Proportion Integration Differentiation Control Method Research Articles

Research on unmanned navigation and PID control method for aircraft tractor

Unmanned navigation and control systems are gaining traction in various industries, including aviation. The related issues of control systems are also hot topics in research. This paper comprehensively studies the application of unmanned navigation and the implementation of proportional integral differential (PID) control methods for aircraft tractors. Aiming at the characteristics of large deviation of turning trajectory angle error and long lag time in the process of an unmanned tractor, the dynamic characteristics and state equation of the unmanned tractor are established by the PID method, and the motion equation is established by the Cartesian coordinate system. Finally, the simulation results show that the proposed method has good dynamic stability and rapidity. Compared with proportional control or integral control alone, the PID control system has better stability and a faster frequency response, which can be obtained that the PID control algorithm can effectively improve the work efficiency of the unmanned tractor and reduce its instability and slow response.

Mode Switching Control for Drag-Free Satellite Based on Region of Attraction

This paper aims to propose a switching rule to improve the efficiency and stability of the mode switching process for the drag-free satellite. The switching rules will ensure the stability of the different controllers during the switching process. Unlike traditional satellite switching control, the inner loop and the outer loop of the drag-free satellite are strongly coupled. The drag-free satellite not only needs to consider the controller design in the inner loop but also the controller design of the outer loop. In the outer loop, a Proportion Integration Differentiation control method is adopted to design the controller. In the inner loop, considering the release error effect of the test mass, a nonlinear sliding-mode control is employed as a controller before the mode switch. The H∞ mixed-sensitivity controller, to improve the robustness of the system and solve the problem of controller saturation, is designed after the mode switch. In the stability analysis of the switching system, the piecewise continuous Lyapunov function method is adopted. The region of attraction, which is used as the switching rule, is calculated based on the sum of squares. The obtained results demonstrate that the proposed switching rule satisfies the control accuracy and system stability.

Research on the electro-hydraulic servo system of picking manipulator

To meet the demand for high-altitude fruit picking, a luffing mechanism system is designed and used to control the hydraulic cylinder. Combined with the performance index of the servo system, the fuzzy proportional–integral–differential (PID) is adaptive and strong, and the robustness of the picking robot is simulated. Using the MATLAB/Simulink module, the fuzzy PID controller model of the electro-hydraulic servo system for picking the robot arm is established. The simulation results show that the fuzzy PID controller model can effectively reduce the error and meet the requirements. Through the simulation of the picking robot arm, the results show that the fuzzy PID control method can not only improve the performance of the picking robot arm but also provide a reference value for future optimization control.

Research of vibration and crack propagation controls on an asymmetrical cracked rotor

To investigate vibration characteristics and delay crack propagations of an asymmetric cracked rotor, the 3D finite element model of the rotor system with a nonlinear contact method is established. Resonance characteristics of the asymmetrical rotor without a crack and within different locations of a crack are investigated systematically. Numerical results show that a crack affects vibration frequencies and the unstable region of the rotor. Meanwhile, an improved proportional integral differential control method with the electromagnetic actuator is used to accomplish the delay crack propagation and the vibration suppression. Based on the mapping model of opening and closing states of a crack, the effects of rotational speeds, an unbalance, and asymmetries of the rotor are discussed in detail. Experimental results show that vibrations and the breathing behavior of cracks in the rotor with the electromagnetic actuator can be suppressed, and the effectiveness of the proposed mapping model of opening and closing states of a crack is verified.

The Roadheader Auto-Rectification Dynamic Analysis and Control Based on the Roadway Floor Mechanic Characteristics

The auto-rectification of the roadheader is one of the most key steps in the roadway auto-cutting progress, and the performance of the roadheader rectification on the mechanized excavation faces the key performance parameter. The determination of the roadway floor mechanical parameter is the big challenge and difficulty to the automation excavation of the roadheader. Combined the component of the roadway floor mechanical property and experiment parameters for the mechanical parameters regression equation, the floor mechanical parameter formula can be got, which is accurate and could be utilized in calculating the resistance. Analyzing the finite element part on the compaction resistance and steering resistance of the roadheader track, the accurate and reliable dynamic model of the roadheader rectification can be built. Combined with the roadheader’s structure and motion characteristic, the neural net PID(Proportion Integration Differentiation)control method is proposed which can real-time adjust the control parameters. Then the dynamic model and control method are simulated by MATLAB and the control method is tested by the roadheader control experiment system. Based on the experiment result, the designed control system can well meet the control requirements, fast response, small overshoot and better stability, which could ensure the good dynamic performance of the roadheader and the cutting quality of the roadway. It could be the theoretical basis and important technical support for the intelligent mining of coal mine.

