PID Controller Design Research Articles

TDOF PID Controller for Enhanced Disturbance Rejection with MS-Constraints for Speed Control of Marine Diesel Engine

This study proposes a two-degree-of-freedom PID controller design and tuning method based on a simple pole placement approach to enhance servo and regulatory performance while ensuring the stability of diesel engines. In the modeling of the control target, the actuator is analytically modeled. In contrast, the type of model for the diesel engine is derived analytically, and its parameter estimation uses operational data from naval ships. The proposed controller consists of a PID controller to improve regulatory performance and a set-point filter to enhance servo response. PID controller parameters consist of the parameters of the controlled plant model and a single tuning variable. At the same time, the set-point filter comprises the controller parameters and a single weighting factor. To ensure the robust stability of the controller, the controller parameters are tuned based on the maximum sensitivity. To verify the effectiveness of this study, simulations for the speed control of a diesel engine with inherent nonlinearity were conducted under three scenarios. Performance was quantitatively analyzed using the integral of time-weighted absolute error, 2% settling time, 2% recovery time, specified maximum sensitivity, and maximum peak response value, and was compared with Skogestad’s IMC and Lee’s IMC. Based on evaluation indices, the proposed controller demonstrated superior performance in both servo and regulatory responses compared to the two existing control techniques while ensuring stability.

A Novel Nonlinear Adaptive Control Method for Longitudinal Speed Control for Four-Independent-Wheel Autonomous Vehicles

As autonomous driving technology and four-independent-wheel chassis systems advance, four-independent-wheel autonomous vehicles have increasingly become a focal area of modern research. The longitudinal control problem for four-independent-wheel autonomous vehicles presents challenges such as complex models, high nonlinearity, and strong system uncertainties. This paper proposes a novel hierarchical control algorithm to address these challenges, innovatively combining the advantages of adaptive backstepping and dynamic sliding mode control algorithms in the upper controller, allowing it to effectively overcome the impact of uncertain system parameters and suppress the common chattering phenomenon in the output of typical sliding mode control methods. Based on the design of the upper controller, an innovative optimized longitudinal force distribution strategy and the construction of a tire reverse longitudinal slip model are proposed, followed by the design of a fuzzy PID controller as the lower slip ratio controller to achieve precise whole-vehicle longitudinal speed tracking and improve overall control performance. This method not only improves the accuracy of speed tracking but also enhances the robustness and adaptability of the control system. Finally, the effectiveness and superiority of the proposed hierarchical control method are verified through CarSim simulations.

Design and Application of Fuzzy PID Controller Based on MATLAB

In an era where the development of intelligent technology is a pivotal force propelling economic advancement, enhancing production efficiency, diminishing costs, and reshaping daily life, the field of intelligent vehicle control technology has garnered significant attention among automotive researchers. The dynamics of smart cars during driving often exhibit nonlinearity and are susceptible to external environmental disturbances, such as wind resistance and road surface inequality. Traditional PID controllers have limited ability to suppress these interferences, so this study uses fuzzy PID algorithms to solve the inherent challenges in intelligent vehicle control. Through comprehensive analysis of the current landscape and technological advancements in intelligent vehicle control systems, coupled with rigorous MATLAB/Simulink simulations and real-world testing, the study showed that the overshoot of the adaptive fuzzy PID was reduced by 86% compared to the traditional PID. Consequently, it markedly enhances the precision and stability of speed control in intelligent vehicles, providing a groundbreaking perspective and practical methods for the enhancement of intelligent vehicle control systems with considerable application potential.

