PD Control System Research Articles

PID Controllers Performance On Dual Axis Tracking With Tetrahedron Based Sensor

This study compares control systems applied to a dual-axis tetrahedron-based sensor tracker. A tetrahedron-based sensor is a tracking sensor that can detect the coordinates of a light source. This study aims to determine a control system that can control sensors with high accuracy and precision and has a fast-tracking ability. Tests are carried out periodically by providing light at certain coordinates. After carrying out the testing and analysis process, it is concluded that the P controller is a better control system than the other controllers. This controller can control sensors with high accuracy and precision compared to PI, PD, and PID control systems. The P controller can also control the sensor to move towards the light coordinates with a travel time of 1.6 seconds on the X-axis and 3.1 seconds on the Y-axis, with a MAE value of 1.1 on the X-axis and 0.3 on the Y-axis. While the RSME value obtained is 1.33 on the X-axis and 0.55 on the Y-axis.

Observer Sliding Mode Control Design for lower Exoskeleton system: Rehabilitation Case

Sliding mode (SM) has been selected as the controlling technique, and the state observer (SO) design is used as a component of active disturbance rejection control (ADRC) to reduce the knee position trajectory for therapeutic purposes. The suggested controller will improve the needed position performances for the Exoskeleton system when compared to the proportional-derivative controller (PD) and SMC as feed-forward in the ADRC approach, as shown theoretically and through computer simulations. Simulink tool is used in this comparison to analyze the nominal case and several disruption cases. The results of mathematical modeling and simulation studies demonstrated that SMC with a disturbance observer strategy performs better than the PD control system and SMC in feed-forward with a greater capacity to reject disturbances and significantly better than these controllers. Performance indices are used for numerical comparison to demonstrate the superiority of these controllers.

A Collision Avoidance System Based on COLREGs Rules for Autonomous Surface Vessels

The proposed mathematical model in this study consists of two parts, one is the maneuvering model, called MMG (Mathematical Model Group), and the other is a control algorithm based on traditional PD control system. The MMG model is used to compute the ship's maneuvering characteristics, and a ship can safely reach target coordinates with the help of a control algorithm if it encounters any obstacles along the way. Because of the suitable hydrodynamic coefficients of Esso Osaka, the proposed mathematical model is evaluated using trial test data from Esso Osaka. Firstly, the maneuvering characteristics of the ship were determined by performing the turning and zigzag tests for different velocity of the ship. By comparing the results obtained with the trial test results of the Esso Osaka, the suggested model was verified. Secondly, the ship's route was obtained for a determined target coordinate. Thirdly, a new route is automatically obtained by assuming that there is an obstacle between the starting point of the ship and the target coordinate determined for the previous simulation. As a result, this new route is created thanks to the virtual coordinates determined in accordance with the COLREGs rules. Since the maneuvering characteristic values of the ship are included in the written algorithm, it directly affects the determination of the virtual coordinates. Therefore, it is very important to find accurate maneuvering characteristics. Evaluating the simulation results obtained from the proposed mathematical model, it is concluded that a safe route has been created between the coordinates determined for the Esso Osaka ship. Moreover, the ship reaches the target coordinate without any collision.

High Performance Single and Double Loop Digital and Hybrid PID-Type Control for DC/AC Voltage Source Inverters

The concept of hybrid control has been introduced, in which the analog implementation of the control algorithm is combined with a digital algorithm for determining the PWM duty cycle. Single-loop PD and PID control systems are compared to a double-loop architecture with additional capacitor current sensing for both digital and hybrid controller realizations. The performance is measured as the THD value under resistor-capacitor rectifier load. It has been shown that a properly constructed continuous-time model of a digital controller with a PWM power converter behaves like the actual discrete-time system, which allows for a simple controller analysis and design. The role of a PWM type for capacitor current feedback is emphasized. The simulation models of a real inverter are presented, which are used to tune the controllers and to evaluate the control performance for both rectifier and abruptly changing resistive load. The obtained solutions achieve the THD values comparable to the VSI without load. The results are contrasted with the control methods based on resonant filters.

Sistem Keseimbangan Robot ERISA Pada Bidang Miring Menggunakan Kontrol PD dan Sensor Fusion

The world of robotics is currently developing; many robots are created to help humans work in carrying out daily activities. Various types of robots have been created, one of which is a type of robot that resembles a human body (humanoid). Humanoid robots are developing in many countries, including Indonesia. In its development, the walking technique is a major factor in making humanoid robots. Humanoid robots have the ability to walk like humans by balancing their body positions while walking, so they don’t fall. In maintaining this balance, a tilt detection system for the robot’s position and a balancing system is needed when the robot is about to fall. So, to overcome this problem, implementation is carried out using the sensor fusion method at the output of the sensors that are used to minimize noise or interference with the sensor output value. The accuracy of the sensor output value on the position angle tilt detector can help the robot provide a balancing act. By implementing a PD control system and sensor fusion consisting of a Kalman filter and a complementary filter, the robot was successfully carried up and down the plane to a maximum slope of 12 °.

