yritysten joukkovelkakirjoissa, sillä ne ovat huomattavasti tuntemattom...

  15. Adaptive PID control based on orthogonal endocrine neural networks.

    Science.gov (United States)

    Milovanović, Miroslav B; Antić, Dragan S; Milojković, Marko T; Nikolić, Saša S; Perić, Staniša Lj; Spasić, Miodrag D

    2016-12-01

    A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances. Copyright © 2016 Elsevier Ltd. All rights reserved.

  16. Vision-Based Robot Following Using PID Control

    OpenAIRE

    Chandra Sekhar Pati; Rahul Kala

    2017-01-01

    Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to ...

  17. Vision-Based Robot Following Using PID Control

    Directory of Open Access Journals (Sweden)

    Chandra Sekhar Pati

    2017-06-01

    Full Text Available Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user’s command from an android application which is processed by the master robot’s controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters.

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

    Science.gov (United States)

    Panzarella, Charles H.; Kassemi, Mohammad

    1992-01-01

    This paper presents a 2D axisymmetric combined conduction and radiation model of a multizone crystal growth furnace. The model is based on a programmable multizone furnace (PMZF) designed and built at NASA Lewis Research Center for growing high quality semiconductor crystals. A novel feature of this model is a control algorithm which automatically adjusts the power in any number of independently controlled heaters to establish the desired crystal temperatures in the furnace model. The control algorithm eliminates the need for numerous trial and error runs previously required to obtain the same results. The finite element code, FIDAP, used to develop the furnace model, was modified to directly incorporate the control algorithm. This algorithm, which presently uses PID control, and the associated heat transfer model are briefly discussed. Together, they have been used to predict the heater power distributions for a variety of furnace configurations and desired temperature profiles. Examples are included to demonstrate the effectiveness of the PID controlled model in establishing isothermal, Bridgman, and other complicated temperature profies in the sample. Finally, an example is given to show how the algorithm can be used to change the desired profile with time according to a prescribed temperature-time evolution.

  19. 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.

  20. Optimal Pid Controller Design Using Adaptive Vurpso Algorithm

    Science.gov (United States)

    Zirkohi, Majid Moradi

    2015-04-01

    The purpose of this paper is to improve theVelocity Update Relaxation Particle Swarm Optimization algorithm (VURPSO). The improved algorithm is called Adaptive VURPSO (AVURPSO) algorithm. Then, an optimal design of a Proportional-Integral-Derivative (PID) controller is obtained using the AVURPSO algorithm. An adaptive momentum factor is used to regulate a trade-off between the global and the local exploration abilities in the proposed algorithm. This operation helps the system to reach the optimal solution quickly and saves the computation time. Comparisons on the optimal PID controller design confirm the superiority of AVURPSO algorithm to the optimization algorithms mentioned in this paper namely the VURPSO algorithm, the Ant Colony algorithm, and the conventional approach. Comparisons on the speed of convergence confirm that the proposed algorithm has a faster convergence in a less computation time to yield a global optimum value. The proposed AVURPSO can be used in the diverse areas of optimization problems such as industrial planning, resource allocation, scheduling, decision making, pattern recognition and machine learning. The proposed AVURPSO algorithm is efficiently used to design an optimal PID controller.

  1. Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation

    Directory of Open Access Journals (Sweden)

    Ziqiang Chi

    2014-01-01

    Full Text Available Piezoelectric actuator is widely used in the field of micro/nanopositioning. However, piezoelectric hysteresis introduces nonlinearity to the system, which is the major obstacle to achieve a precise positioning. In this paper, the Preisach model is employed to describe the hysteresis characteristic of piezoelectric actuator and an inverse Preisach model is developed to construct a feedforward controller. Considering that the analytical expression of inverse Preisach model is difficult to derive and not suitable for practical application, a digital inverse model is established based on the input and output data of a piezoelectric actuator. Moreover, to mitigate the compensation error of the feedforward control, a feedback control scheme is implemented using different types of control algorithms in terms of PID control, fuzzy control, and fuzzy PID control. Extensive simulation studies are carried out using the three kinds of control systems. Comparative investigation reveals that the fuzzy PID control system with feedforward compensation is capable of providing quicker response and better control accuracy than the other two ones. It provides a promising way of precision control for piezoelectric actuator.

  2. 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...

  3. Fractional order PID controller for load frequency control

    International Nuclear Information System (INIS)

    Sondhi, Swati; Hote, Yogesh V.

    2014-01-01

    Highlights: • The manuscript shows the design of FOPID controller for the load frequency control. • Performance of FOPID is given for non-reheated, reheated and hydro turbine. • Performance of FOPID is compared to IMC-PID and reduced order IMC-PID design scheme. • Performance of FOPID is better than the existing techniques. - Abstract: Load frequency control (LFC) plays a very important role in providing quality power both in the case of isolated as well as interconnected power systems. In order to maintain good quality power supply, the LFC should possess robustness toward the parametric uncertainty of the system and good disturbance rejection capability. The fractional order controller has the properties such as, eliminating steady state error, robustness toward plant gain variations and also good disturbance rejection. This makes the fractional order PID (FOPID) controller quite suitable for the LFC. Therefore, in this paper a FOPID is designed for single area LFC for all three types of turbines i.e., non-reheated, reheated and hydro turbines. It is observed that the FOPID controller shows better robustness toward ±50% parametric uncertainty and disturbance rejection capability than the existing techniques. Finally, the optimization of controller parameters and robustness evaluation of the control technique is done on the basis of the integral error criterion

  4. Design of PID Controller Simulator based on Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Fahri VATANSEVER

    2013-08-01

    Full Text Available PID (Proportional Integral and Derivative controllers take an important place in the field of system controlling. Various methods such as Ziegler-Nichols, Cohen-Coon, Chien Hrones Reswick (CHR and Wang-Juang-Chan are available for the design of such controllers benefiting from the system time and frequency domain data. These controllers are in compliance with system properties under certain criteria suitable to the system. Genetic algorithms have become widely used in control system applications in parallel to the advances in the field of computer and artificial intelligence. In this study, PID controller designs have been carried out by means of classical methods and genetic algorithms and comparative results have been analyzed. For this purpose, a graphical user interface program which can be used for educational purpose has been developed. For the definite (entered transfer functions, the suitable P, PI and PID controller coefficients have calculated by both classical methods and genetic algorithms and many parameters and responses of the systems have been compared and presented numerically and graphically

  5. Empirically characteristic analysis of chaotic PID controlling particle swarm optimization.

    Science.gov (United States)

    Yan, Danping; Lu, Yongzhong; Zhou, Min; Chen, Shiping; Levy, David

    2017-01-01

    Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO), we herein propose a chaotic proportional integral derivative (PID) controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles' search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles' premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA) and PSO.

  6. Email-Based Informed Consent: Innovative Method for Reaching Large Numbers of Subjects for Data Mining Research

    Science.gov (United States)

    Lee, Lesley R.; Mason, Sara S.; Babiak-Vazquez, Adriana; Ray, Stacie L.; Van Baalen, Mary

    2015-01-01

    Since the 2010 NASA authorization to make the Life Sciences Data Archive (LSDA) and Lifetime Surveillance of Astronaut Health (LSAH) data archives more accessible by the research and operational communities, demand for data has greatly increased. Correspondingly, both the number and scope of requests have increased, from 142 requests fulfilled in 2011 to 224 in 2014, and with some datasets comprising up to 1 million data points. To meet the demand, the LSAH and LSDA Repositories project was launched, which allows active and retired astronauts to authorize full, partial, or no access to their data for research without individual, study-specific informed consent. A one-on-one personal informed consent briefing is required to fully communicate the implications of the several tiers of consent. Due to the need for personal contact to conduct Repositories consent meetings, the rate of consenting has not kept up with demand for individualized, possibly attributable data. As a result, other methods had to be implemented to allow the release of large datasets, such as release of only de-identified data. However the compilation of large, de-identified data sets places a significant resource burden on LSAH and LSDA and may result in diminished scientific usefulness of the dataset. As a result, LSAH and LSDA worked with the JSC Institutional Review Board Chair, Astronaut Office physicians, and NASA Office of General Counsel personnel to develop a "Remote Consenting" process for retrospective data mining studies. This is particularly useful since the majority of the astronaut cohort is retired from the agency and living outside the Houston area. Originally planned as a method to send informed consent briefing slides and consent forms only by mail, Remote Consenting has evolved into a means to accept crewmember decisions on individual studies via their method of choice: email or paper copy by mail. To date, 100 emails have been sent to request participation in eight HRP

  7. Laboratorio Web SCORM de Control PID con Integración Avanzada

    Directory of Open Access Journals (Sweden)

    Ildefonso Ruano Ruano

    2016-10-01

    compatibles con SCORM (ILIAS y Moodle analizando los problemas que se han planteado en este sentido. Abstract: Web laboratories (WebLabs are education resources that are increasingly used in university technical grades. When they are presented integrated into a learning management system (LMS several advantages for students and teachers are obtained, e.g. laboratories are shown in a familiar environment and the experience can be customized thanks to the user identification performed by the LMS. A Proportional-Integral-Derivative (PID control WebLab has been created in this work, PID control is a fundamental content of the Automatic subjects found in all grades of Industrial Engineering. This WebLab was developed through an innovative methodology that generates an effective learning resource based on Shared Content Object Reference Model (SCORM. SCORM is the more used standard for e-learning contents; it is compatible with most LMS market, this way the WebLab can be easily reused in different LMS environments. The WebLab presented in this paper is based on a learning path that includes a series of useful learning resources such as PID control theory, assessment tests, a PID control virtual laboratory (VL of a DC motor and customized experiments for each student whose results are stored in the LMS. This WebLab has been presented in the institutional LMS of the University of Jaén to 340 students of the subject “Industrial Automation” in the 2014-15 course. Several evaluations have been performed from the data obtained in the WebLab. Evaluations have shown that students who completed the WebLab have achieved excellent performance in the WebLab itself, they have achieved higher results than remaining students in the final evaluation of the course and they have highly positively valued the WebLab. It has also demonstrated the reusability of the WebLab in different SCORM-compliant LMS (Moodle and ILIAS analyzing the problems that have arisen in this regard. Palabras

  8. CAS algorithm-based optimum design of PID controller in AVR system

    International Nuclear Information System (INIS)

    Zhu Hui; Li Lixiang; Zhao Ying; Guo Yu; Yang Yixian

    2009-01-01

    This paper presents a novel design method for determining the optimal PID controller parameters of an automatic voltage regulator (AVR) system using the chaotic ant swarm (CAS) algorithm. In the tuning process of parameters, the CAS algorithm is iterated to give the optimal parameters of the PID controller based on the fitness theory, where the position vector of each ant in the CAS algorithm corresponds to the parameter vector of the PID controller. The proposed CAS-PID controllers can ensure better control system performance with respect to the reference input in comparison with GA-PID controllers. Numerical simulations are provided to verify the effectiveness and feasibility of PID controller based on CAS algorithm.

  9. 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.

  10. Didactic System for the Experimental Study of Digital PID Control Structures

    OpenAIRE

    Stelian-Emilian OLTEAN; Mircea DULĂU; Adrian-Vasile DUKA

    2016-01-01

    The proportional integral derivative (PID) controller has a known structure used in feedback control of industrial processes. One of the most common applications is the control of the DC motor. The paper presents a didactic system designed for educational purposes used for studying various conventional PID structures and the influence of the PID components in the control process of the DC motor’s speed. The system contains a low cost acquisition board based on PIC 16F628A microcontroller. The...

  11. PID control design for chaotic synchronization using a tribes optimization approach

    Energy Technology Data Exchange (ETDEWEB)

    Santos Coelho, Leandro dos [Industrial and Systems Engineering Graduate Program, LAS/PPGEPS, Pontifical Catholic University of Parana, PUCPR, Imaculada Conceicao, 1155, 80215-901 Curitiba, Parana (Brazil)], E-mail: leandro.coelho@pucpr.br; Andrade Bernert, Diego Luis de [Industrial and Systems Engineering Graduate Program, LAS/PPGEPS, Pontifical Catholic University of Parana, PUCPR, Imaculada Conceicao, 1155, 80215-901 Curitiba, Parana (Brazil)], E-mail: dbernert@gmail.com

    2009-10-15

    Recently, the investigation of synchronization and control problems for discrete chaotic systems has stimulated a wide range of research activity including both theoretical studies and practical applications. This paper deals with the tuning of a proportional-integral-derivative (PID) controller using a modified Tribes optimization algorithm based on truncated chaotic Zaslavskii map (MTribes) for synchronization of two identical discrete chaotic systems subject the different initial conditions. The Tribes algorithm is inspired by the social behavior of bird flocking and is also an optimization adaptive procedure that does not require sociometric or swarm size parameter tuning. Numerical simulations are given to show the effectiveness of the proposed synchronization method. In addition, some comparisons of the MTribes optimization algorithm with other continuous optimization methods, including classical Tribes algorithm and particle swarm optimization approaches, are presented.

  12. PID control design for chaotic synchronization using a tribes optimization approach

    International Nuclear Information System (INIS)

    Santos Coelho, Leandro dos; Andrade Bernert, Diego Luis de

    2009-01-01

    Recently, the investigation of synchronization and control problems for discrete chaotic systems has stimulated a wide range of research activity including both theoretical studies and practical applications. This paper deals with the tuning of a proportional-integral-derivative (PID) controller using a modified Tribes optimization algorithm based on truncated chaotic Zaslavskii map (MTribes) for synchronization of two identical discrete chaotic systems subject the different initial conditions. The Tribes algorithm is inspired by the social behavior of bird flocking and is also an optimization adaptive procedure that does not require sociometric or swarm size parameter tuning. Numerical simulations are given to show the effectiveness of the proposed synchronization method. In addition, some comparisons of the MTribes optimization algorithm with other continuous optimization methods, including classical Tribes algorithm and particle swarm optimization approaches, are presented.

  13. Monitoring of piglets' open field activity and choice behaviour during the replay of maternal vocalization: a comparison between Observer and PID technique.

    Science.gov (United States)

    Puppe, B; Schön, P C; Wendland, K

    1999-07-01

    The paper presents a new system for the automatic monitoring of open field activity and choice behaviour of medium-sized animals. Passive infrared motion detectors (PID) were linked on-line via a digital I/O interface to a personal computer provided with self-developed analysis software based on LabVIEW (PID technique). The set up was used for testing 18 one-week-old piglets (Sus scrofa) for their approach to their mother's nursing vocalization replayed through loudspeakers. The results were validated by comparison with a conventional Observer technique, a computer-aided direct observation. In most of the cases, no differences were seen between the Observer and PID technique regarding the percentage of stay in previously defined open field segments, the locomotor open field activity, and the choice behaviour. The results revealed that piglets are clearly attracted by their mother's nursing vocalization. The monitoring system presented in this study is thus suitable for detailed behavioural investigations of individual acoustic recognition. In general, the PID technique is a useful tool for research into the behaviour of individual animals in a restricted open field which does not rely on subjective analysis by a human observer.

  14. Optimization of PID Parameters Utilizing Variable Weight Grey-Taguchi Method and Particle Swarm Optimization

    Science.gov (United States)

    Azmi, Nur Iffah Mohamed; Arifin Mat Piah, Kamal; Yusoff, Wan Azhar Wan; Romlay, Fadhlur Rahman Mohd

    2018-03-01

    Controller that uses PID parameters requires a good tuning method in order to improve the control system performance. Tuning PID control method is divided into two namely the classical methods and the methods of artificial intelligence. Particle swarm optimization algorithm (PSO) is one of the artificial intelligence methods. Previously, researchers had integrated PSO algorithms in the PID parameter tuning process. This research aims to improve the PSO-PID tuning algorithms by integrating the tuning process with the Variable Weight Grey- Taguchi Design of Experiment (DOE) method. This is done by conducting the DOE on the two PSO optimizing parameters: the particle velocity limit and the weight distribution factor. Computer simulations and physical experiments were conducted by using the proposed PSO- PID with the Variable Weight Grey-Taguchi DOE and the classical Ziegler-Nichols methods. They are implemented on the hydraulic positioning system. Simulation results show that the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE has reduced the rise time by 48.13% and settling time by 48.57% compared to the Ziegler-Nichols method. Furthermore, the physical experiment results also show that the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE tuning method responds better than Ziegler-Nichols tuning. In conclusion, this research has improved the PSO-PID parameter by applying the PSO-PID algorithm together with the Variable Weight Grey-Taguchi DOE method as a tuning method in the hydraulic positioning system.

  15. 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.

  16. Fuzzy PID control algorithm based on PSO and application in BLDC motor

    Science.gov (United States)

    Lin, Sen; Wang, Guanglong

    2017-06-01

    A fuzzy PID control algorithm is studied based on improved particle swarm optimization (PSO) to perform Brushless DC (BLDC) motor control which has high accuracy, good anti-jamming capability and steady state accuracy compared with traditional PID control. The mathematical and simulation model is established for BLDC motor by simulink software, and the speed loop of the fuzzy PID controller is designed. The simulation results show that the fuzzy PID control algorithm based on PSO has higher stability, high control precision and faster dynamic response speed.

  17. Neuro-PID tracking control of a discharge air temperature system

    International Nuclear Information System (INIS)

    Zaheer-uddin, M.; Tudoroiu, N.

    2004-01-01

    In this paper, the problem of improving the performance of a discharge air temperature (DAT) system using a PID controller and augmenting it with neural network based tuning and tracking functions is explored. The DAT system is modeled as a SISO (single input single output) system. The architecture of the real time neuro-PID controller and simulation results obtained under realistic operating conditions are presented. The neural network assisted PID tuning method is simple to implement. Results show that the network assisted PID controller is able to track both constant and variable set point trajectories efficiently in the presence of disturbances acting on the DAT system

  18. Adaptive robust PID controller design based on a sliding mode for uncertain chaotic systems

    International Nuclear Information System (INIS)

    Chang Weider; Yan Junjuh

    2005-01-01

    A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, K p , K i , and K d , are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Duffing-Holmes chaotic system is used as an illustrative to show the effectiveness of the proposed robust adaptive PID controller

  19. Applications of Fuzzy adaptive PID control in the thermal power plant denitration liquid ammonia evaporation

    Directory of Open Access Journals (Sweden)

    Li Jing

    2016-01-01

    Full Text Available For the control of the liquid level of liquid ammonia in thermal power plant’s ammonia vaporization room, traditional PID controller parameter tuning is difficult to adapt to complex control systems, the setting of the traditional PID controller parameters is difficult to adapt to the complex control system. For the disadvantage of bad parameter setting, poor performance and so on the fuzzy adaptive PID control is proposed. Fuzzy adaptive PID control combines the advantages of traditional PID technology and fuzzy control. By using the fuzzy controller to intelligent control the object, the performance of the PID controller is further improved, and the control precision of the system is improved[1]. The simulation results show that the fuzzy adaptive PID controller not only has the advantages of high accuracy of PID controller, but also has the characteristics of fast and strong adaptability of fuzzy controller. It realizes the optimization of PID parameters which are in the optimal state, and the maximum increase production efficiency, so that are more suitable for nonlinear dynamic system.

  20. Empirically characteristic analysis of chaotic PID controlling particle swarm optimization

    Science.gov (United States)

    Yan, Danping; Lu, Yongzhong; Zhou, Min; Chen, Shiping; Levy, David

    2017-01-01

    Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO), we herein propose a chaotic proportional integral derivative (PID) controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles’ search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles’ premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA) and PSO. PMID:28472050

  1. Empirically characteristic analysis of chaotic PID controlling particle swarm optimization.

    Directory of Open Access Journals (Sweden)

    Danping Yan

    Full Text Available Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO, we herein propose a chaotic proportional integral derivative (PID controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles' search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles' premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA and PSO.

  2. Partial synchronization of different chaotic oscillators using robust PID feedback

    Energy Technology Data Exchange (ETDEWEB)

    Aguilar-Lopez, Ricardo [Departamento de Energia, Universidad Autonoma Metropolitana - Azcapotzalco, San Pablo 180, Reynosa-Tamaulipas, Azcapotzalco, 02200 Mexico, D.F. (Mexico)]. E-mail: raguilar@correo.azc.uam.mx; Martinez-Guerra, Rafael [Departamento de Control Automatico, CINVESTAV IPN, Apartado Postal 14-740, Mexico, D.F. C.P. 07360 (Mexico)]. E-mail: rguerra@ctrl.cinvestav.mx

    2007-07-15

    This work deals with the partial synchronization problem of two different chaotic oscillators considering model uncertainties in the slave system via control approach. The slave system is forced to follow the master signal via a linearizing controller based on model uncertainty reconstructor which leads to proportional-integral-derivative (PID) control structure. This reconstructor is related with a proportional-derivative (PD) reduced-order observer, it would be considered as a sub-slave system for the original slave of the synchronization procedure. The asymptotic performance of the synchronization methodology is proven via the dynamic of the synchronization error. Numerical experiment illustrates the closed-loop behavior of the proposed methodology.

  3. Partial synchronization of different chaotic oscillators using robust PID feedback

    International Nuclear Information System (INIS)

    Aguilar-Lopez, Ricardo; Martinez-Guerra, Rafael

    2007-01-01

    This work deals with the partial synchronization problem of two different chaotic oscillators considering model uncertainties in the slave system via control approach. The slave system is forced to follow the master signal via a linearizing controller based on model uncertainty reconstructor which leads to proportional-integral-derivative (PID) control structure. This reconstructor is related with a proportional-derivative (PD) reduced-order observer, it would be considered as a sub-slave system for the original slave of the synchronization procedure. The asymptotic performance of the synchronization methodology is proven via the dynamic of the synchronization error. Numerical experiment illustrates the closed-loop behavior of the proposed methodology

  4. The development of Gallstone solvent temperature adaptive PID control system

    Institute of Scientific and Technical Information of China (English)

    MA; BING; QIAO; BO; YAN

    2012-01-01

    The paper expatiated the work principle,general project,and the control part of the corresponding program of the temperature system in the gallstone dissolving instrument.Gallstone dissolving instrument adopts automatic control solvent cycle of direct solution stone treatment,replacing the traditional external shock wave rock row stone and gallblad-der surgery method.PID control system to realize the gall stone solvent temperature intelligent control,the basic principle of work is as solvent temperature below the set temperature,the relay control heater to solvent to be heated,conversely,no heating,achieve better able to dissolve the the rapeutic effect of gallstones.

  5. State-PID Feedback for Pole Placement of LTI Systems

    Directory of Open Access Journals (Sweden)

    Sarawut Sujitjorn

    2011-01-01

    Full Text Available Pole placement problems are especially important for disturbance rejection and stabilization of dynamical systems and regarded as algebraic inverse eigenvalue problems. In this paper, we propose gain formulae of state feedback through PID-elements to achieve desired pole placement for a delay-free LTI system with single input. Real and complex stable poles can be assigned with the proposed compact gain formulae. Numerical examples show that our proposed gain formulae can be used effectively resulting in very satisfactory responses.

  6. X-ray imaging using amorphous selenium: photoinduced discharge (PID) readout for digital general radiography.

    Science.gov (United States)

    Rowlands, J A; Hunter, D M

    1995-12-01

    Digital radiographic systems based on photoconductive layers with the latent charge image readout by photoinduced discharge (PID) are investigated theoretically. Previously, a number of different systems have been proposed using sandwiched photoconductor and insulator layers and readout using a scanning laser beam. These systems are shown to have the general property of being very closely coupled (i.e., optimization of one imaging characteristic usually impacts negatively on others). The presence of a condensed state insulator between the photoconductor surface and the readout electrode does, however, confer a great advantage over systems using air gaps with their relatively low breakdown field. The greater breakdown field of condensed state dielectrics permits the modification of the electric field during the period between image formation and image readout. The trade-off between readout speed and noise makes this system suitable for instant general radiography and even rapid sequence radiography, however, the system is unsuitable for the low exposure rates used in fluoroscopy.

  7. Preliminary Application of DSM - 5 Personality Questionnaire (PID - 5)in Chinese University Students%DSM-5人格问卷(PID-5)在中国大学生样本中的初步应用

    Institute of Scientific and Technical Information of China (English)

    眭爱萍; 陈图农; 韩瑜

    2017-01-01

    目的 :PID-5(Personality Inventory for DSM-5)是基于精神障碍与诊断手册第五版(DSM-5)第三部分所提出的以病理性人格特质诊断人格障碍的自评量表.本研究以南京高校的大学生群体为样本,对PID-5进行初步应用以及有效性检验,为人格障碍的评估引进新的视角以及方法 .方法:按照方便取样的原则进行测量,并用SPSS 17.0进行统计分析.结果 :① 对PID-5的220项题目进行项目分析结果表明,除了其第131项 、177项等项目之外,其余项目与对应特质总体的相关均达到显著水平;② 对其进行重测信度检验的结果显示,其信度系数r值均在0.686以上(P<0.000);③ 对其进行内部一致性信度分析结果表明,大部分分量表的克隆巴赫 α 系数均在0.70以上;④ 相容效度分析结果显示,PID-5中的特质及维度与SCID-II中不同类型的人格障碍分别呈不同程度的显著相关;⑤ 探索性因素分析结果表明,其符合DSM-5提出的多维度特质模型.结论 :PID-5在大学生群体样本中有较好的信度和效度,并且能够对基于DSM-4所筛查出的人格障碍个体有较好的预测性,支持DSM-5所提出的多维度特质模型.%Objective :PID - 5 (Personality Inventory for DSM - 5)is a self - rating scale to diagnose personality disorders ,which is based on the Part III of the fifth edition of diagnostic manual of mental disorders (DSM - 5) , which proposes pathological personality traits .This paper mainly sampled university students in Nanjing and made preliminary application and validation of PID - 5 .To introduce a new perspective and method for personality disor-ders'diagnosis .Methods :According to the principle of convenience sampling ,and used SPSS 17 .0 for statistical analy-sis .Results :① The project analysis of 220 subjects of PID - 5 showed that except for items ,such as 131 ,177 etc .,oth-er items related to the total score reached a significant level .② Test - retest

  8. Intelligent tuning method of PID parameters based on iterative learning control for atomic force microscopy.

    Science.gov (United States)

    Liu, Hui; Li, Yingzi; Zhang, Yingxu; Chen, Yifu; Song, Zihang; Wang, Zhenyu; Zhang, Suoxin; Qian, Jianqiang

    2018-01-01

    Proportional-integral-derivative (PID) parameters play a vital role in the imaging process of an atomic force microscope (AFM). Traditional parameter tuning methods require a lot of manpower and it is difficult to set PID parameters in unattended working environments. In this manuscript, an intelligent tuning method of PID parameters based on iterative learning control is proposed to self-adjust PID parameters of the AFM according to the sample topography. This method gets enough information about the output signals of PID controller and tracking error, which will be used to calculate the proper PID parameters, by repeated line scanning until convergence before normal scanning to learn the topography. Subsequently, the appropriate PID parameters are obtained by fitting method and then applied to the normal scanning process. The feasibility of the method is demonstrated by the convergence analysis. Simulations and experimental results indicate that the proposed method can intelligently tune PID parameters of the AFM for imaging different topographies and thus achieve good tracking performance. Copyright © 2017 Elsevier Ltd. All rights reserved.

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

    Indian Academy of Sciences (India)

    A class of stabilizing decentralized proportional integral derivative (PID) controllers for an -link robot manipulator system is proposed. The range of decentralized PID controller parameters for an -link robot manipulator is obtained using Kharitonov theorem and stability boundary equations. Basically, the proposed design ...

  10. 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...

  11. PID Controller of Sprayer Chassis by Sliding Mode

    Directory of Open Access Journals (Sweden)

    Hua Zhang

    2017-01-01

    Full Text Available In order to solve the straight line drive coordinated control problem of the four-wheel independent drive sprayer chassis, the dynamic model of sprayer chassis and electromagnetic proportional valve controlled hydraulic motor model are established. The additional yaw moment is designed to rectify the deviation with sliding mode variable structure control. PID control strategy is used to calculate the control voltage adjustment of the electromagnetic proportional valve. The simulation results show that the accumulative deviation of the chassis is 0.2 m out of 100 m when the coordinated control strategy is adopted on different adhesive coefficient pavement, which is much smaller than the value without control. The test results of test prototype show that the yaw acceleration of the chassis can be as low as −0.0132 m/s2 on different adhesive coefficient pavement with coordinated control, which is smaller than the value without control, and the straight line drive requirements are met. It is feasible to combine sliding mode variable structure with PID control and use the electromagnetic proportional control technology in the straight line drive coordinated control of sprayer chassis by adding the yaw moment to rectify the deviation of chassis based on the yaw acceleration detection.

  12. Design of PID temperature control system based on STM32

    Science.gov (United States)

    Zhang, Jianxin; Li, Hailin; Ma, Kai; Xue, Liang; Han, Bianhua; Dong, Yuemeng; Tan, Yue; Gu, Chengru

    2018-03-01

    A rapid and high-accuracy temperature control system was designed using proportional-integral-derivative (PID) control algorithm with STM32 as micro-controller unit (MCU). The temperature control system can be applied in the fields which have high requirements on the response speed and accuracy of temperature control. The temperature acquisition circuit in system adopted Pt1000 resistance thermometer as temperature sensor. Through this acquisition circuit, the monitoring actual temperature signal could be converted into voltage signal and transmitted into MCU. A TLP521-1 photoelectric coupler was matched with BD237 power transistor to drive the thermoelectric cooler (TEC) in FTA951 module. The effective electric power of TEC was controlled by the pulse width modulation (PWM) signals which generated by MCU. The PWM signal parameters could be adjusted timely by PID algorithm according to the difference between monitoring actual temperature and set temperature. The upper computer was used to input the set temperature and monitor the system running state via serial port. The application experiment results show that the temperature control system is featured by simple structure, rapid response speed, good stability and high temperature control accuracy with the error less than ±0.5°C.

  13. DIRC-based PID for the EIC central detector

    Energy Technology Data Exchange (ETDEWEB)

    Dzhygadlo, Roman; Schwarz, Carsten; Schwiening, Jochen [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Darmstadt (Germany); Peters, Klaus [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Darmstadt (Germany); Goethe-Universitaet Frankfurt (Germany); Collaboration: DIRC at EIC RD-Collaboration

    2015-07-01

    One of the key requirements for the central detector of a future Electron-Ion Collider (EIC) is to provide radially compact Particle Identification (PID) (e/π,π/K,K/p) over a wide momentum range. It is expected that the PID system will need to include one or more Cherenkov counters to achieve this goal. With a radial size of only a few cm, a DIRC counter (Detector of Internally Reflected Cherenkov light) is potentially an attractive option. The DIRC rate at EIC R and D Collaboration was formed by groups in the United States and Germany in 2011 with funding from DOE to investigate ways to extend the momentum coverage of DIRC counters for the EIC detector by up to 50% beyond the current state of the art. Possible design improvements include a complex focusing system, multi-anode sensors with smaller pixels, a time-based reconstruction algorithm, and chromatic dispersion mitigation. Both Geant and ray-tracing simulations are used to optimize the design configuration of the DIRC counter in terms of the performance and the best integration with the EIC detector. We discuss the current status of the design studies and the possible improvements to the Cherenkov angle resolution and the photon yield.

  14. KENDALI KECEPATAN MOTOR INDUKSI TIGA FASA DENGAN KONTROLER PID

    Directory of Open Access Journals (Sweden)

    Bambang Prio Hartono

    2012-09-01

    Full Text Available Abstract: Speed control for three-phase induction motor with PID controller. The weakness of an induction motor is its disability to maintain the speed constantly during load changes; it will reduce the speed of induction motor. It needs a controller which enables an induction motor to maintain its speed in various set points and changing loads by determining system performance. The system is tested by referring settling point, rise time, delay time, time constant, and error state. The PID controller with 8,032 micro-controller can produce a good performance in following state: in starting phase, changing load torques, and achieving set point in t = 1.68 s, TR = 2.30 s, TS = 3.80 s, TD = 1.56 s, 1.29% error steady state (% Ess, and 1.50 Newton of load. In quick response (in mil-second, the induction motor becomes more stable, while in plant response there is no overshoot because the motor has been tied by a power brake that acts as a load.

  15. Komerčně využívané pokročilé metody nastavování PID regulátorů

    Czech Academy of Sciences Publication Activity Database

    Klán, Petr

    2009-01-01

    Roč. 15, č. 12 (2009), s. 14-18 ISSN 1210-9592 R&D Projects: GA AV ČR(CZ) IAA200750802 Institutional research plan: CEZ:AV0Z10300504 Keywords : PID regulace * pokročilé nastavení * komerční využití Subject RIV: JB - Sensors, Measurment, Regulation http://www.odbornecasopisy.cz/index.php?id_document=40134

  16. Cascade control of superheated steam temperature with neuro-PID controller.

    Science.gov (United States)

    Zhang, Jianhua; Zhang, Fenfang; Ren, Mifeng; Hou, Guolian; Fang, Fang

    2012-11-01

    In this paper, an improved cascade control methodology for superheated processes is developed, in which the primary PID controller is implemented by neural networks trained by minimizing error entropy criterion. The entropy of the tracking error can be estimated recursively by utilizing receding horizon window technique. The measurable disturbances in superheated processes are input to the neuro-PID controller besides the sequences of tracking error in outer loop control system, hence, feedback control is combined with feedforward control in the proposed neuro-PID controller. The convergent condition of the neural networks is analyzed. The implementation procedures of the proposed cascade control approach are summarized. Compared with the neuro-PID controller using minimizing squared error criterion, the proposed neuro-PID controller using minimizing error entropy criterion may decrease fluctuations of the superheated steam temperature. A simulation example shows the advantages of the proposed method. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  17. 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

  18. Bidirectional active control of structures with type-2 fuzzy PD and PID

    Science.gov (United States)

    Paul, Satyam; Yu, Wen; Li, Xiaoou

    2018-03-01

    Proportional-derivative and proportional-integral-derivative (PD/PID) controllers are popular algorithms in structure vibration control. In order to maintain minimum regulation error, the PD/PID control require big proportional and derivative gains. The control performances are not satisfied because of the big uncertainties in the buildings. In this paper, type-2 fuzzy system is applied to compensate the unknown uncertainties, and is combined with the PD/PID control. We prove the stability of these fuzzy PD and PID controllers. The sufficient conditions can be used for choosing the gains of PD/PID. The theory results are verified by a two-storey building prototype. The experimental results validate our analysis.

  19. 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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  20. PSO-based PID Speed Control of Traveling Wave Ultrasonic Motor under Temperature Disturbance

    Science.gov (United States)

    Arifin Mat Piah, Kamal; Yusoff, Wan Azhar Wan; Azmi, Nur Iffah Mohamed; Romlay, Fadhlur Rahman Mohd

    2018-03-01

    Traveling wave ultrasonic motors (TWUSMs) have a time varying dynamics characteristics. Temperature rise in TWUSMs remains a problem particularly in sustaining optimum speed performance. In this study, a PID controller is used to control the speed of TWUSM under temperature disturbance. Prior to developing the controller, a linear approximation model which relates the speed to the temperature is developed based on the experimental data. Two tuning methods are used to determine PID parameters: conventional Ziegler-Nichols(ZN) and particle swarm optimization (PSO). The comparison of speed control performance between PSO-PID and ZN-PID is presented. Modelling, simulation and experimental work is carried out utilizing Fukoku-Shinsei USR60 as the chosen TWUSM. The results of the analyses and experimental work reveal that PID tuning using PSO-based optimization has the advantage over the conventional Ziegler-Nichols method.

  1. Study of fuzzy adaptive PID controller on thermal frequency stabilizing laser with double longitudinal modes

    Science.gov (United States)

    Mo, Qingkai; Zhang, Tao; Yan, Yining

    2016-10-01

    There are contradictions among speediness, anti-disturbance performance, and steady-state accuracy caused by traditional PID controller in the existing light source systems of thermal frequency stabilizing laser with double longitudinal modes. In this paper, a new kind of fuzzy adaptive PID controller was designed by combining fuzzy PID control technology and expert system to make frequency stabilizing system obtain the optimal performance. The experiments show that the frequency stability of the designed PID controller is similar to the existing PID controller (the magnitude of frequency stability is less than 10-9 in constant temperature and 10-7 in open air). But the preheating time is shortened obviously (from 10 minutes to 5 minutes) and the anti-disturbance capability is improved significantly (the recovery time needed after strong interference is reduced from 1 minute to 10 seconds).

  2. Automatic PID Control Loops Design for Performance Improvement of Cryogenic Turboexpander

    International Nuclear Information System (INIS)

    Joshi, D.M.; Patel, H.K.; Shah, D.K.

    2015-01-01

    Cryogenics field involves temperature below 123 K which is much less than ambient temperature. In addition, many industrially important physical processes—from fulfilling the needs of National Thermonuclear Fusion programs, superconducting magnets to treatment of cutting tools and preservation of blood cells, require extreme low temperature. The low temperature required for liquefaction of common gases can be obtained by several processes. Liquefaction is the process of cooling or refrigerating a gas to a temperature below its critical temperature so that liquid can be formed at some suitable pressure which is below the critical pressure. Helium liquefier is used for the liquefaction process of helium gas. In general, the Helium Refrigerator/Liquefier (HRL) needs turboexpander as expansion machine to produce cooling effect which is further used for the production of liquid helium. Turboexpanders, a high speed device that is supported on gas bearings, are the most critical component in many helium refrigeration systems. A very minor fault in the operation and manufacturing or impurities in the helium gas can destroy the turboexpander. However, since the performance of expanders is dependent on a number of operating parameters and the relations between them are quite complex, the instrumentation and control system design for turboexpander needs special attention. The inefficiency of manual control leads to the need of designing automatic control loops for turboexpander. Proper design and implementation of the control loops plays an important role in the successful operation of the cryogenic turboexpander. The PID control loops has to be implemented with accurate interlocks and logic to enhance the performance of the cryogenic turboexpander. For different normal and off-normal operations, speeds will be different and hence a proper control method for critical rotational speed avoidance is must. This paper presents the design of PID control loops needed for the

  3. Gain Scheduling of PID Controller Based on Fuzzy Systems

    Directory of Open Access Journals (Sweden)

    Singh Sandeep

    2016-01-01

    Full Text Available This paper aims to utilize fuzzy rules and reasoning to determine the controller parameters and the PID controller generates the control signal. The objective of this study is to simulate the proposed scheme on various processes and arrive at results providing better response of the system when compared with best industrial auto-tuning technique: Ziegler-Nichols. The proposed scheme is based upon the Ultimate Gain (Ku and the Period (Tu of the system. The error and rate of change in error gains are tuned manually to get the desired response using LabVIEW. This can also be done with various optimization techniques. A thumb rule for choosing the ranges for Kc, Kd and Ki has been obtained experimentally.

  4. Greenhouse Environmental Control Using Optimized MIMO PID Technique

    Directory of Open Access Journals (Sweden)

    Fateh BOUNAAMA

    2011-10-01

    Full Text Available Climate control for protected crops brings the added dimension of a biological system into a physical system control situation. The thermally dynamic nature of a greenhouse suggests that disturbance attenuation (load control of external temperature, humidity, and sunlight is far more important than is the case for controlling other types of buildings. This paper investigates the application of multi-inputs multi-outputs (MIMO PID controller to a MIMO greenhouse environmental model with actuation constraints. This method is based on decoupling the system at low frequency point. The optimal tuning values are determined using genetic algorithms optimization (GA. The inside outsides climate model of the environmental greenhouse, and the automatically collected data sets of Avignon, France are used to simulate and test this technique. The control objective is to maintain a highly coupled inside air temperature and relative humidity of strongly perturbed greenhouse, at specified set-points, by the ventilation/cooling and moisturizing operations.