Load Frequency PID Controller Design Based on Pole Placement Method of an Islanded Microgrid

Load Frequency PID Controller Design Based on Pole Placement Method of an Islanded Microgrid

Fractionalized order PID controller design for three tanks liquid level control

Fractionalized order PID controller design for three tanks liquid level control

PID controller design for manipulating electrorheological valves with mesh electrodes using in 2D matrix display

Abstract The electrorheological (ER) valve with parallel electrodes structure has an inherent characteristic. The electrodes gap is the same as its flow channel gap, which causes a strong coupling relationship between the applied voltages and the flow rates of the ER valve. If flow rates of ER valves in the condition of turn on operational mode were increased, their applied voltages were increased necessarily for keeping their shutdown operational mode, which brings a bunch of problems of product costs and dimensions, especially when multiple ER valves with different operational modes work together, such as application of ER valves matrix used in 2D matrix displays. The mesh electrodes structure can decouple the relationship between the electrodes gap and the flow channel gap of parallel electrodes structure. However, due to the complexity of mesh electrodes structure, a mathematic model is difficult to be established theoretically. And, a mathematic model of ER valve with mesh electrodes plays a vital role in designing its controller. By analyzing the composition elements of an ER valve with mesh electrodes, a semi experimental model was established using the parametric identification toolbox of MATLAB. The consistency between the output of recognition model and the output of validation data reaches 93.46%. Subsequently the PID controller for ER valves with mesh electrodes was designed to meet the operational demands of a 2D matrix display using Simulink. The constrain of simulation was that the pressures of flow channel inlets of ER valves, the dynamic responses of ER valves with mesh electrodes kept stable and within its operational range. The results will be helpful for applications of ER valves with mesh electrodes.

Design of an Optimal Multivariable PID Controller for a Two-Link Robot Arm

Incorporating manipulator robots into various industries has revolutionized automation and manufacturing processes. Manipulator robots are versatile machines equipped with robotic arms and end-effectors, enabling them to handle complex tasks with precision and efficiency. This research aims to design an optimal Mutivariable PID (MPID) controller that ensures precise and accurate movements of two-link robot arm. Theoretical foundations of the MPID controller are discussed together with its relevance to robotic arm systems, and the challenges associated with its implementation. The research methodology involves mathematical modelling of the two-link robot arm dynamics, and the use of an optimization algorithm to determine the optimal MPID controller coefficients. Simulation results demonstrate performance enhancement and productivity of the two-link robot arm through the improved MPID controller.

Design and Implementation of Digital PID Control for Mass-Damper Rectilinear Systems

Design and Implementation of Digital PID Control for Mass-Damper Rectilinear Systems

Design of PID controller with integral performance criteria using Salp swarm algorithm for interconnected thermal power systems

Design of PID controller with integral performance criteria using Salp swarm algorithm for interconnected thermal power systems

Model Order Reduction Strategy for LTI Systems and Application to PID Controller Design

Model Order Reduction Strategy for LTI Systems and Application to PID Controller Design

Design of a optimal robust adaptive neural network-based fractional-order PID controller for H-bridge single-phase inverter

Adaptive Neural Network- based Fractional-order PID Control (NN-FO-PID) approach is designed for H-bridge inverter. This inverter has an LC filter to decrease the level of Total Harmonic Distortion (THD) that can affect the efficiency of the system. In addition, the reduction of THD and stability insurance of the filter are challenging performances. To fulfill this function, a fractional order proportional integrated derivative (FO-PID) controller is developed for the inverter. A few merits of the Fractional-Order notion as a useful technique include reduced sensitivity to noise and parametric fluctuation; however, for a wider range of disturbances, such as noise, this approach shows an unsuitable practical application based on its fixed gain values. Moreover, having parameters uncertainties including parametric variations, load uncertainty, supply voltage variation uplifts this challenging condition severely, and the parameters need to be adjusted once more for more dependable operations. As a result, the control parameters must be optimized once more to provide ideal operations. Here, an adaptive mechanism is proposed based on neural network structure to optimize the gains of the FO-PID controller for better performances. In real applications, this approach has some benefits, since it uses the Black-box technique, which does not necessitate a precise mathematical model of the system, resulting in a reduced computational burden, simple implementation, and reduced dependence on the model’s states. Even under extremely difficult circumstances, the artificial neural network structure effectively optimizes the FO-PID gains in real-time. This benefit can reduce the amount of THD-level for the inverter, properly. Additionally, to have a proper response in the first step condition, and trying to reduce the level of dangerous conditions, based on benefits of the ant lion optimization method, it is considered to select the initial values of the FO-PID controller gains. Here to verify the superiority of the proposed controller, PID and FO-PID controllers are offered to drive a comparison with this method, which are optimized using the PSO optimization algorithm. The analysis of simulation data shows that the suggested control strategy is appropriate for maintaining stability as well as adequately compensating for disturbances and uncertainties in the inverter. Furthermore, with the help of this controller, THD level decreased lower than 2 percent.

