PID Parameters Research Articles

Trans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation

The rapid evolution of the Unmanned Aerial Vehicle (UAV) industry has significantly increased interest in UAV design with trans-domain capabilities. It is still a major challenge to achieve miniaturization and enhance the maneuverability and underwater reliability of trans-domain UAVs. In this paper, a novel bullet shape Trans-Domain Amphibious Vehicle (TDAV) is proposed which achieves free trans-domain motion and has the advantages of small size, high maneuverability and high reliability for both rotary-wing UAV and Autonomous Underwater Vehicle (AUV) operation. Compared with traditional amphibious machines, the TDAV design is streamlined and thus inherits the advantages of both the Bamboo Dragonfly and underwater AUVs. The proposed TDAV has a coaxial counter-propeller-tilting platform which satisfies the power and small diameter fuselage requirements, and the blades fold to reduce underwater drag and facilitate transportation. Further, a stable and efficient trans-domain attitude adjustment system is presented which effectively realizes trans-domain attitude switching. Based on the characteristics of the symmetric TDAV body, a rudder blade allocation algorithm is proposed to realize free movement in water. Finally, an improved particle swarm optimization algorithm is used to obtain suitable hierarchical fractional-order PID parameters. Both simulation and outdoor tests were performed and the results demonstrate that the proposed TDAV achieves outstanding performance in terms of lift altitude, trans-domain attitude switching time, and free trans-domain movement in both water and air.

A PID Tuning Strategy Based on a Variable Weight Beetle Antennae Search Algorithm for Hydraulic Systems

To select reasonable PID controller parameters and improve control performances of hydraulic systems, a variable weight beetle antenna search algorithm is proposed for PID tuning in the hydraulic system. The beetle antennae search algorithm is inspired by the beetle preying habit depending on symmetry antennae on the head. The proposed algorithm added the exponential equation mechanism strategy in the basic algorithm to further improve the searching performance, the convergence speed, and the optimization accuracy and obtain new iteration and an updating method in the global searching and local searching stages. In the PID tuning process, advantages of less parameters and fast iteration are realized in the PID tuning process. In this paper, different dimension functions were tested, and results calculated by the proposed algorithm were compared with other famous algorithms, and the numerical analysis was carried out, including the iteration, the box‐plot, and the searching path, which comprehensively showed the searching balance in the proposed algorithm. Finally, the reasonable PID controller parameters are found by using the proposed method, and the tuned PID controller is introduced into the hydraulic system for control, and the time‐domain response characteristics and frequency response characteristics are given. The results show that the proposed PID tuning method has good PID parameter tuning ability, and the tuned PID has a good control ability, which makes the hydraulic system achieve the desired effect.

Simulation analysis of a water heating control system

As the need of accurate indoor temperature continuously growing in northern part of the world, the drawbacks of current water heating control system are becoming prominent. In order to improve its efficiency, using simulation method to analyze water heating control system and putting forward optimized PID parameters are important. This paper clearly explains the reason of its drawbacks and proves feasibility the of a optimization design, which is pivotal to further studies.

Improved fuzzy-PID integrated control for vehicle active suspension based on road excitation

In order to improve the ride comfort of a car and its robustness under various road conditions, an improved fuzzy-PID integrated control strategy for the active suspension of the vehicle seat and the active suspension of the chassis is proposed. Compared with the general fuzzy-PID control method, the control strategy can adjust the quantisation factor, scale factor and PID parameter value of the controller in real time according to the random excitation of the road surface and the vertical speed of the seat, so as to achieve more accurate control of the control force. An 11-DOF vehicle ride comfort model is established to simulate the vehicle running on A, B, C and D grade road surface in MATLAB/Simulink. The results show that the improved fuzzy-PID integrated control of the vehicle active suspension can greatly improve the vehicle ride comfort and handling stability, and the effect is obviously better than that of the fuzzy-PID control.

PID TUNING OF FOPDT SYSTEM USING MULTIVARIATE LINEAR REGRESSION WITH GRADIENT DESCENT

PID controllers are popular in industries for controlling process of a system or a plant. There are many different tuning techniques available to tune a PID controller. In this paper machine learning and optimization approach is used to tune the controller. Multiple Linear Regression algorithm of Machine Learning and Gradient Descent based optimization algorithm is used to obtain PID parameters. PID tuning is performed on a PID controller of Blending Control System. This paper presents a method of obtaining FOPDT model from system’s transient specifications, generating data-set of FOPDT model and then applying Multivariate Linear Regression with Gradient Descent to obtain optimal tuned values of ????????, ???????? and ???????? parameters of PID controller.

Improved Sparrow Search Algorithm Based on Iterative Local Search.