  5. Implementation of PID autotuning procedure in PLC controller

    Directory of Open Access Journals (Sweden)

    Daniun Marcin

    2017-01-01

    Full Text Available In this paper, we present the automatic PID tuning procedure based on the Method of Moments and AMIGO tuning rules. The advantage of the Method of Moments is that the time constant and transport delay are estimated at the areas rather than on the individual points. This results in high resistance to the measurement noises. The sensitivity to measurement noises is a serious problem in other autotuning methods. The second advantage of this method is that it approximates plant during identification process to first order model with time delay. We combined the Method of Moments with the AMIGO tuning rules and implemented this combination as a stand-alone autotuning procedure in Siemens S7-1200 PLC controller. Next, we compared this method with two built-in PID autotuning procedures which were available in Siemens S7-1200 PLC controller. The procedure was tested for three types of plant models: with lag-dominated, balanced, and delay-dominated dynamics. We simulated the plants on a PC in Matlab R2013a. The connection between the PC and PLC was maintained through a National Instruments data acquisition board, NI PCI-6229. We conducted tests for step change in the set point, trajectory tracking, and load disturbances. To assess control quality, we used IAE index. We limited our research to PI algorithm. The results prove that proposed method was better than two built-in tuning methods provided by Siemens, oscillating between a few and even a dozen percent in most cases. The proposed method is universal and can be implemented in any PLC controller.

  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. Development and validation of an Overreporting Scale for the Personality Inventory for DSM-5 (PID-5).

    Science.gov (United States)

    Sellbom, Martin; Dhillon, Sonya; Bagby, R Michael

    2018-05-01

    Our aim in the current study was to develop a validity scale for the Personality Inventory for DSM-5 (PID-5) to detect noncredible overreported responding. To this end, we used a rare symptoms approach and identified extreme response options on PID-5 items that were infrequently endorsed by students in 3 different university samples (N = 1,370) and in a psychiatric patient sample (N = 194). The resulting 10-item scale (the PID-5-ORS) produced adequate-to-good estimates of internal reliability and was significantly correlated with the Minnesota Multiphasic Personality Inventory-2 Restructued Form (MMPI-2-RF) overreporting validity scales, providing evidence of concurrent validity. The criterion validity of the PID-5-ORS was demonstrated in an analog simulation design study. More specifically, university students instructed to overreport (n = 80) scored substantially higher on the PID-5-ORS relative to both a group of genuine psychiatric patients and students instructed to complete the PID-5 under standard (honest) instructions (n = 161); the effect size magnitudes associated with these differences were large. Classification accuracy analyses further revealed that high scores on the PID-5-ORS were associated with high specificity (and thus, low rates of false positive classifications) in differentiating overreporters from genuine patients, with sensitivity being somewhat weaker. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

  8. Proportional–Integral–Derivative (PID Controller Tuning using Particle Swarm Optimization Algorithm

    Directory of Open Access Journals (Sweden)

    J. S. Bassi

    2012-08-01

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

  9. Interval type-2 fuzzy PID controller for uncertain nonlinear inverted pendulum system.

    Science.gov (United States)

    El-Bardini, Mohammad; El-Nagar, Ahmad M

    2014-05-01

    In this paper, the interval type-2 fuzzy proportional-integral-derivative controller (IT2F-PID) is proposed for controlling an inverted pendulum on a cart system with an uncertain model. The proposed controller is designed using a new method of type-reduction that we have proposed, which is called the simplified type-reduction method. The proposed IT2F-PID controller is able to handle the effect of structure uncertainties due to the structure of the interval type-2 fuzzy logic system (IT2-FLS). The results of the proposed IT2F-PID controller using a new method of type-reduction are compared with the other proposed IT2F-PID controller using the uncertainty bound method and the type-1 fuzzy PID controller (T1F-PID). The simulation and practical results show that the performance of the proposed controller is significantly improved compared with the T1F-PID controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  10. 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....

  11. Outdoor altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID

    Science.gov (United States)

    Wicaksono, H.; Yusuf, Y. G.; Kristanto, C.; Haryanto, L.

    2017-11-01

    This paper presents a design of altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID. This practical design is implemented outdoor. Barometric and sonar sensor were used in this experiment as an input for the controller YoHe. The throttle signal as a control input was provided by the controller to leveling QuadRotor in particular altitude and known well as altitude stabilization. The parameter of type-2 fuzzy and fuzzy PID was tuned in several heights to get the best control parameter for any height. Type-2 fuzzy produced better result than fuzzy PID but had a slow response in the beginning.

  12. 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 PID-controlled heating system is more efficient in electricity use and provides better conditions for thermal comfort and animal performance than heating with thermostat.

  13. PSO-RBF Neural Network PID Control Algorithm of Electric Gas Pressure Regulator

    Directory of Open Access Journals (Sweden)

    Yuanchang Zhong

    2014-01-01

    Full Text Available The current electric gas pressure regulator often adopts the conventional PID control algorithm to take drive control of the core part (micromotor of electric gas pressure regulator. In order to further improve tracking performance and to shorten response time, this paper presents an improved PID intelligent control algorithm which applies to the electric gas pressure regulator. The algorithm uses the improved RBF neural network based on PSO algorithm to make online adjustment on PID parameters. Theoretical analysis and simulation result show that the algorithm shortens the step response time and improves tracking performance.

  14. Design and implementation of EP-based PID controller for chaos synchronization of Rikitake circuit systems.

    Science.gov (United States)

    Hou, Yi-You

    2017-09-01

    This article addresses an evolutionary programming (EP) algorithm technique-based and proportional-integral-derivative (PID) control methods are established to guarantee synchronization of the master and slave Rikitake chaotic systems. For PID synchronous control, the evolutionary programming (EP) algorithm is used to find the optimal PID controller parameters k p , k i , k d by integrated absolute error (IAE) method for the convergence conditions. In order to verify the system performance, the basic electronic components containing operational amplifiers (OPAs), resistors, and capacitors are used to implement the proposed chaotic Rikitake systems. Finally, the experimental results validate the proposed Rikitake chaotic synchronization approach. Copyright © 2017. Published by Elsevier Ltd.

  15. Didactic System for the Experimental Study of Digital PID Control Structures

    Directory of Open Access Journals (Sweden)

    Stelian-Emilian OLTEAN

    2016-12-01

    Full Text Available The proportional integral derivative (PID controller has a known structure used in feedback control of industrial processes. One of the most common applications is the control of the DC motor. The paper presents a didactic system designed for educational purposes used for studying various conventional PID structures and the influence of the PID components in the control process of the DC motor’s speed. The system contains a low cost acquisition board based on PIC 16F628A microcontroller. The experimental results are shown graphically using a PC application made in Matlab environment.

  16. Application of Genetic Algorithm for Tuning of a PID Controller for a Real Time Industrial Process

    Directory of Open Access Journals (Sweden)

    S. M. Giri RAJKUMAR

    2010-10-01

    Full Text Available PID (Proportional Integral Derivative controller has become inevitable in the process control industries due to its simplicity and effectiveness, but the real challenge lies in tuning them to meet the expectations. Although a host of methods already exist there is still a need for an advanced system for tuning these controllers. Computational intelligence (CI has caught the eye of the researchers due to its simplicity, low computational cost and good performance, makes it a possible choice for tuning of PID controllers, to increase their performance. This paper discusses in detail about Genetic Algorithm (GA, a CI technique, and its implementation in PID tuning for a real time industrial process which is closed loop in nature. Compared to other conventional PID tuning methods, the result shows that better performance can be achieved with the proposed method.

  17. Effect of PID Power System Stabilizer for a Synchronous Machine in Simulink Environment

    International Nuclear Information System (INIS)

    Yi, Tan Qian; Kasilingam, Gowrishankar; Raguraman, Raman

    2013-01-01

    This paper presents the use of Proportional-Integral-Derivative (PID) Controller with power system stabilizer (PSS) in a single machine infinite bus system. A PSS is used to generate supplementary damping control signals for an excitation system in order to damp out low frequency oscillations (LFO) of an electric power system. The paper is modelled in the MATLAB Simulink Environment to analyze the performance of a synchronous machine under a wide range of operating conditions. The functional blocks of PID controller with PSS are generated and the simulation studies are conducted based on different test cases to observe the dynamic performance of the power system. Analysis in this paper reveals that the PID-PSS gives better dynamic performance as compared to that of conventional power system stabilizer and also the optimal gain settings of PID PSS obtained at normal operating condition works well to other operating condition without much deterioration of the dynamic responses.

  18. Comparison of tuning methods for design of PID controller as an A VR

    International Nuclear Information System (INIS)

    Sheikh, S.A.; Ahmed, I.; Unar, M.A.

    2009-01-01

    The primary means of generator reactive power control is the generator-excitation Control, using Automatic Voltage Regulator (A VR). The role of A VR is to hold the terminal voltage magnitude of Synchronous generator at a specified level. This paper presents the design of a proportional integral-derivative (PID) controller as an A VR. The PID controller has been tuned by various tuning methods. From all methods, PID parameters are computed through various techniques i.e. Process-reaction curve, Closed-loop system, open-loop system gain margin and phase-margin specifications. From these methods, it has been found that Zhaung- Atherton method and Ho, Hang and Cao method are much superior to the conventional Ziegler-Nichols rules. The performance of the controller has been evaluated through Simulation Studies in MATLAB environment. It has been demonstrated that the PID controller, tuned with the said methods, yields highly satisfactory closed-loop performance. (author)

  19. Research on Environmental Adjustment of Cloud Ranch Based on BP Neural Network PID Control

    Science.gov (United States)

    Ren, Jinzhi; Xiang, Wei; Zhao, Lin; Wu, Jianbo; Huang, Lianzhen; Tu, Qinggang; Zhao, Heming

    2018-01-01

    In order to make the intelligent ranch management mode replace the traditional artificial one gradually, this paper proposes a pasture environment control system based on cloud server, and puts forward the PID control algorithm based on BP neural network to control temperature and humidity better in the pasture environment. First, to model the temperature and humidity (controlled object) of the pasture, we can get the transfer function. Then the traditional PID control algorithm and the PID one based on BP neural network are applied to the transfer function. The obtained step tracking curves can be seen that the PID controller based on BP neural network has obvious superiority in adjusting time and error, etc. This algorithm, calculating reasonable control parameters of the temperature and humidity to control environment, can be better used in the cloud service platform.

  20. Design of sewage treatment system by applying fuzzy adaptive PID controller

    Science.gov (United States)

    Jin, Liang-Ping; Li, Hong-Chan

    2013-03-01

    In the sewage treatment system, the dissolved oxygen concentration control, due to its nonlinear, time-varying, large time delay and uncertainty, is difficult to establish the exact mathematical model. While the conventional PID controller only works with good linear not far from its operating point, it is difficult to realize the system control when the operating point far off. In order to solve the above problems, the paper proposed a method which combine fuzzy control with PID methods and designed a fuzzy adaptive PID controller based on S7-300 PLC .It employs fuzzy inference method to achieve the online tuning for PID parameters. The control algorithm by simulation and practical application show that the system has stronger robustness and better adaptability.

  1. 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.

  2. Fault tolerant control of multivariable processes using auto-tuning PID controller.

    Science.gov (United States)

    Yu, Ding-Li; Chang, T K; Yu, Ding-Wen

    2005-02-01

    Fault tolerant control of dynamic processes is investigated in this paper using an auto-tuning PID controller. A fault tolerant control scheme is proposed composing an auto-tuning PID controller based on an adaptive neural network model. The model is trained online using the extended Kalman filter (EKF) algorithm to learn system post-fault dynamics. Based on this model, the PID controller adjusts its parameters to compensate the effects of the faults, so that the control performance is recovered from degradation. The auto-tuning algorithm for the PID controller is derived with the Lyapunov method and therefore, the model predicted tracking error is guaranteed to converge asymptotically. The method is applied to a simulated two-input two-output continuous stirred tank reactor (CSTR) with various faults, which demonstrate the applicability of the developed scheme to industrial processes.

  3. Wireless Intelligent Monitoring and Control System of Greenhouse Temperature Based on Fuzzy-PID

    Directory of Open Access Journals (Sweden)

    Mei ZHAN

    2014-03-01

    Full Text Available Control effect is not ideal for traditional control method and wired control system, since greenhouse temperature has such characteristics as nonlinear and longtime lag. Therefore, Fuzzy- PID control method was introduced and radio frequency chip CC1110 was applied to design greenhouse wireless intelligent monitoring and control system. The design of the system, the component of nodes and the developed intelligent management software system were explained in this paper. Then describe the design of the control algorithm Fuzzy-PID. By simulating the new method in Matlab software, the results showed that Fuzzy-PID method small overshoot and better dynamic performance compared with general PID control. It has shorter settling time and no steady-state error compared with fuzzy control. It can meet requirements in greenhouse production.

  4. Tuning PID attitude stabilization of a quadrotor using particle swarm optimization (experimental

    Directory of Open Access Journals (Sweden)

    Khodja Mohammed Abdallah

    2017-01-01

    Full Text Available Proportional, Integral and Derivative (PID controllers are the most popular type of controller used in industrial applications because of their notable simplicity and effective implementation. However, manual tuning of these controllers is tedious and often leads to poor performance. The conventional Ziegler-Nichols (Z-N method of PID tuning was done experimentally enables easy identification stable PID parameters in a short time, but is accompanied by overshoot, high steady-state error, and large rise time. Therefore, in this study, the modern heuristics approach of Particle Swarm Optimization (PSO was employed to enhance the capabilities of the conventional Z-N technique. PSO with the constriction coefficient method experimentally demonstrated the ability to efficiently and effectively identify optimal PID controller parameters for attitude stabilization of a quadrotor.

  5. Effects of a PID Control System on Electromagnetic Fields in an nEDM Experiment

    Science.gov (United States)

    Molina, Daniel

    2017-09-01

    The Kellogg Radiation Laboratory is currently testing a prototype for an experiment that hopes to identify the electric dipole moment of the neutron. As part of this testing, we have developed a PID (proportional, integral, derivative) feedback system that uses large coils to fix the value of local external magnetic fields, up to linear gradients. PID algorithms compare the current value to a set-point and use the integral and derivative of the field with respect to the set-point to maintain constant fields. We have also developed a method for zeroing linear gradients within the experimental apparatus. In order to determine the performance of the PID algorithm, measurements of both the internal and external fields were obtained with and without the algorithm running, and these results were compared for noise and time stability. We have seen that the PID algorithm can reduce the effect of disturbance to the field by a factor of 10.

  6. 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.

  7. Research on reactor power controller based on artificial immune P and PID cascade control technology

    International Nuclear Information System (INIS)

    Cheng Shouyu; Peng Minjun; Liu Xinkai

    2014-01-01

    The Reactor Power control system usually adopts the traditional PID controller, the traditional PID controller can meet the operating requirements, but the control effect is not very good. In order to improve this condition, the paper proposes an immune P and PID cascade controller which based the immune mechanism of B-cell co-operating with T-cell, the nuclear power controller based on artificial immune is less reported. In order to verify and validate the control strategy, the designed controller debugs with the full-scope real-time simulation system of nuclear power plants. The simulation results shows that the immune controller can effectively improve the dynamic operating characteristics of the reactor system, and the immune controller is superior to the traditional PID controller in control performance. (authors)

  8. Effects of a GPC-PID control strategy with hierarchical structure for a cooling coil unit

    International Nuclear Information System (INIS)

    Xu Min; Li Shaoyuan; Cai Wenjian; Lu Lu

    2006-01-01

    This paper presents a GPC-PID control strategy for a cooling-coil unit in heating, ventilation and air conditioning systems. By analysis of the cooling towers and chillers, different models in the occupied period are considered in each operating condition. Because of the complication of components, well tuned PID controllers are unsatisfied, and the results are poor over a wide range of operation conditions. To solve this problem, a GPC-PID controller with hierarchical structure is proposed based on minimizing the generalized predictive control criterion to tune conventional PID controller parameters. Simulation and experiments show that the proposed controller is able to deal with a wide range of operating conditions and to achieve better performance than conventional methods

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

    International Nuclear Information System (INIS)

    Saraji, Ali Motalebi; Ghanbari, Mahmood

    2014-01-01

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

  10. Multi-objective PID Optimization for Speed Control of an Isolated Steam Turbine using Gentic Algorithm

    OpenAIRE

    Sanjay Kr. Singh; D. Boolchandani; S.G. Modani; Nitish Katal

    2014-01-01

    This study focuses on multi-objective optimization of the PID controllers for optimal speed control for an isolated steam turbine. In complex operations, optimal tuning plays an imperative role in maintaining the product quality and process safety. This study focuses on the comparison of the optimal PID tuning using Multi-objective Genetic Algorithm (NSGA-II) against normal genetic algorithm and Ziegler Nichols methods for the speed control of an isolated steam turbine. Isolated steam turbine...

  11. Distribution épidémiologique de l'infection à VIH chez les femmes ...

    African Journals Online (AJOL)

    Introduction: le Cameroun se situe dans un contexte d'épidémie généralisée du VIH. La sous-population des femmes enceintes, facilement accessible au sein de la population générale, représente une cible robante pour mener la surveillance du VIH et estimer l'évolution épidémiologique. L'objectif de notre étude était ...

  12. Caractéristiques épidémiologiques, cliniques, histo-pathologiques ...

    African Journals Online (AJOL)

    N. Harir

    Objectifs : Notre étude avait pour objectif d'effectuer une étude épidémiologique rétrospective afin de déterminer les caractéristiques .... nous nous sommes fixé comme objectif d'étudier les différents aspects épidémiologiques, .... A l'issue de notre recrutement, nous avons obtenu 115 patients atteints d'un cancer du rein sur ...

  13. PENERAPAN KENDALI HYBRID LOGIKA FUZZY- PID UNTUKMENINGKATKAN PERFORMANAVIGASI ROBOT BERODA WALL FOLLOWER

    OpenAIRE

    Utis Sutisna; Wahyu Diputra Siregar; Siswanto Nurhadiyono

    2017-01-01

    Dalam penelitian ini dirancang sistem kendali hybrid logika fuzzy-PID untuk mengendalikan navigasi pada robot wall follower. Sistem logika fuzzy dirancang untuk mengatur nilai-nilai parameter kendali PID berdasarkan dua masukan, yaitu error dan perubahan error.Nilai error didapat dari selisih antara set point jarak yang ditetapkan dengan nilai pembacaan sensor jarak, sedangkan nilai perubahan error didapat dari selisih antara error sekarang dengan error sebelumnya saat robot bernavigasi. Kelu...

  14. Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor

    Science.gov (United States)

    Wang, Yannian; Wu, Peizhi; Liu, Chengtao

    2017-09-01

    To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.

  15. Improved Artificial Fish Algorithm for Parameters Optimization of PID Neural Network

    OpenAIRE

    Jing Wang; Yourui Huang

    2013-01-01

    In order to solve problems such as initial weights are difficult to be determined, training results are easy to trap in local minima in optimization process of PID neural network parameters by traditional BP algorithm, this paper proposed a new method based on improved artificial fish algorithm for parameters optimization of PID neural network. This improved artificial fish algorithm uses a composite adaptive artificial fish algorithm based on optimal artificial fish and nearest artificial fi...

  16. 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)

  17. Dominant pole placement with fractional order PID controllers: D-decomposition approach.

    Science.gov (United States)

    Mandić, Petar D; Šekara, Tomislav B; Lazarević, Mihailo P; Bošković, Marko

    2017-03-01

    Dominant pole placement is a useful technique designed to deal with the problem of controlling a high order or time-delay systems with low order controller such as the PID controller. This paper tries to solve this problem by using D-decomposition method. Straightforward analytic procedure makes this method extremely powerful and easy to apply. This technique is applicable to a wide range of transfer functions: with or without time-delay, rational and non-rational ones, and those describing distributed parameter systems. In order to control as many different processes as possible, a fractional order PID controller is introduced, as a generalization of classical PID controller. As a consequence, it provides additional parameters for better adjusting system performances. The design method presented in this paper tunes the parameters of PID and fractional PID controller in order to obtain good load disturbance response with a constraint on the maximum sensitivity and sensitivity to noise measurement. Good set point response is also one of the design goals of this technique. Numerous examples taken from the process industry are given, and D-decomposition approach is compared with other PID optimization methods to show its effectiveness. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  18. Performance-based parameter tuning method of model-driven PID control systems.

    Science.gov (United States)

    Zhao, Y M; Xie, W F; Tu, X W

    2012-05-01

    In this paper, performance-based parameter tuning method of model-driven Two-Degree-of-Freedom PID (MD TDOF PID) control system has been proposed to enhance the control performances of a process. Known for its ability of stabilizing the unstable processes, fast tracking to the change of set points and rejecting disturbance, the MD TDOF PID has gained research interest recently. The tuning methods for the reported MD TDOF PID are based on internal model control (IMC) method instead of optimizing the performance indices. In this paper, an Integral of Time Absolute Error (ITAE) zero-position-error optimal tuning and noise effect minimizing method is proposed for tuning two parameters in MD TDOF PID control system to achieve the desired regulating and disturbance rejection performance. The comparison with Two-Degree-of-Freedom control scheme by modified smith predictor (TDOF CS MSP) and the designed MD TDOF PID tuned by the IMC tuning method demonstrates the effectiveness of the proposed tuning method. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  19. The Design of Optimal PID Control Method for Quadcopter Movement Control

    Directory of Open Access Journals (Sweden)

    Hanum Arrosida

    2018-02-01

    Full Text Available Nowadays, quadcopter motion control has become a popular research topic because of its versatile ability as an unmanned aircraft can be used to alleviate human labor and also be able to reach dangerous areas or areas which is unreachable to humans. On the other hand, the Optimal PID control method, which incorporates PID and Linear Quadratic Regulator (LQR control methods, has also been widely used in industry and research field because it has advantages that are easy to operate, easy design, and a good level of precision. In the PID control method, the main problem to be solved is the accuracy of the gain value Kp, Ki, and Kd because the inappropriateness of those value will result in an imprecise control action. Based on these problems and referring to the previous study, the optimal PID control method was developed by using PID controller structure with tuning gain parameter of PID through Linear Quadratic Regulator (LQR method. Through the integration of these two control methods, the optimum solutions can be obtained: easier controller design process for quadcopter control when crossing the determined trajectories, steady state error values less than 5% and a stable quadcopter movement with roll and pitch angle stabilization at position 0 radians with minimum energy function.

  20. Longitudinal control of aircraft dynamics based on optimization of PID parameters

    Science.gov (United States)

    Deepa, S. N.; Sudha, G.

    2016-03-01

    Recent years many flight control systems and industries are employing PID controllers to improve the dynamic behavior of the characteristics. In this paper, PID controller is developed to improve the stability and performance of general aviation aircraft system. Designing the optimum PID controller parameters for a pitch control aircraft is important in expanding the flight safety envelope. Mathematical model is developed to describe the longitudinal pitch control of an aircraft. The PID controller is designed based on the dynamic modeling of an aircraft system. Different tuning methods namely Zeigler-Nichols method (ZN), Modified Zeigler-Nichols method, Tyreus-Luyben tuning, Astrom-Hagglund tuning methods are employed. The time domain specifications of different tuning methods are compared to obtain the optimum parameters value. The results prove that PID controller tuned by Zeigler-Nichols for aircraft pitch control dynamics is better in stability and performance in all conditions. Future research work of obtaining optimum PID controller parameters using artificial intelligence techniques should be carried out.

  1. 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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  2. 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.

  3. Design of a self-adaptive fuzzy PID controller for piezoelectric ceramics micro-displacement system

    Science.gov (United States)

    Zhang, Shuang; Zhong, Yuning; Xu, Zhongbao

    2008-12-01

    In order to improve control precision of the piezoelectric ceramics (PZT) micro-displacement system, a self-adaptive fuzzy Proportional Integration Differential (PID) controller is designed based on the traditional digital PID controller combining with fuzzy control. The arithmetic gives a fuzzy control rule table with the fuzzy control rule and fuzzy reasoning, through this table, the PID parameters can be adjusted online in real time control. Furthermore, the automatic selective control is achieved according to the change of the error. The controller combines the good dynamic capability of the fuzzy control and the high stable precision of the PID control, adopts the method of using fuzzy control and PID control in different segments of time. In the initial and middle stage of the transition process of system, that is, when the error is larger than the value, fuzzy control is used to adjust control variable. It makes full use of the fast response of the fuzzy control. And when the error is smaller than the value, the system is about to be in the steady state, PID control is adopted to eliminate static error. The problems of PZT existing in the field of precise positioning are overcome. The results of the experiments prove that the project is correct and practicable.

  4. Implementasi Sensor Cahaya Sebagai Pengontrol Keseimbangan Robot Beroda Dua Menggunakan Kontroler PID

    Directory of Open Access Journals (Sweden)

    Barlian Henryranu P.

    2014-07-01

    Full Text Available Abstrak Dengan menggabungkan Sistem Kontrol, sensor dan motor Servo diharapkan Robot segway dapat direalisasikan. Dalam penelitian ini Sistem Kontrol yang digunakan adalah metode PID, sedangkan sensor yang akan digunakan adalah cahaya yang merepresentasikan sudut kemiringan terhadap bumi. Dengan input berupa Error sudut dan Del Error sudut terhadap bumi maka didapatkan hasil PID kontroller berupa angular rate yang digunakan untuk mengontrol kedua rodanya. Robot Segway memiliki rise time/fall time, settling time dan Robot Segway mampu mencapai kesetimbangannya kembali (steady state setelah mendapatkan gangguan dari luar. Kata kunci: Robot kesetimbangan, sensor cahaya, PID kontroler Abstract By combining the Control System, sensors and Servos motors are expected to Segway can be realized. In this research use the PID method, while the sensor to be used is the light that represents the elevation angle of the earth. With the input is angel Error and angel Del Error of the earth then the results obtained in the form of angular rate PID Controller is used to Control the two wheels. Segway Robot has a rise time / fall time, settling time and Segway Robot can reach the balance again (steady state after get a outside disturbance. Keywords: Self-balancing robot, light sensor, PID Controller

  5. 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.

  6. 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.

  7. Performance Analysis of Fractional-Order PID Controller for a Parabolic Distributed Solar Collector

    KAUST Repository

    Elmetennani, Shahrazed

    2017-09-01

    This paper studies the performance of a fractional-order proportional integral derivative (FOPID) controller designed for parabolic distributed solar collectors. The control problem addressed in concentrated solar collectors aims at forcing the produced heat to follow a desired reference despite the unevenly varying solar irradiance. In addition to the unpredictable variations of the energy source, the parabolic solar collectors are subject to inhomogeneous distributed efficiency parameters affecting the heat production. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness with respect to disturbances. Thus, we propose a control strategy based on FOPID to achieve the control objectives. First, the FOPID controller is designed based on a linear approximate model describing the system dynamics under nominal working conditions. Then, the FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. Numerical simulations are carried out to evaluate the performance of the proposed FOPID controller. A comparison to the robust integer order PID is also provided. Robustness tests are performed for the nominal model to show the effectiveness of the FOPID. Furthermore, the proposed FOPID is numerically tested to control the distributed solar collector under real working conditions.

  8. A survey on the autotuning of PID parameter

    International Nuclear Information System (INIS)

    Lee, Yoon Hee; Ha, Jae Hong; Sin, Hae Kon; Kim, Dong Wan; Nam, Sang Ku

    1996-06-01

    A significant advance in science and technology during the last few decades has resulted in the evolution and use of automatic control equipment in various areas of industry. The automatic control equipment monitor various parameters associated with the process and make decisions accordingly. In the area of process control, extensive research has been carried out for PID parameter auto-tunig techniques since the middle of 1980's. This paper covers two auto-tuning techniques namely system transient response performance and experimental method to analyze dynamic characteristics of process systems. In this paper auto-tunig technology used in commercial models is analyzed in detail. It is reported by industry that by optimum application of the auto-tuning controller, the operator load is significantly reduced while the reliability of process control is greatly enhanced. It is recommended that the application of auto-tuning controller should be evaluated for automatic process control in nuclear plant. 4 tabs., 12 figs., 21 refs. (Author)

  9. Optimized PID control of depth of hypnosis in anesthesia.

    Science.gov (United States)

    Padula, Fabrizio; Ionescu, Clara; Latronico, Nicola; Paltenghi, Massimiliano; Visioli, Antonio; Vivacqua, Giulio

    2017-06-01

    This paper addresses the use of proportional-integral-derivative controllers for regulating the depth of hypnosis in anesthesia by using propofol administration and the bispectral index as a controlled variable. In fact, introducing an automatic control system might provide significant benefits for the patient in reducing the risk for under- and over-dosing. In this study, the controller parameters are obtained through genetic algorithms by solving a min-max optimization problem. A set of 12 patient models representative of a large population variance is used to test controller robustness. The worst-case performance in the considered population is minimized considering two different scenarios: the induction case and the maintenance case. Our results indicate that including a gain scheduling strategy enables optimal performance for induction and maintenance phases, separately. Using a single tuning to address both tasks may results in a loss of performance up to 102% in the induction phase and up to 31% in the maintenance phase. Further on, it is shown that a suitably designed low-pass filter on the controller output can handle the trade-off between the performance and the noise effect in the control variable. Optimally tuned PID controllers provide a fast induction time with an acceptable overshoot and a satisfactory disturbance rejection performance during maintenance. These features make them a very good tool for comparison when other control algorithms are developed. Copyright © 2017 Elsevier B.V. All rights reserved.

  10. Aerogel RICH for the Belle II forward PID

    Energy Technology Data Exchange (ETDEWEB)

    Nishida, S., E-mail: shohei.nishida@kek.jp [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Adachi, I. [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Hamada, N. [Toho University, Funabashi (Japan); Hara, K. [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Iijima, T. [Nagoya University, Nagoya (Japan); Iwata, S.; Kakuno, H. [Tokyo Metropolitan University, Hachioji (Japan); Kawai, H. [Chiba University, Chiba (Japan); Korpar, S.; Krizan, P. [Jozef Stefan Institute, Ljubljana (Slovenia); Ogawa, S. [Toho University, Funabashi (Japan); Pestotnik, R.; Ŝantelj, L.; Seljak, A. [Jozef Stefan Institute, Ljubljana (Slovenia); Sumiyoshi, T. [Tokyo Metropolitan University, Hachioji (Japan); Tabata, M. [Japan Aerospace Exploration Agency (JAXA), Sagamihara (Japan); Tahirovic, E. [Jozef Stefan Institute, Ljubljana (Slovenia); Yoshida, K. [Tokyo Metropolitan University, Hachioji (Japan); Yusa, Y. [Niigata University, Niigata (Japan)

    2014-12-01

    The Belle II spectrometer, a follow up of the very successful Belle experiment, is under construction at the SuperKEKB electron–positron collider at KEK in Japan. For the PID system in the forward region of the spectrometer, a proximity focusing ring-imaging Cherenkov (RICH) counter with an aerogel radiator is being developed. The counter will provide a 4σ separation of pions and kaons up to momenta of 4 GeV/c. For the position sensitive photon sensor, a 144-channel Hybrid Avalanche Photo-Detector (HAPD) has been developed with Hamamatsu Photonics K.K. The readout electronics is based on the custom developed ASIC. The design of the components is currently being finalized and part of their mass production have already started. Herein, we report the final design of the counter and a prototype test conducted with test beams at DESY. - Highlights: • We are constructing a RICH counter with aerogel radiator for Belle II. • Beam test for the prototype Aerogel RICH shows its good performance. • The effect of the neutron irradiation of the photodetector is examined.

  11. Design of a new PID controller using predictive functional control optimization for chamber pressure in a coke furnace.

    Science.gov (United States)

    Zhang, Jianming

    2017-03-01

    An improved proportional-integral-derivative (PID) controller based on predictive functional control (PFC) is proposed and tested on the chamber pressure in an industrial coke furnace. The proposed design is motivated by the fact that PID controllers for industrial processes with time delay may not achieve the desired control performance because of the unavoidable model/plant mismatches, while model predictive control (MPC) is suitable for such situations. In this paper, PID control and PFC algorithm are combined to form a new PID controller that has the basic characteristic of PFC algorithm and at the same time, the simple structure of traditional PID controller. The proposed controller was tested in terms of set-point tracking and disturbance rejection, where the obtained results showed that the proposed controller had the better ensemble performance compared with traditional PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Genetic algorithm-based fuzzy-PID control methodologies for enhancement of energy efficiency of a dynamic energy system

    International Nuclear Information System (INIS)

    Jahedi, G.; Ardehali, M.M.

    2011-01-01

    The simplicity in coding the heuristic judgment of experienced operator by means of fuzzy logic can be exploited for enhancement of energy efficiency. Fuzzy logic has been used as an effective tool for scheduling conventional PID controllers gain coefficients (F-PID). However, to search for the most desirable fuzzy system characteristics that allow for best performance of the energy system with minimum energy input, optimization techniques such as genetic algorithm (GA) could be utilized and the control methodology is identified as GA-based F-PID (GA-F-PID). The objective of this study is to examine the performance of PID, F-PID, and GA-F-PID controllers for enhancement of energy efficiency of a dynamic energy system. The performance evaluation of the controllers is accomplished by means of two cost functions that are based on the quadratic forms of the energy input and deviation from a setpoint temperature, referred to as energy and comfort costs, respectively. The GA-F-PID controller is examined in two different forms, namely, global form and local form. For the global form, all possible combinations of fuzzy system characteristics in the search domain are explored by GA for finding the fittest chromosome for all discrete time intervals during the entire operation period. For the local form, however, GA is used in each discrete time interval to find the fittest chromosome for implementation. The results show that the global form GA-F-PID and local form GA-F-PID control methodologies, in comparison with PID controller, achieve higher energy efficiency by lowering energy costs by 51.2%, and 67.8%, respectively. Similarly, the comfort costs for deviation from setpoint are enhanced by 54.4%, and 62.4%, respectively. It is determined that GA-F-PID performs better in local from than global form.

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

    OpenAIRE

    Khulood A. Dagher; Ahmed S. Al-Araji

    2013-01-01

    A particle swarm optimization algorithm and neural network like self-tuning PID controller for CSTR system is presented. The scheme of the discrete-time PID control structure is based on neural network and tuned the parameters of the PID controller by using a particle swarm optimization PSO technique as a simple and fast training algorithm. The proposed method has advantage that it is not necessary to use a combined structure of identification and decision because it used PSO. Simulation resu...

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  15. Robotic excavator trajectory control using an improved GA based PID controller

    Science.gov (United States)

    Feng, Hao; Yin, Chen-Bo; Weng, Wen-wen; Ma, Wei; Zhou, Jun-jing; Jia, Wen-hua; Zhang, Zi-li

    2018-05-01

    In order to achieve excellent trajectory tracking performances, an improved genetic algorithm (IGA) is presented to search for the optimal proportional-integral-derivative (PID) controller parameters for the robotic excavator. Firstly, the mathematical model of kinematic and electro-hydraulic proportional control system of the excavator are analyzed based on the mechanism modeling method. On this basis, the actual model of the electro-hydraulic proportional system are established by the identification experiment. Furthermore, the population, the fitness function, the crossover probability and mutation probability of the SGA are improved: the initial PID parameters are calculated by the Ziegler-Nichols (Z-N) tuning method and the initial population is generated near it; the fitness function is transformed to maintain the diversity of the population; the probability of crossover and mutation are adjusted automatically to avoid premature convergence. Moreover, a simulation study is carried out to evaluate the time response performance of the proposed controller, i.e., IGA based PID against the SGA and Z-N based PID controllers with a step signal. It was shown from the simulation study that the proposed controller provides the least rise time and settling time of 1.23 s and 1.81 s, respectively against the other tested controllers. Finally, two types of trajectories are designed to validate the performances of the control algorithms, and experiments are performed on the excavator trajectory control experimental platform. It was demonstrated from the experimental work that the proposed IGA based PID controller improves the trajectory accuracy of the horizontal line and slope line trajectories by 23.98% and 23.64%, respectively in comparison to the SGA tuned PID controller. The results further indicate that the proposed IGA tuning based PID controller is effective for improving the tracking accuracy, which may be employed in the trajectory control of an actual excavator.

  16. Monitoring System and Temperature Controlling on PID Based Poultry Hatching Incubator

    Science.gov (United States)

    Shafiudin, S.; Kholis, N.

    2018-04-01

    Poultry hatching cultivation is essential to be observed in terms of temperature stability by using artificial penetration incubator which applies On/Off control. The On/Off control produces relatively long response time to reach steady-state conditions. Moreover, how the system works makes the component worn out because the lamp is on-off periodically. Besides, the cultivation in the market is less suitable to be used in an environment which has fluctuating temperature because it may influence plant’s temperature stability. The study aims to design automatic poultry hatching cultivation that can repair the temperature’s response of plant incubator to keep stable and in line with the intended set-point temperature value by using PID controller. The method used in PID controlling is designed to identify plant using ARX (Auto Regressive eXogenous) MATLAB which is dynamic/non-linear to obtain mathematical model and PID constants value that is appropriate to system. The hardware design for PID-based egg incubator uses Arduino Uno R3, as the main controller that includes PID source, and PWM, to keep plant temperature stability, which is integrated with incandescent light actuators and sensors where DHTI 1 sensor as the reader as temperature condition and plant humidity. The result of the study showed that PID constants value of each plant is different. For parallel 15 Watt plant, Kp = 3.9956, Ki = 0.361, Kd = 0, while for parallel 25 Watt plant, the value of Kp = 5.714, Ki = 0.351, Kd = 0. The PID constants value were capable to produce stable system response which is based on set-point with steady state error’s value is around 5%, that is 2.7%. With hatching percentage of 70-80%, the hatching process is successful in air-conditioned environment (changeable).

  17. EFFECT OF PARTICLE SIZE AND PACKING RATIO OF PID ON VIBRATION AMPLITUDE OF BEAM

    Directory of Open Access Journals (Sweden)

    P.S. Kachare

    2013-06-01

    Full Text Available Everything in the universe that has mass possesses stiffness and intrinsic damping. Owing to the stiffness property, mass will vibrate when excited and its intrinsic damping property will act to stop the vibration. The particle impact damper (PID is a very interesting damper that affects impact and friction effects of particles by means of energy dissipation. PID is a means for achieving high structural damping by using a particle-filled enclosure attached to a structure. The particles absorb the kinetic energy of the structure and convert it into heat through inelastic collisions between the particles themselves and between the particles and the walls of the enclosure. In this work, PID is measured for a cantilever mild steel beam with an enclosure attached to its free end; copper particles are used in this study. The PID is found to be highly nonlinear. The most useful observation is that for a very small weight penalty (about 7% to 8 %, the maximum damped amplitude of vibration at resonance with a PID, is about 9 to 10 times smaller than that without a PID. It is for more than that of with only intrinsic material damping of a majority of structural metals. A satisfactory comparison of damping with and without particles through experimentation is observed. The effect of the size of the particles on the damping performance of the beam and the effective packing ratio can be identified. It is also shown that as the packing ratio changes, the contributions of the phenomena of impact and friction towards damping also change. It is encouraging that despite its deceptive simplicity, the model captures the essential physics of PID.

  18. Tuning of an optimal fuzzy PID controller with stochastic algorithms for networked control systems with random time delay.

