Abstract

Proportional Integral Derivative (PID) is the most popular controller that is commonly used in wide industrial applications due to its simplicity to realize and performance characteristics. This technique can be successfully applied to control the behavior of single-input single-output (SISO) systems. Extending the using of PID controller for complex dynamical systems has attracted the attention of control engineers. In the last decade, hybrid control strategies are developed by researchers using conventional PID controllers with other controller techniques such as Linear Quadratic Regulator (LQR) controllers. The strategy of the hybrid controller is based on the idea that the parameters of the PID controller are calculated using gain elements of LQR optimal controller. This chapter focuses on design and simulation a hybrid LQR-PID controller used to stabilize elevation, pitch and travel axes of helicopter system. An improvement in the performance of the hybrid LQR-PID controller is achieved by using Genetic Algorithm (GA) which, is adopted to obtain best values of gain parameters for LQR-PID controller.

Highlights

  • Proportional Integral Derivative (PID) is regarded as the standard control structure of classical control theory

  • The optimal control approach Linear Quadratic Regulator (LQR) is highly recommended for stabilizing complex dynamic systems as it basically looks for a compromise between the best control performance and minimum control input effort

  • In order to design a state feedback controller based on LQR technique for 3DOF helicopter system, the dynamics model of the system should be formulated in state space form

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Summary

Introduction

PID is regarded as the standard control structure of classical control theory. PID controllers are used successfully for single-input single-output (SISO) and linear systems due to their good performance and can be implemented. Many studies have proposed to develop a new hybrid PID controller with ability to provide better and more robust system performance in terms of transient and steady-state responses over the standard PID controllers. The intent of this study is to design a new hybrid PID controller based on an optimal LQR state feedback controller for stabilization of 3DOF helicopter system. To this end an improvement in the system performance has been achieved in both the transient and steady-state responses. In the proposed system the classical PID and optimal LQR controller have been combined to formulate a hybrid controller system. Simulations were implemented utilizing Matlab programming environment to verify the efficiency and effectiveness of the proposed hybrid control method

Calssical PID controller
FOPID controller
Fractional order calculus
Fractional order controller
LQR controller
Tuning method
Are the system fitness function satisfied?
Hybrid PID control approaches
Helicopter structure and modeling
Elevation axis model
Pitch axis model
Travel axis model
Helicopter state space model
Helicopter control system design
PID approximation
Elevation control using PID controller
Travel control using PI controller
GA-LQR controller
GA-PID controller
Elevation LQR-PID controller
Pitch LQR-PD controller
Findings
Conclusions
Full Text
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