This paper solves the shortcomings of sparrow search algorithm in poor utilization to the current individual and lack of effective search, improves its search performance, achieves good results on 23 basic benchmark functions and CEC 2017, and effectively improves the problem that the algorithm falls into local optimal solution and has low search accuracy. This paper proposes an improved sparrow search algorithm based on iterative local search (ISSA). In the global search phase of the followers, the variable helix factor is introduced, which makes full use of the individual's opposite solution about the origin, reduces the number of individuals beyond the boundary, and ensures the algorithm has a detailed and flexible search ability. In the local search phase of the followers, an improved iterative local search strategy is adopted to increase the search accuracy and prevent the omission of the optimal solution. By adding the dimension by dimension lens learning strategy to scouters, the search range is more flexible and helps jump out of the local optimal solution by changing the focusing ability of the lens and the dynamic boundary of each dimension. Finally, the boundary control is improved to effectively utilize the individuals beyond the boundary while retaining the randomness of the individuals. The ISSA is compared with PSO, SCA, GWO, WOA, MWOA, SSA, BSSA, CSSA, and LSSA on 23 basic functions to verify the optimization performance of the algorithm. In addition, in order to further verify the optimization performance of the algorithm when the optimal solution is not 0, the above algorithms are compared in CEC 2017 test function. The simulation results show that the ISSA has good universality. Finally, this paper applies ISSA to PID parameter tuning and robot path planning, and the results show that the algorithm has good practicability and effect.

Design, development and control of flexure mounted linear displacement electromagnetic actuator

This paper presents design, development and control of Flexure Mounted Linear Displacement Electromagnetic Actuator (FMLDEA). In FMLDEA, an electromagnet is fixed to one end of the flexural arm which generates magnetic field to attract the opposite free end of the flexural arm and produces the desired displacement and force. The load–displacement analysis and harmonic analysis of the flexural arm is carried out using ANSYS analysis software. Mathematical modelling and simulation of the FMLDEA is carried out in MATLAB/Simulink to study its voltage-displacement characteristics. The linear power amplifier is designed to amplify the control voltage signal generated by MATLAB/Simulink through dSPACE DS1104 R&D control board. The experiments are carried out for input voltage signal and the resulting displacement of FMLDEA is measured and compared with the simulated results. Simulations for the closed loop tracking control of FMLDEA using PID controller is performed in MATLAB/Simulink. The experimental desired displacement of FMLDEA is controlled using PID controller through dSPACE DS1104 R&D controller board and a linear power amplifier. The suitable PID parameters are determined by Ziegler-Nichols second method. Experiments are carried out on the displacement control of the FMLDEA with sine and triangular actuation signal for different frequencies. The PID tuning is performed to obtain the smooth displacement of the developed FMLDEA. Position tracking control of the FMLDEA is simulated and compared with the experimental results and the maximum error was estimated.

AI-Based Proton Exchange Membrane Fuel Cell Inlet Relative Humidity Control

Humidity is a key factor affecting proton exchange membrane fuel cell (PEMFC) efficiency and output performance. Different working conditions have different requirements for humidity. Too high or too low water content inside the PEMFC will damage the output performance and even affect the PEMFC life. Therefore, how to control humidity appropriately is a crucial subject. This paper establishes a PEMFC internal water management and inlet humidity model, and analyzes the influence of the anode inlet humidity change on the performance of the PEMFC and the water content of the membrane through computational fluid dynamics (CFD) simulation. The direct control of the inlet humidity, which is difficult to be accurately measured, is converted to the temperature control of the bubble humidifier according to the proposed model, and a back propagation neural network proportion integration differentiation (BPPID) controller is proposed, which combines artificial neural network and digital PID control to adjust PID parameters in real time. The controller is applied to the temperature control of the bubble humidifier and compared with the traditional PID controller and the fuzzy PID controller. It is found that the performance of the BPPID controller is better through the comparison with the experimental results.

Genetic Algorithm Based PID Parameter Optimization

Knowing the value of PID parameters is important to tune the PID controller. There are different kinds of process to know the value of PID parameters. Genetic Algorithm is applied to find out the best value of PID parameters. Simulation process has been done by using code in MATLAB to initiate PID controller. In this work it has been shown that how to get the suitable value of PID parameters to tune the PID controller. Researching on different kinds of paper to get information about the process, at which we get the best value of PID parameters. The operation of PID controller depends on the value of PID Parameters. A block diagram shown the methodology part at which explain the whole process of this work. Performance Analysis of the procedure that applied to find the value of PID parameters. The value, which getting by using Genetic Algorithm is applied in (1<SUP>st</SUP> to 10<SUP>th</SUP>) order to calculate the fitness function. Different kinds of calculation, figure, graph and table shown in this work. After calculating the fitness value, it is obtained that which value is suitable for tuning the PID controller. These value is the resulting value to tune the PID controller.

