PID Control System Research Articles

Position and Force Control of a Twisted and Coiled Polymeric Actuator

Twisted and coiled polymer (TCP) actuator has many advantages such as high contraction capability, high work density, low cost materials, and easiness of fabrication, making it promising for applications in biomedical devices, soft robotic, and energy-harvesting equipment. However, convenient and effective control of TCP actuators still remain some challenges. In this paper, we use an accurate strain-temperature and force-temperature model of TCP actuators to design a simple and efficient closed-loop PID control system. The validity of the proposed controllers is investigated through numerical simulations and experiments. The results show good control performance with minimum tracking errors which is less than 3% in our work. Such accuracy is ideal for many engineering fields and robotic designs.

Synthesis of robust PID Control systems using stability feeler and partial model matching

AbstractIn this paper, we propose a new method for the synthesis of robust proportional, integral, and derivative (PID) control systems. The proposed method is based on the idea of partial model matching. The stability feeler, a tool for robust stability analysis, is used to stabilize closed‐loop systems with uncertainties. An advantage of the proposed method is that it guarantees robust stability of control systems. To clarify the effectiveness of the proposed method, two types of simulations are given. One is the case where the nominal plant is not stable. The other is the case where the plant is not robustly stable although the nominal plant is stable. The simulation results when the nominal plant is not stable show that the controller derived by the proposed method robustly stabilizes the closed‐loop system, whereas that derived by conventional partial model matching method cannot stabilize it. Moreover, when the plant is not robustly stable, it can be seen that the controller by the proposed method can robustly stabilize the system. Therefore, it is shown that the proposed method enables one to derive PID controllers robustly stabilizing closed‐loop systems. © 2019 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

Feeding control of anaerobic co-digestion of waste activated sludge and corn silage performed by rule-based PID control with ADM1

Anaerobic co-digestion (AcoD) of corn silage (CS) and waste activated sludge (WAS) co-substrates, compared with anaerobic digestion (AD) of mono-substrate WAS, was simulated under mesophilic conditions with the adapted IWA Anaerobic Digestion Model No. 1 (ADM1), and a rule-based PID control system for control of the AcoD of CS and WAS, through control of their ratios in the feed, was developed, implemented with the model as a test platform. Tests on AcoD of co-substrates were conducted at the COD mass-based feeding ratios of CS to WAS 1:2.5, 1:2.0 and 1:1.2. The maximal biogas production was 0.94 m3/kgVS·d at the feeding ratio 1:1.2. The ADM1 was adapted, and the high-sensitivity kinetic parameters were calibrated and optimised using the data from the tests of steady state mono-digestion of WAS and AcoD of CS and WAS. The simulated data of biogas and methane production, methane content, VFA and pH agreed well with the test data. The rule-based PID control was developed with an additional expert system, in which the lower level controller operated the level of VFA/TIC and the upper level controller manipulated the setpoints of methane production. The feeding ratio of CS to WAS was used as a manipulated variable. With the constraint boundaries, the test on the control system showed that it could keep methane production stable to the setpoint and maximise methane production while resisting the disturbances to AcoD by adjusting the feeding ratios of CS to WAS.

Comparison of PID and fuzzy logic to control the motions of robotic prosthetic limbs

Prosthetic limbs are one of the tools that can be used for people with lower limb disabilities. The bionic leg is one of the breakthroughs in which its movements can be regulated by the implementation of a control system on the microcontroller. Testing is done by interfacing with Matlab / Simulink on the prototype using the PID control system and the Fuzzy Logic control system with a time of 10s at a reference angle of 90°. The PID control system design is done by auto-tuning to get the required parameters, kp, ki, and kd while the Fuzzy Logic control system by determining the input and output parameters and its rules. The PID parameters obtained were 2 KP, 18 KI, and 0.5 KD while the Fuzzy Logic is the reference signal input and voltage of the DC motor as the output. The motion data obtained from the transient response is the maximum overshoot, percentage error, and settling time from both of the control systems, as for the PID 6.90%, 3.69%, and 0.877s respectively and 3.31%, 3.46%, and 0.610s respectively for the Fuzzy Logic control system. The prototype performance with the Fuzzy Logic control system is better than using the PID control system.

