Showing papers on "PID controller published in 1993"
01 Sep 1993
TL;DR: Simulation results demonstrate that better control performance can be achieved in comparison with Ziegler-Nichols controllers and Kitamori's PID controllers.
Abstract: This paper describes the development of a fuzzy gain scheduling scheme of PID controllers for process control. Fuzzy rules and reasoning are utilized online to determine the controller parameters based on the error signal and its first difference. Simulation results demonstrate that better control performance can be achieved in comparison with Ziegler-Nichols controllers and Kitamori's PID controllers. >
773 citations
01 May 1993
TL;DR: In this article, the analytical procedures for obtaining optimum PID controller settings for minimisation of time weighted integral performance criteria are reviewed and two procedures for finding the required controller parameters for optimisation of the integral of time error squared criterion are presented.
Abstract: The paper first briefly reviews the analytical procedures for obtaining optimum PID controller settings for minimisation of time weighted integral performance criteria. The approach is then used to obtain formulae for setting the controller parameters for a first-order plus dead time plant model which is a common approximation used in the process industries. These results are further extended to obtain two procedures, which can be used with the relay autotuning approach, to find the required controller parameters for optimisation of the integral of time error squared criterion. Good results have been obtained when these criteria are used with other plant models.
662 citations
TL;DR: This deformation of particle image patterns by strong velocity gradients and out-of-pattern motions is investigated and its effect on conventional PIV techniques is quantified for 2D flows.
Abstract: In this second part of the paper, the Particle Image Distortion (PID) technique is described. It is proposed to overcome the limitations of conventional PIV due to the local deformations ∂u/∂x, ∂u/∂y, ∂v/∂x and ∂v/∂y in two-dimensional flows. Both simulation and experiment demonstrate that high accuracy and high spatial resolution are possible with this technique. The large time required to compute the cross-correlations, however, limits its wide applications at present.
267 citations
TL;DR: The Taylor Instrument Company introduced a completely redesigned version of its Fulscope pneumatic controller in 1939 as mentioned in this paper, which provided an action which the Taylor Instrument Companies called pre-act.
Abstract: In 1939, the Taylor Instrument Companies introduced a completely redesigned version of its Fulscope pneumatic controller. In addition to proportional and reset control actions, this new instrument provided an action which the Taylor Instrument Companies called pre-act. In the same year the Foxboro Instrument Company added Hyper-reset to the proportional and reset control actions provided by their Stabilog pneumatic controller. The pre-act and Hyper-reset actions each provide a control action proportional to the derivative of the error signal. Reset provides a control action proportional to the integral of the error signal and hence both controllers offered PID control. The historical development of these controllers is discussed. >
256 citations
TL;DR: A comparative simulation study on various processes shows that the performance of the new scheme improves considerably, in terms of set-point and load disturbance responses, over the PID controllers well-tuned using both the classical Ziegler-Nichols formula and the more recent Refined Ziegle Nicholas formula.
248 citations
Book•
01 Jan 1993
TL;DR: This book discusses the development of Block Diagrams for Control Systems, a model for discrete-Time System Design, and the implementation of the Linear Algebraic Method.
Abstract: All chapters except Chapter 2 begin with an Introduction. All chapters except Chapters 1 and 14 end with Problems 1. Introduction 2. Mathematical Preliminary 3. Development of Block Diagrams for Control Systems 4. Quantitative and Qualitative Analyses of Control Systems 5. Computer Simulation and Realizations 6. Design Criteria, Constraints, and Feedback 7. The Root-Locus Method 8. Frequency-Domain Techniques 9. The Inward Approach: Choice of Overall Transfer Functions 10. Implementation: Linear Algebraic Method 11. State Space Design 12. Discrete-Time System Analysis 13. Discrete-Time System Design 14. PID controllers Appendices A. The Laplace Transform B. Linear Algebraic Equations
187 citations
Patent•
01 Feb 1993
TL;DR: In this article, a feedback control system compensator of the PID type is provided, wherein the proportional component of the compensator is replaced with a tilted component having a transfer function s to the power of -1/n.
Abstract: A feedback control system compensator of the PID type is provided, wherein the proportional component of the compensator is replaced with a tilted component having a transfer function s to the power of -1/n. The resulting transfer function of the entire compensator more closely approximates an optimal transfer function, thereby achieving improved feedback controller. Further, as compared to conventional PID compensators, the TID compensator allows for simpler tuning, better disturbance rejection ratio, and smaller effects of plant parameter variations on closed loop response.