PID controller for microsatellite yaw-axis attitude control system using ITAE method

The need for effective design of satellite attitude control (SAC) subsystem for a microsatellite is imperative in order to guarantee both the quality and reliability of the data acquisition. A proportional-integral-derivative (PID) controller was proposed in this study because of its numerous advantages. The performance of PID controller can be greatly improved by adopting an integral time absolute error (ITAE) robust controller design approach. Since the system to be controlled is of the 4 th order, it was approximated by its 2 nd order version and then used for the controller design. Both the reduced and higher-order pre-filter transfer functions were designed and tested, in order to improve the system performance. As revealed by the results, three out of the four designed systems satisfy the design specifications; and the PD-controlled system without pre-filter transfer function was recommended out of the three systems due to its structural simplicity, which eventually enhances its digital implementation.

Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic

We present a numerical algorithm based on invariant set theory to evaluate the worst-case performance of PD-controlled mechanical systems affected by bounded disturbances. By performing a specific coordinate transformation, the search and computation of positive invariant sets is simplified. It is shown that, thanks to the preservation of problem structure, the proposed method allows to obtain tight, component-wise bounds on the states, which are especially useful for performance evaluation and tuning of a PD controller. The bounds are formally guaranteed and can be used for safety certification. The method is compared to ultimate boundedness, and the superior results are shown via numerical simulations.

Extremum seeking dead-zone pre-compensator for an industrial control system

Abstract PID type industrial controllers such as PI, PD, PID are mature control algorithms and they are intensively used in industry due to their simplicity and easily implementability. However, they start to fail when there is an unknown or unpredictable nonlinear behavior in the plant or actuator. In this paper, a novel compensation algorithm is proposed for PD type industrial control systems, which possess an unknown dead-zone nonlinearity. An extremum-seeking technique is utilized in the compensation algorithm. The aim is to propose a new, effective and robust compensator which can be added easily to an existing industrial controller without any need to change/retune the controller settings/parameters. It is shown that by adding the compensator to an existing PD control system, the sensitivity of the controller to the dead-zone nonlinearity is removed.

Robust Hybrid Nonlinear Control Systems for the Dynamics of a Quadcopter Drone

Robustness in the face of uncertainties is an important aspect in designing high performance control systems. This paper addresses the problem of accurate trajectory tracking of a small quadcopter unmanned aerial vehicle in the face of uncertainties. Accommodating the worst -case scenario, we propose a hybrid feedback and feedforward autopilot that has the capability to eliminate the cross-coupling disturbance between the lateral and the longitudinal loops with respect to the vertical loop as well as external disturbances (e.g., wind gusts). The proposed control system leverages on the technical benefits of both the nonlinear model predictive control and the fuzzy feedforward compensator. We highlight the efficacy of our hybrid autopilot system with respect to the performance of the conventional PD control systems through rigorous comparative studies. We also present stability analysis of our hybrid control system.

Formalization of fractional order PD control systems in HOL4

Higher-order logic theorem proving method is applied to analyze fractional order PD control systems in this paper. Theorem proving is based on rigorous logic and correct mathematics theory. Firstly, existent conditions and formal model of fractional calculus Caputo definition is established in higher order logic theorem prover. Then some properties are verified, including homogeneity, linearity property, fractional differential of constant and relationship between integer order differential and fractional differential. And formalization of Laplace transform based on fractional calculus Caputo definition is given and we apply it to illustrate advantages of fractional calculus Caputo definition. Initial values based on fractional calculus Caputo definition have exact physical meanings. And then formal modeling of fractional order PD controller is verified based on the above properties. We also verify the stability and other properties of fractional order PD controller by theorem proving method. Lastly, steady-state error is analyzed based on formalization of fractional calculus Caputo definition. It shows that fractional order PD controller can achieve a better control performance than integer order PD controller.

