Showing papers on "PID controller published in 2010"

Fractional-order systems and control : fundamentals and applications

Abstract: Fundamentals of Fractional-order Systems and Controls.- Fundamentals of Fractional-order Systems.- State-space Representation and Analysis.- Fundamentals of Fractional-order Control.- Fractional-order PID-Type Controllers.- Fractional-order Proportional Integral Controller Tuning for First-order Plus Delay Time Plants.- Fractional-order Proportional Derivative Controller Tuning for Motion Systems.- Fractional-order Proportional Integral Derivative Controllers.- Fractional-order Lead-lag Compensators.- Tuning of Fractional-order Lead-lag Compensators.- Auto-tuning of Fractional-order Lead-lag Compensators.- Other Fractional-order Control Strategies.- Other Robust Control Techniques.- Some Nonlinear Fractional-order Control Strategies.- Implementations of Fractional-order Controllers: Methods and Tools.- Continuous-time and Discrete-time Implementations of Fractional-order Controllers.- Numerical Issues and MATLAB Implementations for Fractional-order Control Systems.- Real Applications.- Systems Identification.- Position Control of a Single-link Flexible Robot.- Automatic Control of a Hydraulic Canal.- Mechatronics.- Fractional-order Control Strategies for Power Electronic Buck Converters.

Fractional Order Systems: Modeling and Control Applications

Abstract: Fractional Order Systems Fractional Order PID Controller Chaotic Fractional Order Systems Field Programmable Gate Array, Microcontroller and Field Programmable Analog Array Implementation Switched Capacitor and Integrated Circuit Design Modeling of Ionic Polymeric Metal Composite

Unified Tuning of PID Load Frequency Controller for Power Systems via IMC

Abstract: A unified PID tuning method for load frequency control (LFC) of power systems is discussed in this paper. The tuning method is based on the two-degree-of-freedom (TDF) internal model control (IMC) design method and a PID approximation procedure. The time-domain performance and robustness of the resulting PID controller is related to two tuning parameters, and robust tuning of the two parameters is discussed. The method is applicable to power systems with non-reheated, reheated, and hydro turbines. Simulation results show that it can indeed improve the damping of the power systems. It is shown that the method can also be used in decentralized PID tuning for multi-area power systems.

Adaptive Sliding Mode Control With Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator

Abstract: This paper proposes an improved sliding mode control with perturbation estimation (SMCPE) featuring a PID-type sliding surface and adaptive gains for the motion tracking control of a micromanipulator system with piezoelectric actuation One advantage of the proposed controller lies in that its implementation only requires the online estimation of perturbation and control gains without acquiring the knowledge of bounds on system uncertainties The dynamic model of the system with Bouc-Wen hysteresis is established and identified through particle swarm optimization (PSO) approach, and the controller is designed based on Lyapunov stability analysis A high-gain observer is adopted to estimate the full state from the only measurable position information Experimental results demonstrate that the performance of proposed controller is superior to that of conventional SMCPE in both set-point regulation and motion tracking control Moreover, a submicron accuracy tracking and contouring is achieved by the micromanipulator with dominant hysteresis compensated for a low magnitude level, which validates the feasibility of the proposed controller in the field of micro/nano scale manipulation as well

Modelling and PID controller design for a quadrotor unmanned air vehicle

Abstract: This paper presents the modelling of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as the quadrotor aircraft. The paper presents a new model design method for the flight control of an autonomous quad rotor. The paper describes the controller architecture for the quadrotor as well. The dynamic model of the quad-rotor, which is an under actuated aircraft with fixed four pitch angle rotors, will be described. The Modeling of a quadrotor vehicle is not an easy task because of its complex structure. The aim is to develop a model of the vehicle as realistic as possible. The model is used to design a stable and accurate controller. This paper explains the developments of a PID (proportionalintegral-derivative) control method to obtain stability in flying the Quad-rotor flying object. The model has four input forces which are basically the thrust provided by each propeller connected to each rotor with fixed angle. Forward (backward) motion is maintained by increasing (decreasing) speed of front (rear) rotor speed while decreasing (increasing) rear (front) rotor speed simultaneously which means changing the pitch angle. Left and right motion is accomplished by changing roll angle by the same way. The front and rear motors rotate counter-clockwise while other motors rotate clockwise so that the yaw command is derived by increasing (decreasing) counter-clockwise motors speed while decreasing (increasing) clockwise motor speeds.