Research on the tension control method of lithium battery electrode mill based on GA optimized Fuzzy PID

In the industrial field, the lithium battery industry has a long history and a large market scale. Lithium battery electrode strip rolling mill belongs to the high-end production equipment in the lithium battery industry. However, due to its complex structure, the tension of lithium battery electrode mill is prone to large fluctuation. This will lead to the phenomenon of wrinkle and looseness, which will affect the quality of the electrode strip. At present, the tension control method of lithium battery electrode mill mostly adopts traditional Proportional-Integral-Differential(PID) control. Under this control mode, the production speed and precision of lithium battery electrode mill need to be improved. In this paper, the fuzzy PID tension control method of lithium battery electrode mill based on genetic optimization is studied. Based on fuzzy theory and PID control method, a tension fuzzy PID model is established for experimental verification, and the initial parameters and fuzzy rules of fuzzy PID are optimized by Genetic Algorithm(GA). This method has better stability, can improve the precision of strip tension control, make the tension more stable when the rolling mill is running, and help to improve the quality of electrode strip production.

Research of RBF-PID Control in Maglev System

Control of the maglev system is one of the most significant technologies of the maglev train. The common proportion integration differentiation (PID) method, which has fixed control parameters, ignores the non-linearity and uncertainty of the model in the design process. In the actual process, due to environmental changes and interference, the inherent parameters of the system will drift significantly. The traditional PID controller has difficulty meeting the control requirements, and will have poor control effect in the actual working environment. Therefore, a radial basis function (RBF)-PID controller is designed in this article, which can use the information from the levitation system identified by the RBF network to adjust the parameters of the controller in real time. Compared with the traditional PID control method, it is shown that the RBF-PID method can improve the control performance of the system through simulation and experiment.

Research on control method of unmanned underwater vehicle dynamic positioning based on energy consumption optimization

To satisfy the requirements of position control accuracy and allow unmanned underwater vehicle to maintain in the target zone with energy consumption as little as possible, this article proposes a flexible dynamic positioning strategy and control method, so as to extend the operating time of unmanned underwater vehicle dynamic positioning. Taking the distance between unmanned underwater vehicle and target point as the judgment condition for control method switching, this article delimits the working zone of different control levels for unmanned underwater vehicle and designs corresponding dynamic control methods for different working conditions. When unmanned underwater vehicle is far away from the target point, cuckoo search optimization method is proposed to plan the optimal motion scheme of energy consumption for the process of unmanned underwater vehicle reaching the target point. When unmanned underwater vehicle is close to the target positioning point, a flexible model predictive control method is proposed to reduce the energy consumption of unmanned underwater vehicle in the process of dynamic position control. The simulation case is designed to verify the flexible dynamic control capability of monomer unmanned underwater vehicle. The experimental results show that the strategy and control method proposed in this article, compared with the traditional proportion integration differentiation control method, could obtain the same control effect and reduce energy consumption, to achieve the purpose of prolonging the unmanned underwater vehicle operating time.

An intelligent controller design based on the neuroendocrine algorithm for the plasma density control system on Tokamak devices

Abstract Realization of real-time and accurate control of plasma electron density is one of the key points for the long-time steady-state operation of Tokamak. Based on the mechanism model of the neuroendocrine regulatory principle, this paper designs an intelligent controller and studies its application on the plasma density control system (PDCS) for the J-TEXT Tokamak. This PDCS uses the HCN laser interferometer to obtain the density signal, and controls the gas puffing valve through the proposed intelligent control algorithm to achieve accurate density control. The controller mainly includes a hypothalamic regulation module, a single neuron proportional-integral-differential (PID) control module and an ultrashort feedback module. It is designed and referenced to the long feedback, short feedback, and ultra-short feedback loop mechanisms of the human neuroendocrine hormone regulation. The proposed controller makes the PID parameters be adjusted on-line in real-time and achieves rapid and stable elimination of errors. The simulations and experimental results show that the proposed method, compared with the conventional PID control method, can synthetically improve the performance of the control system.