Desarrollo de un Sistema de Iluminación Artificial Inteligente para Cultivos Protegidos

This article describes the hardware and software development of an artificial lighting system for protected crops. The system consists of a set of lamps, power control circuits and light intensity sensor, which together with a software developed in LabVIEW® allow to carry out the control over the amount of energy radiated throughout the cultivation process taking into consideration how this energy is distributed in each photoperiod. All this monitoring process takes place in a computer which is connected to an Arduino MEGA device serves as data acquisition card. To program the operation of the control system an interface is designed that enables the user to input parameters and display the system operating information. It also allows selecting the appropriate control strategy with a choice of selecting a predictive control or PD control system. Both algorithms make use of a mathematical model of the lamps which is responsible for transforming the signals generated by the drivers in digital signals that govern the operation of the implemented electronic system. Finally, the experimental results are analysed in various tests using both control algorithms to show the benefits and disadvantages of each controller.

Quantization-induced control error in a digitally controlled system

The “noise” induced by quantization in digitally controlled systems can be modelled as small amplitude chaotic behaviour described by a simple piecewise linear map, the micro-chaos map. The chaotic nature of certain micro-chaos maps was proved rigorously in the last 20 years. It was also pointed out that several disconnected strange attractors or repellers may coexist far from the desired state of the system. The control error is influenced by the number of these strange sets and the local behaviour of trajectories in their neighbourhoods. In the present paper we focus on the exploration of the possible attractor/repeller structures in the phase space of a PD-controlled system and estimate the expected control error by several methods.

人力ロボティクスの研究

The goal of this study is to propose the concept “Man-powered robotics,” which is a methodology to design the robotic system which can control the joint by directly using a power of human's motion as its power source. This paper illustrates the design of the prototype of 1-DOF human-powered joint control system using servo clutches with regenerative brakes and differential gears. This system can measure the angle and the torque of output shaft with encoder and torque sensor, and can control output angle with PD control system. We evaluated the ability of torque and angle outputting.

Design and Development of a Novel Spherical UAV

This paper presents the design and system integration of a novel coaxial, flap actuated, spherical UAV for operations in complex environments, such as buildings, caves or tunnels. The spherical design protects the inner components of the vehicle and allows the UAV to roll along the floor if the environment permits. Furthermore, the UAV can land and takeoff from any orientation and come into contact with objects without putting the propellers at risk. Flaps at the base of the sphere will generate roll and pitch moments as opposed to conventional swash plate designs while the coaxial setup will provide the necessary yaw moments and increase in thrust to volume ratio of the system. The flaps, placed below the propellers allow for decoupled roll and pitch control in a thrust vectoring manner. The final result of this design is a well-protected, compact, easily controlled, flexible and agile UAV for operations in complex environments. The spherical UAV was successfully flight tested on a number of occasions with various PD and µ-synthesis robust control systems and was observed to be easily stabilised and resistant to external disturbances to certain extent.

Penerapan Sistem Kendali PID pada Antena Pendeteksi Koordinat Posisi UAV

AbstrakPada penelitian ini telah diterapkan sebuah sistem kendali Proporsional-Integral-Derivatif (PID) pada antena pendeteksi koordinat posisi pesawat udara tanpa awak. Sistem kendali PID pada antena pendeteksi digunakan pada kendali gerak horizontal dan vertikal. Nilai acuan kendali PID untuk gerak horizontal adalah sudut azimuth antara antena dan UAV. Sudut tersebut didapatkan dari metode azimuth antara dua buah titik koordinat. Nilai acuan kendali PID untuk gerak vertikal adalah sudut elevasi yang didapat dari metode Haversine Formula dan Sinus Trigonemetri antara jarak dua titik koordinat terhadap ketinggian UAV. Metode tuning PID yang digunakan untuk memperoleh konstanta pengendali PID adalah metode Ziegler-Nichols dengan metode osilasi dan tabel penalaran sistem kendali Ziegler-Nichols.Hasil yang diperoleh dari penelitian ini berupa penerapan sistem kendali PID berdasarkan metode Ziegler-Nichols. Sistem kendali berdasarkan tabel penalaran Ziegler-Nichols divariasikan tiga jenis sistem kendali yaitu P, PI, dan PID. Sistem kendali PD juga diterapkan berdasarkan tabel penalaran Ziegler-Nichols dengan pengendali integral diatur bernilai 0. Sistem kendali yang memiliki respon paling baik adalah sistem kendali PD dengan nilai Kp = 11,375 dan Kd = 0,372531 untuk kendali azimuth sedangkan kendali elevasi pada nilai Kp = 3,41 dan Kd = 0,111464. Respon yang dihasilkan kendali azimuth sebesar 0,32 detik dan kendali elevasi sebesar 0,34 detik. Kata kunci—PID, Antena Pendeteksi, Servo, UAV Abstract In this project has been implemented a PID control system on antenna tracker of unmanned aerial vehicle coordinates. PID control system on antena tracker to be used on horizontal and vertikal motion control. The setpoint of PID controller for horizontal motion is azimuth’s angle between antenna and UAV. The angle produced by azimuth’s method between two coordinates. The setpoint of PID controller for vertical motion is elevasi’s angle that produced by haversine-formula’s method and Sinus Trigonometry between distance two coordinates toward altitude of UAV. Tuning of PID controller was calculated by Ziegler-Nichols’s method with oscillation’s method and reasoning table of Ziegler-Nichols.The result from this project is implementation PID control system with Ziegler-Nichols’s method. There ara 3 variations in Ziegler-Nichols’s table, that are P, PI, and PID control system. The PD control system also implemented with integral’s control set on 0. The control system that has a good response is PD control system with Kp = 11,375 and Kd = 0,372531 on azimuth’s control whereas elevasi’s control with Kp = 3,41 and Kd = 0,111464. Response that produced by azimuth’s control is 0,32 second and elevasi’s control is 0,34 second. Keywords—PID, Antenna Tracker, Servo, UAV