    Science.gov (United States)

    Pan, Indranil; Das, Saptarshi; Gupta, Amitava

    2011-01-01

    An optimal PID and an optimal fuzzy PID have been tuned by minimizing the Integral of Time multiplied Absolute Error (ITAE) and squared controller output for a networked control system (NCS). The tuning is attempted for a higher order and a time delay system using two stochastic algorithms viz. the Genetic Algorithm (GA) and two variants of Particle Swarm Optimization (PSO) and the closed loop performances are compared. The paper shows that random variation in network delay can be handled efficiently with fuzzy logic based PID controllers over conventional PID controllers. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  19. 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.

  20. 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.

  1. 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...

  2. Perancangan Sistem Kontrol PID Untuk Pengendali Sumbu Elevasi Gun Pada Turret-Gun Kaliber 20 Milimeter

    Directory of Open Access Journals (Sweden)

    Dimas Kunto Ariwibowo

    2017-01-01

    Full Text Available Pertahanan negara pada hakikatnya adalah segala upaya pertahanan yang bersifat semesta yang didasarkan pada kesadaran atas hak dan kewajiban warga negara serta keyakinan pada kekuatan sendiri dengan tujuan untuk menjaga dan melindungi kedaulatan negara, keutuhan wilayah NKRI dan keselamatan segenap bangsa. Salah satu alat pendukung pertahanan yaitu senjata laras panjang, Turret-Gun.  Adapun langkah-langkah yang dilakukan dalam merancang pengendali PID Turret-Gun kaliber 20mm ini diawali dengan studi literatur serta studi lapangan mengenai mekanisme dan parameter-parameter yang terdapat pada Turret-Gun pada sumbu elevasi. Setelah itu dilakukan perancangan transmisi dan sistem kontrol Turret-Gun untuk dievaluasi grafik responnya yang akan digunakan sebagai acuan untuk merancang pengendali PID yang sesuai. Selanjutnya pengendali PID yang telah dirancang lalu disimulasikan, sehingga menghasilkan grafik respon yang sesuai dengan kriteria yang dibutuhkan. Hasil yang telah didapatkan dari penelitian ini adalah konstanta PID yang direkomendasikan untuk , , dan secara berturut-turut adalah sebesar 23061.024, 37820.07 dan 3515.4 yang menghasilkan transient response dengan nilai overshoot sebesar 19.9 % , steady state error sebesar 0 % serta settling time sebesar 0.935 detik. Hasil analisa kestabilan untuk sistem kontrol dengan konstanta PID tersebut menunjukkan bahwa sistem kontrol telah stabil, baik menggunakan metode Root Locus maupun metode Routh-Hurwitz.

  3. Optimal design of PID controller for second order plus time delay systems

    International Nuclear Information System (INIS)

    Srivastava, S.; Misra, A.; Kumar, Y.; Thakur, S.K.

    2015-01-01

    It is well known that the effect of time delay in the forward path of control loop deteriorates the system performance and at the same time makes it difficult to compute the optimum PID controller parameters of the feedback control systems. PI/PID controller is most popular and used more than 80% in industries as well as in accelerators lab due to its simple structure and appropriate robustness. At VECC we have planned to use a PID controller for the speed control of DC motor which will be used to adjust the solenoid coil position of the 2.45 GHz microwave ion source for optimum performance during the online operation. In this paper we present a comparison of the two methods which have been used to design the optimum PID controller parameters: one by optimizing different time domain performance indices such as lAE, ITSE etc. and other using analytical formulation based on Linear Quadratic Regulator (LQR). We have performed numerical simulations using MATLAB and compare the closed loop time response performance measures using the PID parameters obtained from above mentioned two methods on a second order transfer function of a DC motor with time delay. (author)

  4. Demonstration of the improved PID method for the accurate temperature control of ADRs

    International Nuclear Information System (INIS)

    Shinozaki, K.; Hoshino, A.; Ishisaki, Y.; Mihara, T.

    2006-01-01

    Microcalorimeters require extreme stability (-bar 10μK) of thermal bath at low temperature (∼100mK). We have developed a portable adiabatic demagnetization refrigerator (ADR) system for ground experiments with TES microcalorimeters, in which we observed residual temperature between aimed and measured values when magnet current was controlled with the standard Proportional, Integral, and Derivative control (PID) method. The difference increases in time as the magnet current decreases. This phenomenon can be explained by the theory of the magnetic cooling, and we have introduced a new functional parameter to improve the PID method. With this improvement, long-term stability of the ADR temperature about 10μK rms is obtained up to the period of ∼15ks down to almost zero magnet current. We briefly describe our ADR system and principle of the improved PID method, showing the temperature control result. It is demonstrated that the controlled time of the aimed temperature can be extended by about 30% longer than the standard PID method in our system. The improved PID method is considered to be of great advantage especially in the range of small magnet current

  5. A fuzzy model based adaptive PID controller design for nonlinear and uncertain processes.

    Science.gov (United States)

    Savran, Aydogan; Kahraman, Gokalp

    2014-03-01

    We develop a novel adaptive tuning method for classical proportional-integral-derivative (PID) controller to control nonlinear processes to adjust PID gains, a problem which is very difficult to overcome in the classical PID controllers. By incorporating classical PID control, which is well-known in industry, to the control of nonlinear processes, we introduce a method which can readily be used by the industry. In this method, controller design does not require a first principal model of the process which is usually very difficult to obtain. Instead, it depends on a fuzzy process model which is constructed from the measured input-output data of the process. A soft limiter is used to impose industrial limits on the control input. The performance of the system is successfully tested on the bioreactor, a highly nonlinear process involving instabilities. Several tests showed the method's success in tracking, robustness to noise, and adaptation properties. We as well compared our system's performance to those of a plant with altered parameters with measurement noise, and obtained less ringing and better tracking. To conclude, we present a novel adaptive control method that is built upon the well-known PID architecture that successfully controls highly nonlinear industrial processes, even under conditions such as strong parameter variations, noise, and instabilities. © 2013 Published by ISA on behalf of ISA.

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

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  7. A 2-Dof LQR based PID controller for integrating processes considering robustness/performance tradeoff.

    Science.gov (United States)

    Srivastava, Saurabh; Pandit, V S

    2017-11-01

    This paper focuses on the analytical design of a Proportional Integral and Derivative (PID) controller together with a unique set point filter that makes the overall Two-Degree of-Freedom (2-Dof) control system for integrating processes with time delay. The PID controller tuning is based on the Linear Quadratic Regulator (LQR) using dominant pole placement approach to obtain good regulatory response. The set point filter is designed with the calculated PID parameters and using a single filter time constant (λ) to precisely control the servo response. The effectiveness of the proposed methodology is demonstrated through a series of illustrative examples using real industrial integrated process models. The whole range of PID parameters is obtained for each case in a tradeoff between the robustness of the closed loop system measured in terms of Maximum Sensitivity (M s ) and the load disturbance measured in terms of Integral of Absolute Errors (IAE). Results show improved closed loop response in terms of regulatory and servo responses with less control efforts when compared with the latest PID tuning methods of integrating systems. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Association of low-affinity FC gamma receptor 3B (FCGR3B) copy number variation with rheumatoid arthritis in Caucasian subjects

    NARCIS (Netherlands)

    Merriman, T.R.; Fanciulli, M.; Merriman, M.E.; Alizadeh, B.Z.; Koeleman, B.P.C.; Dalbeth, N.; Gow, P.; Harrison, A.A.; Highton, J.; Jones, P.B.; Stamp, L.K.; Steer, S.; Barrera, P.; Coenen, M.J.H.; Franke, B.; Vyse, T.; Aitman, T.; Radstake, T.; McKinney, C.

    2009-01-01

    Aim: There is increasing evidence that gene copy-number variation influences phenotypic variation. The low-affinity Fc receptor 3B (FCGR3B) is a copy-number polymorphic gene involved in the recruitment to sites of inflammation and activation of polymorphonuclear neutrophils (PMN). Given the

  9. Stabilization Using a Discrete Fuzzy PDC Control with PID Controllers and Pole Placement: Application to an Experimental Greenhouse

    Directory of Open Access Journals (Sweden)

    Amine Chouchaine

    2011-01-01

    Full Text Available This paper proposes a control strategy for complex and nonlinear systems, based on a parallel distributed compensation (PDC controller. A solution is presented to solve a stability problem that arises when dealing with a Takagi-Sugeno discrete system with great numbers of rules. The PDC controller will use a classical controller like a PI, PID, or RST in each rule with a pole placement strategy to avoid causing instability. The fuzzy controller presented combines the multicontrol approach and the performance of the classical controllers to obtain a robust nonlinear control action that can also deal with time-variant systems. The presented method was applied to a small greenhouse to control its inside temperature by variation in ventilation rate inside the process. The results obtained will show the efficiency of the adopted method to control the nonlinear and complex systems.

  10. A design method of compensators for multi-variable control system with PID controllers 'CHARLY'

    International Nuclear Information System (INIS)

    Fujiwara, Toshitaka; Yamada, Katsumi

    1985-01-01

    A systematic design method of compensators for a multi-variable control system having usual PID controllers in its loops is presented in this paper. The method itself is able: to determine the main manipulating variable corresponding to each controlled variable with a sensitivity analysis in the frequency domain. to tune PID controllers sufficiently to realize adequate control actions with a searching technique of minimum values of cost functionals. to design compensators improving the control preformance and to simulate a total system for confirming the designed compensators. In the phase of compensator design, the state variable feed-back gain is obtained by means of the OPTIMAL REGULATOR THEORY for the composite system of plant and PID controllers. The transfer function type compensators the configurations of which were previously given are, then, designed to approximate the frequency responces of the above mentioned state feed-back system. An example is illustrated for convenience. (author)

  11. Control of suspended low-gravity simulation system based on self-adaptive fuzzy PID

    Science.gov (United States)

    Chen, Zhigang; Qu, Jiangang

    2017-09-01

    In this paper, an active suspended low-gravity simulation system is proposed to follow the vertical motion of the spacecraft. Firstly, working principle and mathematical model of the low-gravity simulation system are shown. In order to establish the balance process and suppress the strong position interference of the system, the idea of self-adaptive fuzzy PID control strategy is proposed. It combines the PID controller with a fuzzy controll strategy, the control system can be automatically adjusted by changing the proportional parameter, integral parameter and differential parameter of the controller in real-time. At last, we use the Simulink tools to verify the performance of the controller. The results show that the system can reach balanced state quickly without overshoot and oscillation by the method of the self-adaptive fuzzy PID, and follow the speed of 3m/s, while simulation degree of accuracy of system can reach to 95.9% or more.

  12. Particle swarm optimization based PID controller tuning for level control of two tank system

    Science.gov (United States)

    Vincent, Anju K.; Nersisson, Ruban

    2017-11-01

    Automatic control plays a vital role in industrial operation. In process industries, in order to have an improved and stable control system, we need a robust tuning method. In this paper Particle Swarm Optimization (PSO) based algorithm is proposed for the optimization of a PID controller for level control process. A two tank system is considered. Initially a PID controller is designed using an Internal Model Control (IMC). The results are compared with the PSO based controller setting. The performance of the controller is compared and analyzed by time domain specification. In order to validate the robustness of PID controller, disturbance is imposed. The system is simulated using MATLAB. The results show that the proposed method provides better controller performance.

  13. Note: Split PID control--two sensors can be better than one.

    Science.gov (United States)

    Znaimer, Leith; Bechhoefer, John

    2014-10-01

    The traditional proportional-integral-derivative (PID) algorithm for regulation suffers from a tradeoff: placing the sensor near the sample being regulated ensures that its steady-state temperature matches the desired setpoint. However, the propagation delay (lag) between heater and sample can limit the control bandwidth. Moving the sensor closer to the heater reduces the lag and increases the bandwidth but introduces offsets and drifts into the temperature of the sample. Here, we explore the consequences of using two probes-one near the heater, one near the sample-and assigning the integral term to the sample probe and the other terms to the heater probe. The split-PID algorithm can outperform PID control loops based on one sensor.

  14. Nonlinear adaptive PID control for greenhouse environment based on RBF network.

    Science.gov (United States)

    Zeng, Songwei; Hu, Haigen; Xu, Lihong; Li, Guanghui

    2012-01-01

    This paper presents a hybrid control strategy, combining Radial Basis Function (RBF) network with conventional proportional, integral, and derivative (PID) controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through simulations of set-point tracking and disturbance rejection. We compare the proposed adaptive online tuning method with the offline tuning scheme that employs Genetic Algorithm (GA) to search the optimal gain parameters. The results show that the proposed strategy has good adaptability, strong robustness and real-time performance while achieving satisfactory control performance for the complex and nonlinear greenhouse climate control system, and it may provide a valuable reference to formulate environmental control strategies for actual application in greenhouse production.

  15. PID controller auto-tuning based on process step response and damping optimum criterion.

    Science.gov (United States)

    Pavković, Danijel; Polak, Siniša; Zorc, Davor

    2014-01-01

    This paper presents a novel method of PID controller tuning suitable for higher-order aperiodic processes and aimed at step response-based auto-tuning applications. The PID controller tuning is based on the identification of so-called n-th order lag (PTn) process model and application of damping optimum criterion, thus facilitating straightforward algebraic rules for the adjustment of both the closed-loop response speed and damping. The PTn model identification is based on the process step response, wherein the PTn model parameters are evaluated in a novel manner from the process step response equivalent dead-time and lag time constant. The effectiveness of the proposed PTn model parameter estimation procedure and the related damping optimum-based PID controller auto-tuning have been verified by means of extensive computer simulations. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Design of PID controller as an AVR in frequency-domain

    International Nuclear Information System (INIS)

    Shaikh, S.A.; Ahmed, I.

    2008-01-01

    The primary means of generator reactive-power control is the generator-excitation control, using Automatic Voltage Regulator (AVR). The role of AVR is to hold the terminal-voltage of Synchronous generator at a specified level. This paper presents the design of a proportional integral- derivative (PID) controller to work as an A VR. The PID controller has been tuned by HO-HANG-CAO method. In this method, pm parameters are computed from the gain-margin and phase-margin specifications. This method has been found much superior to the conventional Ziegler- Nichols rules. The performance of the controller has been evaluated through Simulation Studies in MATLAB environment. It has been demonstrated that the PID controller, tuned with the said method, yields highly satisfactory closed loop performance. (author)

  17. Application of an improved PSO algorithm to optimal tuning of PID gains for water turbine governor

    International Nuclear Information System (INIS)

    Fang Hongqing; Chen Long; Shen Zuyi

    2011-01-01

    In this paper, an improved particle swarm optimization (IPSO) algorithm is proposed. Besides the individual best position and the global best position, a nominal average position of the swarm is introduced in IPSO. The performance of IPSO is compared to different PSO variants with five well-known benchmark functions. The experimental results show that the proposed IPSO algorithm improves the searching performance on the benchmark functions. And then, IPSO, as well as other PSO variants, is applied to optimal tuning of Proportional-Integral-Derivative (PID) gains for a typical PID control system of water turbine governor. The computer simulation results of an actual hydro power plant in China show that IPSO algorithm has stable convergence characteristic and good computational ability, and it is an effective and easily implemented method for optimal tuning of PID gains of water turbine governor.

  18. Adaptive PID formation control of nonholonomic robots without leader's velocity information.

    Science.gov (United States)

    Shen, Dongbin; Sun, Weijie; Sun, Zhendong

    2014-03-01

    This paper proposes an adaptive proportional integral derivative (PID) algorithm to solve a formation control problem in the leader-follower framework where the leader robot's velocities are unknown for the follower robots. The main idea is first to design some proper ideal control law for the formation system to obtain a required performance, and then to propose the adaptive PID methodology to approach the ideal controller. As a result, the formation is achieved with much more enhanced robust formation performance. The stability of the closed-loop system is theoretically proved by Lyapunov method. Both numerical simulations and physical vehicle experiments are presented to verify the effectiveness of the proposed adaptive PID algorithm. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  19. 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.

  20. Comparison Analysis of Model Predictive Controller with Classical PID Controller For pH Control Process

    Directory of Open Access Journals (Sweden)

    V. Balaji

    2016-12-01

    Full Text Available pH control plays a important role in any chemical plant and process industries. For the past four decades the classical PID controller has been occupied by the industries. Due to the faster computing   technology in the industry demands a tighter advanced control strategy. To fulfill the needs and requirements Model Predictive Control (MPC is the best among all the advanced control algorithms available in the present scenario. The study and analysis has been done for First Order plus Delay Time (FOPDT model controlled by Proportional Integral Derivative (PID and MPC using the Matlab software. This paper explores the capability of the MPC strategy, analyze and compare the control effects with conventional control strategy in pH control. A comparison results between the PID and MPC is plotted using the software. The results clearly show that MPC provide better performance than the classical controller.

  1. JACoW Automatic PID performance monitoring applied to LHC cryogenics

    CERN Document Server

    Bradu, Benjamin; Marti, Ruben; Tilaro, Filippo

    2018-01-01

    At CERN, the LHC (Large Hadron Collider) cryogenic system employs about 5000 PID (Proportional Integral Derivative) regulation loops distributed over the 27 km of the accelerator. Tuning all these regulation loops is a complex task and the systematic monitoring of them should be done in an automated way to be sure that the overall plant performance is improved by identifying the poorest performing PID controllers. It is nearly impossible to check the performance of a regulation loop with a classical threshold technique as the controlled variables could evolve in large operation ranges and the amount of data cannot be manually checked daily. This paper presents the adaptation and the application of an existing regulation indicator performance algorithm on the LHC cryogenic system and the different results obtained in the past year of operation. This technique is generic for any PID feedback control loop, it does not use any process model and needs only a few tuning parameters. The publication also describes th...

  2. BROJA-2PID: A Robust Estimator for Bivariate Partial Information Decomposition

    Directory of Open Access Journals (Sweden)

    Abdullah Makkeh

    2018-04-01

    Full Text Available Makkeh, Theis, and Vicente found that Cone Programming model is the most robust to compute the Bertschinger et al. partial information decomposition (BROJA PID measure. We developed a production-quality robust software that computes the BROJA PID measure based on the Cone Programming model. In this paper, we prove the important property of strong duality for the Cone Program and prove an equivalence between the Cone Program and the original Convex problem. Then, we describe in detail our software, explain how to use it, and perform some experiments comparing it to other estimators. Finally, we show that the software can be extended to compute some quantities of a trivaraite PID measure.

  3. A new PID controller design for automatic generation control of hydro power systems

    Energy Technology Data Exchange (ETDEWEB)

    Khodabakhshian, A.; Hooshmand, R. [Electrical Engineering Department, University of Isfahan (Iran)

    2010-06-15

    This paper presents a new robust PID controller for automatic generation control (AGC) of hydro turbine power systems. The method is mainly based on a maximum peak resonance specification that is graphically supported by the Nichols chart. The open-loop frequency response curve is tangent to a specified ellipse and this makes the method to be efficient for controlling the overshoot, the stability and the dynamics of the system. Comparative results of this new load frequency controller with a conventional PI one and also with another PID controller design tested on a multimachine power system show the improvement in system damping remarkably. The region of acceptable performance of the new PID controller covers a wide range of operating and system conditions. (author)

  4. PID Based on Attractive Ellipsoid Method for Dynamic Uncertain and External Disturbances Rejection in Mechanical Systems

    Directory of Open Access Journals (Sweden)

    Jesus Patricio Ordaz Oliver

    2015-01-01

    Full Text Available This paper presents a stability analysis for LNDS (Lagrangian nonlinear dynamical systems with dynamic uncertain using a PID controller with external disturbances rejection based on attractive ellipsoid methods, since the PID-CT (proportional integral derivative computed torque compensator has been used for the nonlinear trajectory tracking of an LNDS, when there are external perturbations and system uncertainties. The global system convergence of the trivial solution has not been proved. In this sense, we propose an approach to find the gains of the nonlinear PID-CT controller to guarantee the boundedness of the trivial solution by means of the concept of the UUB (uniform-ultimately bounded stability. In order to show the effectiveness of the methodology proposed, we applied it in a real 2-DoF robot system.

  5. Aspects épidémiologiques du suicide à Dakar

    Science.gov (United States)

    Soumah, Mohamed Maniboliot; Eboué, Brice Angwé; Ndiaye, Mor; Sow, Mamadou Lamine

    2013-01-01

    Introduction Le suicidé est le sujet mort par suicide et le suicidant est la personne ayant fait des tentatives de suicide. L'objectif de cette étude porte sur l'analyse épidémiologique des suicides dans la région de Dakar. Méthodes Par une étude rétrospective portant sur les registres du service d'anatomie pathologique de l'Hôpital Aristide Le Dantec, nous rapportons 143 suicides sur 10 ans. Le traitement et l'analyse des données ont été faits sur Epidata version 2.1 b pour la saisie et Epiinfo version 6.04 fr pour l'analyse. Résultats A Dakar, les morts par suicide restent peu fréquentes au regard de la mortalité générale. Les hommes se suicident deux fois plus que les femmes et le suicide reste l'apanage de l'adulte jeune dont l'âge se situe entre 21 et 30 ans. Les suicidés résident le plus souvent en zone périurbaine et ils commettent cet acte dans la majorité des cas en période de froid (pendant les mois de janvier, février et mars), plus avant midi et en soirée qu'en après-midi. Aussi 97.2% des suicidés ont utilisé un seul moyen pour se suicider et le suicide complexe (utilisation de plusieurs moyens) a concerné seulement un cas dans notre étude. La pendaison reste le mode le plus utilisé. Conclusion Les hommes préfèrent donc des moyens de suicides violents (pendaison, arme à feu et arme blanche) alors que les femmes et les adolescents (tout sexe confondu) utilisent les intoxications. Le recueil des facteurs concourant au suicide permettrait une prévention de ce dernier. PMID:23847707

  6. Mitigation of PID in commercial PV modules using current interruption method

    Science.gov (United States)

    Bora, Birinchi; Oh, Jaewon; Tatapudi, Sai; Sastry, Oruganty S.; Kumar, Rajesh; Prasad, Basudev; Tamizhmani, Govindasamy

    2017-08-01

    Potential-induced degradation (PID) is known to have a very severe effect on the reliability of PV modules. PID is caused due to the leakage of current from the cell circuit to the grounded frame under humid conditions of high voltage photovoltaic (PV) systems. There are multiple paths for the current leakage. The most dominant leakage path is from the cell to the frame through encapsulant, glass bulk and glass surface. This dominant path can be prevented by interrupting the electrical conductivity at the glass surface. In our previous works related to this topic, we demonstrated the effectiveness of glass surface conductivity interruption technique using one-cell PV coupons. In this work, we demonstrate the effectiveness of this technique using a full size commercial module susceptible to PID. The interruption of surface conductivity of the commercial module was achieved by attaching a narrow, thin flexible glass strips, from Corning, called Willow Glass on the glass surface along the inner edges of the frame. The flexible glass strip was attached to the module glass surface by heating the glass strip with an ionomer adhesive underneath using a handheld heat gun. The PID stress test was performed at 60°C and 85% RH for 96 hours at -600 V. Pre- and post-PID characterizations including I-V and electroluminescence were carried out to determine the performance loss and affected cell areas. This work demonstrates that the PID issue can be effectively addressed by using this current interruption technique. An important benefit of this approach is that this interruption technique can be applied after manufacturing the modules and after installing the modules in the field as well.

  7. 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.

  8. Oscillations-free PID control of anesthetic drug delivery in neuromuscular blockade.

    Science.gov (United States)

    Medvedev, Alexander; Zhusubaliyev, Zhanybai T; Rosén, Olov; Silva, Margarida M

    2016-07-25

    The PID-control of drug delivery or the neuromuscular blockade (NMB) in closed-loop anesthesia is considered. The NMB system dynamics portrayed by a Wiener model can exhibit sustained nonlinear oscillations under realistic PID gains and for physiologically feasible values of the model parameters. Such oscillations, also repeatedly observed in clinical trials, lead to under- and over-dosing of the administered drug and undermine patient safety. This paper proposes a tuning policy for the proportional PID gain that via bifurcation analysis ensures oscillations-free performance of the control loop. Online estimates of the Wiener model parameters are needed for the controller implementation and monitoring of the closed-loop proximity to oscillation. The nonlinear dynamics of the PID-controlled NMB system are studied by bifurcation analysis. A database of patient models estimated under PID-controlled neuromuscular blockade during general anesthesia is utilized, along with the corresponding clinical measurements. The performance of three recursive algorithms is compared in the application at hand: an extended Kalman filter, a conventional particle filter (PF), and a PF making use of an orthonormal basis to estimate the probability density function from the particle set. It is shown that with a time-varying proportional PID gain, the type of equilibria of the closed-loop system remains the same as in the case of constant controller gains. The recovery time and frequency of oscillations are also evaluated in simulation over the database of patient models. Nonlinear identification techniques based on model linearization yield biased parameter estimates and thus introduce superfluous uncertainty. The bias and variance of the estimated models are related to the computational complexity of the identification algorithms, highlighting the superiority of the PFs in this safety-critical application. The study demonstrates feasibility of the proposed oscillation-free control

  9. Numerical simulation and analysis of fuzzy PID and PSD control methodologies as dynamic energy efficiency measures

    International Nuclear Information System (INIS)

    Ardehali, M.M.; Saboori, M.; Teshnelab, M.

    2004-01-01

    Energy efficiency enhancement is achieved by utilizing control algorithms that reduce overshoots and undershoots as well as unnecessary fluctuations in the amount of energy input to energy consuming systems during transient operation periods. It is hypothesized that application of control methodologies with characteristics that change with time and according to the system dynamics, identified as dynamic energy efficiency measures (DEEM), achieves the desired enhancement. The objective of this study is to simulate and analyze the effects of fuzzy logic based tuning of proportional integral derivative (F-PID) and proportional sum derivative (F-PSD) controllers for a heating and cooling energy system while accounting for the dynamics of the major system components. The procedure to achieve the objective includes utilization of fuzzy logic rules to determine the PID and PSD controllers gain coefficients so that the control laws for regulating the heat exchangers heating or cooling energy inputs are determined in each time step of the operation period. The performances of the F-PID and F-PSD controllers are measured by means of two cost functions that are based on quadratic forms of the energy input and deviation from a set point temperature. It is found that application of the F-PID control algorithm, as a DEEM, results in lower costs for energy input and deviation from a set point temperature by 24% and 17% as compared to a PID and 13% and 8% as compared to a PSD, respectively. It is also shown that the F-PSD performance is better than that of the F-PID controller

  10. An Application for the Improvement of the Transportation System of the Flour in a Grain Mill using "PID Compact"

    Directory of Open Access Journals (Sweden)

    Eugen Răduca

    2016-10-01

    Full Text Available The paper presents an application based on a PLC Simatic S7-1200, using the "PID_Compact" logical function, which can be used for the improvement of control systems. We also present a practical application: a system for the improvement of the transportation system of the flour in a grain mill using "PID Compact" .

  11. The performance of the DC motor by the PID controlling PWM DC-DC boost converter

    OpenAIRE

    Can, Erol; Sayan, Hasan Hüseyin

    2017-01-01

    This paper presents the PID controlling direct current (DC) to the direct current boost converter feds DC motor which has a 3.68 kW and 240 V of DC voltage input on its characteristics. What is first formed is the boost converter mathematical model at the design stage. Secondly, a mathematical model of the DC motor is created so that the boost converter with the machine can be established and modeled at the Matlab Simulink. The PID controller is considered for arranging a pulse width modulati...

  12. A fast PID controller Design for Modern PLC for Process Control Application

    International Nuclear Information System (INIS)

    Mirza, A.; Nafis, A.; Anees, R.M.; Idris, S.

    2004-01-01

    PID is the most widely used control scheme in the process industry. Pill controllers are utilized for the control of such varied parameters as pressure, flow, temperature, etc. One characteristic of these parameters is that they posses slow dynamics. Most of the available digital controllers can manipulate only a single parameter- multiple controllers are required for control of more than one parameter. The Fast PID Controller for Modem PLC (Programmable Logic Controller) developed by the authors, provides control of several parameters at a time (through a single Pill control element), enhanced programmability including variable sampling period, parameter monitoring and data storage, which may be easily implemented in a PLC. (author)

  13. Personality Inventory for DSM-5 (PID-5) in Clinical Versus Nonclinical Individuals

    DEFF Research Database (Denmark)

    Bach, Bo; Sellbom, Martin; Simonsen, Erik

    2017-01-01

    The Personality Inventory for Diagnostic and Statistical Manual of Mental Disorders-Fifth Edition (PID-5) was developed for the assessment of pathological traits in clinical settings. However, most research on the PID-5 is derived from nonclinical samples. To date, the comparability...... with nonpsychotic disorders (81% women; mean age = 28.95), whereas a matched nonclinical sample ( n = 598) comprised community-dwelling individuals (81% women; mean age = 29.59). Measurement invariance was analyzed using a 13-step, two-group exploratory structural equation modeling approach. The results...

  14. 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.

  15. Multivariable PID controller design tuning using bat algorithm for activated sludge process

    Science.gov (United States)

    Atikah Nor’Azlan, Nur; Asmiza Selamat, Nur; Mat Yahya, Nafrizuan

    2018-04-01

    The designing of a multivariable PID control for multi input multi output is being concerned with this project by applying four multivariable PID control tuning which is Davison, Penttinen-Koivo, Maciejowski and Proposed Combined method. The determination of this study is to investigate the performance of selected optimization technique to tune the parameter of MPID controller. The selected optimization technique is Bat Algorithm (BA). All the MPID-BA tuning result will be compared and analyzed. Later, the best MPID-BA will be chosen in order to determine which techniques are better based on the system performances in terms of transient response.

  16. Fuzzy Logic and PID control of a 3 DOF Robotic Arm

    Directory of Open Access Journals (Sweden)

    Korhan Kayışlı

    2017-12-01

    Full Text Available The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively

  17. How Might People Near National Roads Be Affected by Traffic Noise as Electric Vehicles Increase in Number? A Laboratory Study of Subjective Evaluations of Environmental Noise.

    Science.gov (United States)

    Walker, Ian; Kennedy, John; Martin, Susanna; Rice, Henry

    2016-01-01

    We face a likely shift to electric vehicles (EVs) but the environmental and human consequences of this are not yet well understood. Simulated auditory traffic scenes were synthesized from recordings of real conventional and EVs. These sounded similar to what might be heard by a person near a major national road. Versions of the simulation had 0%, 20%, 40%, 60%, 80% and 100% EVs. Participants heard the auditory scenes in random order, rating each on five perceptual dimensions such as pleasant-unpleasant and relaxing-stressful. Ratings of traffic noise were, overall, towards the negative end of these scales, but improved significantly when there were high proportions of EVs in the traffic mix, particularly when there were 80% or 100% EVs. This suggests a shift towards a high proportion of EVs is likely to improve the subjective experiences of people exposed to traffic noise from major roads. The effects were not a simple result of EVs being quieter: ratings of bandpass-filtered versions of the recordings suggested that people's perceptions of traffic noise were specifically influenced by energy in the 500-2000 Hz band. Engineering countermeasures to reduce noise in this band might be effective for improving the subjective experience of people living or working near major roads, even for conventional vehicles; energy in the 0-100 Hz band was particularly associated with people identifying sound as 'quiet' and, again, this might feed into engineering to reduce the impact of traffic noise on people.

  18. Act No. 442 of 13 June 1979 containing rules with regard to a number of general subjects concerning the environment (Environment Act - general provisions)

    International Nuclear Information System (INIS)

    1979-08-01

    This Act and the Act implementing it (Bulletin of Acts, Orders and Decrees No. 443, 1979) came into foce on 1st September 1980. The Environmental Protection Act makes a number of amendments to the Nuclear Energy Act of 21st February 1963. The amendments concern the licensing procedures, in particular, applications, issue of licences and appeals and provide for greater access to documents as well as public involvement in the granting of licences. (NEA) [fr

  19. Implementation of PID Controller in MATLAB for Real Time DC Motor Speed Control System

    Directory of Open Access Journals (Sweden)

    Manjunatha Reddy H. K.

    2011-03-01

    Full Text Available In this paper the implementation of PIDC (proportional + integral + derivative controller in MATLAB environment for real time DC motor speed control is presented. The MATLAB environment is chosen because of availability of tool boxes which allows the effective way of implementation and analysis of the control system. The performance of PID controller for different inputs is studied. To establish a communication between PC and process parameter, an indigenous Analog to digital and digital to analog (AD-DA board is designed. This board consists of 12-bit A/D converter and 12-bit D/A converter to facilitate the data acquisition and control. In the present study Advantech make PCI-1751 DIOT card is used to interface AD-DA board to PC externally. The data between the AD-DA board and the PC is communicated through the script file written in MATLAB environment. By applying different standard test commands such as step, square, staircase and triangular, the performance of PID controller is studied. The PID controller provides better system response in terms of transient as well as steady-state performances. The controller parameters are manually tuned (kp=0.232, ki=0.078 and kd=0.035 and the results of the best tuned PID controller are presented.

  20. Natural variation of rice blast resistance gene Pi-d2

    Science.gov (United States)

    Studying natural variation of rice resistance (R) genes in cultivated and wild rice relatives can predict resistance stability to rice blast fungus. In the present study, the protein coding regions of rice R gene Pi-d2 in 35 rice accessions of subgroups, aus (AUS), indica (IND), temperate japonica (...

  1. A comparative study of stabilizing control of a planer electromagnetic levitation using PID and LQR controllers

    Directory of Open Access Journals (Sweden)

    Mundher H.A. Yaseen

    Full Text Available Magnetic levitation is a technique to suspend an object without any mechanical support. The main objective of this study is to demonstrate stabilized closed loop control of 1-DOF Maglev experimentally using real-time control simulink feature of (SIMLAB microcontroller. Proportional Integral Derivative (PID and Linear Quadratic Regulator (LQR controllers are employed to examine the stability performance of the Maglev control system under effect of unbalanced change of load and wave signal on Maglev plane. The effect of unbalanced change of applied load on single point, line and plane are presented. Furthermore, in order to study the effect of sudden change in input signal, the input of wave signal has been applied on all points of the prototype maglev plate simultaneously. The results of pulse width modulation (PWM reveal that the control system using LQR controller provides faster response to adjust the levitated plane comparing to PID controller. Moreover, the air gap distance that controlled using PID controller is rather stable with little oscillation. Meanwhile, LQR controller provided more stability and homogeneous response. Keywords: Magnetic levitation (Maglev, Linear Quadratic Regulator (LQR, PID controller, SIMLAB Platform

  2. Air Compressor Pressure Control System Based On Gearshift Integral PID Controller

    OpenAIRE

    PAN Chunyue

    2017-01-01

    The application of gearshift integral PID controller to air compressor pressure control system is introduced, Its kernel is single chip microcomputer PIC16F877.The design of hardware and solfware are introduced too. Practical application shows that this system has many advantages.

  3. Air Compressor Pressure Control System Based On Gearshift Integral PID Controller

    Directory of Open Access Journals (Sweden)

    PAN Chunyue

    2017-01-01

    Full Text Available The application of gearshift integral PID controller to air compressor pressure control system is introduced, Its kernel is single chip microcomputer PIC16F877.The design of hardware and solfware are introduced too. Practical application shows that this system has many advantages.

  4. The speed control of DC motor under the load condition using PI and PID controllers

    Science.gov (United States)

    Corapsiz, Muhammed Reşit; Kahveci, Hakan

    2017-04-01

    In this study, it was aimed to compare PI (Proportional-Integral) and PID (Proportional-Integral-Derivative) controllers for speed control of Permanent Magnet Direct Current (PMDC) motor under both load and without load. For this purpose, firstly, the mathematical model was obtained from the dynamic equations of the PMDC motor and the obtained mathematical model was transferred to the simulation environment and modeled using Matlab/SIMULINK. Following the modeling process, PI and PID controller structures were formed, respectively. Secondly, after these structures were formed, the PMDC motor was run without any controller. Then, the control of the PMDC motor with no load was provided by using PI and PID controllers. Finally, the PMDC motor were loaded under the constant load (TL = 3 N.m.) for each condition and selected time period (t = 3 s). The obtained result for each control operations was comparatively given by observing effects of loading process on systems. When the obtained results were evaluated for each condition, it was observed that PID controller have the best performance with respect to PI controller.

  5. Dynamic modelling and PID loop control of an oil-injected screw compressor package

    Science.gov (United States)

    Poli, G. W.; Milligan, W. J.; McKenna, P.

    2017-08-01

    A significant amount of time is spent tuning the PID (Proportional, Integral and Derivative) control loops of a screw compressor package due to the unique characteristics of the system. Common mistakes incurred during the tuning of a PID control loop include improper PID algorithm selection and unsuitable tuning parameters of the system resulting in erratic and inefficient operation. This paper details the design and development of software that aims to dynamically model the operation of a single stage oil injected screw compressor package deployed in upstream oil and gas applications. The developed software will be used to assess and accurately tune PID control loops present on the screw compressor package employed in controlling the oil pressures, temperatures and gas pressures, in a bid to improve control of the operation of the screw compressor package. Other applications of the modelling software will include its use as an evaluation tool that can estimate compressor package performance during start up, shutdown and emergency shutdown processes. The paper first details the study into the fundamental operational characteristics of each of the components present on the API 619 screw compressor package and then discusses the creation of a dynamic screw compressor model within the MATLAB/Simulink software suite. The paper concludes by verifying and assessing the accuracy of the created compressor model using data collected from physical screw compressor packages.

  6. On the Robustness of Hysteretic Second-Order Systems with PID : iISS approach

    NARCIS (Netherlands)

    Ouyang, Ruiyue; Jayawardhana, Bayu; Andrieu, Vincent

    2012-01-01

    In this paper, we study the robustness property of a second-order linear plant controlled by a proportional, integral and derivative (PID) controller with a hysteretic actuator. The hysteretic actuator is modeled by a Duhem model that exhibits clockwise (CW) input-output (I/O) dynamics (such as the

  7. Reduction of observer order by differentiation, almost controllability subspace covers and minimal order PID-observers

    NARCIS (Netherlands)

    TRENTELMAN, HL

    1984-01-01

    This note generalizes the geometric theory around minimal and reduced order observers to the situation in which differentiation of certain components of the observed output is allowed. A geometric theory involving the notion of PID-observer is introduced, using the concept of almost complementary

  8. A normalized PID controller in networked control systems with varying time delays.

    Science.gov (United States)

    Tran, Hoang-Dung; Guan, Zhi-Hong; Dang, Xuan-Kien; Cheng, Xin-Ming; Yuan, Fu-Shun

    2013-09-01

    It requires not only simplicity and flexibility but also high specified stability and robustness of system to design a PI/PID controller in such complicated networked control systems (NCSs) with delays. By gain and phase margins approach, this paper proposes a novel normalized PI/PID controller for NCSs based on analyzing the stability and robustness of system under the effect of network-induced delays. Specifically, We take into account the total measured network delays to formulate the gain and phase margins of the closed-loop system in the form of a set of equations. With pre-specified values of gain and phase margins, this set of equations is then solved for calculating the closed forms of control parameters which enable us to propose the normalized PI/PID controller simultaneously satisfying the following two requirements: (1) simplicity without re-solving the optimization problem for a new process, (2) high flexibility to cope with large scale of random delays and deal with many different processes in different conditions of network. Furthermore, in our method, the upper bound of random delay can be estimated to indicate the operating domain of proposed PI/PID controller. Finally, simulation results are shown to demonstrate the advantages of our proposed controller in many situations of network-induced delays. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  9. 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.