Flight PID controller design for a UAV quadrotor

Abstract: This paper presents the modeling of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as the quad rotor aircraft. The paper presents a new model design method for the flight control of an autonomous quad rotor. The paper describes the controller architecture for the quad rotor as well. The dynamic model of the quad-rotor, which is an under actuated aircraft with fixed four pitch angle rotors was described. The Modeling of a quad rotor vehicle is not an easy task because of its complex structure. The aim is to develop a model of the vehicle as realistic as possible. The model is used to design a stable and accurate controller. This paper explains the developments of a PID (proportional-integral-derivative) control method to obtain stability in flying the Quad-rotor flying object. The model has four input forces which are basically the thrust provided by each propeller connected to each rotor with fixed angle. Forward (backward) motion is maintained by increasing (decreasing) speed of front (rear) rotor speed while decreasing (increasing) rear (front) rotor speed simultaneously which means changing the pitch angle. Left and right motion is accomplished by changing roll angle by the same way. The front and rear motors rotate counter-clockwise while other motors rotate clockwise so that the yaw command is derived by increasing (decreasing) counter-clockwise motors speed while decreasing (increasing) clockwise motor speeds. Key words: Quadrotor, proportional-integral-derivative (PID) controller, vertical take-off and landing (VTOL), unmanned aerial vehicles (UAV), MATLAB / Simulink.

MRAS Sensorless Vector Control of an Induction Motor Using New Sliding-Mode and Fuzzy-Logic Adaptation Mechanisms

Abstract: In this paper, two novel adaptation schemes are proposed to replace the classical PI controller used in model reference adaptive speed-estimation schemes that are based on rotor flux. The first proposed adaptation scheme is based on sliding-mode theory. A new speed-estimation adaptation law is derived using Lyapunov theory to ensure estimation stability, as well as fast error dynamics. The other adaptation mechanism is based on fuzzy-logic strategy. A detailed experimental comparison between the new and conventional schemes is carried out in both open- and closed-loop sensorless modes of operation when a vector control drive is working at very low speed. Superior performance has been obtained using the new sliding-mode and fuzzy-logic adaptation mechanisms in both modes of operations.

Design of a Self-Tuning PI Controller for a STATCOM Using Particle Swarm Optimization

Abstract: A self-tuning proportional-integral (PI) controller in which the controller gains are adapted using the particle swarm optimization (PSO) technique is proposed for a static synchronous compensator (STATCOM). An efficient formula for the estimation of system load impedance using real-time measurements is derived. Based on the estimated system load, a PSO algorithm, which takes the best particle gains, the best global gains, and previous change of gains into account, is employed to reach the desired controller gains. To demonstrate the effectiveness of the proposed PSO self-tuning PI controller for a STATCOM, experimental results for a system under different loading conditions are presented. Results from the self-tuning PI controller are compared with those from the fixed-gain PI controllers.

Second-order sliding mode control with experimental application.

Abstract: In this article, a second-order sliding mode control (2-SMC) is proposed for second-order uncertain plants using equivalent control approach to improve the performance of control systems. A Proportional + Integral + Derivative (PID) sliding surface is used for the sliding mode. The sliding mode control law is derived using direct Lyapunov stability approach and asymptotic stability is proved theoretically. The performance of the closed-loop system is analysed through an experimental application to an electromechanical plant to show the feasibility and effectiveness of the proposed second-order sliding mode control and factors involved in the design. The second-order plant parameters are experimentally determined using input-output measured data. The results of the experimental application are presented to make a quantitative comparison with the traditional (first-order) sliding mode control (SMC) and PID control. It is demonstrated that the proposed 2-SMC system improves the performance of the closed-loop system with better tracking specifications in the case of external disturbances, better behavior of the output and faster convergence of the sliding surface while maintaining the stability.