The Mathematical Modeling, Simulation, and Practice of a Multipoint Synchronous Lifting Control Case Study for Bridges

In the combined transportation of multiple girder transport vehicles, the lifting of multiple hydraulic cylinders must ensure a certain synchronization accuracy, otherwise the bridge structure will be damaged, and even serious construction accidents will occur. The synchronous lifting of a large prefabricated bridge is studied. According to the requirements of synchronous lifting of the bridge, the appropriate control strategy is selected and the hydraulic system of synchronous lifting device is designed. The mathematical model of the synchronous lifting hydraulic system is established, and the fuzzy PID controller is applied. The simulation of the fuzzy adaptive PID control system for the synchronous lifting device is carried out by using MATLAB simulation software, and the simulation results indicate that the rationality of the control system is verified. The experimental results show that the control of the system is convenient and the synchronization accuracy is high, which can provide a reference for the synchronous lifting control.

AVR fuzzy PID control system based on MCU

AVR fuzzy PID control system based on MCU

A Concept of Learning Design Of PID Control System Based On Matlab

Learning the PID control system in the Control System courses in universities is mostly still using trial and error analysis methods with manual calculations. This kind of learning method has a weakness that requires a long time and has a high level of difficulty. To further enhance students’ understanding in the material of the control system, computer-aided learning media can be used. Matlab is one software that is very helpful for students’ understanding in learning to see responses of various combinations of parameters with different input variations. From the results of classroom action research, there were significant results in improving students’ understanding in the control system course, especially the PID control action material.

Dynamic Characteristics Analysis of the Rigid Flexible Coupling Multi-body System of Wharf-cable-dynamic Positioning Vessel

In order to study the coupling effect of the rigid-flexible multi-body system composed of the dynamic positioning vessel, the wharf and mooring cables in mooring state, the lumped mass method was applied to discretize the mooring cables into lumped mass models for the calculation of the mooring tension of the mooring system, the nonlinear reaction force of dock fenders was simulated by Link unit in Orca Flex, and the thrust allocation of thrusters was based on PID control system. The full coupling dynamic time-frequency characteristics of the multi-body system has been analysed. The results show that the performance of the side thruster and vessel’s positioning capability can be improved effectively when the target position is selected reasonably.

Immune Feedback Strategy in an Electronic Throttle Control System

The control strategy for improving the emission performance of engine transition condition is explored to enhance the dynamic response characteristics of the electronic throttle control system of automobile engines. A strong nonlinear relationship exists among the return spring, gear backlash, throttle shaft, and throttle body friction of the electronic throttle electromechanical system, thereby affecting the dynamic response characteristics of the engine electronic throttle under various operating conditions. On the basis of the nonlinear electronic throttle electromechanical system, a corresponding mathematical model is established to study the electronic throttle control system. Then, fuzzy and immune feedback control algorithms are applied to the motion control of the electronic throttle system on the basis of intelligent control because of its advantages of strong anti-disturbance ability, strong robustness, and applicability to nonlinear control systems. The immune feedback control algorithm is characterized by a rapid response in the control system. The influence of nonlinearity of the electronic throttle system on the control effect is discussed in this paper. The fuzzy immune PID controller is designed on the basis of the classical control algorithm PID for control precision and response of the system. The fuzzy control algorithm's adaptability to the nonlinear system improves the response performance of the electronic throttle system, and the immune feedback algorithm enhances the response efficiency of the control system. The response characteristics of electronic throttle is further explored. Experimental results show that the response speed of the fuzzy immune PID control system and speed adjustment of the dynamic characteristics of indicators have clear advantages over those of the PID and fuzzy PID control system. The controller is conducive to the improvement of the electronic throttle response characteristics. Improving the power, economy, and emissions of vehicles has important significance.

Development of Robotic Arm Control System Using Computational Vision

Industrial robots are present in most of today's industries. Their benefits to industrial production make them the main research's target and constant development. However, are limited to sequential and repetitive movements without any decision making. Therefore, one of the current researches and development strands is the robot's integration with computer vision. Which seeks to enable them to see as humans, and thus, make them even more useful, efficient and independent. In this context, a PID control system was developed for a robotic arm. It is integrated to a computer vision system using Kinect\textregistered, in order to capture objects - within 6 possible positions - according to their color. For that, an Arduino MEGA 2560 was used for control system, and Software was developed in Processing programming language for integration, systems operation, and 6-position definition. The SimpleOpenNI and OpenCV for Processing libraries were used to work with Kinect\textregistered, and computer vision, respectively. Finally, the results were satisfactory, and the lowest percentage of catches made successfully among all positions was 83.33%.