  10. Designing of new structure PID controller of boost converter for solar photovoltaic stability

    Science.gov (United States)

    Shabrina, Hanifati Nur; Setiawan, Eko Adhi; Sabirin, Chip Rinaldi

    2017-03-01

    Nowadays, the utilization of renewable energy as the source on distributed generation system is increasing. It aims to reduce reliance and power losses from utility grid and improve power stability in near loads. One example of renewable energy technology that have been highly proven on the market is solar photovoltaic (PV). This technology converts photon from sunlight into electricity. However, the fluctuation of solar radiation that often occurs become the main problem for this system. Due to this condition, the power conversion is needed to convert the change frequently in photovoltaic panel into a stable voltage to the system. Developing control of boost converter has important role to keep ability of system stabilization. A conventional PID (Proportional, Integral, Derivative) control is mostly used to achieve this goal. In this research, a design of new structure PID controller of boost converter is offered to better optimize system stability comparing to the conventional PID. Parameters obtained from this PID structure have been successfully yield a stable boost converter output at 200 V with 10% overshoot, 1.5 seconds of settling time, and 1.5% of steady-state error.

  11. Perancangan dan Implementasi Sistem Pengaturan Kecepatan Motor Arus Searah Tanpa Sikat Menggunakan Metode PID-Robust

    Directory of Open Access Journals (Sweden)

    Ahmad Fachrudin Istiananda

    2017-01-01

    Full Text Available BLDCM merupakan suatu jenis motor sinkron yang artinya medan magnet yang dihasilkan oleh stator dan medan magnet yang dihasilkan rotor berputar di frekuensi yang sama. Dalam BLDCM, salah satu hal yang sangat penting untuk dikontrol adalah kecepata. Permasalahan yang diteliti dan dianalisis pada Tugas Akhir Perancangan dan Implementasi Sistem Pengaturan Kecepatan Motor Arus Searah Tanpa Sikat Menggunakan Metode PID-Robust adalah respon kecepatan BLDCM terhadap pembebanan yang berubah-ubah. Pengaturan kecepatan BLDCM dirancang menggunakan Kontroler Proposional, Integral dan Derivatif (PID. Kontroler PID-Robust digunakan untuk membantu BLDC pada kondisi pembebanan untuk mempertahankan setpoint. Nilai parameter Kp, Ki, dan Kd sebesar 529,9, 0,00000373, dan 0,0624 didapat dari perhitungan robust performansi H∞ dengan metode LMI (Linear Matrix Inequality. Setelah dilakukan simulasi, didapatkan bahwa respon plant dengan kontroler PID-Robust dapat mengikuti model referensi yang diinginkan dengan nilai rise time 7,7 untuk beban minimal, 3,75 untuk beban nominal, dan 5,9 untuk beban maksimal serta kuat/robust terhadap gangguan/disturbance.

  12. Perancangan dan Implementasi Kontroler PID dengan Nonlinear Decoupling pada Sistem Kendali UAV Quadcopter

    Directory of Open Access Journals (Sweden)

    Muhammad Jadid Anggarjito

    2013-09-01

    Full Text Available Quadcopter merupakan salah salah satu jenis rotorcraft yang memiliki 4 buah rotor yang harus dikendalikan masing-masing rotornya untuk dapat menggerakkan quadcopter. Gerak lateral merupakan gerak quadcopter secara horizontal pada ketinggian atau gerak translasi, gerakan ini sangat vital untuk memenuhi kebutuhan quadcopter dalam mencapai way-to-way point yang telah ditentukan. Pada tugas akhir ini untuk mengatur gerakan lateral dari quadcopter digunakan sistem kendali PID dengan Decoupling Nonlinear. Ada 2 buah kontroler individual yang digunakan yaitu kontroler PID dengan Nonlinear Decoupling untuk mengatur pitch dan roll gerak rotasi, serta kontroler PD untuk mengatur translasi sumbu X dan sumbu Y. Perancangan sistem kontrol PID Decoupling Nonlinear pada simulasi yang digunakan untuk mempertahankan gerak lateral quadcopter dalam mencapai way-to-way point yang ditentukan. Nilai parameter yang didapatkan dari hasil tuning terstruktur pada simulasi adalah pada kontroler PID dengan Nonlinear Decoupling pitch dan roll Kp=5 Ki=0,01 Kd=10 sedangkan pada kontroler PD sumbu X dan sumbu Y Kp=0,05 Kd=0,2. Respon hasil implementasi pada quadcopter belum sesuai pada hasil simulasi. Pada hasil simulasi masih terdapat koreksi pada translasi sumbu X dan sumbu Y masih terdapat kesalahan sebesar ± 0,02 cm, sedangkan pada implementasi gerak lateral menggunakan remote control sistem dapat bergerak stabil menuju way-to-way point yang ditentukan.

  13. Profil épidémiologique, diagnostique, thérapeutique et évolutif du ...

    African Journals Online (AJOL)

    K. Tengue

    Épidémiologie diagnostic;. Traitement; ... soit 6,4 % et le traitement hormonal dans 93,1 % des cas. Le taux de décès .... avaient permis la recherche de localisation secondaire et la classi- .... de plateau technique adéquat dans nos structures.

  14. Speed response of brushless DC motor using fuzzy PID controller under varying load condition

    Directory of Open Access Journals (Sweden)

    Akash Varshney

    2017-09-01

    Full Text Available The increasing trend towards usage of precisely controlled, high torque, efficient and low noise motors for dedicated applications has attracted the attention of researcher in Brushless DC (BLDC motors. BLDC motors can act as an acceptable alternative to the conventional motors like Induction Motors, Switched Reluctance Motors etc. This paper presents a detailed study on the performance of a BLDC motor supplying different types of loads, and at the same time, deploying different control techniques. An advance Fuzzy PID controller is compared with the commonly used PID controller. The load variations considered are of the most common types, generally encountered in practice. A comparison has been carried out in this paper by observing the dynamic speed response of motor at the time of application as well as at the time of removal of the load. The BLDC motors suffer from a major drawback of having jerky behaviour at the time of load removal. The study reveals that irrespective of the type of controller used, the gradual load variation produces better results as against sudden load variations. It is further observed that in addition to other dynamic features, the jerks produced at the time of load removal also get improved to a large extent with Fuzzy PID controller.The speed torque characteristics unraveled the fact that the jerks are minimum at the time of gradual load removal with Fuzzy PID controller in place. An attempt has been made to define these jerks by ‘Perturbation Window’.

  15. 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.

  16. Integrated tuning of PID-derivative load frequency controller for two ...

    African Journals Online (AJOL)

    Results of the proposed derivative controller have been compared with conventional proportional integral derivative controller in time domain analysis. A remarkable improvement in stability of the system has ... the feasibility of the proposed PID-derivative filter controller. Keywords: controller; derivative filter; tie line; two area ...

  17. Practical Implementation for the interval type-2 fuzzy PID controller using a low cost microcontroller

    Directory of Open Access Journals (Sweden)

    Ahmad M. El-Nagar

    2014-06-01

    Full Text Available In this study, we propose an embedded real-time interval type-2 fuzzy proportional – integral – derivative (IT2F-PID controller which is a parallel combination of the interval type-2 fuzzy proportional – integral (IT2F-PI controller and the interval type-2 fuzzy proportional – derivative (IT2F-PD controller. The proposed IT2F-PID controller is able to handle the effect of the system uncertainties due to the structure of the interval type-2 fuzzy logic controller. The proposed IT2F-PID controller is implemented practically using a low cost PIC microcontroller for controlling the uncertain nonlinear inverted pendulum to minimize the effect of the system uncertainties due to the uncertainty in the mass of the pendulum, the measurement error in the rotation angle of the pendulum and the structural uncertainty. The test is carried out using the hardware-in-the-loop (HIL simulation. The experimental results show that the performance of the IT2F-PID controller improves significantly the performance over a wide range of system uncertainties.

  18. 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.

  19. Randomized Crossover Comparison of Personalized MPC and PID Control Algorithms for the Artificial Pancreas.

    Science.gov (United States)

    Pinsker, Jordan E; Lee, Joon Bok; Dassau, Eyal; Seborg, Dale E; Bradley, Paige K; Gondhalekar, Ravi; Bevier, Wendy C; Huyett, Lauren; Zisser, Howard C; Doyle, Francis J

    2016-07-01

    To evaluate two widely used control algorithms for an artificial pancreas (AP) under nonideal but comparable clinical conditions. After a pilot safety and feasibility study (n = 10), closed-loop control (CLC) was evaluated in a randomized, crossover trial of 20 additional adults with type 1 diabetes. Personalized model predictive control (MPC) and proportional integral derivative (PID) algorithms were compared in supervised 27.5-h CLC sessions. Challenges included overnight control after a 65-g dinner, response to a 50-g breakfast, and response to an unannounced 65-g lunch. Boluses of announced dinner and breakfast meals were given at mealtime. The primary outcome was time in glucose range 70-180 mg/dL. Mean time in range 70-180 mg/dL was greater for MPC than for PID (74.4 vs. 63.7%, P = 0.020). Mean glucose was also lower for MPC than PID during the entire trial duration (138 vs. 160 mg/dL, P = 0.012) and 5 h after the unannounced 65-g meal (181 vs. 220 mg/dL, P = 0.019). There was no significant difference in time with glucose PID control for the AP indicates that MPC performed particularly well, achieving nearly 75% time in the target range, including the unannounced meal. Although both forms of CLC provided safe and effective glucose management, MPC performed as well or better than PID in all metrics. © 2016 by the American Diabetes Association. Readers may use this article as long as the work is properly cited, the use is educational and not for profit, and the work is not altered.

  20. 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.

  1. 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.

  2. Association of STin2 Variable Number of Tandem Repeat (VNTR) Polymorphism of Serotonin Transporter Gene with Lifelong Premature Ejaculation: A Case-Control Study in Han Chinese Subjects

    Science.gov (United States)

    Huang, Yuanyuan; Zhang, Xiansheng; Gao, Jingjing; Tang, Dongdong; Gao, Pan; Peng, Dangwei; Liang, Chaozhao

    2016-01-01

    Background The STin2 VNTR polymorphism has a variable number of tandem repeats in intron 2 of the serotonin transporter gene. We aimed to explore the relationship between STin2 VNTR polymorphism and lifelong premature ejaculation (LPE). Material/Methods We recruited a total of 115 outpatients who complained of ejaculating prematurely and who were diagnosed as LPE, and 101 controls without PE complaint. Allelic variations of STin2 VNTR were genotyped using PCR-based technology. We evaluated the associations between STin2 VNTR allelic and genotypic frequencies and LPE, as well as the intravaginal ejaculation latency time (IELT) of different STin2 VNTR genotypes among LPE patients. Results The patients and controls did not differ significantly in terms of any characteristic except age. A significantly higher frequency of STin2.12/12 genotype was found among LPE patients versus controls (P=0.026). Frequency of patients carrying at least 1 copy of the 10-repeat allele was significantly lower compared to the control group (28.3% vs. 41.8%, OR=0.55; 95%CI=0.31–0.97, P=0.040). In the LPE group, the mean IELT showed significant difference in STin2.12/12 genotype when compared to those with STin2.12/10 and STin2.10/10 genotypes. The mean IELT in10-repeat allele carriers was 50% longer compared to homozygous carriers of the STin2.12 allele. Conclusions Our results indicate the presence of STin2.10 allele is a protective factor for LPE. Men carrying the higher expression genotype STin2. 12/12 have shorter IELT than 10-repeat allele carriers. PMID:27713390

  3. Algoritmos Evolutivos y su empleo en el ajuste de controladores del tipo PID: Estado Actual y Perspectivas

    Directory of Open Access Journals (Sweden)

    Gilberto Reynoso-Meza

    2013-07-01

    Full Text Available Resumen: Los controladores PID continúan siendo una solución fiable, robusta, práctica y sencilla para el control de procesos. Actualmente constituyen la primera capa de control de la gran mayoría de las aplicaciones industriales. De ahí que un número importante de trabajos de investigación se han orientado a mejorar su rendimiento y prestaciones. Las líneas de investigación en este campo van desde nuevos métodos de ajuste, pasando por nuevos tipos de estructura hasta metodologías de diseño integrales. Particularizando en el ajuste de parámetros, una de las formas de obtener una solución novedosa consiste en plantear un problema de optimización, el cual puede llegar a ser no-lineal, no-convexo y con restricciones. Dado que los algoritmos evolutivos han mostrado un buen desempeño para solucionar problemas complejos de optimización, han sido utilizados en diversas propuestas relacionadas con el ajuste de controladores PID. Este trabajo muestra un revisión de estas propuestas y las prestaciones obtenidas en cada caso. Así mismo, se identifican algunas tendencias y posibles líneas de trabajo futuras. Abstract: PID controllers are a reliable, robust, practical and easy to implement control solution for industrial processes. They provide the first control layer for a vast majority of industrial applications. Owing to this, several researches invest time and resources to improve their performance. The research lines in this field scope with new tuning methods, new types of structures and integral design methods. For tuning methods, improvements could be fulfilled stating an optimization problem, which could be non-linear, non-convex and highly constrained. In such instances, evolutionary algorithms have shown a good performance and have been used in various proposals related with PID controllers tuning. This work shows a review of these proposals and the benefits obtained in each case. Some

  4. Controlling Chaos and Voltage Collapse using Layered Recurrent Network-based PID-SVC in Power Systems

    Directory of Open Access Journals (Sweden)

    I Made Ginarsa

    2013-11-01

    Full Text Available Chaos and voltage collapse occurred in critical power systems due to disturbing of energy. PID-SVC layered reccurrent neural network-based (LRN-based PID-SVC was proposed to solve this problem. A PID was used to control chaos and voltage collapse. Then, an SVC LRN-based to maintan the load voltage. By using the proposed controller, chaos and voltage collapse were able to suppress and maintain the load voltage around the setting value. Furthemore, the proposed controller gives better response than PI-SVC controller.

  5. Influence of sample temperature and environmental humidity on measurements of benzene in ambient air by transportable GC-PID

    Directory of Open Access Journals (Sweden)

    C. Romero-Trigueros

    2017-10-01

    Full Text Available Calibration of in situ analysers of air pollutants is usually done with dry standards. In this paper, the influence of sample temperature and environmental humidity on benzene measurements by gas chromatography coupled with a photoionisation detector (GC-PID is studied. Two reference gas mixtures (40 and 5 µg m−3 nominal concentration benzene in air were subjected to two temperature cycles (20/5/20 °C and 20/35/20 °C and measured with two identical GC-PIDs. The change in sample temperature did not produce any significant change in readings. Regarding ambient humidity, the chromatographs were calibrated for benzene with dry gases and subjected to measure reference standards with humidity (20 and 80 % at 20 °C. When measuring a concentration of 0.5 µg m−3 benzene in air, the levels of humidity tested did not produce any significant interference in measurements taken with any of the analysers. However, when measuring a concentration of 40 µg m−3, biases in measurements of 18 and 21 % for each respective analyser were obtained when the relative humidity of the sample was 80 % at 20 °C. Further tests were carried out to study the nature of this interference. Results show that humidity interference depends on both the amount fractions of water vapour and benzene. If benzene concentrations in an area are close to its annual limit value (5 µg m−3, biases of 2.2 % can be expected when the absolute humidity is 8.6 g cm−3 – corresponding to a relative humidity of 50 % at 20 °C. This can be accounted for in the uncertainty budget of measurements with no need for corrections. If benzene concentrations are above the annual limit value, biases become higher. Thus, in these cases, actions should be taken to reduce the humidity interference, as an underestimation of benzene concentrations may cause a mismanagement of air quality in these situations.

  6. The frequency of chromatide aberrations as a function of radiation dose estimated by the number of dicentrics found by the cytogenetic analysis of lymphocytes in subjects affected by the Chernobyl accident

    International Nuclear Information System (INIS)

    Nugis, V.Yu.; Chirkov, A.A.

    1990-01-01

    A study was made of the frequency of chromatide aberrations in lymphocyte culture of subjects affected by the Chernobyl accident as a function of dose estimated by the incidence of dicentrics. The average number of chromatide aberrations was nearly the same within the dose range from 0 to 5 Gy exhibiting a tendency towards growth with dose. A high individual variability of the chromatide aberration frequency was observed

  7. Anti-windup adaptive PID control design for a class of uncertain chaotic systems with input saturation.

    Science.gov (United States)

    Tahoun, A H

    2017-01-01

    In this paper, the stabilization problem of actuators saturation in uncertain chaotic systems is investigated via an adaptive PID control method. The PID control parameters are auto-tuned adaptively via adaptive control laws. A multi-level augmented error is designed to account for the extra terms appearing due to the use of PID and saturation. The proposed control technique uses both the state-feedback and the output-feedback methodologies. Based on Lyapunov׳s stability theory, new anti-windup adaptive controllers are proposed. Demonstrative examples with MATLAB simulations are studied. The simulation results show the efficiency of the proposed adaptive PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  8. New results on the robust stability of PID controllers with gain and phase margins for UFOPTD processes.

    Science.gov (United States)

    Jin, Q B; Liu, Q; Huang, B

    2016-03-01

    This paper considers the problem of determining all the robust PID (proportional-integral-derivative) controllers in terms of the gain and phase margins (GPM) for open-loop unstable first order plus time delay (UFOPTD) processes. It is the first time that the feasible ranges of the GPM specifications provided by a PID controller are given for UFOPTD processes. A gain and phase margin tester is used to modify the original model, and the ranges of the margin specifications are derived such that the modified model can be stabilized by a stabilizing PID controller based on Hermite-Biehlers Theorem. Furthermore, we obtain all the controllers satisfying a given margin specification. Simulation studies show how to use the results to design a robust PID controller. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism.

    Science.gov (United States)

    Goher, K M; Fadlallah, S O

    2017-01-01

    This paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechanism. The system under investigation provides solutions for industrial robotic applications that require a limited-space working environment. The system nonlinear mathematical model, derived using Lagrangian modeling approach, is simulated in MATLAB/Simulink ® environment. Bacterial foraging-optimized PID control with decoupled nature is designed and implemented. Various working scenarios with multiple initial conditions are used to test the robustness and the system performance. Simulation results revealed the effectiveness of the bacterial foraging-optimized PID control method in improving the system performance compared to the PID control scheme.

  10. Transcendental numbers

    CERN Document Server

    Murty, M Ram

    2014-01-01

    This book provides an introduction to the topic of transcendental numbers for upper-level undergraduate and graduate students. The text is constructed to support a full course on the subject, including descriptions of both relevant theorems and their applications. While the first part of the book focuses on introducing key concepts, the second part presents more complex material, including applications of Baker’s theorem, Schanuel’s conjecture, and Schneider’s theorem. These later chapters may be of interest to researchers interested in examining the relationship between transcendence and L-functions. Readers of this text should possess basic knowledge of complex analysis and elementary algebraic number theory.

  11. IMPLEMENTATION OF PID ON PIC24F SERIES MICROCONTROLLER FOR SPEED CONTROL OF A DC MOTOR USING MPLAB AND PROTEUS

    OpenAIRE

    Sohaib Aslam; Sundas Hannan; Umar Sajjad; Waheed Zafar

    2016-01-01

    Speed control of DC motor is very critical in most of the industrial systems where accuracy and protection are of essence. This paper presents the simulations of Proportional Integral Derivative Controller (PID) on a 16-bit PIC 24F series microcontroller for speed control of a DC motor in the presence of load torque. The PID gains have been tuned by Linear Quadratic Regulator (LQR) technique and then it is implemented on microcontroller using MPLAB and finally simulated for speed control of D...

  12. 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.

  13. BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle.

    Science.gov (United States)

    Fan, Jizhuang; Zhong, Jun; Zhao, Jie; Zhu, Yanhe

    2015-01-01

    Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due to its highly nonlinear properties. This paper deals with position control of PAM. To describe the hysteresis inside PAM, a polynomial based phenomenological function is developed. Based on the phenomenological model for PAM and analysis of pressure dynamics within PAM, an adaptive cascade controller is proposed. Both outer loop and inner loop employ BP Neural Network tuned PID algorithm. The outer loop is to handle high nonlinearities and unmodeled dynamics of PAM, while the inner loop is responsible for nonlinearities caused by pressure dynamics. Experimental results show high tracking accuracy as compared with a convention PID controller. The proposed controller is effective in improving performance of PAM and will be implemented in a rehabilitation robot.

  14. Design and Research on Vehicles Motor Testing System Based on Improvement PID

    Directory of Open Access Journals (Sweden)

    Fan Kuangang

    2014-08-01

    Full Text Available Motor is the important parts in vehicles. It is the key parts for achieving automation. It is the critical technology to test vehicle motors. We take the PID (Proportion Integration Differentiation as based fundamental controlling algorithm, and we test motor parameters through LabVIEW for single-chip AT89C52. According to practical working condition, we build circuit electric field boundary, and analyze electric field distribution of hard circuit. In addition, we also design filtering circuit for main interrupt frequency (below 1 kHz, and we improved PID for direct motor speed which is controlled by PWM (pulse-width modulation to reach speed astatic regulation. At the same time, the system achieves soft start-up.

  15. 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)

  16. 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.

  17. Research on frequency control strategy of interconnected region based on fuzzy PID

    Science.gov (United States)

    Zhang, Yan; Li, Chunlan

    2018-05-01

    In order to improve the frequency control performance of the interconnected power grid, overcome the problems of poor robustness and slow adjustment of traditional regulation, the paper puts forward a frequency control method based on fuzzy PID. The method takes the frequency deviation and tie-line deviation of each area as the control objective, takes the regional frequency deviation and its deviation as input, and uses fuzzy mathematics theory, adjusts PID control parameters online. By establishing the regional frequency control model of water-fire complementary power generation in MATLAB, the regional frequency control strategy is given, and three control modes (TBC-FTC, FTC-FTC, FFC-FTC) are simulated and analyzed. The simulation and experimental results show that, this method has better control performance compared with the traditional regional frequency regulation.

  18. Adaptive Functional-Based Neuro-Fuzzy-PID Incremental Controller Structure

    Directory of Open Access Journals (Sweden)

    Ashraf Ahmed Fahmy

    2014-03-01

    Full Text Available This paper presents an adaptive functional-based Neuro-fuzzy-PID incremental (NFPID controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input-output space of the three term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral function for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation.  Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using Bees Algorithm, and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA type robot arm.

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

    Energy Technology Data Exchange (ETDEWEB)

    Kuo, H-H; Chen, C-K; Liao, T-L [Department of Engineering Science, National Cheng Kung University, Tainan 701, Taiwan (China); Yan, J-J [Department of Computer and Communication, Shu-Te University, Kaohsiung 824, Taiwan (China)], E-mail: tlliao@mail.ncku.edu.tw

    2008-02-15

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

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

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  1. A comparison of fuzzy logic-PID control strategies for PWR pressurizer control

    International Nuclear Information System (INIS)

    Kavaklioglu, K.; Ikonomopoulos, A.

    1993-01-01

    This paper describes the results obtained from a comparison performed between classical proportional-integral-derivative (PID) and fuzzy logic (FL) controlling the pressure in a pressurized water reactor (PWR). The two methodologies have been tested under various transient scenarios, and their performances are evaluated with respect to robustness and on-time response to external stimuli. One of the main concerns in the safe operation of PWR is the pressure control in the primary side of the system. In order to maintain the pressure in a PWR at the desired level, the pressurizer component equipped with sprayers, heaters, and safety relief valves is used. The control strategy in a Westinghouse PWR is implemented with a PID controller that initiates either the electric heaters or the sprayers, depending on the direction of the coolant pressure deviation from the setpoint

  2. 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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  3. 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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Optimal control of inverted pendulum system using PID controller, LQR and MPC

    Science.gov (United States)

    Varghese, Elisa Sara; Vincent, Anju K.; Bagyaveereswaran, V.

    2017-11-01

    Inverted pendulum is a highly nonlinear system. Here we propose an optimal control technique for the control of an inverted Pendulum - cart system. The system is modeled, linearized and controlled. Here, the control objective is to control the system such that when the cart reaches a desired position the inverted pendulum stabilizes in the upright position. Initially PID controller is used to control the system. Later, Linear Quadratic Regulator (LQR) a well-known optimal control technique which makes use of the states of the dynamical system and control input to frame the optimal control decision is used. Various combinations of both PID and LQR controllers are implemented. To validate the robustness of the controller, the system is simulated with and without disturbance. Finally the system is also controlled using Model Predictive controller (MPC). MPC has well predictive ability to calculate future events and implement necessary control actions. The performance of the system is compared and analyzed.

  5. Autotuning of PID controller by means of human machine interface device

    Directory of Open Access Journals (Sweden)

    Michał Awtoniuk

    2017-06-01

    Full Text Available More and more control systems are based on industry microprocessors like PLC controllers (Programmable Logic Controller. The most commonly used control algorithm is PID (Proportional-Integral-Derivative algorithm. Autotuning procedure is not available in every PLC. These controllers are typically used in cooperation with HMI (Human Machine Interface devices. In the study two procedures of autotuning of the PID controller were implemented in the HMI device: step method and relay method. Six tuning rules for step methods and one for relay method were chosen. The autotuning procedures on simulated controlled object and PLC controller without build-in autotuning were tested. The object of control was first order system plus time delay.

  6. 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.

  7. 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.

  8. Experimental results on the design for the APS PID global orbit control system

    International Nuclear Information System (INIS)

    Chung, Y.; Kirchman, J. A.

    1997-01-01

    The Advanced Photon Source third generation synchrotrons light source needs a stabilized particle beam position to produce high brightness and low emittance radiation. Global orbit correction control is introduced and is utilized to satisfy the demanding needs of the accelerator. This paper presents the experimental results for determining an effective and optimal controller to meet the global orbit correction requirements. These requirements include frequency/time domain demands consisting of vibrational noise attenuation, limiting of controller gains for stability and improving the system time response. Experiments were conducted with a digital signal processor implementing various PID sets to make comparisons between simulations and experiments. Measurements at these PID sets supported the results of software simulation

  9. Demonstrative fractional order - PID controller based DC motor drive on digital platform.

    Science.gov (United States)

    Khubalkar, Swapnil W; Junghare, Anjali S; Aware, Mohan V; Chopade, Amit S; Das, Shantanu

    2017-09-21

    In industrial drives applications, fractional order controllers can exhibit phenomenal impact due to realization through digital implementation. Digital fractional order controllers have created wide scope as it possess the inherent advantages like robustness against the plant parameter variation. This paper provides brief design procedure of fractional order proportional-integral-derivative (FO-PID) controller through the indirect approach of approximation using constant phase technique. The new modified dynamic particle swarm optimization (IdPSO) technique is proposed to find controller parameters. The FO-PID controller is implemented using floating point digital signal processor. The building blocks are designed and assembled with all peripheral components for the 1.5kW industrial DC motor drive. The robust operation for parametric variation is ascertained by testing the controller with two separately excited DC motors with the same rating but different parameters. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  10. 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.

  11. The hierarchical expert tuning of PID controllers using tools of soft computing.

    Science.gov (United States)

    Karray, F; Gueaieb, W; Al-Sharhan, S

    2002-01-01

    We present soft computing-based results pertaining to the hierarchical tuning process of PID controllers located within the control loop of a class of nonlinear systems. The results are compared with PID controllers implemented either in a stand alone scheme or as a part of conventional gain scheduling structure. This work is motivated by the increasing need in the industry to design highly reliable and efficient controllers for dealing with regulation and tracking capabilities of complex processes characterized by nonlinearities and possibly time varying parameters. The soft computing-based controllers proposed are hybrid in nature in that they integrate within a well-defined hierarchical structure the benefits of hard algorithmic controllers with those having supervisory capabilities. The controllers proposed also have the distinct features of learning and auto-tuning without the need for tedious and computationally extensive online systems identification schemes.

  12. Comparison of Energy Consumption in the Classical (PID and Fuzzy Control of Foundry Resistance Furnace

    Directory of Open Access Journals (Sweden)

    Ziółkowskia E.

    2012-09-01

    Full Text Available Foundry resistance furnaces are thermal devices with a relatively large time delay in their response to a change in power parameters. Commonly used in automation classical PID controllers do not meet the requirements of high-quality control. Developed in recent years, fuzzy control theory is increasingly being used in various branches of economy and industry. Fuzzy controllers allow to introduce new developments in control systems of foundry furnaces as well. Correctly selected fuzzy controller can significantly reduce energy consumption in a controlled thermal process of heating equipment. The article presents a comparison of energy consumption by control system of foundry resistance furnace, equipped with either a PID controller or fuzzy controller optimally chosen.

  13. Optimal Design for PID Controller Based on DE Algorithm in Omnidirectional Mobile Robot

    Directory of Open Access Journals (Sweden)

    Wu Peizhang

    2017-01-01

    Full Text Available This paper introduces a omnidirectional mobile robot based on Mecanum wheel, which is used for conveying heavy load in a small space of the automatic warehousing logistics center. Then analyzes and establishes the omnidirectional chassis inverse and forward kinematic model. In order to improve the performance of motion, the paper proposes the optimal PID controller based on differential evolution algorithm. Finally, through MATLAB simulation, the results show that the kinematic model of mobile robot chassis is correct, further more the controller optimized by the DE algorithm working better than the traditional Z-N PID tuned. So the optimal scheme is reasonable and feasible, which has a value for engineering applications.

  14. Control of baker’s yeast fermentation : PID and fuzzy algorithms

    OpenAIRE

    Machado, Carlos; Gomes, Pedro; Soares, Rui; Pereira, Silvia; Soares, Filomena

    2001-01-01

    A MATLAB/SIMULINK-based simulator was employed for studies concerning the control of baker’s yeast fed-batch fermentation. Four control algorithms were implemented and compared: the classical PID control, two discrete versions- modified velocity and position algorithms, and a fuzzy law. The simulation package was seen to be an efficient tool for the simulation and tests of control strategies of the non-linear process.

  15. PID - 3D: a software to develop mathematical human phantoms for use in computational dosimetry

    International Nuclear Information System (INIS)

    Lima Filho, Jose de Melo; Vieira, Jose Wilson; Lima, Vanildo Junior de Melo; Lima, Fernando Roberto de Andrade

    2009-01-01

    The PID-3D software, written in Visual C++, contains tools developed for building and editing of three-dimensional geometric figures formed of voxels (volume pixels). These tools were projected to be used, together with those already developed by the Grupo de Dosimetria Numerica (GDN/CNPq), such as the FANTOMAS and DIP software, in computational dosimetry of ionizing radiation. The main objective of this paper is to develop various voxel-based geometric solids to build voxel phantoms (meaning models), anthropomorphic or not. The domain of this technique of development of geometric solids is important for the GDN/CNPq, because it allows the use of just one Monte Carlo code to simulate the transportation, interaction and deposition of radiation in tomographic and mathematical phantoms. Building a particular geometric solid the user needs to inform to the PID-3D software, the location and the size of the parallelepiped that involves it. Each built solid can be saved in a binary file of the type SGI (file containing the size and the numeric values that constitutes the 3D matrix that represents the solid, commonly used by GDN/CNPq). The final mathematical phantom is built starting from these SGI files and the SGI file resulting constitutes a voxel phantom. With this approach the software's user does not have to manipulate the equations and inequalities of the solids that represent the organs and tissues of the phantom. The 3D-PID software, associated with the FANTOMAS and DIP software are tools produced by GDN/CNPq, providing a new technique for building of 3D scenes in dosimetric evaluations using voxel phantoms. To validate the PID-3D software one built, step by step, a phantom similar to the MIRD-5 stylized phantom. (author)

  16. Optimal PID settings for first and second-order processes - Comparison with different controller tuning approaches

    OpenAIRE

    Pappas, Iosif

    2016-01-01

    PID controllers are extensively used in industry. Although many tuning methodologies exist, finding good controller settings is not an easy task and frequently optimization-based design is preferred to satisfy more complex criteria. In this thesis, the focus was to find which tuning approaches, if any, present close to optimal behavior. Pareto-optimal controllers were found for different first and second-order processes with time delay. Performance was quantified in terms of the integrat...

  17. 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

  18. Vibrations control of light rail transportation vehicle via PID type fuzzy controller using parameters adaptive method

    OpenAIRE

    METİN, Muzaffer; GÜÇLÜ, Rahmi

    2014-01-01

    In this study, a conventional PID type fuzzy controller and parameter adaptive fuzzy controller are designed to control vibrations actively of a light rail transport vehicle which modeled as 6 degree-of-freedom system and compared performances of these two controllers. Rail vehicle model consists of a passenger seat and its suspension system, vehicle body, bogie, primary and secondary suspensions and wheels. The similarity between mathematical model and real system is shown by compar...

  19. Profil épidémiologique, diagnostique, thérapeutique et évolutif du ...

    African Journals Online (AJOL)

    Objectifs: Étudier les aspects épidémiologiques, cliniques, thérapeutiques et évolutifs du cancer de la prostate dans le service d'urologie du CHU-Sylvanus Olympio du Togo. Patients et méthodes: Il s'agissait d'une étude prospective de mars 2011 à mars 2014 sur les patients suivis pour cancer de la prostate au Togo.

  20. Desain Proportional Integral Derrivative (Pid) Controller Pada Model Arm Robot Manipulator

    OpenAIRE

    Pratama, Adhityanendra Pandu; Munadi, Munadi

    2014-01-01

    Dalam rangka menuju proses industrialisasi modern di negara Indonesia, harus didukung dengan teknologi yang canggih, contoh nya adalah arm robot manipulator. sebagai pelaku proses produksi sehingga dihasilkan ketepatan,kepresisian, dan kefektifan pada proses produksi. Dengan hal tersebut dibuat sebuah desain kontrol PID pada arm robot manipulator dengan tujuan menghasilkan tingkat presisi dan kestabilan yang lebih baik. Kontroler tersebut didesain, disimulasikan, dan diaplikasikan pada ha...

  1. Genetic Algorithm Tuning of PID Controller in Smith Predictor for Glucose Concentration Control

    OpenAIRE

    Tsonyo Slavov; Olympia Roeva

    2011-01-01

    This paper focuses on design of a glucose concentration control system based on nonlinear model plant of E. coli MC4110 fed-batch cultivation process. Due to significant time delay in real time glucose concentration measurement, a correction is proposed in glucose concentration measurement and a Smith predictor (SP) control structure based on universal PID controller is designed. To reduce the influence of model error in SP structure the estimate of measured glucose concentration is used. For...

  2. 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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  3. A conformal mapping based fractional order approach for sub-optimal tuning of PID controllers with guaranteed dominant pole placement

    Science.gov (United States)

    Saha, Suman; Das, Saptarshi; Das, Shantanu; Gupta, Amitava

    2012-09-01

    A novel conformal mapping based fractional order (FO) methodology is developed in this paper for tuning existing classical (Integer Order) Proportional Integral Derivative (PID) controllers especially for sluggish and oscillatory second order systems. The conventional pole placement tuning via Linear Quadratic Regulator (LQR) method is extended for open loop oscillatory systems as well. The locations of the open loop zeros of a fractional order PID (FOPID or PIλDμ) controller have been approximated in this paper vis-à-vis a LQR tuned conventional integer order PID controller, to achieve equivalent integer order PID control system. This approach eases the implementation of analog/digital realization of a FOPID controller with its integer order counterpart along with the advantages of fractional order controller preserved. It is shown here in the paper that decrease in the integro-differential operators of the FOPID/PIλDμ controller pushes the open loop zeros of the equivalent PID controller towards greater damping regions which gives a trajectory of the controller zeros and dominant closed loop poles. This trajectory is termed as "M-curve". This phenomena is used to design a two-stage tuning algorithm which reduces the existing PID controller's effort in a significant manner compared to that with a single stage LQR based pole placement method at a desired closed loop damping and frequency.

  4. Performance and robustness of optimal fractional fuzzy PID controllers for pitch control of a wind turbine using chaotic optimization algorithms.

    Science.gov (United States)

    Asgharnia, Amirhossein; Shahnazi, Reza; Jamali, Ali

    2018-05-11

    The most studied controller for pitch control of wind turbines is proportional-integral-derivative (PID) controller. However, due to uncertainties in wind turbine modeling and wind speed profiles, the need for more effective controllers is inevitable. On the other hand, the parameters of PID controller usually are unknown and should be selected by the designer which is neither a straightforward task nor optimal. To cope with these drawbacks, in this paper, two advanced controllers called fuzzy PID (FPID) and fractional-order fuzzy PID (FOFPID) are proposed to improve the pitch control performance. Meanwhile, to find the parameters of the controllers the chaotic evolutionary optimization methods are used. Using evolutionary optimization methods not only gives us the unknown parameters of the controllers but also guarantees the optimality based on the chosen objective function. To improve the performance of the evolutionary algorithms chaotic maps are used. All the optimization procedures are applied to the 2-mass model of 5-MW wind turbine model. The proposed optimal controllers are validated using simulator FAST developed by NREL. Simulation results demonstrate that the FOFPID controller can reach to better performance and robustness while guaranteeing fewer fatigue damages in different wind speeds in comparison to FPID, fractional-order PID (FOPID) and gain-scheduling PID (GSPID) controllers. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Derivatizations for improved detection of alcohols by gas chromatography and photoionization detection (GC-PID)

    International Nuclear Information System (INIS)

    Krull, I.S.; Swartz, M.; Driscoll, J.N.

    1984-01-01

    Pentafluorophenyldimethylsilyl chloride (flophemesyl chloride, Fl) is a well known derivatization reagent for improved electron capture detection (ECD) in gas chromatography (GC)(GC-ECD), but it has never been utilized for improved detectability and sensitivity in GC-photoionization detection (GC-PID). A wide variety of flophemesyl alcohol derivatives have been used in order to show a new approach for realizing greatly reduced minimum detection limits (MDL) of virtually all alcohol derivatives in GC-PID analysis. This particular derivatization approach is inexpensive and easy to apply, leading to quantitative or near 100% conversion of the starting alcohols to the expected flophemesyl ethers (silyl ethers). Detection limits can be lowered by 2-3 orders of magnitude for such derivatives when compared with the starting alcohols, along with calibration plots that are linear over 5-7 orders of magnitude. Specific GC conditions have been developed for many flophemesyl derivatives, in all cases using packed columns. Both ECD and PID relative response factors (RRFs) and normalized RRFs have been determined, and such ratios can now be used for improved analytic identification from complex sample matrices, where appropriate. 28 references, 2 figures, 5 tables

  6. 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.

  7. Design and Simulation of a PID Controller for Motion Control Systems

    Science.gov (United States)

    Hassan Abdullahi, Zakariyya; Danzomo, Bashir Ahmed; Suleiman Abdullahi, Zainab

    2018-04-01

    Motion control system plays important role in many industrial applications among which are in robot system, missile launching, positioning systems etc. However, the performance requirement for these applications in terms of high accuracy, high speed, insignificant or no overshoot and robustness have generated continuous challenges in the field of motion control system design and implementation. To compensate this challenge, a PID controller was design using mathematical model of a DC motor based on classical root-locus approach. The reason for adopting root locus design is to remodel the closed-loop response by putting the closed-loop poles of the system at desired points. Adding poles and zeros to the initial open-loop transfer function through the controller provide a way to transform the root locus in order to place the closed-loop poles at the required points. This process can also be used for discrete-time models. The Advantages of root locus over other methods is that, it gives the better way of pinpointing the parameters and can easily predict the fulfilment of the whole system. The controller performance was simulated using MATLAB code and a reasonable degree of accuracy was obtained. Implementation of the proposed model was conducted using-Simulink and the result obtained shows that the PID controller met the transient performance specifications with both settling time and overshoot less than 0.1s and 5% respectively. In terms of steady state error, the PID controller gave good response for both step input and ramp.