Design and Implementation of Fuzzy-based Fine-tuning PID Controller for Programmable Logic Controller

Design and Implementation of Fuzzy-based Fine-tuning PID Controller for Programmable Logic Controller

Electro-hydraulic servo position control of bending machine based on Single Neuron PID

Abstract Due to the fixed parameters, inadequate dynamic performance, and significant tracking error of the traditional PID control algorithm, it is challenging to satisfy the increasingly stringent precision demands for position control of the slider in the hydraulic servo system of the bending machine. Given the significant impact of external load on the position accuracy of the bending machine’s slider, a single neuron network is employed to dynamically adjust parameters in response to external load interference, thereby compensating for the limitations of traditional algorithms. Consequently, this paper proposes the design of a single neuron PID (SN-PID) controller to enhance system control accuracy. Through multiple simulation comparisons, it is evident that the SN-PID controller system exhibits superior anti-interference capabilities, enhanced adaptability, and reduced following error compared to traditional PID control algorithms in achieving slider position accuracy.

Practical one-shot data-driven design of fractional-order PID controller: Fictitious reference signal approach

This study proposes a one-shot data-driven tuning method for a fractional-order proportional-integral-derivative (FOPID) controller. The proposed method tunes the FOPID controller in the model-reference control formulation. A loss function is defined to evaluate the match between a given reference model and the closed-loop response while explicitly considering the closed-loop stability. A loss function value is based on the fictitious reference signal computed using the input/output data. Model matching is achieved via loss function minimization. The proposed method is simple and practical: it needs only one-shot input/output data of a plant (no plant model required), considers the bounded-input bounded-output stability of the closed-loop system from a bounded reference input to a bounded output, and automatically determines the appropriate parameter value via optimization. Numerical simulations show that the proposed approach facilitates good control performance, and destabilization can be avoided even if perfect model matching is unachievable.

Commonalities between robust hybrid incremental nonlinear dynamic inversion and proportional-integral-derivative flight control law design

Incremental Nonlinear Dynamic Inversion (INDI) has received substantial interest in the recent years as a nonlinear flight control law design methodology that features inherent robustness against bare airframe aerodynamic variations. However, systematic studies into the robust design benefits of INDI-based control over the classical divide-and-conquer philosophy have been scarce. To bridge this gap, this paper compares the setup of hybrid INDI with a standard industry benchmark that is based on two-degree-of-freedom gain-scheduled proportional-integral-derivative control. This is done on an architectural basis and in terms of achievable robust stability and performance levels with respect to a common set of design requirements. To this end, a non-smooth, multi-objective H∞-synthesis algorithm is used that incorporates mixed parametric and dynamic uncertainties in the design objective and constraints. It is shown that close similarities exist between hybrid INDI design and gain-scheduled PID control, which leads to virtually equivalent robustness and performance outcomes in both linear time-invariant and linear time-varying contexts. It is therefore concluded that the main benefit of the hybrid INDI does not lie in improved robustness properties per se, but in the opportunity to perform modular robust design in an implicit model-following context. Specifically, this implies that the areas of flying qualities, robustness, and nonlinear implementation are directly visible and accessible in the control law structure.