Multi-loop Model Reference Adaptive PID Control for Fault-Tolerance

This study demonstrates application of multi-loop model reference adaptive control (MRAC) structure to enhance fault tolerance performance of closed-loop PID control systems. The proposed multi-loop MRAC-PID structure can transform a conventional PID control system to an adaptive control system by combining an outer adaptation loop that employs MIT rule. This control structure can be used to improvement of fault tolerance and fault detection performance of the existing closed-loop PID control systems. One of the advantages of this structure originates from the reference input shaping technique that allows adaptive control without modifying any coefficients of the existing PID controllers. Numerical and experimental studies are presented to illustrate the application of the multi-loop MRAC-PID control structure for rotor control applications.

Design of Digital PID Control Systems Based on Sensitivity Analysis and Genetic Algorithms

Digital PID controllers design method in a parameter space is proposed in this article. Sensitivity analysis is processed to meet specifications in gain margin and phase margin. The stability boundary is plotted based on the proposed method in this article. The genetic algorithm is used for integral absolute error, integral time-weighted absolute error, integral square error, and integral time-weighted square error. A design procedure is proposed in this article. The design procedure is applied for a model of a boiler and a model with time delay. Computer simulation results show that the proposed method is effective.

Analisis Respon Sistem Kendali LQR (Linear Quadratic Regulator) Pada Simulasi Gimbal Kamera Dua Sumbu

Research has been conducted to analyzed the responses of the two axis camera gimbal control system for pitch and roll direction using the Linear Quadratic Regulator (LQR) control system. It focused on the effect from the value of gain Q in calculation of the LQR. The system output was plotted into a step signal so it will be analyzed with transient response method and plotted into sinusoidal signals to find the amplitude value along with the amplitude time. For comparison, the PID control system with the auto-tuning method was also used in this study. It has been done in order to find out whether the LQR control system is more appropriate to use in the two axis camera gimbal system or not. The result from the analysis of the variation of the Q value given at both angles is that the system runs stable when the value of P= 4 for roll angle and P= 6 for pitch angle. For the effect from value of gain Q on the whole system is it will make the output significally changed when the P=1-10. While the results of the comparison can prove that the LQR control system has a better system responses.

The Control System of Boiler Main Steam Temperature Based on Heat Transfer Calculation

The cascade PID control system used in the main steam temperature control of traditional thermal power plants has large hysteresis and large inertia characteristics. In order to solve the above problems, the program of heat transfer process of main steam and boiler flue gas is built based on Matlab. The amount of desuperheated water obtained by the program ensures that the main steam temperature of the boiler is the target temperature. Then the heat transfer calculation program is imported into the multi-model switching control system simulation platform based on heat transfer calculation built by Simulink. The results of simulation show that the multi-model switching control system based on heat transfer calculation solves the problem of large inertia and large delay of the main steam temperature successfully, and the control system can adapt to changes in boiler load.

Sistem Kontrol Governor Menggunakan Pid Yang Dioptimasi Dengan Metode Cuckoo Search Algorithm (Csa)

Indonesia has enormous potential for the Hydroelectric Power Plant (PLTA). Considering that PLTA is an environmentallyfriendly power plant, the components of this plant are worthy of further development. One of them is the development of the hydropower governoor control system. The PID controller is a control system that is often used in the control of theGovernoor System in a hydropower plant because of its simple controller. At present hydro power plants still use theconventional method of PID control trial-error on average. For this method it is difficult to adjust parameters and it takes a long time and the accuracy of controls is not good. Therefore a smart method is needed to overcome this problem.In the past few years, researchers have used many intelligent methods (Artificial Intelligent) to determine the DC PIDparameters. One of them is Cucckoo Search Algorithm (CSA) which is inspired by the behavior of cuckoo birds in placingtheir eggs. By using the CSA method, it is expected to provide a better system response than using the old system PIDcontrol (trial-error). The final goal of the PID control system used in the hydro generator is to regulate the movement ofthe turbine guide vane, which will affect the electrical power produced by the generator. Here the Guide Vane blade settingscan be likened to adjusting the angle of a DC motor. In this study a miniature prototype system governor will be createdthat is controlled by using a PID controller optimized using the Cuckoo Search Algorithm method. In experiments withthe trial error method, the Kp = 3, Ki = 1 and Kd = 10 values with the magnitude of the control parameters obtainedthe average settling time for set point 4 to set point 8 of 24.2 second. Furthermore, the CSA method is used for tuning the PID. After being tuned to the CSA method the values of Kp, Ki and Kd are different for each set point. For set point 4,Kp = 0.99, Ki = 1.00 and Kd = 0.99, while the average settling time is also better than PID trial error, which is 18.8 second.

