PID Position Research Articles

Design of Position PID Control Algorithm

The servo control scheme on the basis of single-chip, this paper presents a solution to a positional PID control algorithm, the algorithm is to control the volume when full output, adding proportional, integral, differential link, the feedback to the output, complete closed-loop Control system to speed up the controlled response rate. Successfully solved in a short time the steering gear to achieve the desired effect, speed up the steering gear response rate.

Comparison of PD, PID and Sliding-Mode Position Controllers for V–Tail Quadcopter Stability

In this paper, a comparison of PD, PID, and SMC position controllers for a V-tail quadcopter is presented. First, a customized design of the V-tail quadcopter is shown to know the parameters of this structure and compare them with the commonly $\times $ structure quadcopter used in most papers. Then, the dynamic analysis of the V-tail quadcopter using the Newton–Euler formulation is presented. The main contribution of this paper remains in the design and Lyapunov stability analysis of the PD, PID, and SMC position controllers for the V-tail quadcopter because the robot manipulator methodology was used, treating the V-tail quadcopter as a robot manipulator. The simulation results validate the proposed controllers and algorithms for the V-tail quadcopter when the three controllers reach the desired position. Also, a non-conventional variable is introduced to study the stability analysis of unmanned aerial vehicles when controlled by PID position controller. Finally, a comparison between the three designed controllers for the V-tail quadcopter is presented, where the differences between each can be appreciated. So that, for the first time, three controllers for the V-tail quadcopter designed using the robot manipulator theory is presented.

PSO Based PID Controller for Quadrotor with Virtual Sensor

Recent development and implementation on intelligent control system has lead to the development of virtual sensing system technology. Virtual sensing system allows immeasureable state variables to be accurately predicted, which is very beneficial to reduce the amount of sensors required to monitor and control a system, especially for the case of controlling a quadrator. This paper proposes a novel technique to design a PID control using virtual sensing system, consisting of Diagonal Recurrent Neural Network (DRNN) and Extended Kalman Filter (EKF), which predicts the immeasureable states of the quadrator system based on the current states and control inputs. A bio-inspired optimization technique, Particle Swarm Optimization (PSO), is proposed to be applied in DRNN to avoid any possibilities from local extreme condition. Further, a PSO based PID position controller is also developed to be integrated with the designed virtual sensing system to control a quadrator.

Study on Sensorless Drive of a Helical Teethed Linear Actuator

This paper describes the rotation angle sensorless drive of a helical teethed linear actuator (HTLA) for artificial muscle. The position control with vector controller is required the linear and rotary position of the mover of the HTLA. However, to simultaneously measurement the linear and rotary signals is required complicated structure. The proposed estimation method utilizes the magnetic saliency of the mover and linear encoder signal. In this study, the estimation accuracy of the rotation angle was calculated by 3D-FEM analysis and measured by prototype. In addition, we investigated the response characteristics under PID position control using the estimated rotation angle. As the result, the maximum estimation error is 7.5 deg. in the initial stable position of the prototype. Moreover, experimental result show that position control can be performed using the proposed estimation method.

Global PID Control of Robot Manipulators Equipped with PMSMs

AbstractThis paper is concerned with PID position regulation of robot manipulators actuated by permanent magnet synchronous motors (PMSMs). We present a global asymptotic stability proof when the electric dynamics of these actuators is taken into account. Our controller is so simple that it differs from standard field oriented control (SFOC) of PMSMs in only three simple nonlinear terms that have to be added and a nonlinear PID controller which is used instead of a classical PID controller. Thus, our proposal represents the closest result to SFOC of PMSMs provided with a formal global asymptotic stability proof. We present an advancement, if modest, towards presenting a global stability proof for SFOC when used in robotics.

Dynamics and Control of a Robotic Arm Having Four Links

The manipulator control is an important problem in robotics. To work out this problem, a correct dynamic model for the robot manipulator must be in hand. Hence, this work first presents the dynamic model of an existing 4-DOF robot manipulator based on the Euler–Lagrange principle, utilizing the body Jacobian of each link and the generalized inertia matrix. Furthermore, essential properties of the dynamic model are analyzed for the purpose of control. Then, a PID controller is designed to control the position of the robot by decoupling the dynamic model. To achieve a good performance, the differential evolution algorithm is used for the selection of parameters of the PID controller. Feedback linearization scheme is also utilized for the position and trajectory tracking control of the manipulator. The obtained results reveal that the PID control coupled with the differential evolution algorithm and the feedback linearization control enhance the performance of the robotic manipulator. It is also found out that increasing masses of manipulator links do not affect the performance of the PID position control, but higher control torques are required in these cases.