On the optimal multi-objective design of fractional order PID controller with antlion optimization

This study introduces an optimal multi-objective design approach for a robust multimachine Fractional Order PID Controller (FOPID) using the Antlion algorithm. The research focuses on the need for effective stabilizers in multimachine power systems by employing traditional speed-based lead-lag FOPID controllers. The study formulates a multi-objective problem, optimizing the damping factor and damping ratio of lightly damped electromechanical modes to maximize a composite set of objective functions, tackled through the Antlion algorithm. Stability analysis of Single-Machine Infinite-Bus (SMIB) and multimachine power systems is conducted based on rotor speed and power deviation minimization in the time domain response, along with damping ratio and eigenvalue analysis. The proposed approach is implemented and tested on three IEEE test cases, showcasing significant improvements in stability through the reduction of maximum overshoot (Mp) and settling time (ts) of speed deviation. Comparative analysis with other optimization-based FOPID controllers underscores the superiority of the proposed approach in enhancing stability in multimachine power systems. The main impact of this research lies in its contribution to the advancement of stability enhancement techniques in multimachine power systems, offering a systematic framework for optimal FOPID controller design and empowering decision-making processes in power engineering.

Analysis of the PID Controller Parameters for A Surface Mobility Platform Mobile Robot

Surface mobility control is a fundamental challenge in robotics, and its applications range from autonomous vehicles to industrial automation. The main aim of the paper is to analyze the PID controller parameters for the speed control of a surface mobility platform mobile robot. MATLAB simulation toolbox and mathematical model of the DC motor are used to find the optimal PID controller parameters to complete the DC motor speed control system. For the SMP motion control system, the mobile robot kinematic model is supported as a differential drive system. In this paper, the PID controller parameters for the DC motor control system are analyzed with simulation results using various KP, KI, KD gains. The experimental results of the SMP mobile robot with optimal PID controller parameters are analyzed by driving on the rough, slope and even terrains. According to simulation results and experimental tests, the proposed system effectively controls the speed of the SMP mobile robot, demonstrating satisfactory performance in settling time, rise time, and system overshoot. Among PI and PID controllers, the designed PID controller can quickly control to reach the desired DC motor speed. Using the optimal PID coefficient parameters, all motors reached their desired speed in 0.12 seconds during simulations. In the experimental tests on various terrain (even, slope and rough), all motors achieved their desired speed simultaneously within 25 seconds.Keywords: Differential drive, PID controller, motion trajectory, real-time speed control. skid steering, SMP mobile robot, surface mobility control

Stabilizing regions of dominant pole placement for second order lead processes with time delay using filtered PID controllers.

In order to handle second order lead processes with time delay, this paper provides a unique dominant pole placement based filtered PID controller design approach. This method does not require any finite term approximation like Pade to obtain the quasi-polynomial characteristic polynomial, arising due to the presence of the time delay term. The continuous time second order plus time delay systems with zero (SOPTDZ) are discretized using a pole-zero matching method with specified sampling time, where the transcendental exponential delay terms are converted into a finite number of poles. The pole-zero matching discretization approach with a predetermined sampling period is also used to discretize the continuous time filtered PID controller. As a result, it is not necessary to use any approximate discretization technique, such as Euler or Tustin, to derive the corresponding discrete time PID controller from its continuous time counterpart. The analytical expressions for discrete time dominant pole placement based filtered PID controllers are obtained using the coefficient matching approach, while two distinct kinds of non-dominant poles, namely all real and all complex conjugate, have been taken into consideration. The stabilizable region in the controller and design parameter space for the chosen class of linear second order time delay systems with lead is numerically approximated using the particle swarm optimization (PSO) based random search technique. The efficacy of the proposed method has been validated on a class of SOPTDZ systems including stable, integrating, unstable processes with minimum as well as non-minimum phase zeros.

Designing PID controller using SSA for interconnected thermal power systems

Designing PID controller using SSA for interconnected thermal power systems

Fractional Order based PID Controller Design with Genetic Algorithm (FOPID-GA) for Aircraft Landing Gear Shock Absorber Mechanism

Fractional Order based PID Controller Design with Genetic Algorithm (FOPID-GA) for Aircraft Landing Gear Shock Absorber Mechanism