Incremental PID Algorithm Research Articles

Study on the automatic control method for evaporation treatment of wet flue gas desulfurization wastewater in power plants

ABSTRACT DRFNN is used to predict the evaporation state of wastewater, and incremental PID algorithm is combined to adjust the control quantity. By real-time monitoring the state and parameter changes of wastewater evaporation treatment process, online adjusting and optimizing the parameters of DRFNN and incremental PID, the automatic control of desulfurization wastewater evaporation treatment is completed. The experimental results show that this method can achieve more accurate and reliable automatic control, short control time, strong ability to deal with emergencies, and can converge to stability in a short time. This method can effectively reduce the number of early alarms and failures of the system and save maintenance costs. The IAE values of chloride ion (Cl) and mercury (Hg) in this method are 0.3558 and 0.3872, respectively, which proves that the difference between the actual output and the expected output of this method is very small, which proves that the system in this paper has high accuracy.

A model-free adaptive predictive path-tracking controller with PID terms for tractors

An efficient tractor path-tracking method can increase the operational accuracy, improve land utilisation, and more efficiently provide services for autonomous tractors and precision agriculture. In this study, a model-free adaptive predictive control-proportional-integral-derivative (MFAPC-PID) method was devised. Based on preview theory, a tracking system based on course deviation angle was designed. After the tracking system was linearised, an MFAPC tracking system was developed, and its inherent defects were analysed. Referring to the control structure of an incremental PID algorithm, the MFAPC was considered as an adaptive integral item, and the MFAPC-PID controller was obtained by adding adaptive proportional and differential terms. To verify the proposed controller, collaborative simulation and hardware-in-the-loop tests were performed. The controller was simulated and tested under different paths, road surfaces, and tractor models. Compared with other methods, the MFAPC-PID path-tracking method exhibits superior comprehensive performance, adaptability, universality, and robustness. Moreover, the MFAPC-PID method is insensitive to external interference and model changes of controlled objects.

PID-based search algorithm: A novel metaheuristic algorithm based on PID algorithm

In this paper, a metaheuristic algorithm called PID-based search algorithm (PSA) is proposed for global optimization. The algorithm is based on an incremental PID algorithm that converges the entire population to an optimal state by continuously adjusting the system deviations. PSA is mathematically modeled and implemented to achieve optimization in a wide range of search spaces. PSA is used to solve CEC2017 benchmark test functions and six constrained problems. The optimization performance of PSA is verified by comparing it with seven metaheuristics proposed in recent years. The Kruskal-Wallis, Holm and Friedman tests verified the superiority of PSA in terms of statistical significance. The results show that PSA can be better balanced exploration and exploitation with strong optimization capability. Source codes of PSA are publicly available at https://ww2.mathworks.cn/matlabcentral/fileexchange/131534-pid-based-search-algorithm.

Design of Double Closed Loop Control System for DC Motor Based on TX8C1010 Single Chip

In order to improve the operational strength and control precision of the DC motor, a double closed-loop control system based on TAIXIN TX8C1010 MCU is proposed. The single chip is based on a high-speed 8051 core, which is applied to home appliances and can realize the double closed-loop motor control algorithm. The given speed value provided by the potentiometer is compared with the real-time speed value and inputs the error to the speed loop function, which is based on the incremental PID algorithm, to calculate the reference current value. Then it is compared with the real-time current value and inputs the error into the current loop. The PWM signal duty cycle is determined by the output value of the current loop to adjust and stabilize the motor speed. The drive circuit outputs the PWM signal in the inverse amplification way to control the operation of the DC motor, and finally tests the function on the MAGTROL M-TEST7 motor test platform. The test results show that the control system has fast response speed, strong load capacity, good robustness and safety. Hence, TAIXIN TX8C1010 single-chip machine is feasible in the DC motor control. It can be improved to strengthen its load characteristics according to the parameters and applied to a variety of power DC motor control.