An Adaptive Genetic Algorithm for Improving Dynamic Performance of PD Control Systems

The appropriate choice of crossover and mutation rates is critical to the success of genetic algorithms. Earlier researches focused on finding optimal non-dynamic crossover or mutation rates, which vary for different problems, and different stages of the genetic process in a problem. This paper proposed an ameliorate adaptive genetic algorithm where the mutation and crossover rates are adapted dynamically based on the evaluation results of the respective offspring in the next generation. Simultaneously, we combined this new algorithm with PD controllers to improve the stability of control systems. The experimental results are compared with other researchers’ approaches in this field. The PD-GA method can also significantly accelerate the system response and induce lower overshoot as well.

PD Controller Structures: Comparison and Selection for an Electromechanical System

Many different PD controller modeling, configurations and control algorithms have been developed. These methods differ in their theoretical basis and performance under the changes of system conditions. In the present paper we review the methods used in the design of PD control systems. We highlight the main difficulties and summarize the more recent developments in their control techniques. Intelligent control systems like PD fuzzy control can be used to emulate the qualitative aspects of human knowledge with several advantages such as universal approximation theorem and rule- based algorithms.

Performance Comparison of Three Different Types of Attitude Control Systems of the Quad-Rotor UAV to Perform Flip Maneuver

This paper addresses the performance of three different types of attitude control systems for the Quad-rotor UAV to perform the flip maneuver. For this purpose, Quad-rotor UAV's 6-DOF dynamic model is derived, and it was used for designing an attitude controller of the Quad-rotor UAV. Attitude controllers are designed by three different methods. One is the open-loop control system design, another is the PD control system design, and the last method is the sliding mode control system design. Performances of all controllers are tested by 6-DOF simulation. In case of the open-loop control system, control inputs are calculated by the quad-rotor dynamic model and thrust system model that are identified by the thrust test. The 6-DOF realtime simulation environment was constructed in order to verify the performances of attitude controllers.

Design of a multirate PD control system for improvement in the steady-state intersample response

The present paper proposes a new design method for a multirate system, in which the continuous-time plant is controlled by updating the discrete-time control input, in which the sampling interval of the plant output is an integer multiple of the hold interval of the control input. In the multirate system, the intersample response might oscillate even if the sample response converges to the reference response because the control input can vary between sampling instants. In the present paper, a multirate proportional-derivative control system is enhanced such that the steady-state intersample ripples are eliminated. In the proposed method, the intersample response can be improved independently of the sample response because an existing closed-loop response is maintained. Moreover, the control performance is not affected by the phase lag caused by the integral compensation because the integral compensation is not used for the elimination of the intersample ripples. Finally, in order to control a plant with unknown or time-varying parameters, the designed multirate control system is extended to a self-tuning controller. As a result, an unknown or time-varying plant can be controlled using the proposed method.

위치제어계에서 응답특성 개선을 위한 PI-PD제어기의 설계

In many control fields high position performance is essentially required in reducing the over-shoot phenomena which is produced by improving the quick response in starting and in minimizing the variation of the response characteristic on disturbance and load variation In this paper, the design method for a position control is suggested for constructing the PI-PD controllers by using an internal PD feedback loop in PI and PD control system. Applying this method to the position control system used a DC servo motor as a driver, the transfer PI and PD controllers are designed simultaneously and the coefficients of these controllers are determined by using the transfer function of a plant and a proportional coefficient from mathematical technique. From the result of computer simulation in PI-PD control system by applying this control technique, we can verify the usefulness of this method in rejecting of over-shoot of starting, compensating of response variation on the load variation, and shorting the settling time.