Analysis of boiler main steam temperature control system with multi-model switching

The paper analyzes the main steam temperature of the boiler with multi-model switching control based on the PID control system. According to the calculation result of the multi-model switching index, when the boiler load changes, the switcher will switch the controlled object of the boiler to the closest corresponding control model under the typical load. Moreover, the function of the leading zone and the function of the inertia zone of the PID control system are integrated into an equivalent first-order inertia plus pure lag function. Comparing these two methods, it is concluded that the control system with the first-order inertia plus pure lag function has a better control effect.

Research on fuzzy PID control of forearm of tunnel steel arch mounting machine

Taking the smooth transition of angular velocity as the key point, the forearm vibration reduction control system based on fuzzy PID control is studied to reduce the influence of the forearm vibration on the docking operation of steel arch. According to the fuzzy rules, the control system establishes the correspondence between the real-time rotation angle error of the forearm and the control signal to reduce the self-vibration caused by the sudden change of the speed at the end of the rotation. By establishing the AMESim-Simulink joint simulation model of the forearm rotation system, the application effect of the fuzzy PID control system on the forearm vibration reduction control is studied. The simulation and experimental results show that this control system effectively reduces the sudden change of the speed and the influence of the self-vibration of the forearm, and each small-angle posture adjustment time can be controlled within 3s.

Research on the design of the fuzzy control system of full bridge DC converter

It is difficult to build the mathematical model of a full bridge DC converter in a DC zonal electric distribution system. This paper advanced a design method and the specific design steps of the fuzzy control system of full bridge DC converter. A simulation model was built and the simulation results shown that in the aspect of output voltage control of a full bridge DC converter, the fuzzy control system was obviously superior to PID control system in indexes such as overshoot, response time and the times of oscillation.

Vacuum pressure swing adsorption system for N2/CO2 separation in consideration of unstable feed concentration

In this study, an efficient PID control system has been designed for a vacuum pressure swing adsorption (VPSA) process which used silica gel to capture CO2 from dry flue gas. Changes of CO2 composition in feed gas are set as disturbances and vary from 12.0 to 15.0% to make simulation work more closely to reality. Meanwhile, adsorption step time duration was set to change consistently according to the feedback of CO2 purity in product. PID control strategy built in software gPROMS is employed in this paper. The competence of the control system is firstly analyzed by a transient impulse of CO2 content in feed gas (15.0% dropped to 12.0%). Then random pulse is added to test the ability of the control system to reject the unknown disturbances and track the set point. Detailed changes in bed under open and closed-loop are listed and made comparisons. Results demonstrate that the model shows an enhanced performance in the presence of random disturbances under closed-loop control compared with the open-loop operation. And this proves that closed-loop feedback PID control can be used to improve the CO2 capture of VPSA process operations.

The Robust PID Control System of Temperature Stability and Humidity on Infant Incubator Based on Arduino AT Mega 2560

Premature babies have a high level of sensitivity that one of them is toward temperature and humidity of the surrounding environment. Therefore special treatment is required for premature babies. Related to it the babies required infant incubator to stabilize the temperature and humidity around the baby’s body. To control temperature stability at 36 ° C and humidity at 80% - 60% RH value in incubator space required Arduino Mega 2560, Arduino Uno, LM35 sensor, DHT22 sensor and added PID control (Proportional Integral Derivative) to reduce maximum overshoot (Mp) and error signal average ≤ 5% and speed up the system to reach the setting point. With the PID control the maximum overshoot value Mp = 0.833889%, the error signal average e = 0.011033% and the temperature reached steady level at the 218 seconds on testing the infant prototype without load.