The application of incremental PID control algorithm in large tuning camera

Large adjusting camera is an important facility of modern power grid, its own operation must be stable enough, but manual can not control it comprehensively, so it needs to use incremental PID control algorithm to carry out automatic control. This paper will study the application of incremental PID control algorithm in large tuning camera, mainly introduces the basic concept of PID control algorithm, and compares the incremental PID control algorithm with the position PID control algorithm, demonstrates the advantages of the incremental algorithm, and then puts forward its application method, analyzes the application effect of the incremental algorithm. Through research, the incremental PID algorithm has advantages and has more outstanding application value in the control of large adjusting camera, which can better keep the large adjusting camera in stable operation state.

Design of Home-use Fire Fighting Robots and Research on Automatic Control System

Responding quickly to fires, reducing secondary disasters and ensuring the safety of life and property are important issues in firefighting. With the progress of science and technology, firefighting robots have entered people’s sight. Based on this, this paper proposes a home-based firefighting robot to reduce fire losses. The home-type firefighting robot is equipped with a walking system and a clamping device. ANSYS software is used to perform finite element analysis on key components to verify the rationality of the structural design. The program mainly uses the PWM module in the K60 chip, and the I/O module is designed. CCD is used for image acquisition and K60 microprocessor. The classical PID control algorithm is still used to make the fire robot achieve the effect of smooth and fast movement. The incremental PID algorithm is used to realize the fast response of the motor.

Design of flow cytometer liquid circuit control system based on incremental PID algorithm

In the application and design of the flow cytometry, the problem of controlling the flow rate of liquid sample should be considered, which is directly related to the test performance of the instrument. In this paper, a flow cytometer liquid path controlling system based on incremental PID algorithm is designed. The STM32F429 is used as the core control chip, and a negative feedback correction network is introduced. At the same time, the incremental PID algorithm is used to control the speed of electronic motor. Combining with the hardware circuit, the automatic regulation and control of the flow rate of liquid path sample are realized. The experimental results show that the real-time sample flow can approach to the set value quickly and stably after the sampling started in this system. When different target values are set, the error between the measured value and the set value is less than 3%. The system is simple in design, high accuracy and stability, and can meet the requirements of intelligent control and high efficiency and precision in modern industrial instruments.

Design and Implementation of High-Throughput Magnetic Separation Module for Automated Nucleic Acid Detection System Based on Magnetic Nano-Beads.

With the higher and higher application level of medical technology, more and more genetic diseases have been diagnosed. Nucleic acid, as an important genetic material, has been found to have important functions in the storage and transmission of the genetic information in the replication and synthesis of proteins. As the first step in nucleic acid detection experiments, nucleic acid extraction performance is associated with the purity of target nucleic acid samples, which is very important for the downstream steps. In this paper, we employed the magnetic bead for extracting nucleic acids based on the platform of large liquid handling workstation and designed a matching magnetic separation module. It was shown that the temperature control block designed in this paper has reliable stability, high accuracy by using the incremental PID algorithm, with the control accuracy up to ±0.5 °C, and the control stabilization time is about 90 s, which can satisfy the experimental requirements. Besides, the average magnetic bead transfer rate of this module was further verified by mimicking the manual magnetic bead nucleic acid extraction process. The results proved that the module has an excellent performance with the average magnetic bead transfer rate greater than 95% and the magnetic bead transfer rate in each well greater than 90%, which could be consistent with the experimental indictors of nucleic acid extraction.

Design and Development of Unmanned Surface Vehicle for Meteorological Monitoring

In view of the paucity of hydrometeorological data, inefficiency and high cost of manual detection, a design scheme of meteorological monitoring unmanned surface vehicle (USV) based on STM32 MCU (Microcontroller Unit, which is also known as Single Chip Microcomputer) is proposed in this paper. The path planning is designed by combining the image data acquired by camera with improved RRT-path algorithm (rapidly-exploring random tree algorithm based on auxiliary path), and then motors are controlled so as to realize autonomous cruise control of USV using the incremental PID algorithm. In addition, the design can also realize real-time monitoring of meteorological data detected by meteorological sensors on the USV through upper computer. Compared with the traditional scheme, the path planning, autonomous cruise is as well as online monitoring function of the scheme presented below enable USVs have full autonomous capability to realize on-line monitoring of meteorological data.