An improved real-time temperature control for pulsed laser cutting of non-oriented electrical steel

An improved method based on fuzzy gain scheduling (FGS) control is developed in this study to tune the PID parameters and precisely control the working temperature in situ during laser cutting of non-oriented electrical steel sheets. Experiments on laser cutting of thin electrical steel sheets are performed to compare the cutting quality of kerf features using an open loop controller with a constant power, a conventional PID controller, and the proposed FGS controller. An unstable and inconsistent cutting quality of kerf with a larger heat affected zone (HAZ) and dross attachment is observed under open loop control due to a significant variation of working temperature and kerf width along the cutting path. The FGS controller shows better cutting performance and tracking response than the conventional PID controller by reducing the settling time as well as enhancing the control stability in the steady period. A better quality of finer and uniform kerf width with parallel kerf edges of a smaller HAZ and dross attachment are thus produced by the improved FGS control through real-time tuning of control parameters. Finally, the average kerf width is well correlated with the set-point temperature in FGS control by a linear equation.

LQR and GA based PID Parameter Optimization: Liquid Level Control Application

Bu çalışmada iki farklı metot kullanılarak PID parametre ayarlaması yapılmıştır. İlk olarak Doğrusal Karesel Düzenleyici (LQR) yaklaşımı kullanılarak maliyet fonksiyonu minimize edilmiş ve optimal parametreler elde edilerek LQR tabanlı PID denetleyici tasarlanmıştır. Ardından LQR maliyet fonksiyonunun minimizasyonu için Genetik Algoritma (GA) kullanılmış ve GA tabanlı PID denetleyici tasarlanmıştır. Tasarlanan PID denetleyiciler bir sıvı seviye kontrol sisteminde benzetimsel ve deneysel olarak test edilmiş ve performans karşılaştırmaları yapılmıştır. Deneysel sonuçlar, GA tabanlı PID'nin performansının LQR tabanlı PID'den performans indisleri açısından daha başarılı olduğunu göstermektedir. GA Tabanlı PID için normalize edilmiş ITSE indisi 0.6479 ile daha başarılı performans sergilemiştir.

Rancang Bangun Robot Three wheeled Omnidirectional Dengan Konfigurasi Mikrokontroler Master-Slave

Three wheeled omnidirectional robot has been used in industries and academics fields because its ability to move freely and simultaneously both rotation and translation. Free movement in this robot is assisted by omni wheel which consists of wheels and rollers. So, the movement of this robot is a combination of wheel and roller rotation. At present, the task given to the mobile robot is increasingly complex, so it makes microcontroller’s workload heavier. A microcontroller’s workload could be lightened by master-slave configuration to divide the microcontroller’s tasks. The wheel rotating speed control system uses a pid controller to obtain a fast and stable wheel speed response. The PID parameters, kp,ki,kd were obtained by using the hand tuning method. The testing results shown the average error of robot direction is 4,3750 and the direction of the robot’s face changed 5.750.

A novel interval dynamic reliability computation approach for the risk evaluation of vibration active control systems based on PID controllers

PID control is widely used in vibration control systems. However, there are various uncertainties present in practical engineering, and the PID parameters obtained from a deterministic system may fail. Thus, reliability estimation is necessary to solve this problem. To avoid the disadvantages of traditional probabilistic methods, a non-probability based method to calculate time-dependent reliability is introduced to estimate the safety of a vibration active control system of based on PID controller performance. Next, the subinterval method is used to calculate a closed-loop response with large uncertainties and the first-passage theory is utilized to calculate the time-dependent reliability. Finally, one discrete mass-spring-damper system is analyzed for comparison with the collocation method and two panel structures (an elastic panel and a solar panel) are reliability evaluated to show the effects of the number of PID controllers and the displacement constraints.

Variation of fraction in FOPID controller for vibration control of Euler–Bernoulli beam

Fractional-order derivatives and integrals have gained serious attention by the researchers in past few decades. It has been observed that fractional calculus is more suitable in modeling real life systems. In this paper, Fractional-Order PID (FOPID) controller is studied to suppress the vibration of cantilever beam modeled by Euler–Bernoulli model. Finite difference method is applied to analyze the behavior of the system at different fractional orders of PID controller, and the governing equations are simulated using MATLAB. The response of the system is evaluated at different fractional-order control points, under constant PID parameters ( $$K_{p} ,K_{i} ,{\text{and}} K_{d}$$ ). Furthermore, the variation of frequency in transient response and $$5\%$$ settling time is observed. Simulation results reveal that, though system with fractional order controller is more flexible now, the classical model of PID controller can also be properly tuned through PID constants to achieve the resultant response of the system. So, due to more simplified modelling, the classical model has an edge over the fractional order in the vibration control of cantilever beam.