  8. Laser beam pointing and stabilization by fractional-order PID control: Tuning rule and experiments

    KAUST Repository

    Al-Alwan, Asem Ibrahim Alwan

    2017-10-24

    This paper studies the problem of high-precision positioning of laser beams by using a robust Fractional-Order Proportional-Integral-Derivative (FOPID) controller. The control problem addressed in laser beams aims to maintain the position of the laser beam on a Position Sensing Device (PSD) despite the effects of noise and active disturbances. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness to noise and output disturbance rejections. Thus, a control strategy based on FOPID to achieve the control objectives has been proposed. The FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. A comparison to the conventional Proportional-Integral-Derivative (PID) and robust PID is also provided from simulation and experiment set-up. Due to sensor noise, practical PID controllers that filter the position signal before taking the derivative have been also proposed. Experimental results show that the requirements are totally met for the laser beam platform to be stabilized.

  9. MPC-based auto-tuned PID controller for the steam generator water level

    International Nuclear Information System (INIS)

    Na, Man Gyun

    2001-01-01

    In this work, proportional-integral-derivative (PID) control gains are automatically tuned by using a model predictive control (MPC) method. The MPC has received much attention as a powerful tool for the control of industrial process systems. An MPC-based PID controller can be derived from the second order linear model of a process. The steam generator is usually described by the well-known 4 th order linear model which consists of the mass capacity, reverse dynamics and mechanical oscillations terms. But the important terms in this linear model are the mass capacity and reverse dynamics terms, both of which can be described by a 2 nd order linear system. The proposed auto-tuned PID controller was applied to a linear model of steam generators. The parameters of a linear model for steam generators are very different according to the power levels. The proposed controller showed good performance for the water level deviation and sudden steam flow disturbances that are typical in the existing power plants by changing only the input-weighting factor according to the power level

  10. Regular self-oscillating and chaotic behaviour of a PID controlled gimbal suspension gyro

    International Nuclear Information System (INIS)

    Perez Polo, Manuel F.; Perez Molina, Manuel

    2004-01-01

    The dynamics of a gyro in gimbal with a PID controller to obtain steady state, self-oscillating and chaotic motion is considered in this paper. The mathematical model of the whole system is deduced from the gyroscope nutation theory and from a feedback control system formed by a PID controller with constrained integral action. The paper shows that the gyro and the associated PID feedback control system have multiple equilibrium points, and from the analysis of a Poincare-Andronov-Hopf bifurcation at the equilibrium points, it is possible to deduce the conditions, which give regular and self-oscillating behaviour. The calculation of the first Lyapunov value is used to predict the motion of the gyro in order to obtain a desired equilibrium point or self-oscillating behaviour. The mechanism of the stability loss of the gyro under small vibrations of the gyro platform and the appearance of chaotic motion is also presented. Numerical simulations are performed to verify the analytical results

  11. Tuning method for multi-variable control system with PID controllers

    International Nuclear Information System (INIS)

    Fujiwara, Toshitaka

    1983-01-01

    Control systems, including thermal and nuclear power plants, generally and mainly use PID controllers consisting of proportional, integral and differential actions. These systems consist of multiple control loops which interfere with each other. Therefore, it is present status that the fine control of the system is carried out by the trial and error method because the adjusting procedure for a single control loop cannot be applied to a multi-loop system in most cases. In this report, a method to effectively adjust PID controller parameters in a short time in a control system which consists of multi-loops that interfere with each other. This method makes adjustment by using the control area as the evaluation function, which is the time-dependent integration of control deviation, the input to the PID controllers. In other words, the evaluation function is provided for each control result for every parameter (gain constant, reset rate, and differentiation time), and all parameters are simultaneously changed in the direction of minimizing the values of these evaluation functions. In the report, the principle of tuning method, the evaluation function for each of three parameters, and the adjusting system configuration for separately using for actual plant tuning and for control system design are described. It also shows the examples of application to the actual tuning of the control system for a thermal power plant and to a control system design. (Wakatsuki, Y.)

  12. Design of distributed PID-type dynamic matrix controller for fractional-order systems

    Science.gov (United States)

    Wang, Dawei; Zhang, Ridong

    2018-01-01

    With the continuous requirements for product quality and safety operation in industrial production, it is difficult to describe the complex large-scale processes with integer-order differential equations. However, the fractional differential equations may precisely represent the intrinsic characteristics of such systems. In this paper, a distributed PID-type dynamic matrix control method based on fractional-order systems is proposed. First, the high-order approximate model of integer order is obtained by utilising the Oustaloup method. Then, the step response model vectors of the plant is obtained on the basis of the high-order model, and the online optimisation for multivariable processes is transformed into the optimisation of each small-scale subsystem that is regarded as a sub-plant controlled in the distributed framework. Furthermore, the PID operator is introduced into the performance index of each subsystem and the fractional-order PID-type dynamic matrix controller is designed based on Nash optimisation strategy. The information exchange among the subsystems is realised through the distributed control structure so as to complete the optimisation task of the whole large-scale system. Finally, the control performance of the designed controller in this paper is verified by an example.

  13. A comparative study of stabilizing control of a planer electromagnetic levitation using PID and LQR controllers

    Science.gov (United States)

    Yaseen, Mundher H. A.

    Magnetic levitation is a technique to suspend an object without any mechanical support. The main objective of this study is to demonstrate stabilized closed loop control of 1-DOF Maglev experimentally using real-time control simulink feature of (SIMLAB) microcontroller. Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) controllers are employed to examine the stability performance of the Maglev control system under effect of unbalanced change of load and wave signal on Maglev plane. The effect of unbalanced change of applied load on single point, line and plane are presented. Furthermore, in order to study the effect of sudden change in input signal, the input of wave signal has been applied on all points of the prototype maglev plate simultaneously. The results of pulse width modulation (PWM) reveal that the control system using LQR controller provides faster response to adjust the levitated plane comparing to PID controller. Moreover, the air gap distance that controlled using PID controller is rather stable with little oscillation. Meanwhile, LQR controller provided more stability and homogeneous response.

  14. Tuning of PID controller for an automatic regulator voltage system using chaotic optimization approach

    International Nuclear Information System (INIS)

    Santos Coelho, Leandro dos

    2009-01-01

    Despite the popularity, the tuning aspect of proportional-integral-derivative (PID) controllers is a challenge for researchers and plant operators. Various controllers tuning methodologies have been proposed in the literature such as auto-tuning, self-tuning, pattern recognition, artificial intelligence, and optimization methods. Chaotic optimization algorithms as an emergent method of global optimization have attracted much attention in engineering applications. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from local optimum, is a promising tool for engineering applications. In this paper, a tuning method for determining the parameters of PID control for an automatic regulator voltage (AVR) system using a chaotic optimization approach based on Lozi map is proposed. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. Simulation results are promising and show the effectiveness of the proposed approach. Numerical simulations based on proposed PID control of an AVR system for nominal system parameters and step reference voltage input demonstrate the good performance of chaotic optimization.

  15. Laser beam pointing and stabilization by fractional-order PID control: Tuning rule and experiments

    KAUST Repository

    Al-Alwan, Asem Ibrahim Alwan; Guo, Xingang; Ndoye, Ibrahima; Laleg-Kirati, Taous-Meriem

    2017-01-01

    This paper studies the problem of high-precision positioning of laser beams by using a robust Fractional-Order Proportional-Integral-Derivative (FOPID) controller. The control problem addressed in laser beams aims to maintain the position of the laser beam on a Position Sensing Device (PSD) despite the effects of noise and active disturbances. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness to noise and output disturbance rejections. Thus, a control strategy based on FOPID to achieve the control objectives has been proposed. The FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. A comparison to the conventional Proportional-Integral-Derivative (PID) and robust PID is also provided from simulation and experiment set-up. Due to sensor noise, practical PID controllers that filter the position signal before taking the derivative have been also proposed. Experimental results show that the requirements are totally met for the laser beam platform to be stabilized.

  16. Multi-stage fuzzy PID power system automatic generation controller in deregulated environments

    International Nuclear Information System (INIS)

    Shayeghi, H.; Shayanfar, H.A.; Jalili, A.

    2006-01-01

    In this paper, a multi-stage fuzzy proportional integral derivative (PID) type controller is proposed to solve the automatic generation control (AGC) problem in a deregulated power system that operates under deregulation based on the bilateral policy scheme. In each control area, the effects of the possible contracts are treated as a set of new input signals in a modified traditional dynamical model. The multi-stage controller uses the fuzzy switch to blend a proportional derivative (PD) fuzzy logic controller with an integral fuzzy logic input. The proposed controller operates on fuzzy values passing the consequence of a prior stage on to the next stage as fact. The salient advantage of this strategy is its high insensitivity to large load changes and disturbances in the presence of plant parameter variations and system nonlinearities. This newly developed strategy leads to a flexible controller with simple structure that is easy to implement, and therefore, it can be useful for the real world power systems. The proposed method is tested on a three area power system with different contracted scenarios under various operating conditions. The results of the proposed controller are compared with those of the classical fuzzy PID type controller and classical PID controller through some performance indices to illustrate its robust performance

  17. Optimized linear motor and digital PID controller setup used in Mössbauer spectrometer

    Science.gov (United States)

    Kohout, Pavel; Kouřil, Lukáš; Navařík, Jakub; Novák, Petr; Pechoušek, Jiří

    2014-10-01

    Optimization of a linear motor and digital PID controller setup used in a Mössbauer spectrometer is presented. Velocity driving system with a digital PID feedback subsystem was developed in the LabVIEW graphical environment and deployed on the sbRIO real-time hardware device (National Instruments). The most important data acquisition processes are performed as real-time deterministic tasks on an FPGA chip. Velocity transducer of a double loudspeaker type with a power amplifier circuit is driven by the system. Series of calibration measurements were proceeded to find the optimal setup of the P, I, D parameters together with velocity error signal analysis. The shape and given signal characteristics of the velocity error signal are analyzed in details. Remote applications for controlling and monitoring the PID system from computer or smart phone, respectively, were also developed. The best setup and P, I, D parameters were set and calibration spectrum of α-Fe sample with an average nonlinearity of the velocity scale below 0.08% was collected. Furthermore, the width of the spectral line below 0.30 mm/s was observed. Powerful and complex velocity driving system was designed.

  18. Digitally controlled analog proportional-integral-derivative (PID) controller for high-speed scanning probe microscopy

    Science.gov (United States)

    Dukic, Maja; Todorov, Vencislav; Andany, Santiago; Nievergelt, Adrian P.; Yang, Chen; Hosseini, Nahid; Fantner, Georg E.

    2017-12-01

    Nearly all scanning probe microscopes (SPMs) contain a feedback controller, which is used to move the scanner in the direction of the z-axis in order to maintain a constant setpoint based on the tip-sample interaction. The most frequently used feedback controller in SPMs is the proportional-integral (PI) controller. The bandwidth of the PI controller presents one of the speed limiting factors in high-speed SPMs, where higher bandwidths enable faster scanning speeds and higher imaging resolution. Most SPM systems use digital signal processor-based PI feedback controllers, which require analog-to-digital and digital-to-analog converters. These converters introduce additional feedback delays which limit the achievable imaging speed and resolution. In this paper, we present a digitally controlled analog proportional-integral-derivative (PID) controller. The controller implementation allows tunability of the PID gains over a large amplification and frequency range, while also providing precise control of the system and reproducibility of the gain parameters. By using the analog PID controller, we were able to perform successful atomic force microscopy imaging of a standard silicon calibration grating at line rates up to several kHz.

  19. Design of Multiregional Supervisory Fuzzy PID Control of pH Reactors

    Directory of Open Access Journals (Sweden)

    Shebel AlSabbah

    2015-01-01

    Full Text Available This work concerns designing multiregional supervisory fuzzy PID (Proportional-Integral-Derivative control for pH reactors. The proposed work focuses, mainly, on two themes. The first one is to propose a multiregional supervisory fuzzy-based cascade control structure. It would enable modifying dynamics and enhance system’s stability. The fuzzy system (master loop has been chosen as a tuner for PID controller (slave loop. It takes into consideration parameters uncertainties and reference tracking. The second theme concerns designing a hybrid neural network-based pH estimator. The proposed estimator would overcome the industrial drawbacks, that is, cost and size, found with conventional methods for pH measurement. The final end-user-interface (EUI front panel and the results that evaluate the performance of the supervisory fuzzy PID-based control system and hybrid NN-based estimator have been presented using the compatibility found between LabView and MatLab. They lead to conclude that the proposed algorithms are appropriate to systems nonlinearities encountered with pH reactors.

  20. Laser therapy in women genital Chlamydia trachomatis infection complicated with PID and infertility

    Science.gov (United States)

    Brinzan, Daniela; Paiusan, Lucian; Smeu, Claudia-Ramona

    2018-04-01

    Genital Chlamydia Trachomatis infection is one of the most common sexually transmitted infections with more than 50 million new cases occurred globally every year. Underdiagnosed and untreated, it can generate long term severe complications including PID, infertility, ectopic pregnancy and chronic pelvic pain. Among 20 patients diagnosed with PID and infertility in our medical office during one year, we selected a study group of 10 patients with genital Chlamydia Trachomatis infection. The diagnostic methods used were anamnesis, clinical examination, Pap smear, bacteriological and serological tests, ultra sound examination. The group of patients selected was monitored for one year. The treatment took into account general measures for both partners and specific measures (antibiotic treatment and focused laser therapy). The initial group was split in two, group A treated only with antibiotics and group B treated with both antibiotics and laser therapy. All the 5 patients of group B presented an improvement of the clinical manifestations and 3 of them ended up with pregnancy. On the other hand, in group B, only one patient manifested total disappearance of pains and the infertility persisted for all. It is noteworthy that the association of laser therapy in the treatment of Chlamydia Trachomatis infection has brought significant improvement in the inflammatory processes of internal genitalia (PID) and in the fertility of the couple.

  1. Heat control in HVDC resistive divider by PID and NN controllers

    International Nuclear Information System (INIS)

    Yilmaz, S.; Dincer, H.; Eksin, I.; Kalenderli, O.

    2007-01-01

    In this study, a control system is presented that is devised to increase measurement precisions within a prototype high voltage DC resistive divider (HVDC-RD). Since one of the major sources of measurement errors in such devices is the self heating effect, a system controlling the temperature within the high voltage DC resistive divider is devised so that suitable and stable temperature conditions are maintained that, in return, will decrease the measurement errors. The resistive divider system is cooled by oil, and PID and neural network (NN) controllers try to keep the temperature within the prescribed limits. The system to be controlled exhibits a nonlinear character, and therefore, a control approach based on NN controllers is proposed. Thus, a system that can fulfill the various requirements dictated by the designer is constructed. The performance of the NN controller is compared with that of the PID controller developed for the same purpose, and the values of the performance indices indicate the superiority of the NN controller over that of the classical PID controller

  2. Analisis Penalaan Kontrol PID pada Simulasi Kendali Kecepatan Putaran Motor DC Berbeban menggunakan Metode Heuristik

    Directory of Open Access Journals (Sweden)

    WALUYO WALUYO

    2017-06-01

    Full Text Available ABSTRAK Motor DC banyak digunakan di industri kecil dan besar.Kecepatan motor DC sering tidak stabil akibat gangguan dari luar maupun perubahan parameter dan torsi beban sehingga perlu dilakukan rancangan kontroler.Kontroler yang dirancang menggunakan PID yang terdiri dari tiga jenis cara pengaturan yang dikombinasikan, yaitu kontrol P (Proportional, kontrol I (Integral dan kontrol D (Derivatif.Kontroler yang dirancang disimulasikan menggunakan perangkat lunak. Hasil simulasi menunjukan kontroler PID untuk kendali kecepatan motor DC ini menghasilkan kondisi robust (kokoh saat nilai Kp = 1,1, Ti = 0,1, Td = 3,7. Hasil dari parameter kendali yang dirancang memiliki error steady state 0,99 % dan dengan settling time 3,7 detik pada rise time 2,00 detik dan nilai peak terletak pada 0,99. Kecepatan awal yang dihasilkan mendekati set point yang diinginkan pada detik ke 6 dan kecepatannya tidak ada penurunan atau tetap konstan sampai dengan detik ke 100. Kata kunci : Motor DC, PID, Heuristik, Steady State, Rise Time   ABSTRACT DC motors are widely used in small and large industries. Their speeds are often unstable due to interference from outside or change the parameters and load torque, so that it was necessary to design a controller. The controller was designed using a PIDconsists of three types of arrangements, which are mutually combined way, namely the control P (Proportional, control I (Integral and control D (Derivative. The controllers were designed using software for simulation. The simulation results showed the PID controller for DC motor speed control produced robust conditionswhen the value of Kp, Ti and Tdwere 1.1,  0.1 and 3.7 respectively. The results of the control parameters had error steady state 0.99 % and the settling time of 3.7 seconds at 2.0 sec rise time and the peak value was 0,99. The resulted initial velocity was very fast to approach the desired set point in the sixth second and its speed was remain constant until 100

  3. Analisis Penalaan Kontrol PID pada Simulasi Kendali Kecepatan Putaran Motor DC Berbeban menggunakan Metode Heuristik

    Directory of Open Access Journals (Sweden)

    WALUYO WALUYO

    2013-07-01

    Full Text Available ABSTRAK Motor DC banyak digunakan di industri kecil dan besar.Kecepatan motor DC sering tidak stabil akibat gangguan dari luar maupun perubahan parameter dan torsi beban sehingga perlu dilakukan rancangan kontroler.Kontroler yang dirancang menggunakan PID yang terdiri dari tiga jenis cara pengaturan yang dikombinasikan, yaitu kontrol P (Proportional, kontrol I (Integral dan kontrol D (Derivatif.Kontroler yang dirancang disimulasikan menggunakan perangkat lunak. Hasil simulasi menunjukan kontroler PID untuk kendali kecepatan motor DC ini menghasilkan kondisi robust (kokoh saat nilai Kp = 1,1, Ti = 0,1, Td = 3,7. Hasil dari parameter kendali yang dirancang memiliki error steady state 0,99 % dan dengan settling time 3,7 detik pada rise time 2,00 detik dan nilai peak terletak pada 0,99. Kecepatan awal yang dihasilkan mendekati set point yang diinginkan pada detik ke 6 dan kecepatannya tidak ada penurunan atau tetap konstan sampai dengan detik ke 100. Kata kunci: Motor DC, PID, Heuristik, Steady State, Rise Time   ABSTRACT DC motors are widely used in small and large industries. Their speeds are often unstable due to interference from outside or change the parameters and load torque, so that it was necessary to design a controller. The controller was designed using a PIDconsists of three types of arrangements, which are mutually combined way, namely the control P (Proportional, control I (Integral and control D (Derivative. The controllers were designed using software for simulation. The simulation results showed the PID controller for DC motor speed control produced robust conditionswhen the value of Kp, Ti and Tdwere 1.1,  0.1 and 3.7 respectively. The results of the control parameters had error steady state 0.99 % and the settling time of 3.7 seconds at 2.0 sec rise time and the peak value was 0,99. The resulted initial velocity was very fast to approach the desired set point in the sixth second and its speed was remain constant until 100

  4. CD4+ T follicular helper and IgA+ B cell numbers in gut biopsies from HIV-infected subjects on antiretroviral therapy are comparable to HIV-uninfected individuals

    Directory of Open Access Journals (Sweden)

    John Zaunders

    2016-10-01

    Full Text Available Background: Disruption of gastrointestinal tract epithelial and immune barriers contribute to microbial translocation, systemic inflammation and progression of HIV-1 infection. Antiretroviral therapy (ART may lead to reconstitution of CD4+ T cells in gastrointestinal-associated lymphoid tissue (GALT, but its impact on humoral immunity within GALT is unclear. Therefore we studied CD4+ subsets, including T follicular helper cells (Tfh, as well as resident B cells that have switched to IgA production, in gut biopsies, from HIV+ subjects on suppressive ART, compared to HIV-negative controls.Methods: 23 HIV+ subjects on ART and 22 HIV-negative controls (HNC undergoing colonoscopy were recruited to the study. Single cell suspensions were prepared from biopsies from left colon (LC, right colon (RC and terminal ileum (TI. T and B lymphocyte subsets, as well as EpCAM+ epithelial cells, were accurately enumerated by flow cytometry, using counting beads. Results: No significant differences in the number of recovered epithelial cells were observed between the two subject groups. However, the median TI CD4+ T cell count/106 epithelial cells was 2.4-fold lower in HIV+ subjects versus HNC (19,679 vs 47,504 cells; p=0.02. Similarly, median LC CD4+ T cell counts were reduced in HIV+ subjects (8,358 vs 18,577; p=0.03, but were not reduced in RC. Importantly, we found no significant differences in Tfh or IgA+ B cell counts at either site between HIV+ subjects and HNC. Further analysis showed no difference in CD4+, Tfh or IgA+ B cell counts between subjects who commenced ART in primary compared to chronic HIV-1 infection. Despite the decrease in total CD4 T cells, we could not identify a selective decrease of other key subsets of CD4+ T cells, including: CCR5+ cells; CD127+ long-term memory cells; CD103+ tissue resident cells; or CD161+ cells (surrogate marker for Th17, but there was a slight increase in the proportion of T regulatory cells. Conclusion: While there

  5. Control basado en PID inteligentes: aplicación al control de crucero de un vehículo a bajas velocidades

    Directory of Open Access Journals (Sweden)

    Jorge Villagrá

    2010-10-01

    Full Text Available Resumen: A pesar de sus limitaciones, la técnica de control mas utilizada en el mundo industrial sigue siendo todavía hoy el control PID. En este artículo se presenta un nuevo enfoque, el control basado en PID inteligentes (i-PID, que aprovecha las virtudes que han hecho tan popular al PID, mejorando uno de sus puntos débiles: la perdida de prestaciones en presencia de términos no-lineales o de dinámicas no modeladas. Para ilustrar las características del i-PID, se ha probado su comportamiento en una aplicación real, el control de crucero de un vehículo experimental a bajas velocidades. Palabras Clave: Controladores PID, Sistemas de control no lineales, Vehículos autónomos, Control de velocidad

  6. The Personality Inventory for DSM-5 Short Form (PID-5-SF): psychometric properties and association with big five traits and pathological beliefs in a Norwegian population

    OpenAIRE

    Thimm, Jens C.; Jordan, Stian; Bach, Bo

    2016-01-01

    Background With the publication of the fifth edition of the Diagnostic and Statistical Manual of Mental Disorders (DSM-5), an alternative model for personality disorders based on personality dysfunction and pathological personality traits was introduced. The Personality Inventory for DSM-5 (PID-5) is a 220-item self-report inventory designed to assess the personality traits of this model. Recently, a short 100-item version of the PID-5 (PID-5-SF) has been developed. The aim of this study was ...

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

    International Nuclear Information System (INIS)

    Vasconcelos, Wagner Eustaquio de; Lira, Carlos Alberto Brayner de Oliveira; Brito, Thiago Souza Pereira de; Afonso, Antonio Claudio Marques; Cruz Filho, Antonio Jose da; Marques, Jose Antonio; Teixeira, Marcello Goulart

    2013-01-01

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

  8. The Personality Inventory for DSM-5 Short Form (PID-5-SF): psychometric properties and association with big five traits and pathological beliefs in a Norwegian population.

    Science.gov (United States)

    Thimm, Jens C; Jordan, Stian; Bach, Bo

    2016-12-07

    With the publication of the fifth edition of the Diagnostic and Statistical Manual of Mental Disorders (DSM-5), an alternative model for personality disorders based on personality dysfunction and pathological personality traits was introduced. The Personality Inventory for DSM-5 (PID-5) is a 220-item self-report inventory designed to assess the personality traits of this model. Recently, a short 100-item version of the PID-5 (PID-5-SF) has been developed. The aim of this study was to investigate the score reliability and structure of the Norwegian PID-5-SF. Further, criterion validity with the five factor model of personality (FFM) and pathological personality beliefs was examined. A derivation sample of university students (N = 503) completed the PID-5, the Big Five Inventory (BFI), and the Personality Beliefs Questionnaire - Short Form (PBQ-SF), whereas a replication sample of 127 students completed the PID-5-SF along with the aforementioned measures. The short PID-5 showed overall good score reliability and structural validity. The associations with FFM traits and pathological personality beliefs were conceptually coherent and similar for the two forms of the PID-5. The results suggest that the Norwegian PID-5 short form is a reliable and efficient measure of the trait criterion of the alternative model for personality disorders in DSM-5.

  9. Regulation of flow through a T-Shaped open cavity by temperature dependent P, PI, and PID controllers

    Energy Technology Data Exchange (ETDEWEB)

    Saha, Sourav, E-mail: ssaha09@me.buet.ac.bd; Mojumder, Satyajit, E-mail: satyajit@me.buet.ac.bd; Saha, Sumon, E-mail: sumonsaha@me.buet.ac.bd [Department of Mechanical Engineering, Bangladesh University of Engineering and Technology, Dhaka-1000 (Bangladesh)

    2016-07-12

    P (proportional), PI (proportional-integral), and PID (proportional-integral-derivative) controllers are popular means of controlling industrial processes. Due to superior response, accuracy, and stable performance, PID controllers are mostly used in control systems. This paper presents a mathematical model and subsequent response analysis regarding regulation of flow in mixed convection through a T-shaped open cavity by temperature dependent controllers. The T-shaped cavity has cold top and hot bottom walls, while air is flowing through the inlet at surrounding temperature. The inflow is regulated by a controlled gate which operates according to the signal received from the controller. Values of proportional gain (k{sub p}), integral gain (k{sub i}), and derivative gain (k{sub d}) are varied to obtain the desired system response and to ensure a stable system with fastest response. At first, only P controller is used and eventually PI and finally PID control scheme is applied for controller tuning. Tuning of different controllers (P, PI, and PID) are carried out systematically based on the reference temperature which is continuously monitored at a certain location inside the cavity. It is found that PID controller performs better than P or PI controller.

  10. Development of a PID-Fuzzy controller in the water level control of a pressurizer of a nuclear reactor

    Energy Technology Data Exchange (ETDEWEB)

    Brito, Thiago S.P.; Lira, Carlos A.B.O.; Vasconcelos, Wagner E., E-mail: thiago.brito86@yahoo.com.br, E-mail: cabol@ufpe.br, E-mail: wagner@unicap.br [Universidade Federal de Pernambuco (UFPE), Recife, PE (Brazil). Centro de Tecnologia e Geociencias. Departamento de Energia Nuclear; Universidade Catolica de Pernambuco (UNICAP), Recife, PE (Brazil). Centro de Ciencias e Tecnologia

    2017-11-01

    It is well known that safety in the operation of nuclear power plants is a primary requirement because a failure of this system can result in serious problems to the environment. A nuclear reactor has several systems that help keep it in normal operation, within safety margins. Many of these systems operate in the control of variable quantities in the primary circuit of a reactor. However, nuclear reactors are nonlinear physical systems, and this introduces a complexity in the control strategies. Among several mechanisms in the thermal-hydraulic system of a reactor that actuate as a controller, the pressurizer is the component responsible for absorbing pressure variations that occur in the primary circuit. This work aims at the development of a PID controller (Proportional Integral Derivative) based on fuzzy logic to operate in a pressurizer of a nuclear Pressurized Water Reactor. A Fuzzy Controller was developed using the process of fuzzification, inference, and defuzzification of the variables of interest to a pressurizer, then this controller was coupled to a PID Controller building a PID Controller, but oriented by Fuzzy logic. Subsequently, the PID-Fuzzy Controller was experimentally validated in a Simulation Plant in which transients like those in a PWR were conducted. The PID parameters were analyzed and adjusted for better responses and results. The results of the validation were also compared to simple controllers (on / off). (author)

  11. Development of a PID-Fuzzy controller in the water level control of a pressurizer of a nuclear reactor

    International Nuclear Information System (INIS)

    Brito, Thiago S.P.; Lira, Carlos A.B.O.; Vasconcelos, Wagner E.; Universidade Catolica de Pernambuco

    2017-01-01

    It is well known that safety in the operation of nuclear power plants is a primary requirement because a failure of this system can result in serious problems to the environment. A nuclear reactor has several systems that help keep it in normal operation, within safety margins. Many of these systems operate in the control of variable quantities in the primary circuit of a reactor. However, nuclear reactors are nonlinear physical systems, and this introduces a complexity in the control strategies. Among several mechanisms in the thermal-hydraulic system of a reactor that actuate as a controller, the pressurizer is the component responsible for absorbing pressure variations that occur in the primary circuit. This work aims at the development of a PID controller (Proportional Integral Derivative) based on fuzzy logic to operate in a pressurizer of a nuclear Pressurized Water Reactor. A Fuzzy Controller was developed using the process of fuzzification, inference, and defuzzification of the variables of interest to a pressurizer, then this controller was coupled to a PID Controller building a PID Controller, but oriented by Fuzzy logic. Subsequently, the PID-Fuzzy Controller was experimentally validated in a Simulation Plant in which transients like those in a PWR were conducted. The PID parameters were analyzed and adjusted for better responses and results. The results of the validation were also compared to simple controllers (on / off). (author)

  12. Regulation of flow through a T-Shaped open cavity by temperature dependent P, PI, and PID controllers

    International Nuclear Information System (INIS)

    Saha, Sourav; Mojumder, Satyajit; Saha, Sumon

    2016-01-01

    P (proportional), PI (proportional-integral), and PID (proportional-integral-derivative) controllers are popular means of controlling industrial processes. Due to superior response, accuracy, and stable performance, PID controllers are mostly used in control systems. This paper presents a mathematical model and subsequent response analysis regarding regulation of flow in mixed convection through a T-shaped open cavity by temperature dependent controllers. The T-shaped cavity has cold top and hot bottom walls, while air is flowing through the inlet at surrounding temperature. The inflow is regulated by a controlled gate which operates according to the signal received from the controller. Values of proportional gain (k p ), integral gain (k i ), and derivative gain (k d ) are varied to obtain the desired system response and to ensure a stable system with fastest response. At first, only P controller is used and eventually PI and finally PID control scheme is applied for controller tuning. Tuning of different controllers (P, PI, and PID) are carried out systematically based on the reference temperature which is continuously monitored at a certain location inside the cavity. It is found that PID controller performs better than P or PI controller.

  13. PID Controller Design of Nonlinear System using a New Modified Particle Swarm Optimization with Time-Varying Constriction Coefficient

    Directory of Open Access Journals (Sweden)

    Alrijadjis .

    2014-12-01

    Full Text Available The proportional integral derivative (PID controllers have been widely used in most process control systems for a long time. However, it is a very important problem how to choose PID parameters, because these parameters give a great influence on the control performance. Especially, it is difficult to tune these parameters for nonlinear systems. In this paper, a new modified particle swarm optimization (PSO is presented to search for optimal PID parameters for such system. The proposed algorithm is to modify constriction coefficient which is nonlinearly decreased time-varying for improving the final accuracy and the convergence speed of PSO. To validate the control performance of the proposed method, a typical nonlinear system control, a continuous stirred tank reactor (CSTR process, is illustrated. The results testify that a new modified PSO algorithm can perform well in the nonlinear PID control system design in term of lesser overshoot, rise-time, settling-time, IAE and ISE. Keywords: PID controller, Particle Swarm Optimization (PSO,constriction factor, nonlinear system.

  14. Simulated Annealing-based Optimal Proportional-Integral-Derivative (PID) Controller Design: A Case Study on Nonlinear Quadcopter Dynamics

    Science.gov (United States)

    Nemirsky, Kristofer Kevin

    In this thesis, the history and evolution of rotor aircraft with simulated annealing-based PID application were reviewed and quadcopter dynamics are presented. The dynamics of a quadcopter were then modeled, analyzed, and linearized. A cascaded loop architecture with PID controllers was used to stabilize the plant dynamics, which was improved upon through the application of simulated annealing (SA). A Simulink model was developed to test the controllers and verify the functionality of the proposed control system design. In addition, the data that the Simulink model provided were compared with flight data to present the validity of derived dynamics as a proper mathematical model representing the true dynamics of the quadcopter system. Then, the SA-based global optimization procedure was applied to obtain optimized PID parameters. It was observed that the tuned gains through the SA algorithm produced a better performing PID controller than the original manually tuned one. Next, we investigated the uncertain dynamics of the quadcopter setup. After adding uncertainty to the gyroscopic effects associated with pitch-and-roll rate dynamics, the controllers were shown to be robust against the added uncertainty. A discussion follows to summarize SA-based algorithm PID controller design and performance outcomes. Lastly, future work on SA application on multi-input-multi-output (MIMO) systems is briefly discussed.

  15. The non-alcoholic fraction of beer increases stromal cell derived factor 1 and the number of circulating endothelial progenitor cells in high cardiovascular risk subjects: a randomized clinical trial.

    Science.gov (United States)

    Chiva-Blanch, Gemma; Condines, Ximena; Magraner, Emma; Roth, Irene; Valderas-Martínez, Palmira; Arranz, Sara; Casas, Rosa; Martínez-Huélamo, Miriam; Vallverdú-Queralt, Anna; Quifer-Rada, Paola; Lamuela-Raventos, Rosa M; Estruch, Ramon

    2014-04-01

    Moderate alcohol consumption is associated with a decrease in cardiovascular risk, but fermented beverages seem to confer greater cardiovascular protection due to their polyphenolic content. Circulating endothelial progenitor cells (EPC) are bone-marrow-derived stem cells with the ability to repair and maintain endothelial integrity and function and are considered as a surrogate marker of vascular function and cumulative cardiovascular risk. Nevertheless, no study has been carried out on the effects of moderate beer consumption on the number of circulating EPC in high cardiovascular risk patients. To compare the effects of moderate consumption of beer, non-alcoholic beer and gin on the number of circulating EPC and EPC-mobilizing factors. In this crossover trial, 33 men at high cardiovascular risk were randomized to receive beer (30 g alcohol/d), the equivalent amount of polyphenols in the form of non-alcoholic beer, or gin (30 g alcohol/d) for 4 weeks. Diet and physical exercise were carefully monitored. The number of circulating EPC and EPC-mobilizing factors were determined at baseline and after each intervention. After the beer and non-alcoholic beer interventions, the number of circulating EPC significantly increased by 8 and 5 units, respectively, while no significant differences were observed after the gin period. In correlation, stromal cell derived factor 1 increased significantly after the non-alcoholic and the beer interventions. The non-alcoholic fraction of beer increases the number of circulating EPC in peripheral blood from high cardiovascular risk subjects. http://www.controlled-trials.com/ISRCTN95345245 ISRCTN95345245. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

  16. PID-controller with predictor and auto-tuning algorithm: study of efficiency for thermal plants

    Science.gov (United States)

    Kuzishchin, V. F.; Merzlikina, E. I.; Hoang, Van Va

    2017-09-01

    The problem of efficiency estimation of an automatic control system (ACS) with a Smith predictor and PID-algorithm for thermal plants is considered. In order to use the predictor, it is proposed to include an auto-tuning module (ATC) into the controller; the module calculates parameters for a second-order plant module with a time delay. The study was conducted using programmable logical controllers (PLC), one of which performed control, ATC, and predictor functions. A simulation model was used as a control plant, and there were two variants of the model: one of them was built on the basis of a separate PLC, and the other was a physical model of a thermal plant in the form of an electrical heater. Analysis of the efficiency of the ACS with the predictor was carried out for several variants of the second order plant model with time delay, and the analysis was performed on the basis of the comparison of transient processes in the system when the set point was changed and when a disturbance influenced the control plant. The recommendations are given on correction of the PID-algorithm parameters when the predictor is used by means of using the correcting coefficient k for the PID parameters. It is shown that, when the set point is changed, the use of the predictor is effective taking into account the parameters correction with k = 2. When the disturbances influence the plant, the use of the predictor is doubtful, because the transient process is too long. The reason for this is that, in the neighborhood of the zero frequency, the amplitude-frequency characteristic (AFC) of the system with the predictor has an ascent in comparison with the AFC of the system without the predictor.

  17. Reducing the energy consumption of an earth–air heat exchanger with a PID control system

    International Nuclear Information System (INIS)

    Diaz-Mendez, S.E.; Patiño-Carachure, C.; Herrera-Castillo, J.A.

    2014-01-01

    Highlights: • The application of control actions to green technologies has been simulated. • Energy consumption of green technologies can be reduced even more. • The efficiency of green technologies can be raised. • Environmental concerns can be diminished. • The sustainability of the planet can be increased. - Abstract: Reducing environmental emissions is one of the challenges that human being has to overcome. It can only be reached with a proper energetic efficiency and management of the processes that exist in the society nowadays. Several academic works have mentioned that raising the efficiency of a process it also increases sustainability and in turn decreases the environmental impact. One process that requires much attention is the cooling and heating of buildings; this process contributes to the major part of the electric bill, in particular, if a conventional and old air conditioning is used as commonly occurs in many countries. In recent years there have been developed new alternatives that are used in few countries, such as the earth–air heat exchanger, where air is passed through a heat exchanger buried a few meters below the ground. The heat exchanger takes advantage of the well-known difference between the temperature of the surrounding air and the temperature of the ground for cooling or heating the air that is subsequently injected into the buildings. This process requires less energy, then in the present work is thought that a PID (Proportional, Integral and Derivative) controller can be applied to an earth–air heat exchanger to reduce even more the energy consumption. Therefore, a simulation of a thermodynamic model of an earth–air heat exchanger was done and used along with a PID controller, to estimate savings in energy consumption. The results show that the energy consumption can be reduced up to 87% with the PID control, hence the efficiency of the process is increased as well as the sustainability of the planet and thus the

  18. Immune defects in active mycobacterial diseases in patients with primary immunodeficiency diseases (PIDs

    Directory of Open Access Journals (Sweden)

    Wen-I Lee

    2011-12-01

    Full Text Available Natural human immunity to the mycobacteria group, including Mycobacterium tuberculosis, Bacille Calmette-Guérin (BCG or nontuberculous mycobacteria (NTM, and/or Salmonella species, relies on the functional IL-12/23-IFN-γ integrity of macrophages (monocyte/dendritic cell connecting to T lymphocyte/NK cells. Patients with severe forms of primary immunodeficiency diseases (PIDs have more profound immune defects involving this impaired circuit in patients with severe combined immunodeficiencies (SCID including complete DiGeorge syndrome, X-linked hyper IgM syndrome (HIGM (CD40L mutation, CD40 deficiency, immunodeficiency with or without anhidrotic ectodermal dysplasia (NEMO and IKBA mutations, chronic granulomatous disease (CGD and hyper IgE recurrent infection syndromes (HIES. The patients with severe PIDs have broader diverse infections rather than mycobacterial infections. In contrast, patients with an isolated inborn error of the IL-12/23-IFN-γ pathway are exclusively prone to low-virulence mycobacterial infections and nontyphoid salmonella infections, known as Mendelian susceptibility to the mycobacterial disease (MSMD phenotype. Restricted defective molecules in the circuit, including IFN-γR1, IFN-γR2, IL-12p40, IL-12R-β1, STAT-1, NEMO, IKBA and the recently discovered CYBB responsible for autophagocytic vacuole and proteolysis, and interferon regulatory factor 8 (IRF8 for dendritic cell immunodeficiency, have been identified in around 60% of patients with the MSMD phenotype. Among all of the patients with PIDs referred for investigation since 1985, we have identified four cases with the specific defect (IFNRG1 for three and IL12RB for one, presenting as both BCG-induced diseases and NTM infections, in addition to some patients with SCID, HIGM, CGD and HIES. Furthermore, manifestations in patients with autoantibodies to IFN-γ (autoAbs-IFN-γ, which is categorized as an anticytokine autoantibody syndrome, can resemble the relatively

  19. Explicit analytical tuning rules for digital PID controllers via the magnitude optimum criterion.

    Science.gov (United States)

    Papadopoulos, Konstantinos G; Yadav, Praveen K; Margaris, Nikolaos I

    2017-09-01

    Analytical tuning rules for digital PID type-I controllers are presented regardless of the process complexity. This explicit solution allows control engineers 1) to make an accurate examination of the effect of the controller's sampling time to the control loop's performance both in the time and frequency domain 2) to decide when the control has to be I, PI and when the derivative, D, term has to be added or omitted 3) apply this control action to a series of stable benchmark processes regardless of their complexity. The former advantages are considered critical in industry applications, since 1) most of the times the choice of the digital controller's sampling time is based on heuristics and past criteria, 2) there is little a-priori knowledge of the controlled process making the choice of the type of the controller a trial and error exercise 3) model parameters change often depending on the control loop's operating point making in this way, the problem of retuning the controller's parameter a much challenging issue. Basis of the proposed control law is the principle of the PID tuning via the Magnitude Optimum criterion. The final control law involves the controller's sampling time T s within the explicit solution of the controller's parameters. Finally, the potential of the proposed method is justified by comparing its performance with the conventional PID tuning when controlling the same process. Further investigation regarding the choice of the controller's sampling time T s is also presented and useful conclusions for control engineers are derived. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  20. High-accuracy resolver-to-digital conversion via phase locked loop based on PID controller

    Science.gov (United States)

    Li, Yaoling; Wu, Zhong

    2018-03-01

    The problem of resolver-to-digital conversion (RDC) is transformed into the problem of angle tracking control, and a phase locked loop (PLL) method based on PID controller is proposed in this paper. This controller comprises a typical PI controller plus an incomplete differential which can avoid the amplification of higher-frequency noise components by filtering the phase detection error with a low-pass filter. Compared with conventional ones, the proposed PLL method makes the converter a system of type III and thus the conversion accuracy can be improved. Experimental results demonstrate the effectiveness of the proposed method.