Servo Platform Circuit Design of Pendulous Gyroscope Based on DSP

In order to solve the problem when a certain type of pendulous gyroscope in the initial installation deviation more than 40 degrees, that the servo platform can not be up to the speed of the gyroscope in the rough north seeking phase. This paper takes the digital signal processor TMS320F28027 as the core, uses incremental digital PID algorithm, carries out the circuit design of the servo platform. Firstly, the hardware circuit is divided into three parts: DSP minimum system, motor driving circuit and signal processing circuit, then the mathematical model of incremental digital PID algorithm is established, based on the model, writes the PID control program in CCS3.3, finally, the servo motor tracking control experiment is carried out, it shows that the design can significantly improve the tracking ability of the servo platform, and the design has good engineering practice.

A compliant dual-axis gripper with integrated position and force sensing

This paper proposes a new flexure-based dual-axis gripper driven by two piezoelectric actuators (PEAs). For achieving two degree-of-freedom (2-DOF) micromanipulation in terms of grasping and rotating operation, the gripper is designed with an asymmetric structure which can be divided into left and right parts. Each part of the structure includes a two-stage amplification mechanism to accomplish displacement enlargement and motion transmission. Three groups of strain gages are integrated to measure the jaw displacements and the gripping force. To realize decoupling between the grasping and rotating function, the motion-guiding mechanisms of the two parts are elaborately designed with an orthogonal configuration. Analytical models of the gripper are derived using pseudo-rigid-body model (PRBM) method. Finite-element analysis (FEA) simulations are conducted to obtain the optimal geometric parameters and to evaluate the performance of the gripper. A close-loop position/force switching control strategy based on incremental PID algorithm is proposed to compensate the hysteretic nonlinearity of PEAs and guarantee precise and stable operation of the gripper. After that, a prototype gripper is developed and experimental investigations are conducted to verify the effectiveness of the gripper by executing a grasping-rotating-releasing operation of a metal wire. The experimental results indicate that the proposed gripper is capable of delicate and dexterous micromanipulation.

A Magnetic Suspension Spindle System for Micro EDM

As an important manufacturing technology, micro EDM is widely applied in many industry fields. However, the slow response speed of servo system often leads to short circuit and arc discharge. To deal this problem, a magnetic suspension spindle system is used to improve the response frequency. This paper introduces the structure and principle of the magnetic suspension spindle device used for micro EDM, hardware and software solutions of the control system are illuminated by schematic diagram or flow chart. Using incremental PID algorithm, the axial (Z) response frequency reaches 150Hz, the radial and axial position accuracy is achieved with 5μm and 2μm. And the micro EDM is realized through the magnetic suspension spindle in 1.3mm stroke.

The Design of the Loss-in-Weight Weighing Controller

In order to achieve higher precision, reliability and stability, lower cost and power consumption, friendly user interface and network functions, loss-in-weight weighing Controller based on ARM9 and Windows CE is designed for controlling dynamic real time batching equipment. This paper first introduces the working principle and architecture of the embedded Controller, then explains hardware system component and design of software system of the Controller, developed on Platform Builder 5.0. The paper pays more attention on the application layer development. Subfuctions of application software are introduced and working flow chart of main modules is given. Double incremental PID algorithm used by the system is presented to achieve the highest accuracy in the shortest possible time. The high precision 0.1% can be achieved, and Controller products are widely used in the metallurgy, chemical industry.