186 citations
TL;DR: In this article, a simple method for autotuning multiloop PI controllers for multivariable systems is presented, which is a combination of sequential loop closing and relay tuning often used for tuning single-loop PI/PID controllers.
Abstract: In this paper, a simple method for autotuning multiloop PI controllers for multivariable systems is presented. The procedure is a combination of sequential loop closing and relay tuning often used for tuning single-loop PI/PID controllers. The proposed design offers three major advantages. Firstly, overall closed loop stability is guaranteed; secondly, very little knowledge of the process is required; thirdly, it is an autotuning procedure. Set point and load disturbance responses are improved by introducing set point weighting factors. Some simulation and comparative results are shown for distillation column models commonly used to demonstrate multiloop designs.
171 citations
TL;DR: In this paper, an analytical method is proposed to tune the PIIPID controller to pass through two design points on the Nyquist curve as specified by the gain and phase margins.
166 citations
TL;DR: The theoretical development of automatic control strategies for arterial blood pressure regulation is reviewed in this article, where the literature is classified by control strategy, and a brief description of each control scheme is given, followed by examples of each from the literature.
Abstract: The theoretical development of automatic control strategies for arterial blood pressure regulation is reviewed. The literature is classified by control strategy. Proportional-integral-derivative (PID) controllers, optimal controllers, adaptive controllers, and rule-based controllers are the most commonly encountered strategies in the literature. A brief description of each control scheme is given, followed by examples of each from the literature. Validation methods for the control performance vary from computer simulations, to clinical tests on human patients. A number of reports of clinical success support the feasibility of using advanced control systems in this application. Issues regarding the use of control systems in the clinical environment are also discussed. >
135 citations
TL;DR: In this paper, a simple GA to solve this nonlinear optimization problem is designed based on the GA theory and the authors' experience and a numerical example is presented in which a pH neutralization process is regulated by a PID controller with its parameters optimized using the proposed GA.
TL;DR: In this article, the authors analytically proved that a nonlinear fuzzy controller with linear control rules and N members for input fuzzy sets is the sum of a global two-dimensional multilevel relay and a local nonlinear proportional-integral (PI) controller which adjusts the control action generated by the global multi-level relay.
02 Oct 1993
TL;DR: In this article, a proportional, integral, and derivative (PID) type iterative learning controller is proposed for precise tracking control of industrial robots and computer numerical controller (CNC) machine tools performing repetitive tasks.
Abstract: A proportional, integral, and derivative (PID) type iterative learning controller is proposed for precise tracking control of industrial robots and computer numerical controller (CNC) machine tools performing repetitive tasks. The convergence of the output error by the proposed learning controller is guaranteed under a certain condition even when the system parameters are not known exactly and unknown external disturbances exist. As the proposed learning controller is repeatedly applied to the industrial robot or the CNC machine tool with the path-dependent repetitive task, the distance difference between the desired path and the actual tracked or machined path, which is one of the most significant factors in the evaluation of control performance, is progressively reduced. The experimental results demonstrate that the proposed learning controller can improve machining accuracy when the CNC machine tool performs repetitive machining tasks.
TL;DR: An industrial case study appropriate for process control studies is presented in this paper, where the authors focus on the temperature control of a multiproduct semibatch polymerization reactor, and the control problem is represented by those found in the speciality chemical processing industry.
01 Feb 1993
TL;DR: The LaSalle invariance principle is used to develop straightforwardly a new PD controller with adaptive gravity compensation, and conditions to ensure closed-loop stability and global zero position error convergence are given.
Abstract: An alternative analysis that does not invoke the LaSalle invariance principle of the PD proportional-differential controller with gravity compensation for robots, presented in the above-titled paper by P. Tomei (ibid., vol.7, no.4, p.565-70, Aug. 1991) is established. The result is used to develop straightforwardly a new PD controller with adaptive gravity compensation, and conditions to ensure closed-loop stability and global zero position error convergence are given. >
TL;DR: In this paper, a nonlinear, "sliding" control law is developed and compared with the linear control of a quarter-car active suspension system acting under the effects of coulomb friction.
Abstract: SUMMARY This paper illustrates the use of nonlinear control theory for designing electro-hydraulic active suspensions. A nonlinear, “sliding” control law is developed and compared with the linear control of a quarter-car active suspension system acting under the effects of coulomb friction. A comparison will also be made with a passive quarter-car suspension system. Simulation and experimental results show that nonlinear control performs better than PID control and improves the ride quality compared to a passive suspension.
TL;DR: A variable-structure robust controller whose structure is continuously changed by fuzzy logic so that the system responds quickly if the error or its rate is large and vice versa is proposed.