  1. 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.

  2. 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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  3. 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.

  4. Etude s?ro-?pid?miologique de la leishmaniose canine au centre du Maroc

    OpenAIRE

    Fellah, Hajiba; Doughmi, Oursula; Maniar, Sa?d; Lalami, Abdelhakim El Ouali

    2014-01-01

    Dans le monde, la leishmaniose visc?rale humaine est connue pour avoir comme principale source d'infection les Canid?s domestiques et sauvages. Au centre du Maroc, les donn?es ?pid?miologiques, cliniques et parasitologiques sur la leishmaniose canine, sont quasiment inexistantes. Ce travail traite une ?tude prospective au cours de laquelle 61 s?rums canins ont ?t? analys?s par un test rapide et par l'immunofluorescence indirecte. La sensibilit? du test rapide par rapport ? celle de l'immunofl...

  5. Implementation of FPGA based PID Controller for DC Motor Speed Control System

    Directory of Open Access Journals (Sweden)

    Savita SONOLI

    2010-03-01

    Full Text Available In this paper, the implementation of software module using ‘VHDL’ for Xilinx FPGA (XC3S400 based PID controller for DC motor speed control system is presented. The tools used for building and testing the software modules are Xilinx ISE 9.2i and ModelSim XE III 6.3c. Before verifying the design on FPGA the complete design is simulated using Modelsim Simulation tool. A test bench is written where the set speed can be changed for the motor. It is observed that the motor speed gradually changes to the set speed and locks to the set speed.

  6. Revue épidémiologique des blessures lors de la pratique du rugby à XV

    OpenAIRE

    Kaux, Jean-François; Julia, Marc; Chupin, Marie; Delvaux, François; Croisier, Jean-Louis; Forthomme, Bénédicte; Crielaard, Jean-Michel; LE GOFF, Caroline; Durez, Patrick; Ernst, Philippe; Guns, Sébastien; Laly, Arnaud

    2014-01-01

    Le rugby est un sport en plein développement. Sport de contact par excellence, il est à l’origine d’un nombre important de blessures. Au rugby à XV, l’incidence des blessures s’élève de 30 à 91/1000 heures de match. Cette revue épidémiologique des blessures chez le rugbyman évoque la localisation et le type de blessures, les causes, les moments des matches et de la saison auxquels elles se produisent, la position des joueurs et le type de terrain, ainsi que le temps d’absence des joueurs à la...

  7. The research on visual industrial robot which adopts fuzzy PID control algorithm

    Science.gov (United States)

    Feng, Yifei; Lu, Guoping; Yue, Lulin; Jiang, Weifeng; Zhang, Ye

    2017-03-01

    The control system of six degrees of freedom visual industrial robot based on the control mode of multi-axis motion control cards and PC was researched. For the variable, non-linear characteristics of industrial robot`s servo system, adaptive fuzzy PID controller was adopted. It achieved better control effort. In the vision system, a CCD camera was used to acquire signals and send them to video processing card. After processing, PC controls the six joints` motion by motion control cards. By experiment, manipulator can operate with machine tool and vision system to realize the function of grasp, process and verify. It has influence on the manufacturing of the industrial robot.

  8. Evaluation of PD/PID controller for insulin control on blood glucose regulation in a Type-I diabetes

    Science.gov (United States)

    Mahmud, Farhanahani; Isse, Nadir Hussien; Daud, Nur Atikah Mohd; Morsin, Marlia

    2017-01-01

    This project introduces a simulation of Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) controller based on a virtual Type 1 Diabetes Mellitus (T1DM) patient: Hovorka diabetic model using MATLAB-Simulink software. The results of these simulations are based on three tuning responses for each controller which are fast, slow and oscillation responses. The main purpose of this simulation is to achieve an acceptable stability and fastness response towards the regulation of glucose concentration using PD and PID controller response with insulin infusion rate. Therefore, in order to analyze and compare the responses of both controller performances, one-day simulations of the insulin-glucose dynamic have been conducted using a typical day meal plan that contains five meals of different bolus size. It is found that the PID closed-loop control with a short rise time is required to retrieve a satisfactory glucose regulation.

  9. IMPLEMENTATION OF PID ON PIC24F SERIES MICROCONTROLLER FOR SPEED CONTROL OF A DC MOTOR USING MPLAB AND PROTEUS

    Directory of Open Access Journals (Sweden)

    Sohaib Aslam

    2016-09-01

    Full Text Available Speed control of DC motor is very critical in most of the industrial systems where accuracy and protection are of essence. This paper presents the simulations of Proportional Integral Derivative Controller (PID on a 16-bit PIC 24F series microcontroller for speed control of a DC motor in the presence of load torque. The PID gains have been tuned by Linear Quadratic Regulator (LQR technique and then it is implemented on microcontroller using MPLAB and finally simulated for speed control of DC motor in Proteus Virtual System Modeling (VSM software.Proteus has built in feature to add load torque to DC motor so simulation results have been presented in three cases speed of DC motor is controlled without load torque, with 25% load torque and with 50% load torque. In all three cases PID effectively controls the speed of DC motor with minimum steady state error.

  10. Two degree of freedom internal model control-PID design for LFC of power systems via logarithmic approximations.

    Science.gov (United States)

    Singh, Jay; Chattterjee, Kalyan; Vishwakarma, C B

    2018-01-01

    Load frequency controller has been designed for reduced order model of single area and two-area reheat hydro-thermal power system through internal model control - proportional integral derivative (IMC-PID) control techniques. The controller design method is based on two degree of freedom (2DOF) internal model control which combines with model order reduction technique. Here, in spite of taking full order system model a reduced order model has been considered for 2DOF-IMC-PID design and the designed controller is directly applied to full order system model. The Logarithmic based model order reduction technique is proposed to reduce the single and two-area high order power systems for the application of controller design.The proposed IMC-PID design of reduced order model achieves good dynamic response and robustness against load disturbance with the original high order system. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  11. 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...... is proposed in the MG encompassing distributed generation resources with “plug and play” ability. The performance of FFOPID controller is verified for frequency control purposes and to support internal bus voltage in both islanded and grid connected operating modes in accordance with the failure time. Energy...... 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...

  12. An Improved PID Algorithm Based on Insulin-on-Board Estimate for Blood Glucose Control with Type 1 Diabetes.

    Science.gov (United States)

    Hu, Ruiqiang; Li, Chengwei

    2015-01-01

    Automated closed-loop insulin infusion therapy has been studied for many years. In closed-loop system, the control algorithm is the key technique of precise insulin infusion. The control algorithm needs to be designed and validated. In this paper, an improved PID algorithm based on insulin-on-board estimate is proposed and computer simulations are done using a combinational mathematical model of the dynamics of blood glucose-insulin regulation in the blood system. The simulation results demonstrate that the improved PID algorithm can perform well in different carbohydrate ingestion and different insulin sensitivity situations. Compared with the traditional PID algorithm, the control performance is improved obviously and hypoglycemia can be avoided. To verify the effectiveness of the proposed control algorithm, in silico testing is done using the UVa/Padova virtual patient software.

  13. Perancangan dan Implementasi Kontroler PID Gain Scheduling untuk Gerakan Lateral Way-to-Way Point pada UAV Quadcopter

    Directory of Open Access Journals (Sweden)

    Tri Awan Nusa Putra

    2013-09-01

    Full Text Available Quadcopter diharapkan dapat bergerak secara lincah dan efektif menyusuri lintasan horisontal. Berdasar hukum fisisnya, gerak lateral dapat terjadi karena adanya daya angkat dan terjadinya perubahan sudut dari quadcopter tersebut. Mengacu pada hal tersebut, sudut-sudut gerak pada quadcopterakan menjadi parameter untuk gerak maju atau menyamping yang secara langsung juga berpengaruh pada gerak vertikal. Pada saat proses hoveratau melayang, adalah saat yang paling riskan pada quadcopter. Sehinga pengaturan hover dari quadcopter menjadi prioritas pada riset ini, karena apabila terjadi kesalahan hoverakan menyebabkan perubahan gerak terhadap sumbu X, Y maupun Z. Pada tugas akhir ini digunakan kontroler PID dan metode gainscheduling dengan nilai parameter penguatan yang diperoleh secara eksperimental untuk pengaturan gerak lateral menyusuri lintasan. Apabila menggunakan metode PID biasa, maka diperoleh penurunan ketinggian yang drastis hingga 50% dari total ketinggian quadcopter, namun apabila menggunakan metode PID GainScheduling, pada simulasi hanya terjadi penurunan ketinggian sebesar 0,35% dan saat implementasi mengalami sekitar 10% dari total ketinggian yang dicapai.

  14. A novel interval type-2 fractional order fuzzy PID controller: Design, performance evaluation, and its optimal time domain tuning.

    Science.gov (United States)

    Kumar, Anupam; Kumar, Vijay

    2017-05-01

    In this paper, a novel concept of an interval type-2 fractional order fuzzy PID (IT2FO-FPID) controller, which requires fractional order integrator and fractional order differentiator, is proposed. The incorporation of Takagi-Sugeno-Kang (TSK) type interval type-2 fuzzy logic controller (IT2FLC) with fractional controller of PID-type is investigated for time response measure due to both unit step response and unit load disturbance. The resulting IT2FO-FPID controller is examined on different delayed linear and nonlinear benchmark plants followed by robustness analysis. In order to design this controller, fractional order integrator-differentiator operators are considered as design variables including input-output scaling factors. A new hybridized algorithm named as artificial bee colony-genetic algorithm (ABC-GA) is used to optimize the parameters of the controller while minimizing weighted sum of integral of time absolute error (ITAE) and integral of square of control output (ISCO). To assess the comparative performance of the IT2FO-FPID, authors compared it against existing controllers, i.e., interval type-2 fuzzy PID (IT2-FPID), type-1 fractional order fuzzy PID (T1FO-FPID), type-1 fuzzy PID (T1-FPID), and conventional PID controllers. Furthermore, to show the effectiveness of the proposed controller, the perturbed processes along with the larger dead time are tested. Moreover, the proposed controllers are also implemented on multi input multi output (MIMO), coupled, and highly complex nonlinear two-link robot manipulator system in presence of un-modeled dynamics. Finally, the simulation results explicitly indicate that the performance of the proposed IT2FO-FPID controller is superior to its conventional counterparts in most of the cases. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  15. An Implementation Method of the Fractional-Order PID Control System Considering the Memory Constraint and its Application to the Temperature Control of Heat Plate

    Science.gov (United States)

    Sasano, Koji; Okajima, Hiroshi; Matsunaga, Nobutomo

    Recently, the fractional order PID (FO-PID) control, which is the extension of the PID control, has been focused on. Even though the FO-PID requires the high-order filter, it is difficult to realize the high-order filter due to the memory limitation of digital computer. For implementation of FO-PID, approximation of the fractional integrator and differentiator are required. Short memory principle (SMP) is one of the effective approximation methods. However, there is a disadvantage that the approximated filter with SMP cannot eliminate the steady-state error. For this problem, we introduce the distributed implementation of the integrator and the dynamic quantizer to make the efficient use of permissible memory. The objective of this study is to clarify how to implement the accurate FO-PID with limited memories. In this paper, we propose the implementation method of FO-PID with memory constraint using dynamic quantizer. And the trade off between approximation of fractional elements and quantized data size are examined so as to close to the ideal FO-PID responses. The effectiveness of proposed method is evaluated by numerical example and experiment in the temperature control of heat plate.

  16. Koordinasi Optimal Capacitive Energy Storage (CES dan Kontroler PID Menggunakan Differential Evolution Algorithm (DEA pada Sistem Tenaga Listrik

    Directory of Open Access Journals (Sweden)

    Akbar Swandaru

    2012-09-01

    Full Text Available Peningkatan suplai daya listrik diperlukan untuk memenuhi kebutuhan daya listrik. Generator cenderung beroperasi dalam beban penuh.Hal ini berpengaruh pada keamanan generator dalam operasi sistem tenaga listrik.Salah satu masalah adalah osilasi frekuensi.Bila perubahan beban terjadi, kontroler diperlukan untuk meredam osilasi frekuensi ini.Pada tugas akhir ini diusulkan sebuah koordinasi antara Kontroler Capacitive Energy Storage (CES dan Kontroler PID. CES disini berfungsi untuk membantu kinerja Governor agar meredam osilasi frekuensi dengan cepat. Kontroler CES ini digunakan bersama dengan PID controller yang dioptimalkan dengan  Differential Evolution Algorithm (DEA.

  17. Renforcer la capacité de réagir aux épidémies en Afrique | CRDI ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    En 2014, l'épidémie d'Ebola en Afrique de l'Ouest a coûté la vie à des dizaines de milliers de personnes, en particulier en Guinée, au Liberia et en Sierra Leone. L'Organisation mondiale de la Santé (OMS) a déclaré que cette épidémie constituait la plus grave urgence de santé publique depuis la découverte du VIH.

  18. A Rare Case of Flare-Up of PID in Infertility Treatment

    Directory of Open Access Journals (Sweden)

    Leena Wadhwa

    2015-01-01

    Full Text Available Case Presentation. Mrs. X, 35 years old, case of primary infertility, was diagnosed to have genital tuberculosis on the basis of PCR positive and hysterolaparoscopy findings and received category I ATT for 6 months. Following ATT completion, her USG revealed no evidence of tuboovarian mass or hydrosalpinx. Since her tubes were patent, she underwent 3 cycles of ovulation induction and 2 cycles of IUI. The women presented with acute PID, five days after IUI, and was conservatively managed. She again presented 24 days after IUI with persistent low grade fever and abdominal pain. Suspecting relapse of genital tuberculosis, she was started on category II ATT. She had acute episodes of high grade fever with chills 2 weeks after starting ATT and MRI revealed bilateral TO masses suggestive of pyosalpinx. Emergency laparotomy was done, pus was drained, and cyst wall was removed and HPE was suggestive of chronic inflammation with few granulation tissues. ATT was continued for one year and the woman improved. Conclusion. The possibility of flare-up of PID (pelvic inflammatory disease in treated case of tuberculosis undergoing infertility management should be kept in mind and aggressive management should be done.

  19. PENGENDALIAN PID PADA ROBOT MIROSOT UPN “VETERAN” YOGYAKARTA BERBASIS SENSOR GYROSCOPE DAN ACCELEROMETER

    Directory of Open Access Journals (Sweden)

    Awang Hendrianto Pratomo

    2015-07-01

    Full Text Available MiRoSoT Robot movement is influenced by the speed control from right and left wheels. Wheels speed control on MiroSot robot is determined by parameter PID (Proportional Integral and Derevative value. PID value determined by robot position and angle. MiroSot robot movement is still not stable and can not move in accordance with the instruction have been made. Instability of the robot movement in the game is affected by friction wheels against the ground, friction gear and robot load. In this study, implemented a gyroscope and accelerometer sensors to stabilize robot movement. Based on both sensors are controlled by using a microcontroller ATmega64. Speed control system based on gyroscope and accelerometer sensor is obtained that the robot is able to face a certain angle more precisely. The accelerometer sensor is used as a parameter for the braking system, so the robot is able to move more stable without the loss of power from the motor during a reduction speed from the strategy control.

  20. A robust fractional-order PID controller design based on active queue management for TCP network

    Science.gov (United States)

    Hamidian, Hamideh; Beheshti, Mohammad T. H.

    2018-01-01

    In this paper, a robust fractional-order controller is designed to control the congestion in transmission control protocol (TCP) networks with time-varying parameters. Fractional controllers can increase the stability and robustness. Regardless of advantages of fractional controllers, they are still not common in congestion control in TCP networks. The network parameters are time-varying, so the robust stability is important in congestion controller design. Therefore, we focused on the robust controller design. The fractional PID controller is developed based on active queue management (AQM). D-partition technique is used. The most important property of designed controller is the robustness to the time-varying parameters of the TCP network. The vertex quasi-polynomials of the closed-loop characteristic equation are obtained, and the stability boundaries are calculated for each vertex quasi-polynomial. The intersection of all stability regions is insensitive to network parameter variations, and results in robust stability of TCP/AQM system. NS-2 simulations show that the proposed algorithm provides a stable queue length. Moreover, simulations show smaller oscillations of the queue length and less packet drop probability for FPID compared to PI and PID controllers. We can conclude from NS-2 simulations that the average packet loss probability variations are negligible when the network parameters change.

  1. 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.

  2. Design Of A Novel Online Experiment Setup For PID Controller Applications

    Directory of Open Access Journals (Sweden)

    Sezgin Kaçar

    2017-02-01

    Full Text Available In this study, an internet based remote access experiment setup was developed for induction direct current motor speed control with PID controller which can be used as a support material in engineering education. The experiment setup is wireless and communicates with the remote server using transfer control protocol/internet protocol through a wireless ADSL modem. Users can perform the experiments as real time accessing the web pages in the remote server by using any computer which has internet connection. By means of interactively-designed web pages, users can monitor the speed change executing alterations of the PID controller parameter and motor reference speed. Also users can save the measured values on their own computers. In addition to this, with the support of a webcam, the running of the experimental set can be monitored on the web page. Additionally, for the experimental set, preparing the peripheral units card, the interaction was expanded between the user and the experimental set. Relatively to this, the user can monitor the ambient temperature of the experimental set’s current place on the web page and can make his/her own message write on LCD of the experimental set and can enlighten it if he/she wants.

  3. 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®.

  4. 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. 2009 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Theoretical model and experimental verification on the PID tracking method using liquid crystal optical phased array

    Science.gov (United States)

    Wang, Xiangru; Xu, Jianhua; Huang, Ziqiang; Wu, Liang; Zhang, Tianyi; Wu, Shuanghong; Qiu, Qi

    2017-02-01

    Liquid crystal optical phased array (LC-OPA) has been considered with great potential on the non-mechanical laser deflector because it is fabricated using photolithographic patterning technology which has been well advanced by the electronics and display industry. As a vital application of LC-OPA, free space laser communication has demonstrated its merits on communication bandwidth. Before data communication, ATP (acquisition, tracking and pointing) process costs relatively long time to result in a bottle-neck of free space laser communication. Meanwhile, dynamic real time accurate tracking is sensitive to keep a stable communication link. The electro-optic medium liquid crystal with low driving voltage can be used as the laser beam deflector. This paper presents a fast-track method using liquid crystal optical phased array as the beam deflector, CCD as a beacon light detector. PID (Proportion Integration Differentiation) loop algorithm is introduced as the controlling algorithm to generate the corresponding steering angle. To achieve the goal of fast and accurate tracking, theoretical analysis and experimental verification are demonstrated that PID closed-loop system can suppress the attitude random vibration. Meanwhile, theoretical analysis shows that tracking accuracy can be less than 6.5μrad, with a relative agreement with experimental results which is obtained after 10 adjustments that the tracking accuracy is less than12.6μrad.

  6. Design and development of the Macpherson Proton Preve Magneto rheological damper with PID controller

    Science.gov (United States)

    Amiruddin, I. M.; Pauziah, M.; Aminudin, A.; Unuh, M. H.

    2017-10-01

    Since the creation of the first petrol-fuelled vehicle by Karl Benz in the late nineteenth century, car industry has grown considerably to meet the industrial demands. Luxurious looks and agreeable rides are the primary needs of drivers. The Magneto-rheological damper balanced their damping trademark progressively by applying the damping coefficient depending on the control system. In this research, the control calculations are assessed by utilizing the MR damper. The capacity and reliably of the target force for the damper speed is investigated from control algorithm. This is imperative to defeat the damper limitation. In this study, the simulation results of the semi-dynamic MR damper with the PID controller shows better performance in sprung mass acceleration, unsprung mass acceleration and suspension dislodging with permitting over the top tyre acceleration. The altered model of the MR damper is specially designed for Proton Preve specifications and semi-active PID control. The procedure for the advancement incorporates the numerical model to graphically recreate and break down the dynamic framework by utilizing Matlab.

  7. PID temperature controller in pig nursery: spatial characterization of thermal environment

    Science.gov (United States)

    de Souza Granja Barros, Juliana; Rossi, Luiz Antonio; Menezes de Souza, Zigomar

    2017-11-01

    The use of enhanced technologies of temperature control can improve the thermal conditions in environments of livestock facilities. The objective of this study was to evaluate the spatial distribution of the thermal environment variables in a pig nursery with a heating system with two temperature control technologies based on the geostatistical analysis. The following systems were evaluated: overhead electrical resistance with Proportional, Integral, and Derivative (PID) controller and overhead electrical resistance with a thermostat. We evaluated the climatic variables: dry bulb temperature (Tbs), air relative humidity (RH), temperature and humidity index (THI), and enthalpy in the winter, at 7:00, 12:00, and 18:00 h. The spatial distribution of these variables was mapped by kriging. The results showed that the resistance heating system with PID controllers improved the thermal comfort conditions in the pig nursery in the coldest hours, maintaining the spatial distribution of the air temperature more homogeneous in the pen. During the hottest weather, neither system provided comfort.

  8. Proportional-Integral-Derivative (PID) Control of Secreted Factors for Blood Stem Cell Culture.

    Science.gov (United States)

    Caldwell, Julia; Wang, Weijia; Zandstra, Peter W

    2015-01-01

    Clinical use of umbilical cord blood has typically been limited by the need to expand hematopoietic stem and progenitor cells (HSPC) ex vivo. This expansion is challenging due to the accumulation of secreted signaling factors in the culture that have a negative regulatory effect on HSPC output. Strategies for global regulation of these factors through dilution have been developed, but do not accommodate the dynamic nature or inherent variability of hematopoietic cell culture. We have developed a mathematical model to simulate the impact of feedback control on in vitro hematopoiesis, and used it to design a proportional-integral-derivative (PID) control algorithm. This algorithm was implemented with a fed-batch bioreactor to regulate the concentrations of secreted factors. Controlling the concentration of a key target factor, TGF-β1, through dilution limited the negative effect it had on HSPCs, and allowed global control of other similarly-produced inhibitory endogenous factors. The PID control algorithm effectively maintained the target soluble factor at the target concentration. We show that feedback controlled dilution is predicted to be a more cost effective dilution strategy compared to other open-loop strategies, and can enhance HSPC expansion in short term culture. This study demonstrates the utility of secreted factor process control strategies to optimize stem cell culture systems, and motivates the development of multi-analyte protein sensors to automate the manufacturing of cell therapies.

  9. Computation of stabilizing PI and PID controllers using the stability boundary locus

    International Nuclear Information System (INIS)

    Tan, Nusret; Kaya, Ibrahim; Yeroglu, Celaleddin; Atherton, Derek P.

    2006-01-01

    In this paper, a new method for the calculation of all stabilizing PI controllers is given. The proposed method is based on plotting the stability boundary locus in the (k p , k i )-plane and then computing the stabilizing values of the parameters of a PI controller. The technique presented does not require sweeping over the parameters and also does not need linear programming to solve a set of inequalities. Thus it offers several important advantages over existing results obtained in this direction. Beyond stabilization, the method is used to shift all poles to a shifted half plane that guarantees a specified settling time of response. Computation of stabilizing PI controllers which achieve user specified gain and phase margins is studied. It is shown via an example that the stabilizing region in the (k p , k i )-plane is not always a convex set. The proposed method is also used to design PID controllers. The limiting values of a PID controller which stabilize a given system are obtained in the (k p , k i )-plane (k p , k d )-plane and (k i , k d )-plane. Furthermore, the proposed method is used to compute all the parameters of a PI controller which stabilize a control system with an interval plant family. Examples are given to show the benefits of the method presented

  10. PID temperature controller in pig nursery: spatial characterization of thermal environment

    Science.gov (United States)

    de Souza Granja Barros, Juliana; Rossi, Luiz Antonio; Menezes de Souza, Zigomar

    2018-05-01

    The use of enhanced technologies of temperature control can improve the thermal conditions in environments of livestock facilities. The objective of this study was to evaluate the spatial distribution of the thermal environment variables in a pig nursery with a heating system with two temperature control technologies based on the geostatistical analysis. The following systems were evaluated: overhead electrical resistance with Proportional, Integral, and Derivative (PID) controller and overhead electrical resistance with a thermostat. We evaluated the climatic variables: dry bulb temperature (Tbs), air relative humidity (RH), temperature and humidity index (THI), and enthalpy in the winter, at 7:00, 12:00, and 18:00 h. The spatial distribution of these variables was mapped by kriging. The results showed that the resistance heating system with PID controllers improved the thermal comfort conditions in the pig nursery in the coldest hours, maintaining the spatial distribution of the air temperature more homogeneous in the pen. During the hottest weather, neither system provided comfort.

  11. FFMPD scales: Comparisons with the FFM, PID-5, and CAT-PD-SF.

    Science.gov (United States)

    Crego, Cristina; Oltmanns, Joshua R; Widiger, Thomas A

    2018-01-01

    A series of 8 Five Factor Model Personality Disorder (FFMPD) scales have been developed to assess, from the perspective of the Five Factor Model (FFM), the maladaptive traits included within DSM-5 Section II personality disorders. An extensive body of FFMPD research has accumulated. However, for the most part, each study has been confined to the scales within 1 particular FFMPD Inventory. The current study considered 36 FFMPD scales, at least 1 from each of the 8 FFMPD inventories, including 8 scales considered to be from neuroticism, 8 from extraversion, 5 from openness, 8 from agreeableness, and 7 from conscientiousness. Their convergent, discriminant, and structural relationship with the FFM was considered, and compared with the structural relationship with the FFM obtained by the Personality Inventory for DSM-5 (PID-5) and the Computerized Adaptive Test-Personality Disorder-Static Form (CAT-PD-SF). Support for an FFM structure was obtained (albeit with agreeableness defining 1 factor and antagonism a separate factor). Similarities and differences across the FFMPD, PID-5, and CAT-PD-SF scales were highlighted. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

  12. Perancangan dan Implementasi Kontroler PID untuk Pengaturan Autonomous Car-Following Car

    Directory of Open Access Journals (Sweden)

    Andreas Parluhutan Bonor Sinaga

    2014-03-01

    Full Text Available Pengiriman logistik ke daerah-daerah rawan bencana merupakan hal yang sangat sulit dilakukan, tentunya diperlukan pengetahuan mengenai kondisi medan jalan. Salah satu dampak yang utama adalah sulitnya melakukan manuver dalam pengendalian performansi  truk logistik yang pada umumnya berupa truk-truk gandeng. Untuk membantu pengemudi truk dalam berkendara pada kondisi tersebut, dirancang sebuah prototype mobil mandiri (Autonomous Car yang mampu melakukan manuver-manuver pergerakan secara sendirinya, salah satu manuver tersebut ialah Following Car.  Dalam Tugas Akhir ini perancangan sistem yang akan dilakukan dengan  memodelkan  dua buah kendaraan mobil RC (remote control yang bertindak sebagai  follower dan leader car. Pengoperasian dari  following car dilakukan dengan memodifikasi dari kendaraan RC-1, sedangkan RC-2 bertindak sebagai leader car yang dikondisikan secara manual. Dengan penerapan kontroler PID pada implementasi sistem didapatkan penurunan time settling menjadi 2,7 Detik dan peningkatan error steady state sebesar 2,44%. Pada implementasi diberikan kecepatan leader secara acak, dengan implementasi kontroler PID, kondisi jarak antara autonomous car dengan leader car masih dalam range keadaan ideal pada set point.

  13. A Fast Elitism Gaussian Estimation of Distribution Algorithm and Application for PID Optimization

    Directory of Open Access Journals (Sweden)

    Qingyang Xu

    2014-01-01

    Full Text Available Estimation of distribution algorithm (EDA is an intelligent optimization algorithm based on the probability statistics theory. A fast elitism Gaussian estimation of distribution algorithm (FEGEDA is proposed in this paper. The Gaussian probability model is used to model the solution distribution. The parameters of Gaussian come from the statistical information of the best individuals by fast learning rule. A fast learning rule is used to enhance the efficiency of the algorithm, and an elitism strategy is used to maintain the convergent performance. The performances of the algorithm are examined based upon several benchmarks. In the simulations, a one-dimensional benchmark is used to visualize the optimization process and probability model learning process during the evolution, and several two-dimensional and higher dimensional benchmarks are used to testify the performance of FEGEDA. The experimental results indicate the capability of FEGEDA, especially in the higher dimensional problems, and the FEGEDA exhibits a better performance than some other algorithms and EDAs. Finally, FEGEDA is used in PID controller optimization of PMSM and compared with the classical-PID and GA.

  14. A fast elitism Gaussian estimation of distribution algorithm and application for PID optimization.

    Science.gov (United States)

    Xu, Qingyang; Zhang, Chengjin; Zhang, Li

    2014-01-01

    Estimation of distribution algorithm (EDA) is an intelligent optimization algorithm based on the probability statistics theory. A fast elitism Gaussian estimation of distribution algorithm (FEGEDA) is proposed in this paper. The Gaussian probability model is used to model the solution distribution. The parameters of Gaussian come from the statistical information of the best individuals by fast learning rule. A fast learning rule is used to enhance the efficiency of the algorithm, and an elitism strategy is used to maintain the convergent performance. The performances of the algorithm are examined based upon several benchmarks. In the simulations, a one-dimensional benchmark is used to visualize the optimization process and probability model learning process during the evolution, and several two-dimensional and higher dimensional benchmarks are used to testify the performance of FEGEDA. The experimental results indicate the capability of FEGEDA, especially in the higher dimensional problems, and the FEGEDA exhibits a better performance than some other algorithms and EDAs. Finally, FEGEDA is used in PID controller optimization of PMSM and compared with the classical-PID and GA.

  15. Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator

    Directory of Open Access Journals (Sweden)

    Xin Zuo

    2017-01-01

    Full Text Available Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.

  16. PSO-tuned PID controller for coupled tank system via priority-based fitness scheme

    Science.gov (United States)

    Jaafar, Hazriq Izzuan; Hussien, Sharifah Yuslinda Syed; Selamat, Nur Asmiza; Abidin, Amar Faiz Zainal; Aras, Mohd Shahrieel Mohd; Nasir, Mohamad Na'im Mohd; Bohari, Zul Hasrizal

    2015-05-01

    The industrial applications of Coupled Tank System (CTS) are widely used especially in chemical process industries. The overall process is require liquids to be pumped, stored in the tank and pumped again to another tank. Nevertheless, the level of liquid in tank need to be controlled and flow between two tanks must be regulated. This paper presents development of an optimal PID controller for controlling the desired liquid level of the CTS. Two method of Particle Swarm Optimization (PSO) algorithm will be tested in optimizing the PID controller parameters. These two methods of PSO are standard Particle Swarm Optimization (PSO) and Priority-based Fitness Scheme in Particle Swarm Optimization (PFPSO). Simulation is conducted within Matlab environment to verify the performance of the system in terms of settling time (Ts), steady state error (SSE) and overshoot (OS). It has been demonstrated that implementation of PSO via Priority-based Fitness Scheme (PFPSO) for this system is potential technique to control the desired liquid level and improve the system performances compared with standard PSO.

  17. 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.

  18. Thermostatic system of sensor in NIR spectrometer based on PID control

    Science.gov (United States)

    Wang, Zhihong; Qiao, Liwei; Ji, Xufei

    2016-11-01

    Aiming at the shortcomings of the primary sensor thermostatic control system in the near infrared (NIR) spectrometer, a novel thermostatic control system based on proportional-integral-derivative (PID) control technology was developed to improve the detection precision of the NIR spectrometer. There were five parts including bridge amplifier circuit, analog-digital conversion (ADC) circuit, microcontroller, digital-analog conversion (DAC) circuit and drive circuit in the system. The five parts formed a closed-loop control system based on PID algorithm that was used to control the error between the temperature calculated by the sampling data of ADC and the designed temperature to ensure the stability of the spectrometer's sensor. The experimental results show that, when the operating temperature of sensor is -11°, compared with the original system, the temperature control precision of the new control system is improved from ±0.64° to ±0.04° and the spectrum signal to noise ratio (SNR) is improved from 4891 to 5967.

  19. 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.

  20. Fractional Order PID Control of Rotor Suspension by Active Magnetic Bearings

    Directory of Open Access Journals (Sweden)

    Parinya Anantachaisilp

    2017-01-01

    Full Text Available One of the key issues in control design for Active Magnetic Bearing (AMB systems is the tradeoff between the simplicity of the controller structure and the performance of the closed-loop system. To achieve this tradeoff, this paper proposes the design of a fractional order Proportional-Integral-Derivative (FOPID controller. The FOPID controller consists of only two additional parameters in comparison with a conventional PID controller. The feasibility of FOPID for AMB systems is investigated for rotor suspension in both the radial and axial directions. Tuning methods are developed based on the evolutionary algorithms for searching the optimal values of the controller parameters. The resulting FOPID controllers are then tested and compared with a conventional PID controller, as well as with some advanced controllers such as Linear Quadratic Gausian (LQG and H ∞ controllers. The comparison is made in terms of various stability and robustness specifications, as well as the dimensions of the controllers as implemented. Lastly, to validate the proposed method, experimental testing is carried out on a single-stage centrifugal compressor test rig equipped with magnetic bearings. The results show that, with a proper selection of gains and fractional orders, the performance of the resulting FOPID is similar to those of the advanced controllers.

  1. Tuning of PID Controllers for Quadcopter System using Cultural Exchange Imperialist Competitive Algorithm

    Directory of Open Access Journals (Sweden)

    Nizar Hadi Abbas

    2018-02-01

    Full Text Available Quadrotors are coming up as an attractive platform for unmanned aerial vehicle (UAV research, due to the simplicity of their structure and maintenance, their ability to hover, and their vertical take-off and landing (VTOL capability. With the vast advancements in small-size sensors, actuators, and processors, researchers are now focusing on developing mini UAV’s to be used in both research and commercial applications. This work presents a detailed mathematical nonlinear dynamic model of the quadrotor which is formulated using the Newton-Euler method. Although the quadrotor is a 6 DOF under-actuated system, the derived rotational subsystem is fully actuated, while the translational subsystem is under-actuated. The derivation of the mathematical model was followed by the development of the controller to control the altitude, attitude, heading and position of the quadrotor in space, which is, based on the linear Proportional-Derivative- Integral (PID controller; thus, a simplified version of the model is obtained. The gains of the controllers will be tuned using optimization techniques to improve the system's dynamic response. The standard Imperialist Competitive Algorithm (ICA was applied to tune the PID parameters and then it was compared to Cultural Exchange Imperialist Competitive algorithm (CEICA tuning, and the results show improvement in the proposed algorithm. The objective function results were enhanced by (23.91% in the CEICA compared with ICA.

  2. Non-parametric Tuning of PID Controllers A Modified Relay-Feedback-Test Approach

    CERN Document Server

    Boiko, Igor

    2013-01-01

    The relay feedback test (RFT) has become a popular and efficient  tool used in process identification and automatic controller tuning. Non-parametric Tuning of PID Controllers couples new modifications of classical RFT with application-specific optimal tuning rules to form a non-parametric method of test-and-tuning. Test and tuning are coordinated through a set of common parameters so that a PID controller can obtain the desired gain or phase margins in a system exactly, even with unknown process dynamics. The concept of process-specific optimal tuning rules in the nonparametric setup, with corresponding tuning rules for flow, level pressure, and temperature control loops is presented in the text.   Common problems of tuning accuracy based on parametric and non-parametric approaches are addressed. In addition, the text treats the parametric approach to tuning based on the modified RFT approach and the exact model of oscillations in the system under test using the locus of a perturbedrelay system (LPRS) meth...

  3. PID temperature controller in pig nursery: spatial characterization of thermal environment.

    Science.gov (United States)

    de Souza Granja Barros, Juliana; Rossi, Luiz Antonio; Menezes de Souza, Zigomar

    2017-11-28

    The use of enhanced technologies of temperature control can improve the thermal conditions in environments of livestock facilities. The objective of this study was to evaluate the spatial distribution of the thermal environment variables in a pig nursery with a heating system with two temperature control technologies based on the geostatistical analysis. The following systems were evaluated: overhead electrical resistance with Proportional, Integral, and Derivative (PID) controller and overhead electrical resistance with a thermostat. We evaluated the climatic variables: dry bulb temperature (Tbs), air relative humidity (RH), temperature and humidity index (THI), and enthalpy in the winter, at 7:00, 12:00, and 18:00 h. The spatial distribution of these variables was mapped by kriging. The results showed that the resistance heating system with PID controllers improved the thermal comfort conditions in the pig nursery in the coldest hours, maintaining the spatial distribution of the air temperature more homogeneous in the pen. During the hottest weather, neither system provided comfort.

  4. 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.

  5. Expanding subjectivities

    DEFF Research Database (Denmark)

    Lundgaard Andersen, Linda; Soldz, Stephen

    2012-01-01

    A major theme in recent psychoanalytic thinking concerns the use of therapist subjectivity, especially “countertransference,” in understanding patients. This thinking converges with and expands developments in qualitative research regarding the use of researcher subjectivity as a tool......-Saxon and continental traditions, this special issue provides examples of the use of researcher subjectivity, informed by psychoanalytic thinking, in expanding research understanding....