Luenberger-Sliding Mode Observer Based Backstepping Control for the SCR System in a Diesel Engine

In order to keep the ammonia (NH3) slip of the downstream selective catalytic reduction (SCR) system at a low level and simultaneously achieve a high nitrogen oxide (NOX) conversion rate, a Luenberger-sliding mode observer based backstepping control method is proposed. Considering that the internal working condition of the catalyst cannot be measured by commercial sensors directly, a Luenberger-sliding mode observer is designed to estimate the ammonia concentration at the middle of the catalyst. In addition, based on the stepped distributed characteristic of the surface ammonia coverage ratio along the SCR axial direction, a backstepping control method is utilized for the SCR system, in which the SCR system is decomposed into two subsystems. Firstly, the Lyapunov function is designed to ensure the convergence of the downstream subsystem, and then the virtual control law is obtained. After that, taking the virtual control law as the tracking target of the upstream subsystem, the Lyapunov function of virtual control law is given. Finally, the actual control law of the whole closed loop system is acquired. Simulations under different conditions are conducted to investigate the effect of the proposed control method. In addition, comparisons with the traditional PID (Proportion Integration Differentiation) control are presented. Results show that the proposed method is much better than the PID control method in overshoot, setting time, and tracking error.

Investigation on sticking for drill rod based on finite element analysis and fuzzy proportion–integration–differentiation

In order to investigate the essence of sticking for drill rod served in underground coal mine, a comprehensive solution combing finite element analysis with fuzzy proportion–integration–differentiation on the drilling rig is proposed. First, the structure and working mechanism of the drilling rig are studied; then, the static and modal analyses on the drill rod with finite element analysis are performed according to the actual working conditions of the drilling rig. Furthermore, a load-sensing hydraulic power system of the drilling rig is built, and the co-simulation with AMESim and Simulink is performed on the response, overshoot, and vibration, when the hydraulic power is controlled with the conventional control method, proportion–integration–differentiation control method, and fuzzy proportion–integration–differentiation method, respectively. The simulation results show that the strength, stiffness, and vibration frequency of the drilling rig model meet the working requirements, and no resonance occurs; furthermore, the load-sensing hydraulic power system with fuzzy proportion–integration–differentiation method is preferable than the other two control methods.

Active-Passive Combined Control System in Crane Type for Heave Compensation

For the purpose of researching the displacement control system of heave compensation for offshore drilling platform, a set of crane type active and passive combined heave compensation device are designed on the basis of the similarity principle. As it known that platform heaving will be caused by the wind, sea wave and ocean current when conducting the drilling operations on the offshore drilling platform, which then will disturb the drilling operation. Therefore, the compensation device must be adopted to keep the vertical relative motion between the drill string system and the drilling platform to zero during the operation. Meanwhile, to improve the real-time performance of the heave compensation, the control system is optimized by establishing the simulation model of the active-passive combined crane, and LS-SVM (Least Squares Support Vector Machine) is improved by the artificial immune algorithm to predict the motion trend of offshore platforms. Eventually, in order to acquire the best control scheme, the Proportion Integration Differentiation (PID), fuzzy PID, BP neural network PID control method are utilized to carry out the simulation analysis, and the BP neural network PID control is found to be the optimum. Experiments showed that after using the BP neural network PID control algorithm, the displacement compensation rate of hook for active-passive combined crane device is more than 90%, the performance of the heave compensation is better, and the control is in time.

Fast velocity trajectory planning and control algorithm of intelligent 4WD electric vehicle for energy saving using time‐based MPC

For intelligent four-wheel-drive (4WD) electric vehicle (EV), the vehicle speed can be planned and controlled for energy saving based on the slope information of road ahead. To reduce the calculation load of the optimisation algorithm, the model predictive control (MPC) method is formulated based on the time horizon in this study. Furthermore, a fast gradient method based control tool-GARMPC is used to solve the optimisation problem. First, the longitudinal dynamics model of 4WD EV based on time horizon and distance horizon is established based on the road slope information, respectively. Second, the MPC problem based on the time-discrete model is formulated and solved by GARMPC tool. For comparison, a dynamic program (DP) control method is introduced based on the distance-discrete model. Finally, the simulation is conducted under a designed road condition and a real measured road condition. The results show that the time-horizon based MPC method can significantly reduce the energy consumption compared with the proportion integration differentiation control method, which is similar to the driver's operation. Compared with the DP optimisation method, the time-based MPC method reduces the calculation time to smaller than 1 ms, which is essential for real-time application in a road vehicle.

AVR의 응답속도개선을 위한 제어기법에 관한 연구

Method for regulating voltage using a generator voltage regulating device (AVR) is divided in an existing analog system and a digital replacement. Typically, to adjust the voltage by using a brushless excitation system of the type to be reduced for a voltage change under all. The control method of the AVR as a PID (proportional-integral-differential) control method is widely used. However, the control scheme is to reduce the transient response of the control parameters of the controller to the control object. Therefore, if the control target should change, there is a problem, reset the parameters of the controller again. In this study, without having to reset the parameters of the controller for the parameter variations to be controlled iPID (intelligent PID) using a controller designed to obtain a generator AVR system voltage variation is small in response to full load is applied to and through simulations and experiments improved transient response.