Abstract: A variable-structure robust controller whose structure is continuously changed by fuzzy logic so that the system responds quickly if the error or its rate is large and vice versa is proposed. Such a controller is insensitive to both the plant noise and the observation noise. It is applied to speed control for an induction servomotor. Experiments show that the controller is superior to both a sliding-mode controller and a proportional integral-derivative (PID) controller. The paper includes the stability analysis of the overall system and the design procedure by using Lyapunov's method. >
02 Jun 1993
TL;DR: In this paper, a new auto-tuning method for designing a diagonal PID controller for a TITO system is presented, based on moving the critical point to a desired position on the compensated characteristic loci.
Abstract: This paper presents a new auto-tuning method for designing a diagonal PID controller for a TITO system. From the auto-tuning results a design method is developed based on moving the critical point to a desired position on the compensated characteristic loci. An example is given to illustrate the design method.
TL;DR: The author proves that the general analytical structure of the fuzzy controllers is the sum of a global f-dependent nonlinear controller and a local non linear controller which locally adjusts control action of the global controller.
02 May 1993
TL;DR: Simulation results illustrate the effectiveness of this recovery algorithm which attempts to reduce the internal shock when failure occurs, and accomplish the continued tracking of the given end-effector trajectory.
Abstract: Failure of any robotic system component during operation is a matter of concern. Internal shock phenomena due to the failure of joint actuation, and a recovery algorithm for both serial and parallel mechanisms under such circumstances are investigated. A control algorithm is studied that consists of a model reference algorithm and a simple proportional integral derivative (PID) controller in the feedback process. Simulation results illustrate the effectiveness of this recovery algorithm which attempts to reduce the internal shock when failure occurs, and accomplish the continued tracking of the given end-effector trajectory. >
TL;DR: In this article, an active and reactive power (P-Q) simultaneous control scheme based on a superconducting magnetic energy storage (SMES) unit is designed to damp out the subsynchronous resonant (SSR) oscillations of a turbine-generator unit.
Abstract: An active and reactive power (P-Q) simultaneous control scheme, which is based on a superconducting magnetic energy storage (SMES) unit, is designed to damp out the subsynchronous resonant (SSR) oscillations of a turbine-generator unit. In order to suppress unstable torsional mode oscillations, a proportional-integral-derivative (PID) controller is used to modulate the active and reactive power input/output of the SMES unit according to speed deviation of the generator shaft. The gains of the proposed PID controller are determined by pole assignment approach based on modal control theory. Eigenvalue analysis of the studied system shows that the PID controller is quite effective over a wide range of operating conditions. Dynamic simulations using the nonlinear system model are also performed to demonstrate the damping effect of the proposed control scheme under disturbance conditions. >
01 Dec 1993
TL;DR: It is proven that in a conventional PI control system, if the linear PI controller is replaced by the nonlinear fuzzy PI controller, then the stability of the resulting control system remains unchanged.
Abstract: In this paper, we analyze the stability of nonlinear fuzzy PI (proportional-integral) control systems. The fuzzy PI controller involved is actually a nonlinear adaptive PI controller whose gains change continuously with output of the processes under control. We have employed the "small gain theorem" to obtain a simple sufficient condition for the global asymptotic stability of the nonlinear fuzzy PI control systems. In addition, we have proven that in a conventional PI control system, if the linear PI controller is replaced by the nonlinear fuzzy PI controller, then the stability of the resulting control system remains unchanged. This result is true no matter the given process is linear or not. We have also derived explicit formulas for the computation of the fuzzy PI controller parameters, using only the proportional and integral gains of the corresponding linear PI controller. >
TL;DR: A neural network approach to online learning control and real-time implementation for a flexible space robot manipulator and will be a valuable method in learning control for robots working in unstructured environments.
Abstract: A neural network approach to online learning control and real-time implementation for a flexible space robot manipulator is presented. Motivation for and system development of the Self-Mobile Space Manipulator (SM/sup 2/) are discussed. The neural network learns control by updating feedforward dynamics based on feedback control input. Implementation issues associated with online training strategies are addressed, and a simple stochastic training scheme is presented. A recurrent neural network architecture with improved performance is proposed. By using the proposed learning scheme, the manipulator tracking error is reduced by 85% compared to conventional PID control. The approach possesses a high degree of generality and adaptability in various applications and will be a valuable method in learning control for robots working in unstructured environments. >
13 Sep 1993
TL;DR: This controller shows better command following characteristic without torsional vibration and the speed response to the rapid load torque change is examined to show the disturbance rejection characteristic which is specially important in industrial applications such as rolling mill drives.