Fractional-order PID controller optimization via improved electromagnetism-like algorithm

Abstract: Based on the electromagnetism-like algorithm, an evolutionary algorithm, improved EM algorithm with genetic algorithm technique (IEMGA), for optimization of fractional-order PID (FOPID) controller is proposed in this article. IEMGA is a population-based meta-heuristic algorithm originated from the electromagnetism theory. It does not require gradient calculations and can automatically converge at a good solution. For FOPID control optimization, IEMGA simulates the ''attraction'' and ''repulsion'' of charged particles by considering each controller parameters as an electrical charge. The neighborhood randomly local search of EM algorithm is improved by using GA and the competitive concept. IEMGA has the advantages of EM and GA in reducing the computation complexity of EM. Finally, several illustration examples are presented to show the performance and effectiveness.

Chaos driven evolutionary algorithms for the task of PID control

Abstract: Chaos driven Differential Evolution algorithm and Self-Organizing Migrating Algorithm are presented in this paper for the task of PID (Proportional-Integral-Derivative) controller optimization. The dissipative chaotic Lozi map is embedded as a number generator inside DE and SOMA in order to avoid local optima stagnation and embed a superior search strategy. Three unique PID controller problems are presented and successfully resolved using these new approaches. The obtained results compare favorably with published results.

Adaptive PI Stabilization of Switched Power Converters

Abstract: Linear proportional-integral (PI) controllers are widely used in power converter applications. In a recent paper, a methodology to design such controllers ensuring asymptotic stability was proposed. The technique relied on the basic fact that if an affine system can be rendered passive with a constant control, then it is stabilizable with a PI. A structural condition was imposed then on the power converter to satisfy the former property with a passive output generated as a linear combination of the states. This condition is technical and has no clear physical interpretation. In this brief this result is extended in three directions: first, the aforementioned condition is removed; second, a larger class of converters (with switching external sources) is considered; third, the load resistance is assumed unknown and an adaptive PI controller (with three different estimators) is proposed. Instrumental to establish the result is the proof that the nonlinear incremental model of power converters defines a passive map-a property first observed by Sanders and Verghese in the early 1990's. The methodology is applied to the problem of power factor compensation of a 3-phase voltage source rectifier, already considered in our previous paper, which is revisited from the incremental passivity perspective yielding simpler proofs. Also, a stable adaptive PI is designed for the output voltage regulation of a quadratic boost converter. Simulations complete the brief.

Fuzzy-tuned PID Anti-swing Control of Automatic Gantry Crane

Abstract: Anti-swing control is a well-known term in gantry crane control. It is designed to move the payload of gantry crane as fast as possible while the payload swing angle should be kept as small as possible at the final position. A number of studies have proposed anti-swing control using the well-known proportional, integral, derivative (PID) control method. However, PID controllers cannot always effectively control systems with changing parameters. Some studies have also proposed intelligent-based control including fuzzy control. However, the designers often have to face the problem of tuning many parameters during the design to obtain optimum performance. Thus, a lot of effort has to be taken in the design stage. In this paper Fuzzy-tuned PID controller design for anti-swing gantry crane control is presented. The objective is to design a practical anti-swing control which is simple in the design and also robust. The proposed Fuzzy-tuned PID utilizes fuzzy system as PID gain tuners to achieve robust performance to parameters’ variations in the gantry crane. A complex dynamic analysis of the system is not needed. PID controller is firstly optimized in MATLAB using a rough model dynamic of the system which is identified by conducting a simple open-loop experiment. Then, the PID gains are used to guide the range of the fuzzy outputs of the Fuzzy-tuned PID controllers. The experimental results show that the proposed anti-swing controller has satisfactory performance. In addition, the proposed method is straightforward in the design.