Optimization of PID Controller Parameters on Flow Rate Control System Using Multiple Effect Evaporator Particle Swarm Optimization

This study aims to improve the performance of Proportional+Integral+Differential (PID) control to reduce the speed of the steam flow rate and search optimal points in the evaporation process of Multiple Effect Evaporator (MEE). Optimization of PID control tuning parameters using Particle Swarm Optimization (PSO) by adding a weighting factor of inertia is expected to handle nonlinear systems with evaporator undershoot response characteristics that are difficult to treat and improve response of the system with large overshoot, and long rise time. The results showed PSO is able to provide improved performance tuning PID control system to improve system response in MEE control system with a rise time of 0.01 seconds, 3.35% overshoot, settling time of 6.10 seconds and able respond plant undershoot MEE of 28.11%.The results show that, PSO with inertia weight w provides additional tuning better than PID control by ZN method of max criteria over shoot, rise time and settling time of 5.38%, 3.05 seconds, 10.1 seconds, compared to tuning PID control method with PSO (3.35%, 0.01 seconds, 6.10 seconds).

Fuzzy PID Control of Space Manipulator for Both Ground Alignment and Space Applications

Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential (PID) control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control, the control performance of the fuzzy PID is more effective for manipulator trajectory control.

A Power Smoothing Control Strategy and Optimized Allocation of Battery Capacity Based on Hybrid Storage Energy Technology

Wind power parallel operation is an effective way to realize the large scale use of wind power, but the fluctuations of power output from wind power units may have great influence on power quality, hence a new method of power smoothing and capacity optimized allocation based on hybrid energy storage technology is proposed in terms of the uncontrollable and unexpected characteristics of wind speed in wind farms. First, power smoothing based on a traditional Inertial Filter is introduced and the relationship between the time constant, its smoothing effect and capacity allocation are analyzed and combined with Proportional Integral Differential (PID) control to realize power smoothing control of wind power. Then wavelet theory is adopted to realize a multi-layer decomposition of power output in some wind farms, a power smoothing model based on hybrid energy storage technology is constructed combining the characteristics of the Super Capacitor (SC) and Battery Energy Storage System (BESS) technologies. The hybrid energy storage system is available for power fluctuations with high frequency-low energy and low frequency-high energy to achieve good smoothing effects compared with a single energy storage system. The power fluctuations filtered by the Wavelet Transform is regarded as the target value of BESS, the charging and discharging control for battery is completed quickly by Model Algorithm Control (MAC). Because of the influence of the inertia and the response speed of the battery, its actual output is not completely equal to the target value which mainly reflects in high-frequency part, the difference part uses SC to compensate and makes the output of battery and SC closer to the target value on the whole. Compared with the traditional Inertial Filter and PID control method, the validity of the model was verified by simulation results. Finally under the premise of power grid standards, the corresponding capacity design had been given to reduce the size of the energy storage devices as far as possible, which has a certain practical engineering value.

Based on NERGA a Novel Decentralized PID for Non-Square System

Multivariable non-square system with time delays often arises in the chemical production process. Owing to the matrix that is adopted to describe non-square system is not square, many classical multivariable control methods can be hardly applied in such system. In this paper, based on Non-square effective relative gain (NERGA) a novel decentralized PID control method is proposed. The input and output loops of the non-square system are paired though NERGA firstly, and then strong robust decentralized multivariable proportional-integral-differential (PID) controllers are designed individually based on the squared models. Finally, Simulation study was carried out for three inputs and two outputs system, the simulation results can demonstrate the effectiveness of the proposed method.

Flight path control of small unmanned air vehicle

AbstractIn this paper, a path following control system for a small and light unmanned air vehicle (UAV), called Kiteplane, was proposed. The aircraft contains a large delta‐shaped main wing and exhibits stable flying dynamics. Because of this feature, a simple proportional integral differential control method could be implemented since attitude control to stabilize the motion was not needed. Devices installed on board the aircraft were developed for the autopilot system and the proposed control method was implemented. Results of numerical simulations and experiments showed the effectiveness of the approach. This paper also provides an algorithm for using the aircraft to estimate wind direction based on Kiteplane dynamics under the wind effect. A numerical estimation method was proposed and it was implemented on the autopilot system. The experimental results also supported the proposed wind estimating method. © 2006 Wiley Periodicals, Inc.