Development of a monolithic compliant SPCA-driven micro-gripper

This paper develops a monolithic compliant SPCA-driven micro-gripper for micro-assembly and describes the mechanism design, kinematic model, static model, control strategy and experimental verification of micro-gripper. The paper includes the following points: (1) the MCM integrates the lever mechanism and parallelogram mechanism so as to magnify the SPCA input and transform the linear input of SPCA into the clamping movement of gripping jaw. In addition, the kinematic model of the MCM is established to describe the relationship between the SPCA input and the output displacement of gripping jaw. (2) The static model of movement jaw is established to analyze the inherent relationship between the gripping force and the strain angle of flexible hinge. (3) The control strategy based on the incremental PID algorithm is applied to control the gripping manipulation of micro-gripper. The control strategy selects the visual or force feedback signal according to the contacting condition between the gripping jaw and clamped micro-object. Finally, a series of experiments were performed to validate the kinematic model, static model and control strategy of micro-gripper. In addition, a glassy micro-tube with 150μm diameter was clamped non-destructively by the developed micro-gripper.

Research of Speed Regulating System Based on Expert PID Control

In order to further improve on the static and dynamic performance of the permanent magnet linear synchronous motor speed regulating system, the traditional PID controller is combined with the expert system technology to achieve optimum control of the control systems. In light of defects of the traditional PID controller, the expert system is introduced into the control system of motor on the basis of the incremental PID algorithm, and it is applied to the permanent magnet linear synchronous motor to adjust the motors speed. The simulation results prove the new PID controller combined with the expert system technology has small overshoot, rapid response and good robust stability.

Application in Composite Machine Using RBF Neural Network Based on PID Control

In the absence of solvent composite machine, because the radius of drum winding and rewinding roller in the transmission process is changing. With the coiled material rolls diameter more and more large, and put the curly size getting smaller and smaller, this has the certain difficulty for the tension control. Therefore, good tension control is non solvent composite is very important. Analyzed the reason and the tension control mathematical model generation composite machine tension in the BOPP production line, for the constant tension control of composite machine, put forward a kind of improved PID control method based on RBF neural network. By the method of Jacobian information identification of RBF neural network, combined with the incremental PID algorithm to realize the self-tuning tension control parameters, control simulation and implementation of the model using Matlab software programming. The simulation results show that, the improved algorithm has better control effect than the general PID.

Research of Several PID Algorithms Based on MATLAB

This paper introduces several PID control algorithms and their discretization expression. Compare the performance of positional PID algorithm with incremental PID algorithm, integration separate PID algorithm, incomplete differential PID algorithm and PID algorithm with dead zone. The experiment results show that different digital PID control algorithm could achieve different using.

基于增量式PID算法的高精度温控系统的设计

温度传感器被广泛用于工农业生产、科学研究和生活等领域，在温控系统中发挥着重要的作用。而高精度的温控系统在测控仪器开发以及工业深加工过程中占有相当重要的地位，因此设计开发高精度的温控系统具有很强的应用价值和现实意义。本文在温控系统硬件设计的基础上，通过增量式PID算法，设计完成了一套控温范围在±0.1℃的高精度温控系统，相比现有同类温控系统，精度提高近10倍。 Temperature sensors are widely used in industrial and agricultural production, scientific research and other areas of life, and play an important role in the temperature control system. The high precision temperature control sys-tem has a very important place in measurement and control instrument development and deep processing industry. So, it has very strong application value and practical significance to design and develop a high precision temperature control system. In this paper, based on the hardware design of temperature control system, through incremental PID algorithm, a design of a temperature control in the range of ±0.1°C high precision temperature control system is completed, when compared with the existing similar temperature control systems, precision increases nearly 10 times.

Application of PID Control Based on RBF Neural Network in Electro-Hydraulic Servo System for Steel Strip Deviation

The working principle of the electrical-hydraulic servo system for steel strip deviation is introduced. The mathematical model of the system is established, and the performance indexes in time domain are analyzed with MATLAB. Aiming at the steel strip deviation, an improved PID control method based on RBF neural network is proposed. According to Jacobian information identification of RBF neural network combined with incremental PID algorithm, the self-tuning of parameters is implemented so that the performance of the system can achieve the designed requirements. Compared with traditional PID control, the simulation results show RBF- PID control has better dynamic performance and stabilization.