LMI robust control design for boost PWM converters

Abstract: This work presents an analytical study and an experimental verification of a robust control design based on a linear matrix inequalities (LMI) framework for boost regulators. With the proposed LMI method, non-linearities and uncertainties are modelled as a convex polytope. Thus, the LMI constraints permit to robustly guarantee a certain perturbation rejection level and a region of pole location. With this approach, the multiobjective robust controller is computed automatically by a standard optimisation algorithm. The proposed method results in a state-feedback law efficiently implementable by operational amplifiers. PSIM simulations and experimental results obtained from a prototype are used to validate this approach. The results obtained are compared with a conventional PID controller.

Proxy-Based Sliding Mode Control: A Safer Extension of PID Position Control

Abstract: High-gain proportional-integral-derivative (PID) position control involves some risk of unsafe behaviors in cases of abnormal events, such as unexpected environment contacts and temporary power failures. This paper proposes a new position-control method that is as accurate as conventional PID control during normal operation, but is capable of slow, overdamped resuming motion without overshoots from large positional errors that result in actuator-force saturation. The proposed method, which we call proxy-based sliding mode control (PSMC), is an alternative approximation of a simplest type of sliding mode control (SMC), and also is an extension of the PID control. The validity of the proposed method is demonstrated through stability analysis and experimental results.

Derivation and Analysis of the Analytical Structures of the Interval Type-2 Fuzzy-PI and PD Controllers

Abstract: Research results on type-2 (T2) fuzzy control have started to emerge in the literature over the past several years. None of these results, however, are concerned with the explicit input-output mathematical structure of a T2 fuzzy controller. As the literature on type-1 (T1) fuzzy control has demonstrated, revealing such structure information is important as it will deepen our precise understanding of how and why T2 fuzzy controllers function in the context of control theory and lay a foundation for more rigorous system analysis and design. In this paper, we derive the mathematical structure of two Mamdani interval T2 fuzzy-proportional-integral (PI) controllers that use the following identical elements: two interval T2 triangular input fuzzy sets for each of the two input variables, four singleton T1 output fuzzy sets, a Zadeh and operator, and the center-of-sets type reducer. One controller employs the popular centroid defuzzifier, while the other employs a new defuzzifier that we propose, which is called the average defuzzifier. The advantages of using the latter defuzzifier are given, which include the fact that the derivation method originally developed by us in previous papers for the T1 fuzzy controllers can be directly adopted for the T2 controller, and the results are general with respect to the design parameters. This is not the case for the other T2 controller, for which we have developed a novel derivation approach partially depending on numerical computations. Our derivation results prove explicitly both controllers to be nonlinear PI controllers with variable gains (i.e., the expressions are different). We analyze the gain-variation characteristics and extend these findings to the corresponding T2 fuzzy-proportional-derivative (PD) controllers. Our new results are consistent with the relevant structure results on the T1 fuzzy-PI and PD controllers in the literature and contain them as special cases. We discuss how the new structure information can be utilized to design and tune the T2 controllers, even when the mathematical model of the system to be controlled is unknown. Neither derivation method is restrictive only to the T2 controllers in this paper-they are directly applicable to other T2 controllers with more complex configurations.

Damping of Torsional Vibrations in High-Dynamic Industrial Drives

Abstract: Theoretical, design, and experimental aspects of the control of the drive with an elastic coupling are considered in this paper. Control structures suitable for application in industrial high-dynamic drives are developed. In such drives, the first resonance frequency can be higher than a hundred hertz, and the next frequency can be a thousand hertz or higher. The solution is oriented to industrial plants, whose computation ability is lower and signal delay is greater than in laboratory plants based on DSP. The authors discuss the problem and show methods of suppressing torsion vibrations in speed-control systems with only one sensor, i.e., a motor position encoder. The presented solution is based on an adequately designed PID controller.

Global Asymptotic Saturated PID Control for Robot Manipulators

Abstract: This paper addresses the global asymptotic regulation of robot manipulators under input constraints, both with and without velocity measurements. It is proven that robot systems subject to bounded inputs can be globally asymptotically stabilized via a saturated proportional-integral-derivative (PID) control in agreement with Lyapunov's direct method and LaSalle's invariance principle. Advantages of the proposed controller include an absence of modeling parameters in the control law formulation and an ability to ensure actuator constraints are not breached. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. The effectiveness of the proposed approach is illustrated via simulations.