Hybrid Impedance/Position Control of a Free-Flying Space Robot for Detumbling a Noncooperative Satellite

This paper presents hybrid impedance/position control of a free-flying space robot for detumbling a noncooperative satellite. Detumbling a noncooperative satellite by a single serial-link manipulator is achieved using a novel hybrid control scheme in which position-based impedance control in the direction normal to the surface of a noncooperative satellite realizes soft contact between the end tip of the robot’s manipulator and the desired contact point on the satellite, while PID position control in other directions maintains the end-tip position and orientation at the same contact point. The hybrid control scheme utilizes vectors expressed in a reference frame fixed in a noncooperative satellite. Simulation results in a two-dimensional planar case show that our approach of using the proposed hybrid impedance/position control scheme succeeded in realizing zero angular velocity of a noncooperative satellite.

MULTI-SENSOR FUSION BASED UAV COLLISION AVOIDANCE SYSTEM

This paper presents the development of a quadrotor unmanned aerial vehicle (UAV) that is capable of detecting and avoiding collision with obstacles through the implementation of Kalman filter-based multi-sensor fusion and cascaded PID position and velocity controllers. Sensor fusion of ultrasonic (US) and infrared (IR) sensors is performed to obtain a reliable range data for obstacle detection which then fed into collision avoidance controller (CAC) for generating necessary response in terms of attitude commands. Results showed that sensor fusion provided accurate range estimation by reducing noises and errors that were present in individual sensors measurements. Flight tests performed proved the capability of UAV to avoid collisions with the obstacle that was introduced to it during flight successfully.

Calibration of encoder indexing of a redundantly actuated parallel mechanism to eliminate contradicting control forces

ABSTRACTThis paper presents the kinematic calibration of a two degree-of-freedom redundantly actuated parallel mechanism (RAPM), with the aim of eliminating contradicting control forces (CCF). The kinematic errors in the RAPM induce CCFs, especially in the case of decentralized individual position control, which is the standard control method used in industrial applications. The encoder indexing errors of the actuated joints are known to be of strong influence on the CCFs. Therefore, it is believed that the CCFs will be eliminated if the encoder indexing errors are corrected. We proved this through experiments. We performed the calibration using a projection technique, wherein we projected tracking error terms onto orthogonal complementary terms of the constraint Jacobian between the independent joints and actuated joints. Using this projection technique, the effect of tracking error terms from the joint stiffness and external force is eliminated. During the calibration process, the tracking errors in the actuated joints are measured. Using these errors, we derived the optimal values of the encoder indexing error by minimizing the objective function. We verified the calibration result by comparing the CCFs measured before calibration with those measured after calibration, for the case of individual PID position control. Our results confirmed that the calibration procedure of encoder indexing errors successfully reduces the average norm value of CCFs from 366 N to 13 N.

Trajectory tracking control for an indoor quadrotor UAV based on the disturbance observer

A quadrotor is a kind of vertical takeoff and landing unmanned aerial rotorcraft which has been attracting wide interest around the world. However, small-scale quadrotors usually suffer from modeling error and external disturbance which are severe challenges for the control system design. To this end, the disturbance-observer-based (DOB) control strategy is applied to reject the performance degradation caused by the above negative factors. To further improve the trajectory tracking precision for an indoor quadrotor suffering from modeling error and external disturbance, a linear dual DOB (LDDOB) trajectory tracking control scheme is developed in this paper. Considering the practical implementation in engineering, the LDDOB position control approach is developed based on the linear quadrotor model. In addition, regarding to the non-minimum phase characteristic of the translational motion model, a modified version of a PID position controller is utilized to attenuate the undershoot of the closed-loop system in the initial response. Extensive numerical simulations show the effectiveness of the proposed trajectory tracking control scheme.