  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. Transfert du modèle prédictif d'épidémie de paludisme aux ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    Dans les hautes terres d'Afrique de l'Est, les épidémies de paludisme sont en ... de facteurs non biophysiques dans la prévalence et le contrôle de cette maladie. ... IWRA/CRDI sur les changements climatiques et la gestion adaptive de l'eau.

  8. A novel optimization algorithm based on epsilon constraint-RBF neural network for tuning PID controller in decoupled HVAC system

    International Nuclear Information System (INIS)

    Attaran, Seyed Mohammad; Yusof, Rubiyah; Selamat, Hazlina

    2016-01-01

    Highlights: • Decoupling of a heating, ventilation, and air conditioning system is presented. • RBF models were identified by Epsilon constraint method for temperature and humidity. • Control settings derived from optimization of the decoupled model. • Epsilon constraint-RBF based on PID controller was implemented to keep thermal comfort and minimize energy. • Enhancements of controller parameters of the HVAC system are desired. - Abstract: The energy efficiency of a heating, ventilating and air conditioning (HVAC) system optimized using a radial basis function neural network (RBFNN) combined with the epsilon constraint (EC) method is reported. The new method adopts the advanced algorithm of RBFNN for the HVAC system to estimate the residual errors, increase the control signal and reduce the error results. The objective of this study is to develop and simulate the EC-RBFNN for a self tuning PID controller for a decoupled bilinear HVAC system to control the temperature and relative humidity (RH) produced by the system. A case study indicates that the EC-RBFNN algorithm has a much better accuracy than optimization PID itself and PID-RBFNN, respectively.

  9. Optimal Self-Tuning PID Controller Based on Low Power Consumption for a Server Fan Cooling System.

    Science.gov (United States)

    Lee, Chengming; Chen, Rongshun

    2015-05-20

    Recently, saving the cooling power in servers by controlling the fan speed has attracted considerable attention because of the increasing demand for high-density servers. This paper presents an optimal self-tuning proportional-integral-derivative (PID) controller, combining a PID neural network (PIDNN) with fan-power-based optimization in the transient-state temperature response in the time domain, for a server fan cooling system. Because the thermal model of the cooling system is nonlinear and complex, a server mockup system simulating a 1U rack server was constructed and a fan power model was created using a third-order nonlinear curve fit to determine the cooling power consumption by the fan speed control. PIDNN with a time domain criterion is used to tune all online and optimized PID gains. The proposed controller was validated through experiments of step response when the server operated from the low to high power state. The results show that up to 14% of a server's fan cooling power can be saved if the fan control permits a slight temperature response overshoot in the electronic components, which may provide a time-saving strategy for tuning the PID controller to control the server fan speed during low fan power consumption.

  10. Development of a novel direct X-ray detector using photoinduced discharge (PID) readout for digital radiography

    Science.gov (United States)

    Heo, D.; Jeon, S.; Kim, J.-S.; Kim, R. K.; Cha, B. K.; Moon, B. J.; Yoon, J.

    2013-02-01

    We developed a novel direct X-ray detector using photoinduced discharge (PID) readout for digital radiography. The pixel resolution is 512 × 512 with 200 μm pixel and the overall active dimensions of the X-ray imaging panel is 10.24 cm × 10.24 cm. The detector consists of an X-ray absorption layer of amorphous selenium, a charge accumulation layer of metal, and a PID readout layer of amorphous silicon. In particular, the charge accumulation is pixelated because image charges generated by X-ray should be stored pixel by pixel. Here the image charges, or holes, are recombined with electrons generated by the PID method. We used a 405 nm laser diode and cylindrical lens to make a line beam source with a width of 50 μm for PID readout, which generates charges for each pixel lines during the scan. We obtained spatial frequencies of about 1.0 lp/mm for the X-direction (lateral direction) and 0.9 lp/mm for the Y-direction (scanning direction) at 50% modulation transfer function.

  11. Performance comparison of optimal fractional order hybrid fuzzy PID controllers for handling oscillatory fractional order processes with dead time.

    Science.gov (United States)

    Das, Saptarshi; Pan, Indranil; Das, Shantanu

    2013-07-01

    Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional order (FO) rate of error signal and FO integral of control signal have been used in the design of a family of decomposed hybrid FO fuzzy PID controllers. The input and output scaling factors (SF) along with the integro-differential operators are tuned with real coded genetic algorithm (GA) to produce optimum closed loop performance by simultaneous consideration of the control loop error index and the control signal. Three different classes of fractional order oscillatory processes with various levels of relative dominance between time constant and time delay have been used to test the comparative merits of the proposed family of hybrid fractional order fuzzy PID controllers. Performance comparison of the different FO fuzzy PID controller structures has been done in terms of optimal set-point tracking, load disturbance rejection and minimal variation of manipulated variable or smaller actuator requirement etc. In addition, multi-objective Non-dominated Sorting Genetic Algorithm (NSGA-II) has been used to study the Pareto optimal trade-offs between the set point tracking and control signal, and the set point tracking and load disturbance performance for each of the controller structure to handle the three different types of processes. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Optimal Self-Tuning PID Controller Based on Low Power Consumption for a Server Fan Cooling System

    Directory of Open Access Journals (Sweden)

    Chengming Lee

    2015-05-01

    Full Text Available Recently, saving the cooling power in servers by controlling the fan speed has attracted considerable attention because of the increasing demand for high-density servers. This paper presents an optimal self-tuning proportional-integral-derivative (PID controller, combining a PID neural network (PIDNN with fan-power-based optimization in the transient-state temperature response in the time domain, for a server fan cooling system. Because the thermal model of the cooling system is nonlinear and complex, a server mockup system simulating a 1U rack server was constructed and a fan power model was created using a third-order nonlinear curve fit to determine the cooling power consumption by the fan speed control. PIDNN with a time domain criterion is used to tune all online and optimized PID gains. The proposed controller was validated through experiments of step response when the server operated from the low to high power state. The results show that up to 14% of a server’s fan cooling power can be saved if the fan control permits a slight temperature response overshoot in the electronic components, which may provide a time-saving strategy for tuning the PID controller to control the server fan speed during low fan power consumption.

  13. Fiscatch : Creació d'una franquícia de menjar ràpid

    OpenAIRE

    Civit Vergés, Carles

    2016-01-01

    Creació d'una marca de restauració de menjar ràpid de peix i marisc a Barcelona. Construcción de una marca de franquicias de restaurantes de comida rápida de pescado y marisco en Barcelona. Brand-building a franchise fast-food restaurant chain specific for fish and seafood in Barcelona.

  14. Electrical coupling suppression and transient response improvement for a microgyroscope using ascending frequency drive with a 2-DOF PID controller

    International Nuclear Information System (INIS)

    Cui, J; Guo, Z Y; Yang, Z C; Hao, Y L; Yan, G Z

    2011-01-01

    In this paper, we demonstrate a novel control strategy for the drive mode of a microgyroscope using ascending frequency drive (AFD) with an AGC-2DOF PID controller, which drives a resonator with a modulation signal not at the resonant frequency and senses the vibration signal at the resonant frequency, thus realizing the isolation between the actual mechanical response and electrical coupling signal. This approach holds the following three advantages: (1) it employs the AFD signal instead of the resonant frequency drive signal to excite the gyroscope in the drive direction, suppressing the electrical coupling from the drive electrode to the sense electrode; (2) it can reduce the noise at low frequency and resonant frequency by shifting flicker noise to the high-frequency part; (3) it can effectively improve the performance of the transient response of the closed-loop control with a 2-DOF (degree of freedom) PID controller compared with the conventional 1-DOF PID. The stability condition of the whole loop is investigated by utilizing the averaging and linearization method. The control approach is applied to drive a lateral tuning fork microgyroscope. Test results show good agreement with the theoretical and simulation results. The non-ideal electrical antiresonance peak is removed and the resonant peak height increases by approximately 10 dB over a 400 Hz span with a flicker noise reduction of 30 dB within 100 Hz using AFD. The percent overshoot is reduced from 36.2% (1DOF PID) to 8.95% (2DOF PID, about 75.3% overshoot suppression) with 15.3% improvement in setting time

  15. Performance study of SOL&PID system for the degradation of Acid Red 26 and 4-Chlorophenol

    International Nuclear Information System (INIS)

    Zhu, Li; Cui, Lingyun; Huang, Qunwu; Wang, Yiping; Vivar, Marta; Jin, Yanchao; Sun, Yong; Cui, Yong; Fan, Jiangyang

    2017-01-01

    Highlights: • A new water purification system with solar and UV-LED powered by PV was proposed. • UV-LED was driven by PV directly without any transformation. • More than 92% of P_m generated by PV was used to drive UV-LED array. • Visible and near-infra light was converted to UV via PV and UV-LED. • The flowing water makes PV and LED work at lower temperature. - Abstract: To increase the photocatalytic reaction rate and make full use of electricity generated by photovoltaics (PV), a water purification system (SOL&PID) with solar and ultraviolet-light emitting diode (UV-LED) powered by a hybrid PV photocatalytic reactor was designed and tested in this paper. The SOL&PID system is based on Solar Water Purification and Renewable Electricity Generation system (SOLWAT). Photovoltaic and photocatalytic performances of SOL&PID system were evaluated in comparison with SOLWAT by the degradation of Acid Red 26 (AR 26) and 4-chlorophenol (4-CP) using suspended TiO_2. To assess the directly-coupled performance between PV and UV-LED array, the power consumption percentage of UV-LED array from the maximum output power of PV was analyzed. The results show an adequate coupling between the UV-LED array and the photovoltaics. More than 92% of the maximum output power generated by PV modules is used to drive the LED array. The photocatalytic reaction rate constants in SOL&PID system increase respectively 29–37% and 31–78% during AR 26 and 4-CP experiments, in comparison with SOLWAT system. Besides, the SOL&PID system achieved lower solar module temperature and lower UV-LED pin temperature than the reference systems by the addition of flow channel.

  16. Distrustful, Conventional, Entitled, and Dysregulated: PID-5 Personality Facets Predict Hostile Masculinity and Sexual Violence in Community Men.

    Science.gov (United States)

    Russell, Tiffany D; King, Alan R

    2017-01-01

    Psychopathy and narcissism are known predictors of sexual violence, but they are broad personality constructs with limited utility in intervention and prevention efforts. The Personality Inventory for DSM-5 (PID-5) assesses 25 specific personality facets residing in five higher order domains. The goal of this research was to test the PID-5 in a sexual aggression model, which also included hostile masculinity, juvenile delinquency, and five sexual assault indices. A nationwide sample of adult men ( N = 512) completed the online survey. Hostile masculinity and juvenile delinquency were expected to have direct paths to sexual violence in a structural equation model. Hostile masculinity was also hypothesized as a mediator between sexual violence and PID-5 facets related to narcissism and psychopathy. These hypotheses were largely supported. Overall, 29.5% of men reported perpetrating sexual violence at least once, and 24.2% reported multiple assaults. In the sexually violent sample, 45.7% endorsed completed rape as their most severe act. PID-5 Suspiciousness, Cognitive and Perceptual Dysregulation, Grandiosity, and a lack of Eccentricity emerged as indirect predictors of sexual violence. These PID-5 facets were mediated by hostile masculinity, which had a reliable path to sexual violence. Juvenile delinquency had a direct and indirect path to sexual assault. The model accounted for 48% of the variance in latent sexual violence, and the five sexual violence index R 2 s ranged from .53 to .82. This research adds specificity to sexual violence models by demonstrating the underlying maladaptive personality trait structures associated with sexual assault. It also provides a more precise personality profile for clinical use and prevention programs.

  17. Greenhouse irrigation control system design based on ZigBee and fuzzy PID technology

    Science.gov (United States)

    Zhou, Bing; Yang, Qiliang; Liu, Kenan; Li, Peiqing; Zhang, Jing; Wang, Qijian

    In order to achieve the water demand information accurately detect of the greenhouse crop and its precision irrigation automatic control, this article has designed a set of the irrigated control system based on ZigBee and fuzzy PID technology, which composed by the soil water potential sensor, CC2530F256 wireless microprocessor, IAR Embedded Workbench software development platform. And the time of Irrigation as the output .while the amount of soil water potential and crop growth cycle as the input. The article depended on Greenhouse-grown Jatropha to verify the object, the results show that the system can irrigate timely and appropriately according to the soil water potential and water demend of the different stages of Jatropha growth , which basically meet the design requirements. Therefore, the system has broad application prospects in the amount of greenhouse crop of fine control irrigation.

  18. GA-optimized feedforward-PID tracking control for a rugged electrohydraulic system design.

    Science.gov (United States)

    Sarkar, B K; Mandal, P; Saha, R; Mookherjee, S; Sanyal, D

    2013-11-01

    Rugged electrohydraulic systems are preferred for remote and harsh applications. Despite the low bandwidth, large deadband and flow nonlinearities in proportional valves valve and highly nonlinear friction in industry-grade cylinders that comprise rugged systems, their maintenance are much easier than very sophisticated and delicate servocontrol and servocylinder systems. With the target of making the easily maintainable system to perform comparably to a servosystem, a feedforward control has been designed here for compensating the nonlinearities. A PID feedback of the piston displacement has been employed in tandem for absorbing the unmodeled effects. All the controller parameters have been optimized by a real-coded genetic algorithm. The agreement between the achieved real-time responses for step and sinusoidal demands with those achieved by modern servosystems clearly establishes the acceptability of the controller design. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  19. COMPENSATED INVERSE PID CONTROLLER FOR ACTIVE VIBRATION CONTROL WITH PIEZOELECTRIC PATCHES: MODELING, SIMULATION AND IMPLEMENTATION

    Directory of Open Access Journals (Sweden)

    Asan Gani

    2010-09-01

    Full Text Available Active vibration control of the first three modes of a vibrating cantilever beam using collocated piezoelectric sensor and actuator is examined in this paper. To achieve this, a model based on Euler-Bernoulli beam equation is adopted and extended to the case of three bonded piezoelectric patches that act as sensor, actuator and exciter respectively. A compensated inverse PID controller has been designed and developed to damp first three modes of vibration. Controllers have been designed for each mode and these are later combined in parallel to damp any of the three modes. Individual controller gives better reduction in sensor output for the second and third modes while the combined controller performs better for the first mode. Simulation studies are carried out using MATLAB. These results are compared and verified experimentally and the real-time implementation is carried out with xPC-target toolbox in MATLAB

  20. Performance Analysis of a Neuro-PID Controller Applied to a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Saeed Pezeshki

    2012-11-01

    Full Text Available The performance of robot manipulators with nonadaptive controllers might degrade significantly due to the open loop unstable system and the effect of some uncertainties on the robot model or environment. A novel Neural Network PID controller (NNP is proposed in order to improve the system performance and its robustness. The Neural Network (NN technique is applied to compensate for the effect of the uncertainties of the robot model. With the NN compensator introduced, the system errors and the NN weights with large dispersion are guaranteed to be bounded in the Lyapunov sense. The weights of the NN compensator are adaptively tuned. The simulation results show the effectiveness of the model validation approach and its efficiency to guarantee a stable and accurate trajectory tracking process in the presence of uncertainties.

  1. CONTROL SYSTEM DESIGN WITH FUZZY LOGIC PID-СONTROLLER TYPE 2

    Directory of Open Access Journals (Sweden)

    A. Tунік

    2011-04-01

    Full Text Available This paper presents a fuzzy logic PID-controller synthesis method for solid body guidance. Formany nonlinear systems with nonlinearities and uncertainties, the performance of fuzzy controllertype 1 may not be satisfactory. Therefore, in this work, fuzzy logic type 2 controller design isintroduced. These controllers capture the advantage of a linear controller in terms of simplicity andalso can handle nonlinearity because of their inference mechanism.The main feature of the proposedmethod constitutes in a membership functions type 2 applications. The membership function type 2is represented by upper and lower membership functions of type 1. The interval between these twofunctions represent the footprint of uncertainty, which give an opportunity to synthesize commonregulator for set of a models. The structure of fuzzy logic controller for solid body control isgrounded. Simulation results confirm the effectiveness of the proposed approach.

  2. Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

    Directory of Open Access Journals (Sweden)

    Ameer L. Saleh

    2018-02-01

    Full Text Available This paper present an optimal Fractional Order PID (FOPID controller based on Particle Swarm Optimization (PSO for controlling the trajectory tracking of Wheeled Mobile Robot(WMR.The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

  3. Design of Power Cable UAV Intelligent Patrol System Based on Adaptive Kalman Filter Fuzzy PID Control

    Directory of Open Access Journals (Sweden)

    Chen Siyu

    2017-01-01

    Full Text Available Patrol UAV has poor aerial posture stability and is largely affected by anthropic factors, which lead to some shortages such as low power cable tracking precision, captured image loss and inconvenient temperature measurement, etc. In order to solve these disadvantages, this article puts forward a power cable intelligent patrol system. The core innovation of the system is a 360° platform. This collects the position information of power cables by using far infrared sensors and carries out real-time all-direction adjustment of UAV lifting platform through the adaptive Kalman filter fuzzy PID control algorithm, so that the precise tracking of power cables is achieved. An intelligent patrol system is established to detect the faults more accurately, so that a high intelligence degree of power cable patrol system is realized.

  4. A low power flash-FPGA based brain implant micro-system of PID control.

    Science.gov (United States)

    Lijuan Xia; Fattah, Nabeel; Soltan, Ahmed; Jackson, Andrew; Chester, Graeme; Degenaar, Patrick

    2017-07-01

    In this paper, we demonstrate that a low power flash FPGA based micro-system can provide a low power programmable interface for closed-loop brain implant inter- faces. The proposed micro-system receives recording local field potential (LFP) signals from an implanted probe, performs closed-loop control using a first order control system, then converts the signal into an optogenetic control stimulus pattern. Stimulus can be implemented through optoelectronic probes. The long term target is for both fundamental neuroscience applications and for clinical use in treating epilepsy. Utilizing our device, closed-loop processing consumes only 14nJ of power per PID cycle compared to 1.52μJ per cycle for a micro-controller implementation. Compared to an application specific digital integrated circuit, flash FPGA's are inherently programmable.

  5. Avaliação de controles PID adaptativos para um sistema de aquecimento resistivo de água Evaluation of adaptive PID controls for a resistive system of heating water

    Directory of Open Access Journals (Sweden)

    Maria Isabel Berto

    2004-09-01

    Full Text Available O trabalho consiste na implementação de um controle convencional PID/SISO-feedback para obter um ajuste fino na temperatura de entrada da água de aquecimento em um processo de pasteurização. Para isto utilizou-se uma resistência de 2500 Watts instalada na linha do fluido secundário da seção de aquecimento do pasteurizador e um Pt100 para a medição de sua temperatura. Como o comportamento desta temperatura em função de uma mesma perturbação degrau de potência na resistência é dependente da vazão de trabalho, objetivou-se encontrar um controle único para que a mesma fosse mantida no set-point desejado na faixa de operação de vazão da água do processo (300 a 700L/h. Três sintonias para o controlador adaptativo PID foram testadas: a primeira consistiu na implementação de uma função adaptativa dos parâmetros PID, ajustada através dos valores individuais obtidos para cada vazão de trabalho conforme metodologia da curva de reação do processo; a segunda consistiu em configurar os parâmetros do PID com os valores médios destes calculados individualmente para cada vazão, e a terceira consistiu na sintonia através de uma função adaptativa ajustada pelos parâmetros de sintonia obtidos pela metodologia de Aström & Hägglund. A avaliação do desempenho das sintonias dos controladores adaptativos foi realizada por comparação dos valores dos índices de erro, obtidos por perturbações do sistema em malha fechada na vazão de água. Os resultados obtidos mostraram que dentre as sintonias testadas, a terceira sintonia, popularmente conhecida como "Bang-Bang", apresentou menores oscilações e os menores valores dos índices de erros.The aim of this work is to implement a conventional PID/SISO feedback control to obtain a fine adjustment of the water inlet temperature at a pasteurization process. For that, a resistance of 2500 Watts and a Pt100 to measure the temperature were installed in the water inlet line of the

  6. [Validation of a French translation of Krueger's personality inventory for DSM-5 in its brief form (PID-5 BF)].

    Science.gov (United States)

    Combaluzier, S; Gouvernet, B; Menant, F; Rezrazi, A

    2018-02-01

    Since the publication of the DSM-5 (APA, 2013), the dimensional conception of the personality disorders is co-existing with the classical categorical paradigm. Tools have been proposed for the evaluations of five big pathological factors to be explored further according to the APA (negative affectivity, detachment, antagonism, disinhibition, psychoticism). Despite numerous works using these questionnaires (30 works in 3 years according to Al-Adjani et al., 2015), none of them have yet been translated into French. Also, the main objective of the paper is to present a French translation of the Personality Inventory for DSM -5 by Kruegger et al. (2013) in its brief form of 25 items (PID-5 BF). To reach this goal, we have employed the classic translation-retranslation method (Vallerand, 1989) and tested the consistence and the validity of this French version among a non-clinical sample (n=216) of young adults (age=31.4, SD=4.8), in joining some other questionnaires in their short forms to study the external validity of the PID-5 about the psychological distress (SCL-10, Nguyen, 1983), the categorical diagnosis of personality disorders (SAPAS, Moran et al., 2003) and the classical Big Five dimensions of the personality (BDI 10, Ramamstedt and John, 2007). The internal consistency of this translation has been studied through the classical outcomes on factor analysis for the dimensional repartitions of the items in 5 scales and Cronbach's alpha for the consistency of each found dimensions. The external validity has been explored by studying Pearson's correlations between the outcomes on each dimension of the PID-5 BF and both the clinical dimensions of SCL-10, personality dimensions of the BFI-10 or personality disorders (SAPAS). Factor analysis led to the same repartition of the 25 items as the original versions. Each of the dimensions is consistent enough (α>.65) to be taken into account as clinically significant. The items of the French version of the PID-5 BF follow

  7. A Family Study of the DSM-5 Section III Personality Pathology Model Using the Personality Inventory for the DSM-5 (PID-5).

    Science.gov (United States)

    Katz, Andrea C; Hee, Danelle; Hooker, Christine I; Shankman, Stewart A

    2017-10-03

    In Section III of the DSM-5, the American Psychiatric Association (APA) proposes a pathological personality trait model of personality disorders. The recommended assessment instrument is the Personality Inventory for the DSM-5 (PID-5), an empirically derived scale that assesses personality pathology along five domains and 25 facets. Although the PID-5 demonstrates strong convergent validity with other personality measures, no study has examined whether it identifies traits that run in families, another important step toward validating the DSM-5's dimensional model. Using a family study method, we investigated familial associations of PID-5 domain and facet scores in 195 families, examining associations between parents and offspring and across siblings. The Psychoticism, Antagonism, and Detachment domains showed significant familial aggregation, as did facets of Negative Affect and Disinhibition. Results are discussed in the context of personality pathology and family study methodology. The results also help validate the PID-5, given the familial nature of personality traits.

  8. Load Frequency Control (LFC Menggunakan Metode Noise-Tolerable PID Feedback pada Power Generation Plant Simulator PLTU PT. Pembangkitan Jawa dan Bali (PJB Unit Pembangkitan (UP Paiton

    Directory of Open Access Journals (Sweden)

    Rahmadhi Prihandono

    2017-01-01

    Full Text Available Frekuensi sebesar 50 Hz harus dijaga agar memberikan kualitas energi listrik yang baik. Pengaruh dari switching pada sisi beban akan membuat frekuensi energi listrik menjadi fluktuatif. Nilai frekuensi yang fluktuatif akan membuat fungsi derivatif pada kontroler Proportional Integral Derivative (PID menjadi sangat besar, sehingga akan mempengaruhi sinyal kontrol. Nilai tersebut memaksa aktuator bekerja sangat cepat dan akan mengurangi masa pemakaian aktuator. Penambahan filter pada kontroler PID untuk sistem pengaturan pembangkitan energi listrik mampu meredam noise yang timbul akibat fluktuasi beban. Penambahan Low Pass Filter (LPF pada sisi derivatif memberikan redaman noise begitu pula menggunakan fungsi Averaged Derivative (AD. Dengan beban acak yang dimodelkan dengan Pseudo Random Binary Sequences (PRBS, nilai kesalahan dengan perhitungan Integral Absolute Error (IAE terkecil dimiliki oleh PID dengan averaged derivative sebesar 110,246 Hz dan PID dengan low pass filter sebesar 110,486 Hz

  9. The drug-minded protein interaction database (DrumPID) for efficient target analysis and drug development.

    Science.gov (United States)

    Kunz, Meik; Liang, Chunguang; Nilla, Santosh; Cecil, Alexander; Dandekar, Thomas

    2016-01-01

    The drug-minded protein interaction database (DrumPID) has been designed to provide fast, tailored information on drugs and their protein networks including indications, protein targets and side-targets. Starting queries include compound, target and protein interactions and organism-specific protein families. Furthermore, drug name, chemical structures and their SMILES notation, affected proteins (potential drug targets), organisms as well as diseases can be queried including various combinations and refinement of searches. Drugs and protein interactions are analyzed in detail with reference to protein structures and catalytic domains, related compound structures as well as potential targets in other organisms. DrumPID considers drug functionality, compound similarity, target structure, interactome analysis and organismic range for a compound, useful for drug development, predicting drug side-effects and structure-activity relationships.Database URL:http://drumpid.bioapps.biozentrum.uni-wuerzburg.de. © The Author(s) 2016. Published by Oxford University Press.

  10. PID position regulation in one-degree-of-freedom Euler-Lagrange systems actuated by a PMSM

    Science.gov (United States)

    Verastegui-Galván, J.; Hernández-Guzmán, V. M.; Orrante-Sakanassi, J.

    2018-02-01

    This paper is concerned with position regulation in one-degree-of-freedom Euler-Lagrange Systems. We consider that the mechanical subsystem is actuated by a permanent magnet synchronous motor (PMSM). Our proposal consists of a Proportional-Integral-Derivative (PID) controller for the mechanical subsystem and a slight variation of field oriented control for the PMSM. We take into account the motor electric dynamics during the stability analysis. We present, for the first time, a global asymptotic stability proof for such a control scheme without requiring the mechanical subsystem to naturally possess viscous friction. Finally, as a corollary of our main result we prove global asymptotic stability for output feedback PID regulation of one-degree-of-freedom Euler-Lagrange systems when generated torque is considered as the system input, i.e. when the electric dynamics of PMSM's is not taken into account.

  11. Optimal fuzzy logic-based PID controller for load-frequency control including superconducting magnetic energy storage units

    International Nuclear Information System (INIS)

    Pothiya, Saravuth; Ngamroo, Issarachai

    2008-01-01

    This paper proposes a new optimal fuzzy logic-based-proportional-integral-derivative (FLPID) controller for load frequency control (LFC) including superconducting magnetic energy storage (SMES) units. Conventionally, the membership functions and control rules of fuzzy logic control are obtained by trial and error method or experiences of designers. To overcome this problem, the multiple tabu search (MTS) algorithm is applied to simultaneously tune PID gains, membership functions and control rules of FLPID controller to minimize frequency deviations of the system against load disturbances. The MTS algorithm introduces additional techniques for improvement of search process such as initialization, adaptive search, multiple searches, crossover and restarting process. Simulation results explicitly show that the performance of the optimum FLPID controller is superior to the conventional PID controller and the non-optimum FLPID controller in terms of the overshoot, settling time and robustness against variations of system parameters

  12. 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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Coupling dynamic modeling and simulation of three-degree-of-freedom micromanipulator based on piezoelectric ceramic of fuzzy PID

    Science.gov (United States)

    Li, Dongjie; Fu, Yu; Yang, Liu

    2017-08-01

    For further research on the microparticles trajectory in the process of micromanipulation, the paper modeled on the coupling dynamic of three-degree-of-freedom micromanipulator which is based on piezoelectric ceramic. In the micromanipulation, the transformation of certain movement direction can generate a corresponding change in the coupling in three-degree-of-freedom micromanipulator movement, the fuzzy PID method was adopted by the control system of this study, and the modeling analysis was performed on the control system. After completing the above modeling, the simulation model is built by the MATLAB Simulink software. The simulation output results are basically in accordance with the actual trajectory, which achieve the successful research purposes of coupling dynamics model for three-degree-of-freedom micromanipulator and application of fuzzy PID method.

  14. 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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Silicon microgyroscope temperature prediction and control system based on BP neural network and Fuzzy-PID control method

    International Nuclear Information System (INIS)

    Xia, Dunzhu; Kong, Lun; Hu, Yiwei; Ni, Peizhen

    2015-01-01

    We present a novel silicon microgyroscope (SMG) temperature prediction and control system in a narrow space. As the temperature of SMG is closely related to its drive mode frequency and driving voltage, a temperature prediction model can be established based on the BP neural network. The simulation results demonstrate that the established temperature prediction model can estimate the temperature in the range of −40 to 60 °C with an error of less than ±0.05 °C. Then, a temperature control system based on the combination of fuzzy logic controller and the increment PID control method is proposed. The simulation results prove that the Fuzzy-PID controller has a smaller steady state error, less rise time and better robustness than the PID controller. This is validated by experimental results that show the Fuzzy-PID control method can achieve high precision in keeping the SMG temperature stable at 55 °C with an error of less than 0.2 °C. The scale factor can be stabilized at 8.7 mV/°/s with a temperature coefficient of 33 ppm °C −1 . ZRO (zero rate output) instability is decreased from 1.10°/s (9.5 mV) to 0.08°/s (0.7 mV) when the temperature control system is implemented over an ambient temperature range of −40 to 60 °C. (paper)

  16. PEMBUATAN SISTEM PENGATURAN PUTARAN MOTOR DC MENGGUNAKAN KONTROL PROPORTIONAL-INTEGRAL-DERIVATIVE (PID DENGAN MEMANFAATKAN SENSOR KMZ51

    Directory of Open Access Journals (Sweden)

    L Khakim

    2013-07-01

    Full Text Available Penelitian ini adalah penelitian pengembangan desain rancang bangun sistem pengendalian otomatis yang digerakkan dengan dua motor DC sehingga mampu mempertahankan kelembaman pada arahnya. Sistem otomatis ini terdiri dari sensor KMZ51 sebagai komponen feedback dan dua motor DC sebagai komponen plant. Pengujian dari sistem otomatis dibagi menjadi tiga yaitu pengujian sensor KMZ51, pengujian PWM sebagai penggerak motor DC dan pengujian performansi kontrol PID. Hasil pengujian menunjukkan nilai ketelitian sensor 99.17%. Pada pengujian PWM diperoleh error pengukuran 1.07% dan pengujian performansi sistem didapatkan bahwa penerapan kontrol PID dapat mengatur putaran motor DC sehingga model sistem mampu mempertahankan arahnya pada set point yang telah ditentukan dengan nilai overshoot maximum kurang dari 10%, rise time 2 detik dan settling time kurang dari 5% yang diperoleh pada Kp= 27, Ki= 6, dan Kd= 40 menggunakan metode trial and error. This research is design of automatic control system which driven by two DC motors that can keep the inertia of direction. The system is composed of sensor KMZ51 as feedback component and two DC motors as plant component. Testing of the automated system divided into three, KMZ51 sensor testing, PWM testing as drive DC motors, and performance testing of PID control system. The results show that the sensor accuracy values 99.17%, on testing the PWM measurement error obtained 1.07%, and testing of performance system obtained that the application of PID control can adjust DC motors rotation so that the model system is able to maintain direction the set point specified with maximum overshoot less than 10%, rise time of 2 seconds and settling time less than 5% were obtained at Kp= 27, Ki= 6, and Kd= 40 using trial and error method

  17. PD/PID controller tuning based on model approximations: Model reduction of some unstable and higher order nonlinear models

    Directory of Open Access Journals (Sweden)

    Christer Dalen

    2017-10-01

    Full Text Available A model reduction technique based on optimization theory is presented, where a possible higher order system/model is approximated with an unstable DIPTD model by using only step response data. The DIPTD model is used to tune PD/PID controllers for the underlying possible higher order system. Numerous examples are used to illustrate the theory, i.e. both linear and nonlinear models. The Pareto Optimal controller is used as a reference controller.

  18. 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.

  19. Hupa Numbers.

    Science.gov (United States)

    Bennett, Ruth, Ed.; And Others

    An introduction to the Hupa number system is provided in this workbook, one in a series of numerous materials developed to promote the use of the Hupa language. The book is written in English with Hupa terms used only for the names of numbers. The opening pages present the numbers from 1-10, giving the numeral, the Hupa word, the English word, and…

  20. Triangular Numbers

    Indian Academy of Sciences (India)

    Admin

    Triangular number, figurate num- ber, rangoli, Brahmagupta–Pell equation, Jacobi triple product identity. Figure 1. The first four triangular numbers. Left: Anuradha S Garge completed her PhD from. Pune University in 2008 under the supervision of Prof. S A Katre. Her research interests include K-theory and number theory.

  1. Proth Numbers

    Directory of Open Access Journals (Sweden)

    Schwarzweller Christoph

    2015-02-01

    Full Text Available In this article we introduce Proth numbers and prove two theorems on such numbers being prime [3]. We also give revised versions of Pocklington’s theorem and of the Legendre symbol. Finally, we prove Pepin’s theorem and that the fifth Fermat number is not prime.

  2. 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.

  3. Fuzzy Logic Based Set-Point Weighting Controller Tuning for an Internal Model Control Based PID Controller

    Directory of Open Access Journals (Sweden)

    Maruthai Suresh

    2009-10-01

    Full Text Available Controller tuning is the process of adjusting the parameters of the selected controller to achieve optimum response for the controlled process. For many of the control problems, a satisfactory performance is obtained by using PID controllers. One of the main problems with mathematical models of physical systems is that the parameters used in the models cannot be determined with absolute accuracy. The values of the parameters may change with time or various effects. In these cases, conventional controller tuning methods suffer when trying a lot to produce optimum response. In order to overcome these difficulties a fuzzy logic based Set- Point weighting controller tuning method is proposed. The effectiveness of the proposed scheme is analyzed through computer simulation using SIMULINK software and the results are presented. The fuzzy logic based simulation results are compared with Cohen-Coon (CC, Ziegler- Nichols (ZN, Ziegler – Nichols with Set- Point weighting (ZN-SPW, Internal Model Control (IMC and Internal model based PID controller responses (IMC-PID. The effects of process modeling errors and the importance of controller tuning have been brought out using the proposed control scheme.

  4. A Psychometric Review of the Personality Inventory for DSM-5 (PID-5): Current Status and Future Directions.

    Science.gov (United States)

    Al-Dajani, Nadia; Gralnick, Tara M; Bagby, R Michael

    2016-01-01

    The paradigm of personality psychopathology is shifting from one that is purely categorical in nature to one grounded in dimensional individual differences. Section III (Emerging Measures and Models) of the Diagnostic and Statistical Manual of Mental Disorders (5th ed. [DSM-5]; American Psychiatric Association, 2013), for example, includes a hybrid categorical/dimensional model of personality disorder classification. To inform the hybrid model, the DSM-5 Personality and Personality Disorders Work Group developed a self-report instrument to assess pathological personality traits-the Personality Inventory for the DSM-5 (PID-5). Since its recent introduction, 30 papers (39 samples) have been published examining various aspects of its psychometric properties. In this article, we review the psychometric characteristics of the PID-5 using the Standards for Educational and Psychological Testing as our framework. The PID-5 demonstrates adequate psychometric properties, including a replicable factor structure, convergence with existing personality instruments, and expected associations with broadly conceptualized clinical constructs. More research is needed with specific consideration to clinical utility, additional forms of reliability and validity, relations with psychopathological personality traits using clinical samples, alternative methods of criterion validation, effective employment of cut scores, and the inclusion of validity scales to propel this movement forward.

  5. Simulation and analysis of vertical displacement characteristics of three wheels reverse trike vehicle with PID controller application

    Science.gov (United States)

    Wibowo, Lambang, Lullus; Erick Chandra, N.; Muhayat, Nurul; Jaka S., B.

    2017-08-01

    The purpose of this research is to obtain a mathematical model (Full Vehicle Model) and compare the performance of passive and active suspension systems of a Three-Wheels Reverse Trike vehicle. Vehicle suspension system should able to provide good steering handling and passenger comfort. Vehicle suspension system generally only uses passive suspension components with fix spring and damper coefficients. An active suspension developed from the traditional (passive) suspension design can directly control the actuator force in the suspension system. In this paper, modeling and simulation of passive and active suspension system for a Full Vehicle Model is performed using Simulink-MATLAB software. Ziegler & Nichols tuning method is used to obtain controller parameters of Proportional Integral Derivative (PID) controller. Comparison between passive and active suspension with PID controller is conducted for disturbances input of single bump road surface profile 0.1 meters. The results are the displacement and acceleration of the vehicle body in the vertical direction of active suspension system with PID control is better in providing handling capabilities and comfort for the driver than of passive suspension system. The acceleration of 1,8G with the down time of 2.5 seconds is smaller than the acceleration of 2.5G with down time of 5.5 seconds.

  6. Qualitative vs. quantitative data: Controls on the accuracy of PID field screening in petroleum contamination assessment applications

    International Nuclear Information System (INIS)

    Luessen, M.J.; Allex, M.K.; Holzel, F.R.

    1995-01-01

    The use of photoionization detectors (PIDs) for field screening of soils for volatile organic contaminants has become a standard industry practice. PID screening data is generally utilized as a qualitative basis for selection of samples for laboratory analysis to quantify concentrations of specific contaminants of concern. Both qualitative field screening data and quantitative laboratory analytical data were reviewed for more than 100 hydrogeologic assessment sites in Ohio to evaluate controls on the effectiveness of field screening data. Assessment data evaluated was limited to sites at which the suspected contaminant source was a gasoline underground storage tanks system. In each case, a 10.0 eV (or greater) PID calibrated for benzene was used to screen soils which were analyzed for benzene, toluene, ethylbenzene and xylene (BTEX) by SW 846 method 8020. Controls on field screening which were evaluated for each site included (1) soil classification, (2) soil moisture, (3) weather conditions, (4) background levels, (5) equipment quality, (6) screening methodology, and (7) laboratory QA/QC. Statistical data analysis predictably indicated a general overestimate of total BTEX levels based on field screening (gasoline is approximately 25 weight percent BTEX). However, data locally indicated cases of both significant (i.e., more than an order of magnitude difference) over- and under-estimation of actual BTEX concentrations (i.e., quantitative laboratory data) by field screening data

  7. A novel multi-drive electric vehicle system control based on multi-input multi-output PID controller

    Directory of Open Access Journals (Sweden)

    Gasbaoui Brahim

    2012-01-01

    Full Text Available In-wheel-motor drive electric vehicle (EV is an innovative configuration of the modern EV, in which each wheel is driven individually by an electric motor. The classical traction motor control called the Independent Machine Control Structure (IMCS using a PID speed controller presents major inconveniences in modern EV safety, when the proposed control can not ensure stability of the EV with differing road topology and variations of speed. A new approach is proposed for a control of a two-in-wheel-motor drive EV, called the Maximum Control Structure MCS. This is based on a multivariable PID (MIMO-PID strategy, which is employed to estimate the linear speed error of each of the two back driving wheels, when the error of each wheel is taken into account in the other speed control computations. Simulation results show that the new control system presents increased safety for the EVs compared with the IMCS strategy and can maintain the error slip rate within the optimal range, ensuring the stability of the vehicle either in a straight or a curved line.