Abstract: In this paper, observer-based state feedback speed controller for torsional vibration suppression of a 2-mass system is proposed. Because of the difficulty of measuring the load speed and the shaft torque in real plant, the reduced observer is used to estimate not only the unknown states but also the load torque disturbance. Simulations and experiments carried out to verify this algorithm in comparison with conventional PI controller. This controller shows better command following characteristic without torsional vibration. The speed response to the rapid load torque change is also examined to show the disturbance rejection characteristic which is specially important in industrial applications such as rolling mill drives. At the moment of impact load, the speed drop is reduced and the recovery time is shortened remarkably. >
13 Sep 1993
TL;DR: In this paper, the effects of disturbances and process time delays on control performance are discussed and the relationships between tuning rules based on open-loop parameters and those based on ultimate parameters are studied.
Abstract: This paper describes the effects of disturbances and process time delays on control performance. Their relationships to HVAC control systems are discussed. The relationships between tuning rules based on open-loop parameters and those based on ultimate parameters are then studied. It reveals that the Ziegler-Nichols rules based on ultimate parameters are more conservative than those based on open-loop parameters. The modified relationships between the normalised time delay and the ultimate parameters can be used as a guideline for further adjustment of the control parameters. >
17 Oct 1993
TL;DR: The principle of the first generation CRONE control is explained and the comparative performances of the CRONE and PID controllers are presented.
Abstract: This paper explains first the principle of the first generation CRONE control. Then, it presents the comparative performances of the CRONE and PID controllers. >
TL;DR: In this article, a robust controller for multimodule current-mode push-pull converters is proposed and augmented to improve the control performance when the parameter variations caused by system configuration change and operating point shift have occurred.
Abstract: A robust controller for multimodule current-mode push-pull converters is presented First, the small-signal equivalent circuit and the transfer function model of the multimodule converter system are obtained Then, the selection of slope compensation and the model reduction are performed using the concept of dominant energy mode Based on the reduced converter model, a PI (proportional plus integral) controller is quantitatively designed according to the prescribed regulating specifications using a systematic design procedure A robust controller is proposed and augmented to improve the control performance when the parameter variations caused by system configuration change and operating point shift have occurred The performance of the converter and the effectiveness of the proposed controller are demonstrated by simulation and experimental results >
TL;DR: A new Kharitonov-like result which states roughly that a controller designed for an upper bounding inertia matrix results in stable set-point regulation for all other inertias is proved.
Abstract: Kharitonov's theorem is used to derive a robust stability condition for proportional-integral-derivative (PID)-controlled multi-degree-of-freedom mechanical systems. The characteristic equation of such a system is given as a determinant of a third-order polynomial with matrix coefficients from which a scalar interval polynomial is obtained. A simple procedure for designing PID controllers for these mechanical systems is described, and a new Kharitonov-like result which states roughly that a controller designed for an upper bounding inertia matrix results in stable set-point regulation for all other inertias is proved. >
TL;DR: The algorithm features a combination of the self-tuning property, in which the controller parameters are tuned automatically on-line, and also the structure of a multivariable PID controller, making it more favourable to be used in industry.
Abstract: A multivariable self-tuning controller with a proportional plus integral plus derivative (PID) structure is derived. The algorithm features a combination of the self-tuning property, in which the controller parameters are tuned automatically on-line, and also the structure of a multivariable PID controller, making it more favourable to be used in industry. A stability proof of the algorithm is also presented here. Comparison of the performance of the algorithm with a fixed, tuned, multivariable PID controller in the simulation examples demonstrates the effectiveness of the proposed algorithm.
28 Mar 1993
TL;DR: The authors present a novel proportional-integral-derivative self-tuning control using a fuzzy adaptive mechanism for regulating industrial processes that improves considerably, in terms of set-point and bad disturbance responses, over the PID controllers well-tuned using both the classical and the more recent refined Ziegler-Nichols formula.
Abstract: The authors present a novel proportional-integral-derivative (PID) self-tuning control using a fuzzy adaptive mechanism for regulating industrial processes. The essential idea is to parameterize a Ziegler-Nichols-like tuning formula by a single parameter alpha , then to use an online fuzzy inference mechanism to self-tune the parameter. A comparative simulation study on various processes, including processes with long dead-time and non-minimum-phase processes, shows that the performance of the scheme improves considerably, in terms of set-point and bad disturbance responses, over the PID controllers well-tuned using both the classical and the more recent refined Ziegler-Nichols formula. >