Experimental study for FPGA PID position controller in CNC micro-machines

Real-time control systems based on Field Programmable Gate Array (FPGA) can make a huge number of computational operations in a short period of time under deterministic constrains; thus, electric drives in micro-machines could improve their performance deploying digital controllers in FPGA. On the other hand, conventional PID controllers for CNC micro machines have been implemented for controlling several industrial applications but there are not enough number of research papers that deal with electric drive efficiency in position close loop control using PID controllers. Thus, this paper presents a complete analysis when the electric drive for position close loop is working outside the operation point in a CNC micro machine. Experimental results illustrate the performance of the electric drive when the efficiency is considered and different materials are machining. In addition, a comparison is presented between non-real time PID controller which is based on LabVIEW USB card and the real time PID controller deployed in a LabVIEW c-RIO.

1P1-C04 動作範囲が限られたロボットマニピュレータの関節の速度依存摩擦力の同定手法

This paper proposes the identification procedure for rate-dependent friction of robotic manipulators with limited motion range due to the configuration or environment. The procedure is characterized by following three features: (i) the function for the curve fitting is defined by linear interpolation and extrapolation of sampled velocity-force pair points, (ii) each joint is controlled by high gain PID position controller of some cycles of sinusoidal desired trajectory with different frequencies, and (iii) the velocity-force pairs are obtained from each cycle with subtracting the effect of the gravity and the inertia. The procedure was validated with an industrial robotic manipulator YASKAWA MOTOMAN-HP3J, in which harmonic-drive gearings are embedded.

Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

Pneumatic Muscle Actuator (PMA) has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.

Research of Magnetic Field Navigation Intelligent Vehicle System Based on Difference Algorithm

To implement intelligent vehicle control system based on magnetic field detection, automation navigation scheme based on difference algorithm is proposed. The feature of magnetic field of the road is analyzed, and layout method of sensors is proposed, and signals of magnetic field sensors are gathered and filtered, and road control strategy based on difference algorithm is proposed, and steering gear is used to implement cornering of intelligent vehicle, and position PID algorithm is used to implement speed control of intelligent vehicle. The experiment result shows that intelligent vehicle using this scheme can work steadily at high speed, and has higher practicability and is worth to be propagated in many fields.

Research on Rehabilitation Robots of Motion Control PID

£o With its simple structure, good stability, reliable, easy to adjust, PID control is becoming one of the important technical of the process control field, and its study has been the focus of the field of motion control. The main content of this article refer to Analog PID, Positional PID, Incremental PID and Feedforward Compensation PID, introducting their principles and their model analysis, and giving their algorithm simulation results.

Dynamic Analysis and Optimization of Parallel Manipulator

Electromechanical coupling dynamic model of parallel manipulator is a kind of a complicated electromechanical system which is multi‐input, multi‐output, nonlinear and strong coupling. There is not a perfect method to calculate dynamic modeling and simulation of parallel manipulator at present. 6UPS‐parallel manipulator dynamic model was set up by Lagrange method; PID position controller was designed; and the controller parameters were optimized by inertia weight adaptive particle swarm optimization in the article. It was proved that the modeling of electromechanical coupling dynamic model was right and the manipulator was controlled well by the controller through the simulation result of computer.

Development of a Temperature Control System Based on DSP for a Real-Time PCR Instrument

In this paper, we develop a temperature control system based on DSP chip TMS320F28335 for a small real-time PCR instrument. In the system, PWM waves generated by the DSP passes through power amplifier circuit to drive the peltier, and a pt100 is used as a temperature sensor to build a Wheatstone bridge sensing circuit. The temperature signal from the pt100 is converted into voltage signal. Then the voltage signal goes through the A/D converted module and the Position PID algorithm to adjust the duty cycle of the PWM waves. Experimental results show that the system's rising and cooling rate can reach 4°C/s with an accuracy of 0.2°C.

Hybrid Adaptive Control for Aerial Manipulation

This paper presents a control scheme to achieve dynamic stability in a mobile manipulating unmanned aerial vehicle (MM-UAV) using a combination of Gain scheduling and Lyapunov based model reference adaptive control (MRAC). Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the saftey of the aerial manipulation missions.

Design and Performance Testing of Proportioning Weighing Instrument Based on Position PID

To accomplish the requirement of Coking Coal Company, we design proportioning belt weighing [1] and its instrument; it also can be used in metallurgy and material industries. The instrument controller is comprised of microcontroller, signal processing unit, shaping circuit, real time clock and so on, its program arithmetic adopt integral separation position PID with dead band .the whole proportioning weighing instrument can not only show accumulative value but also adjust the quantity of instantaneous materials. Last, the result of experiment meet fully the GB/T 7724-1999 standard for the proportioning belt weighting instrument displaying controller requirements.