  8. The High Momentum Particle IDentification (HMPID) detector PID performance and its contribution to the ALICE physics program

    Science.gov (United States)

    Volpe, Giacomo; ALICE Collaboration

    2017-12-01

    The ALICE apparatus is dedicated to study the properties of strongly interacting matter under extremely high temperature and energy density conditions. For this, enhanced particle identification (PID) capabilities are required. Among the PID ALICE detectors, the ALICE-HMPID (High Momentum Particle IDentification) detector is devoted to the identification of charged hadrons, exploiting the Cherenkov effect. It consists of seven identical RICH modules, with liquid C6F14 as Cherenkov radiator (n ≈1.298 at λ=175 nm). Photon and charged particle detection is performed by a MWPC, coupled with a pad segmented CsI coated photo-cathode. The total CsI active area is 10.3 m2. The HMPID provides 3 sigma separation for pions and kaons up to pT = 3 GeV / c and for kaons and (anti-)protons up to pT = 5 GeV / c . A review of the HMPID PID performance, in particular in the challenging central Pb-Pb collisions, and its contribution to the ALICE physics program, using the LHC RUN1 (2010-2013) and RUN2 (2015) data, are presented.

  9. 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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Sagan numbers

    OpenAIRE

    Mendonça, J. Ricardo G.

    2012-01-01

    We define a new class of numbers based on the first occurrence of certain patterns of zeros and ones in the expansion of irracional numbers in a given basis and call them Sagan numbers, since they were first mentioned, in a special case, by the North-american astronomer Carl E. Sagan in his science-fiction novel "Contact." Sagan numbers hold connections with a wealth of mathematical ideas. We describe some properties of the newly defined numbers and indicate directions for further amusement.

  11. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

    Science.gov (United States)

    Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

    2017-05-30

    The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  12. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

    Directory of Open Access Journals (Sweden)

    Gaining Han

    2017-05-01

    Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  13. Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID

    Directory of Open Access Journals (Sweden)

    Pan Zhao

    2012-07-01

    Full Text Available The autonomous vehicle is a mobile robot integrating multi-sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree-of-freedom dynamic model is developed to formulate the path-tracking problem in state space format. For controlling the instantaneous path error, traditional controllers have difficulty in guaranteeing performance and stability over a wide range of parameter changes and disturbances. Therefore, a newly developed adaptive-PID controller will be used. By using this approach the flexibility of the vehicle control system will be increased and achieving great advantages. Throughout, we provide examples and results from Intelligent Pioneer and the autonomous vehicle using this approach competed in the 2010 and 2011 Future Challenge of China. Intelligent Pioneer finished all of the competition programmes and won first position in 2010 and third position in 2011.

  14. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

    Science.gov (United States)

    Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-01-01

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

  15. Tuning of PI/PID controllers by developing an Android application

    International Nuclear Information System (INIS)

    Wu Wu, Steven

    2013-01-01

    The guidelines are defined for the implementation of the tuning rules uSORT_1 and uSORT_2, to an Android application. This is based on the parameters of a process model, which has allowed to perform the calculation of PI/PID type controllers of 1GdL and 2GdL respectively. The tuning rule mentioned above was revised, its functionality was checked calculating and analyzing the results for the various values of the relation of time constants. The use on the linear interpolation of the normalized parameters of the controllers has allowed to observe for the extreme cases of the chosen 'a' value, values that have fulfilled the own characteristics of the tuning rules. Eclipse ADT was used for the development of the application, as it has turned out to be a very functional tool that has facilitated the execution and debugging of the application, as well as the management of libraries and Android resources. The functionality of the parameters of the controller product of the application was verified, since it was possible to control a real process, obtaining congruent and very successful results to the expected product of the simulations performed, both in the operation of servo control and in regulatory control. (author) [es

  16. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

    Science.gov (United States)

    Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-08-12

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

  17. 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.

  18. 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.

  19. Total OH reactivity measurements using a new fast Gas Chromatographic Photo-Ionization Detector (GC-PID

    Directory of Open Access Journals (Sweden)

    V. Sinha

    2012-12-01

    Full Text Available The primary and most important oxidant in the atmosphere is the hydroxyl radical (OH. Currently OH sinks, particularly gas phase reactions, are poorly constrained. One way to characterize the overall sink of OH is to measure directly the ambient loss rate of OH, the total OH reactivity. To date, direct measurements of total OH reactivity have been either performed using a Laser-Induced Fluorescence (LIF system ("pump-and-probe" or "flow reactor" or the Comparative Reactivity Method (CRM with a Proton-Transfer-Reaction Mass Spectrometer (PTR-MS. Both techniques require large, complex and expensive detection systems. This study presents a feasibility assessment for CRM total OH reactivity measurements using a new detector, a Gas Chromatographic Photoionization Detector (GC-PID. Such a system is smaller, more portable, less power consuming and less expensive than other total OH reactivity measurement techniques.

    Total OH reactivity is measured by the CRM using a competitive reaction between a reagent (here pyrrole with OH alone and in the presence of atmospheric reactive molecules. The new CRM method for total OH reactivity has been tested with parallel measurements of the GC-PID and the previously validated PTR-MS as detector for the reagent pyrrole during laboratory experiments, plant chamber and boreal field studies. Excellent agreement of both detectors was found when the GC-PID was operated under optimum conditions. Time resolution (60–70 s, sensitivity (LOD 3–6 s−1 and overall uncertainty (25% in optimum conditions for total OH reactivity were similar to PTR-MS based total OH reactivity measurements. One drawback of the GC-PID system was the steady loss of sensitivity and accuracy during intensive measurements lasting several weeks, and a possible toluene interference. Generally, the GC-PID system has been shown to produce closely comparable results to the PTR-MS and thus in suitable environments (e.g. forests it

  20. Eulerian numbers

    CERN Document Server

    Petersen, T Kyle

    2015-01-01

    This text presents the Eulerian numbers in the context of modern enumerative, algebraic, and geometric combinatorics. The book first studies Eulerian numbers from a purely combinatorial point of view, then embarks on a tour of how these numbers arise in the study of hyperplane arrangements, polytopes, and simplicial complexes. Some topics include a thorough discussion of gamma-nonnegativity and real-rootedness for Eulerian polynomials, as well as the weak order and the shard intersection order of the symmetric group. The book also includes a parallel story of Catalan combinatorics, wherein the Eulerian numbers are replaced with Narayana numbers. Again there is a progression from combinatorics to geometry, including discussion of the associahedron and the lattice of noncrossing partitions. The final chapters discuss how both the Eulerian and Narayana numbers have analogues in any finite Coxeter group, with many of the same enumerative and geometric properties. There are four supplemental chapters throughout, ...

  1. Random number generation

    International Nuclear Information System (INIS)

    Coveyou, R.R.

    1974-01-01

    The subject of random number generation is currently controversial. Differing opinions on this subject seem to stem from implicit or explicit differences in philosophy; in particular, from differing ideas concerning the role of probability in the real world of physical processes, electronic computers, and Monte Carlo calculations. An attempt is made here to reconcile these views. The role of stochastic ideas in mathematical models is discussed. In illustration of these ideas, a mathematical model of the use of random number generators in Monte Carlo calculations is constructed. This model is used to set up criteria for the comparison and evaluation of random number generators. (U.S.)

  2. Transfinite Numbers

    Indian Academy of Sciences (India)

    Transfinite Numbers. What is Infinity? S M Srivastava. In a series of revolutionary articles written during the last quarter of the nineteenth century, the great Ger- man mathematician Georg Cantor removed the age-old mistrust of infinity and created an exceptionally beau- tiful and useful theory of transfinite numbers. This is.

  3. Development of an On-Line Self-Tuning FPGA-PID-PWM Control Algorithm Design for DC-DC Buck Converter in Mobile Applications

    Directory of Open Access Journals (Sweden)

    Ahmed Sabah Al-Araji

    2017-08-01

    Full Text Available This paper presents a new development of an on-line hybrid self-tuning control algorithm of the Field Programmable Gate Array - Proportional Integral Derivative - Pulse Width Modulation (FPGA-PID-PWM controller for DC-DC buck converter which is used in battery operation of mobile applications. The main goal in this work is to propose structure of the hybrid Bees-PSO tuning control algorithm which has a capability of quickly and precisely searching in the global regions in order to obtain optimal gain parameters for the proposed controller to generate the best voltage control action to achieve the desired performance of the Buck converter output. Matlab simulation results and Xilinx development tool Integrated Software Environment (ISE experimental work show the robustness and effectiveness of the proposed on-line hybrid Bees-PSO tuning control algorithm in terms of obtaining smooth and unsaturated state voltage control action and minimizing the tracking voltage error of the Buck converter output. Moreover, the fitness evaluation number is reduced.

  4. RUSSIAN LAW SUBJECTS

    Directory of Open Access Journals (Sweden)

    D.N. Bakhrakh

    2006-03-01

    Full Text Available The question about the subjects of law branches is concerning the number of most important and difficult in law science. Its right decision influences on the subject of law regulation, precise definition of addressees of law norms, the volume of their rights and duties, the limits of action of norms of Main part of the branch, its principles. Scientific investigations, dedicated to law subjects system, promote the development of recommendations for the legislative and law applying activity; they are needed for scientific work organization and student training, for preparing qualified lawyers.

  5. Design of a fractional order PID controller for hydraulic turbine regulating system using chaotic non-dominated sorting genetic algorithm II

    International Nuclear Information System (INIS)

    Chen, Zhihuan; Yuan, Xiaohui; Ji, Bin; Wang, Pengtao; Tian, Hao

    2014-01-01

    Highlights: • Multi-objective optimization based fractional order controller is designed for HTRS. • NSGAII is improved by iterative chaotic map with infinite collapses (ICMIC) operator. • ISE and ITSE are as chosen as objective functions in tuning parameters of HTRS. • FOPID controller outperforms the PID controller under various running conditions. • Trade-off between speed of reference tracking and damping of oscillation are shown. - Abstract: Fractional-order PID (FOPID) controller is a generalization of traditional PID controller using fractional calculus. Compared to the traditional PID controller, in FOPID controller, the order of derivative portion and integral portion is not integer, which provides more flexibility in achieving control objectives. Design stage of such an FOPID controller consists of determining five parameters, i.e. proportional, integral and derivative gains {Kp, Ki, Kd}, and extra integration and differentiation orders {λ,μ}, which has a large difference comparing with the conventional PID tuning rules, thus a suitable optimization algorithm is essential to the parameters tuning of FOPID controller. This paper focuses on the design of the FOPID controller using chaotic non-dominated sorting genetic algorithm II (NSGAII) for hydraulic turbine regulating system (HTRS). The parameters chosen of the FOPID controller is formulated as a multi-objective optimization problem, in which the objective functions are composed by the integral of the squared error (ISE) and integral of the time multiplied squared error (ITSE). The chaotic NSGAII algorithm, which is an incorporation of chaotic behaviors into NSGAII, is used as the optimizer to search true Pareto-front of the FOPID controller and designers can implement each of them based on objective functions priority. The designed chaotic NSGAII based FOPID controller procedure is applied to a HTRS system. A comparison study between the optimum integer order PID controller and optimum

  6. Chocolate Numbers

    OpenAIRE

    Ji, Caleb; Khovanova, Tanya; Park, Robin; Song, Angela

    2015-01-01

    In this paper, we consider a game played on a rectangular $m \\times n$ gridded chocolate bar. Each move, a player breaks the bar along a grid line. Each move after that consists of taking any piece of chocolate and breaking it again along existing grid lines, until just $mn$ individual squares remain. This paper enumerates the number of ways to break an $m \\times n$ bar, which we call chocolate numbers, and introduces four new sequences related to these numbers. Using various techniques, we p...

  7. Number theory

    CERN Document Server

    Andrews, George E

    1994-01-01

    Although mathematics majors are usually conversant with number theory by the time they have completed a course in abstract algebra, other undergraduates, especially those in education and the liberal arts, often need a more basic introduction to the topic.In this book the author solves the problem of maintaining the interest of students at both levels by offering a combinatorial approach to elementary number theory. In studying number theory from such a perspective, mathematics majors are spared repetition and provided with new insights, while other students benefit from the consequent simpl

  8. Acides gras oméga 3 et maladies cardiovasculaires : approches épidémiologiques

    Directory of Open Access Journals (Sweden)

    Ducimetiere Pierre

    2004-01-01

    Full Text Available La prise alimentaire d’acides gras oméga 3 a de nombreuses conséquences biologiques en particulier dans les domaines intéressant le risque cardiovasculaire (thrombose, métabolisme lipidique, inflammation. A partir de l’énorme littérature épidémiologique sur le sujet, on peut conclure que la consommation de poisson « gras » ou d’oméga 3 à longue chaîne a un effet protecteur sur la mortalité coronaire et plus généralement sur les maladies cardiovasculaires. Il existe des indications en faveur d’un effet similaire de l’apport en alphalinolénique (ALA. Les essais de prévention secondaire avec des oméga 3 à longue chaîne ont confirmé ces résultats mais les essais de conseils nutritionnels favorisant la consommation d’ALA ne sont qu’indicatifs. Il n’existe guère « d’evidence » en faveur du rôle des oméga sur le développement quantitatif de l’athérome alors que leur effet protecteur sur la vulnérabilité cardiaque aux arythmies est bien établie. Ces données expérimentales et cliniques fournissent une base biologique à la relation observée entre un apport augmenté de poisson ou d’oméga 3 et un risque abaissé de mort subite dans plusieurs études de cohortes.

  9. ELECTRONIC CONTROL FOR FUEL SUPPLY OF DIESEL ENGINE ON THE BASIS OF PROGRAMMABLE PID-REGULATOR

    Directory of Open Access Journals (Sweden)

    A. G. Bakhanovich

    2017-01-01

    Full Text Available The article presents a schematic diagram of the Euro-3 diesel engine electronic control and describes hard- and software platform of the high pressure fuel pump pneumatic actuator control that allows to realize the concept of electronic fuel supply control of diesel engine KamAZ-740. The strategic dependence beetwen the angular position of fuel pump governor lever and the angular position of electronic accelerator pedal were put on the basis of electronic control concept. Implementation of this dependence was carried out by applying a modulated PWM signal with determined duty cycle by the controller to the coil proportional solenoid valve, which is responsible for the amount of air pressure in the working chamber of the power air cylinder, connected by articulated-type to the governor lever of the high pressure fuel pump. In this case, the feedback control by position of governor lever of the high pressure fuel pump was introduced in the control circuit, but engine crankshaft speed control was carried out using a software continuous PID governor. Developed strategy gives possibility to track the deflection  of control parameter from a predetermined value by real-time and almost instantly, to make a control action on actuators to eliminate this deflection, while providing a minimum time of transition. Governor’s setting (proportional, integral and differential component performed empirically using the classical Ziegler – Nichols method, based on the analysis of the safety factor of automatic control system. The results of calculating the coefficients of proportional integral-differential regulator and oscillograms HIL experiment on testing the proposed diesel engine throttle control strategies using visualization CoDeSys V2.3 are given in activity.

  10. Nice numbers

    CERN Document Server

    Barnes, John

    2016-01-01

    In this intriguing book, John Barnes takes us on a journey through aspects of numbers much as he took us on a geometrical journey in Gems of Geometry. Similarly originating from a series of lectures for adult students at Reading and Oxford University, this book touches a variety of amusing and fascinating topics regarding numbers and their uses both ancient and modern. The author intrigues and challenges his audience with both fundamental number topics such as prime numbers and cryptography, and themes of daily needs and pleasures such as counting one's assets, keeping track of time, and enjoying music. Puzzles and exercises at the end of each lecture offer additional inspiration, and numerous illustrations accompany the reader. Furthermore, a number of appendices provides in-depth insights into diverse topics such as Pascal’s triangle, the Rubik cube, Mersenne’s curious keyboards, and many others. A theme running through is the thought of what is our favourite number. Written in an engaging and witty sty...

  11. Subjective quality of life and emotional pain among subjects with ...

    African Journals Online (AJOL)

    World Health Organization Quality of Life-Bref (WHOQoL-Bref), Psychache Scale (PAS) instruments were administered on subjects that consented to the study. Results: One hundred and forty four (144) subjects of equal sex distribution were studied. The mean age was 31.7±10.2 years. The highest number of subjects, ...

  12. Number names and number understanding

    DEFF Research Database (Denmark)

    Ejersbo, Lisser Rye; Misfeldt, Morten

    2014-01-01

    This paper concerns the results from the first year of a three-year research project involving the relationship between Danish number names and their corresponding digits in the canonical base 10 system. The project aims to develop a system to help the students’ understanding of the base 10 syste...... the Danish number names are more complicated than in other languages. Keywords: A research project in grade 0 and 1th in a Danish school, Base-10 system, two-digit number names, semiotic, cognitive perspectives....

  13. Funny Numbers

    Directory of Open Access Journals (Sweden)

    Theodore M. Porter

    2012-12-01

    Full Text Available The struggle over cure rate measures in nineteenth-century asylums provides an exemplary instance of how, when used for official assessments of institutions, these numbers become sites of contestation. The evasion of goals and corruption of measures tends to make these numbers “funny” in the sense of becoming dis-honest, while the mismatch between boring, technical appearances and cunning backstage manipulations supplies dark humor. The dangers are evident in recent efforts to decentralize the functions of governments and corporations using incen-tives based on quantified targets.

  14. Transfinite Numbers

    Indian Academy of Sciences (India)

    this is a characteristic difference between finite and infinite sets and created an immensely useful branch of mathematics based on this idea which had a great impact on the whole of mathe- matics. For example, the question of what is a number (finite or infinite) is almost a philosophical one. However Cantor's work turned it ...

  15. Profil épidémiologique de l'infection à VIH au cours d'une campagne ...

    African Journals Online (AJOL)

    Introduction: L'objectif de ce travail était de déterminer le profil épidémiologique de l'infection à VIH/SIDA au cours d'une campagne de sensibilisation à Yaoundé au Cameroun. Méthodes: Après avoir obtenu le consentement éclairé des participants, le dépistage de l'infection par le VIH a été effectué selon l'algorithme de ...

  16. Simultaneous Stabilization of Gyrotron Frequency and Power by PID Double Feedback Control on the Acceleration and Anode Voltages

    Science.gov (United States)

    Khutoryan, E. M.; Idehara, T.; Kuleshov, A. N.; Tatematsu, Y.; Yamaguchi, Y.; Matsuki, Y.; Fujiwara, T.

    2017-07-01

    In this paper, we present the results of simultaneous stabilization of both the frequency and the output power by a double PID feedback control on the acceleration and anode voltages in the 460-GHz gyrotron FU CW GVI, also known as "Gyrotron FU CW GO-1" (according to the nomenclature adopted at Osaka University). The approach used in the experiments is based on the modulation of the cyclotron frequency and the pitch factor (velocity ratio) of the electron beam by varying the acceleration and the anode voltages, respectively. In a long-term experiment, the frequency and power stabilities were made to be better than ±10-6 and ±1%, respectively.

  17. Rancang Bangun Auto Switch PID pada Sistem ILFM (In Line Flash Mixing Untuk Proses Netralisasi pH

    Directory of Open Access Journals (Sweden)

    Hariadi Kurniawan

    2013-09-01

    Full Text Available Perubahan nilai pH larutan asam terhadap penambahan larutan basa memiliki sifat nonlinier. Pada umumnya pengendalian PID digunakan pada proses yang linier. Namun demikian, pada pengendalian pH yang merupakan proses nonlinier  ini akan diterapkan auto switch PID sebagai solusinya. Sistem ILFM merupakan  pengembangan dari sistem CSTR (Continous Stirred Tank Reactor yang mengasumsikan reaksi asam-basa terjadi secara cepat. Pada sistem ILFM laju aliran asam dibuat konstan sedangkan laju aliran basa dapat dikontrol. Pompa DC 12V digunakan untuk mengalirkan larutan asam dan basa. Alat ukur pH yang digunakan adalah pH meter YK-2001PH. Software LabVIEW digunakan sebagai penanaman algoritma autoswitch PID dan HMI pada tugas akhir ini. Auto switch PID akan bekerja sesuai dengan daerah linier yang telah dibagi. Daerah linier tersebut didapatkan berdasarkan hasil kurva eksperimen titrasi larutan CH3COOH 0,1M, 16,25ml dengan NaOH 0,1M, 20 ml.  Terdapat tiga daerah linier pada kurva titrasi, yaitu 3,5≤pH≤6,21, 6,22≤pH≤10,73 dan 10,74≤pH≤11,9. Pada uji closed loop,untuk setpoint pH5 didapatkan nilai karateristik respon maximum overshoot sebesar 19,6 %,Ess (error steady state sebesar 0,04% dan Ts (Time Settling sebesar 6s. Pada uji setpoint 6 didapatkan maximum overshoot 3,3%, Ess 3% dan Ts 13s. Pada uji nilai setpoint pH 11 didapatkan maximum overshoot sebesar 6 %,Ess sebesar 2,7% dan Ts sebesar 20s. Pada tracking turun nilai setpoint pH 11-5 didapatkan maximum overshoot 1,6%,Ess sebesar  1% dan Ts sebesar 8s. Pada daerah linier 2 tidak dapat tercapainya SP yang diinginkan. Hal ini dikarenakan daerah linier 2 adalah  daerah kritis dengan penambahan 1ml/s akan mengubah nilai pH menjadi 2 kali semula sedangkan resolusi pompa melibihi dari 1mL/s.

  18. Feature Extraction for Digging Operation of Excavator Based on Data-Driven Skill-Based PID Controller

    Directory of Open Access Journals (Sweden)

    Kazushige Koiwai

    2017-11-01

    Full Text Available Improvement of the work efficiency is demanded by aging and reducing of the working population in the construction field, so that some automation technologies are applied to construction equipment, such as bulldozers and excavators. However, not only the automation technologies but also expert skills are necessary to improve the work efficiency. In this paper, the human skill evaluation is proposed by the data-driven skill-based PID controller. The proposed method is applied to the excavator digging operation. As the result, the difference between the novice operation and the skilled operation is extracted. Moreover, the numerical difference is clarified based on the result.

  19. Establishment of a PID Pass/Fail Test for Crystalline Silicon Modules by Examining Field Performance for Five Years: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Hacke, Peter L [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

    2017-11-27

    In an experiment with five module designs and multiple replicas, it is found that crystalline silicon cell modules that can pass a criterion of less than 5 percent power degradation in stress test conditions of 60 degrees Celsius, 85 percent relative humidity (RH), 96 h, and nameplate-rated system voltage bias show no power degradation by potential induced degradation in the range of 4-6 years duration in the Florida, USA environment. This data suggests that this chamber stress level is useful as a pass/fail criterion for PID, and will help ensure against degradation by system voltage stress in Florida, or less stressful climates, for at least 5 years.

  20. 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.

  1. 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)

    1991-12-31

    A description is made of the design and evaluation of an hybrid control system, formed by a quadratic gaussian linear regulator (QLR) and proportional integral derivative (PID) type regulators. This scheme is used to control the reheater and secondary superheater steam temperatures of a steam generator model with a maximum capacity of 2,150,000 pounds per hour. Once applied to the model of a 300 MW steam power plant, this system showed better results than the traditional schemes and inclusively better than some modern control schemes. This fact characterizes it as a high potential system to be applied to steam power plants. [Espanol] Se describe el diseno y la evaluacion de un sistema de control hibrido, formado por un regulador lineal cuadratico gaussiano (RLC) y reguladores tipo proporcional integral derivativo (PID). Este esquema se utiliza para controlar las temperaturas de vapor del recalentador y sobrecalentador secundario del modelo de un generador de vapor con capacidad maxima de 2,150,000 libras por hora. Una vez aplicado al modelo de una unidad termoelectrica de 300 MW, este sistema produjo mejores resultados que los esquemas tradicionales e incluso mejores que algunos esquemas de control moderno. Esto lo caracteriza como un sistema con un alto potencial para aplicarse a unidades termoelectricas.

  2. Difficultés de la surveillance épidémiologique de la rougeole en Afrique : exemple de la Côte d'Ivoire

    OpenAIRE

    Rey, Jean-Loup; Trolet, C.; Soro, B.; Cunin, P.; Merouze, F.

    1991-01-01

    En zone tropicale, les cas de rougeole sont souvent sous-déclarés mais les auteurs exposent deux épidémies qui ont été considérées au début comme des manifestations de rougeole. La première épidémie s'est manifestée comme une épidémie de viroses à Chikungunya avec éruptions, hyperthermie et algies importantes, elle était due à un arbovirus Igbo-Ora. Dans l'autre cas il s'agissait d'enfants atteints d'éruptions avec hyperthermie et adénopathies évoquant la rubéole. Les auteurs évoquent la poss...

  3. Tumeurs sub-mandibulaires: profils épidémiologiques et histologiques

    Science.gov (United States)

    Essobozou, Pegbessou Plaodezina; Malick, Ndiaye; Evelyne, Diom; Amadou, Thiam; Sanou, Diouf Mame; Djafarou, Boube; Cire, Ndiaye; Abdourhamane, Tall; Karim, Diallo Bay; Cheikh, Ndiaye Issa; Raymond, Diouf; Malick, Diop

    2014-01-01

    Introduction Il s'agit de déterminer les profils épidémiologiques et histologiques des tumeurs submandibulaires. Méthodes Il s'agissait d'une étude rétrospective et descriptive de 10 ans (1er janvier 2000 au 31 décembre 2009), réalisée dans le service universitaire d'ORL de l'hôpital de Fann. Etaient inclus dans cette étude tous patients porteurs d'une tumeur submandibulaire (opéré ou non), confirmée par un document histologique. Résultats Vingt-une tumeurs submandibulaires ont été colligées. L’âge moyen des patients était de 34,42 ans (± 14,10), avec des extrêmes de 2 et 55 ans. Quinze patients (71,4%) étaient de sexe féminin, soit un sex-ratio de 0,4. Les résultats histologiques étaient obtenus à partir de 4 biopsies et de 17 pièces opératoires. Dans 13 cas (61,9%) la tumeur était bénigne et dans 8 cas (38,1%) la tumeur était maligne. L'adénome pléomorphe dans 12 cas (57,1%), le carcinome épidermoïde dans 4 cas (19%) et l'adénocarcinome dans 2 cas (9,5%) étaient les types histologiques fréquents. Treize (13) patients étaient porteurs d'une tumeur bénigne, dont huit (8) patients étaient de sexe féminin. Huit (8) patients étaient porteurs d'une tumeur maligne. Sept patients étaient de sexe féminin. Conclusion Cette étude sur les tumeurs submandibulaires est marquée par une prédominance féminine et une fréquence élevée des adénomes pléomorphes et des carcinomes épidermoïdes. PMID:25400831

  4. Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

    Science.gov (United States)

    Hammad, Mohanad M; Elshenawy, Ahmed K; El Singaby, M I

    2017-01-01

    In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.

  5. Design of a fractional order PID controller using GBMO algorithm for load-frequency control with governor saturation consideration.

    Science.gov (United States)

    Zamani, Abbasali; Barakati, S Masoud; Yousofi-Darmian, Saeed

    2016-09-01

    Load-frequency control is one of the most important issues in power system operation. In this paper, a Fractional Order PID (FOPID) controller based on Gases Brownian Motion Optimization (GBMO) is used in order to mitigate frequency and exchanged power deviation in two-area power system with considering governor saturation limit. In a FOPID controller derivative and integrator parts have non-integer orders which should be determined by designer. FOPID controller has more flexibility than PID controller. The GBMO algorithm is a recently introduced search method that has suitable accuracy and convergence rate. Thus, this paper uses the advantages of FOPID controller as well as GBMO algorithm to solve load-frequency control. However, computational load will higher than conventional controllers due to more complexity of design procedure. Also, a GBMO based fuzzy controller is designed and analyzed in detail. The performance of the proposed controller in time domain and its robustness are verified according to comparison with other controllers like GBMO based fuzzy controller and PI controller that used for load-frequency control system in confronting with model parameters variations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Design of a Fractional Order Frequency PID Controller for an Islanded Microgrid: A Multi-Objective Extremal Optimization Method

    Directory of Open Access Journals (Sweden)

    Huan Wang

    2017-10-01

    Full Text Available Fractional order proportional-integral-derivative(FOPID controllers have attracted increasing attentions recently due to their better control performance than the traditional integer-order proportional-integral-derivative (PID controllers. However, there are only few studies concerning the fractional order control of microgrids based on evolutionary algorithms. From the perspective of multi-objective optimization, this paper presents an effective FOPID based frequency controller design method called MOEO-FOPID for an islanded microgrid by using a Multi-objective extremal optimization (MOEO algorithm to minimize frequency deviation and controller output signal simultaneously in order to improve finally the efficient operation of distributed generations and energy storage devices. Its superiority to nondominated sorting genetic algorithm-II (NSGA-II based FOPID/PID controllers and other recently reported single-objective evolutionary algorithms such as Kriging-based surrogate modeling and real-coded population extremal optimization-based FOPID controllers is demonstrated by the simulation studies on a typical islanded microgrid in terms of the control performance including frequency deviation, deficit grid power, controller output signal and robustness.

  7. Optimal design and tuning of novel fractional order PID power system stabilizer using a new metaheuristic Bat algorithm

    Directory of Open Access Journals (Sweden)

    Lakhdar Chaib

    2017-06-01

    Full Text Available This paper proposes a novel robust power system stabilizer (PSS, based on hybridization of fractional order PID controller (PIλDμ and PSS for optimal stabilizer (FOPID-PSS for the first time, using a new metaheuristic optimization Bat algorithm (BA inspired by the echolocation behavior to improve power system stability. The problem of FOPID-PSS design is transformed as an optimization problem based on performance indices (PI, including Integral Absolute Error (IAE, Integral Squared Error (ISE, Integral of the Time-Weighted Absolute Error (ITAE and Integral of Time multiplied by the Squared Error (ITSE, where, BA is employed to obtain the optimal stabilizer parameters. In order to examine the robustness of FOPID-PSS, it has been tested on a Single Machine Infinite Bus (SMIB power system under different disturbances and operating conditions. The performance of the system with FOPID-PSS controller is compared with a PID-PSS and PSS. Further, the simulation results obtained with the proposed BA based FOPID-PSS are compared with those obtained with FireFly algorithm (FFA based FOPID-PSS. Simulation results show the effectiveness of BA for FOPID-PSS design, and superior robust performance for enhancement power system stability compared to other with different cases.

  8. Study on automatic tuning of ship`s PID regulators; Hakuyo seigyo system no gain jido chosei ni kansuru kenkyu

    Energy Technology Data Exchange (ETDEWEB)

    Nakatani, T. [Toyama Mercantile Marine College, Toyama (Japan); Otsu, K.; Moriyoshi, N. [Tokyo Univ. of Mercantile Marine, Tokyo (Japan); Okazaki, T. [Nagoya Institute of Technology, Nagoya (Japan)

    1996-12-31

    Proportional, integral and derivative (PID) controls are used for a steering system and a main engine control unit installed in a vessel. Among them, this paper describes effectiveness of a PID gain tuning method using a limit cycle by means of relay control which is safer and simpler than conventional limit sensitivity methods. The present method was applied to an actual marine control system to conduct an actual vessel experiment. As a result of applying the method to a bow azimuth control system using a rudder, a new azimuth setting was set with an overshoot of 1.6 degrees in a ten-degree azimuth changing experiment. With respect to direction maintaining steering performance, the present method was capable of controlling the direction at a speed loss to about 80% of the ship`s autopilot. As a result of applying the method to a bow azimuth control system using a bow thruster, direction maintaining and changing control was realized in a low speed range in which rudder effect is lost. As a result of applying it to a main engine governor system and performing control of main engine rotation speed, it was found possible to derive control gains in a safe state without applying an excessive load to the main engine both under load and no load conditions. 14 refs., 8 figs., 11 tabs.

  9. Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations

    Science.gov (United States)

    Kim, Jung Hoon; Hur, Sung-Moon; Oh, Yonghwan

    2018-03-01

    This paper is concerned with performance analysis of proportional-derivative/proportional-integral-derivative (PD/PID) controller for bounded persistent disturbances in a robotic manipulator. Even though the notion of input-to-state stability (ISS) has been widely used to deal with the effect of disturbances in control of a robotic manipulator, the corresponding studies cannot be directly applied to the treatment of persistent disturbances occurred in robotic manipulators. This is because the conventional studies relevant to ISS consider the H∞ performance for robotic systems, which is confined to the treatment of decaying disturbances, i.e. the disturbances those in the L2 space. To deal with the effect of persistent disturbances in robotic systems, we first provide a new treatment of ISS in the L∞ sense because bounded persistent disturbances should be intrinsically regarded as elements of the L∞ space. We next derive state-space representations of trajectory tracking control in the robotic systems which allow us to define the problem formulations more clearly. We then propose a novel control law that has a PD/PID control form, by which the trajectory tracking system satisfies the reformulated ISS. Furthermore, we can obtain a theoretical argument about the L∞ gain from the disturbance to the regulated output through the proposed control law. Finally, experimental studies for a typical 3-degrees of freedom robotic manipulator are given to demonstrate the effectiveness of the method introduced in this paper.

  10. 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.

  11. 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.

  12. Perancangan dan Implementasi Kontroler PID untuk Pengaturan Heading dan Pengaturan Arah pada Fixed-Wing Unmanned Aerial Vehicle (UAV

    Directory of Open Access Journals (Sweden)

    Hery setyo widodo

    2012-09-01

    Full Text Available UAV (Unmanned Aerial Vehicle merupakan kendaraan udara tanpa awak yang dikendalikan dari jarak jauh oleh atau tanpa seorang pilot (Autopilot. Kontrol pesawat UAV ada dua variasi utama, variasi pertama yaitu dikontrol melalui pengendali jarak jauh dan variasi kedua adalah pesawat yang terbang secara mandiri berdasarkan program yang dimasukan. Sebuah fixed-winng UAV harus mampu mempertahankan posisinya pada lintasan yang sudah ditentukan selama melakukan tracking lintasan. Keakuratan dalam tracking arah dan heading pesawat sangat berpengaruh terhadap keberhasilan misi penerbangan pesawat UAV dalam memperthankan lintasannya untuk mencapai target. Oleh karena itu pada Tugas Akhir ini dirancang sistem pengaturan dengan menggunakan metode kontrol PID untuk mengatasi kesalahan dalam menjaga lintasan pesawat. Pengaturan arah dan heading pesawat UAV dilakukan dengan memanfaatkan dinamika gerak lateral yang meliputi gerak roll dan yaw dan input dari GPS (Global Positioning System. Dari simulasi diperoleh proses tracking dapat mengikuti rancangan gerak yang diinginkan Pergeseran lintasan pesawat pada saat implementasi kontroler PID disebabkan akurasi GPS yang masih rendah yaitu 3 meter.

  13. Study on automatic tuning of ship`s PID regulators; Hakuyo seigyo system no gain jido chosei ni kansuru kenkyu

    Energy Technology Data Exchange (ETDEWEB)

    Nakatani, T [Toyama Mercantile Marine College, Toyama (Japan); Otsu, K; Moriyoshi, N [Tokyo Univ. of Mercantile Marine, Tokyo (Japan); Okazaki, T [Nagoya Institute of Technology, Nagoya (Japan)

    1997-12-31

    Proportional, integral and derivative (PID) controls are used for a steering system and a main engine control unit installed in a vessel. Among them, this paper describes effectiveness of a PID gain tuning method using a limit cycle by means of relay control which is safer and simpler than conventional limit sensitivity methods. The present method was applied to an actual marine control system to conduct an actual vessel experiment. As a result of applying the method to a bow azimuth control system using a rudder, a new azimuth setting was set with an overshoot of 1.6 degrees in a ten-degree azimuth changing experiment. With respect to direction maintaining steering performance, the present method was capable of controlling the direction at a speed loss to about 80% of the ship`s autopilot. As a result of applying the method to a bow azimuth control system using a bow thruster, direction maintaining and changing control was realized in a low speed range in which rudder effect is lost. As a result of applying it to a main engine governor system and performing control of main engine rotation speed, it was found possible to derive control gains in a safe state without applying an excessive load to the main engine both under load and no load conditions. 14 refs., 8 figs., 11 tabs.

  14. Advanced number theory

    CERN Document Server

    Cohn, Harvey

    1980-01-01

    ""A very stimulating book ... in a class by itself."" - American Mathematical MonthlyAdvanced students, mathematicians and number theorists will welcome this stimulating treatment of advanced number theory, which approaches the complex topic of algebraic number theory from a historical standpoint, taking pains to show the reader how concepts, definitions and theories have evolved during the last two centuries. Moreover, the book abounds with numerical examples and more concrete, specific theorems than are found in most contemporary treatments of the subject.The book is divided into three parts

  15. Interaction, transference, and subjectivity

    DEFF Research Database (Denmark)

    Lundgaard Andersen, Linda

    2012-01-01

    Fieldwork is one of the important methods in educational, social, and organisational research. In fieldwork, the researcher takes residence for a shorter or longer period amongst the subjects and settings to be studied. The aim of this is to study the culture of people: how people seem to make...... sense of their lives and which moral, professional, and ethical values seem to guide their behaviour and attitudes. In fieldwork, the researcher has to balance participation and observation in her attempts at representation. Consequently, the researcher’s academic and life-historical subjectivity...... is also subjected to psychodynamic processes. In this article, I draw upon a number of research inquiries to illustrate how psychodynamic processes influence research processes: data production, research questions and methodology, relations to informants, as well as interpretation and analysis. I further...

  16. Control Systems and Number Theory

    Directory of Open Access Journals (Sweden)

    Fuhuo Li

    2012-01-01

    and PID-controllers are applied successfully in the EV control by J.-Y. Cao and B.-G. Cao 2006 and Cao et al. 2007, which we may unify in our framework. Finally, we mention some similarities between control theory and zeta-functions.

  17. Elucidating PID Degradation Mechanisms and In Situ Dark I-V Monitoring for Modeling Degradation Rate in CdTe Thin-Film Modules

    DEFF Research Database (Denmark)

    Hacke, Peter; Spataru, Sergiu; Johnston, Steve

    2016-01-01

    A progression of potential-induced degradation (PID) mechanisms are observed in CdTe modules, including shunting/junction degradation and two different manifestations of series resistance depending on the stress level and water ingress. The dark I-V method for in-situ characterization of Pmax bas...

  18. Implementation of an advanced hybrid MPC-PID control system using PAT tools into a direct compaction continuous pharmaceutical tablet manufacturing pilot plant.

    Science.gov (United States)

    Singh, Ravendra; Sahay, Abhishek; Karry, Krizia M; Muzzio, Fernando; Ierapetritou, Marianthi; Ramachandran, Rohit

    2014-10-01

    It is desirable for a pharmaceutical final dosage form to be manufactured through a quality by design (QbD)-based approach rather than a quality by testing (QbT) approach. An automatic feedback control system coupled with PAT tools that is part of the QbD paradigm shift, has the potential to ensure that the pre-defined end product quality attributes are met in a time and cost efficient manner. In this work, an advanced hybrid MPC-PID control architecture coupled with real time inline/online monitoring tools and principal components analysis (PCA) based additional supervisory control layer has been proposed for a continuous direct compaction tablet manufacturing process. The advantages of both MPC and PID have been utilized in a hybrid scheme. The control hardware and software integration and implementation of the control system has been demonstrated using feeders and blending unit operation of a continuous tablet manufacturing pilot plant and an NIR based PAT tool. The advanced hybrid MPC-PID control scheme leads to enhanced control loop performance of the critical quality attributes in comparison to a regulatory (e.g. PID) control scheme indicating its potential to improve pharmaceutical product quality. Copyright © 2014 Elsevier B.V. All rights reserved.

  19. 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.

  20. 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.