Research on PID Parameter Tuning Based on Improved Artificial Bee Colony Algorithm

Aiming at the difficulty of tuning industrial PID control parameters, an improved artificial bee colony PID tuning method is proposed. The improved artificial bee colony algorithm (IABC) uses Boltzmann selection mechanism to avoid premature convergence of roulette mechanism; at the same time, the global crossover mechanism is introduced in the domain search, which enhances the direction of the algorithm; and through chaotic avoiding search, the diversity of population is increased and the ability of global search is improved. Finally, the IABC algorithm is applied to PID parameter optimization of second order system. The simulation results show that the IABC algorithm obtains smaller ITAE and adjustment time than the basic artificial bee colony algorithm and Ziegler-Nichols engineering tuning method, and there is no overshoot. The performance of IABC algorithm is obviously improved.

Autotuning procedure for energy modulation in Mössbauer spectroscopy

An autotuning procedure for driving energy modulation in Mössbauer spectroscopy is described in details. This procedure is applicable for those velocity modulation units which provide a signal proportional to the velocity, e.g. double speaker linear motors. It eliminates manual tuning of PID parameters and, moreover, allows to operate the velocity modulation unit on any frequency, i.e. above, below or in a resonance. The proper performance of the procedure is demonstrated by the measurement of 12 μm α-iron Mössbauer spectra.

Research on Fuzzy Adaptive PID Control of Hydraulic System of Pitch–Propeller

Based on the analysis model, a fuzzy adaptive PID control strategy is proposed, which is based on the analysis model, which is based on the analysis model. In this paper, the hydraulic system model of the pitch valve is established by analyzing the flow and the motion equation of the pitch system. Rule table, in order to achieve the PID parameter online tuning. The simulation results show that the fuzzy adaptive PID control has better tracking performance and better anti-jamming robust performance.

Parallel distribution compensation PID based on Takagi-Sugeno fuzzy model applied on egyptian load frequency control

This paper presents a new technique for a Takagi-Sugeno (TS) fuzzy parallels distribution compensation-PID'S (TSF-PDC-PID'S) to improve the performance of Egyptian load frequency control (ELFC). In this technique, the inputs to a TS Fuzzy model are the parameters of the change of operating points. The TS Fuzzy model can definite the suitable PID control for a certain operating point. The parameters of PID'S controllers are obtained by ant colony optimization (ACO) technique in each operating point based on an effective cost function. The system controlled by the proposed TSF-PDC-PID’S is investigated under different types of disturbances, uncertainty and parameters variations. The simulation results ensure that the TSF-PDC-PID'S can update the suitable PID controller at several operating points so, it has a good dynamic response under many types of disturbances compared to fixed Optimal PID controller.

AGC optimization of supercritical heating unit

A 330MW supercritical coal-fired unit, the unit undertakes the task of industrial steam supply all year round, with a rated steam supply flow of 250t/h. Due to the poor heat storage capacity of the unit and the large industrial steam supply of the unit, the unit is not performing well in the AGC-PROPR mode, Periodic large fluctuations in main steam pressure affect the safety of the unit, AGC performance indicators do not meet the requirements, and this unit is often evaluated by the power grid. In order to improve the AGC adjustment performance of the unit, increase the conversion circuit of heating load and electric load, improve the logic of steam turbine main control, boiler main control and fuel main control, and optimize the PID parameters in a targeted manner. Through optimization, the main steam pressure of the unit does not fluctuate greatly, and the K1, K2, K3 indicators meet the requirements.

Imperialist Competitive Algorithm Optimised Adaptive Neuro Fuzzy Controller for Hybrid Force Position Control of an Industrial Robot Manipulator: A Comparative Study

Due to the nonlinear nature of the dynamics of a robot manipulator, controlling the robot meticulously is a challenging issue for control engineers. The key purpose of this paper is to provide an accurate intelligent method for refining the functionality of orthodox PID controller in the problem of force/position control of a robot manipulator with unspecified robot dynamics during external disturbances. A grouping of imperialist competitive algorithm (ICA) and adaptive neuro fuzzy logic is applied for the tuning of PID parameters. This, therefore, forms an intelligent structure, adaptive neuro fuzzy inference system with proportional derivative plus integral (ANFISPD + I) controller, which is more precise in definite and indefinite circumstances. To show the efficiency of the proposed method, this algorithm is applied to solve constrained dynamic force/position control problem of PUMA robot manipulator. The simulated results are compared to those achieved from other evolutionary techniques such as Genetic Algorithm (GA) and Particle Swarm Optimisation (PSO). The simulation results exhibit that ICA-based ANFISPD + I outperforms the other evolutionary techniques. Highlights An ICA-ANFISPD + I-based hybrid force/position controller has been proposed. Easy to implement. Works well in the case of disturbances. Actuator Dynamics has been considered. External disturbances have been considered. Robot dynamics are unknown.