Proportional Derivative Controller Research Articles

A Novel Fractional Order Proportional Integral-Fractional Order Proportional Derivative Controller Design Based on Symbiotic Organisms Search Algorithm for Speed Control of a Direct Current Motor

A Novel Fractional Order Proportional Integral-Fractional Order Proportional Derivative Controller Design Based on Symbiotic Organisms Search Algorithm for Speed Control of a Direct Current Motor

A composite motion control method for quadruped robots in trot gait

This work aims to address the issues of instability in trot gait walking and poor terrain adaptability in rugged environments under conventional control strategies for quadruped robots by proposing a novel composite control strategy. During the support phase, a separated force-position mixing control method is employed, utilizing gravity-compensated PD (Proportional Derivative) control at the lateral swing and knee joints while employing position control at the hip joint. During the swing phase, VMC (Virtual Model Control) is used to construct three sets of virtual spring-damper components, guiding the foot to move along a predetermined trajectory and converting virtual forces into joint torques for the swinging leg. At the body, IMU (Inertial Measurement Unit) feedback data combined with PI (Proportional Integral) control is used to adjust leg length and maintain the robot’s posture stability. Finally, the proposed separated force-position hybrid control method is theoretically validated using the Lyapunov stability criterion, and simulation tests on flat and rugged terrains under the quadruped robot’s composite control method are conducted using MATLAB/Simulink, comparing it with the VMC and position control methods. The findings indicate that the composite control strategy leads to smaller changes in the attitude angles and reduced impact forces at the feet during the quadruped robot’s walk on flat ground while also demonstrating strong adaptability to rugged terrains.

Robust controller design and experimental validation based on bounded uncertainty for collaborative industrial robots.

In this paper, derived from the proportional-derivative control and robust control, a novel practical robust control method based on a dynamic feedforward model is established by taking six-axis motion cooperative industrial robots as the research object. The nonlinear friction, parameter uncertainty, and external disturbance are taken into consideration while establishing the dynamic model of the cooperative industrial robot. The method includes a proportional-derivative control and a robust control. Lyapunov theory is used to analyze the proposed controller, and it is shown that this method can guarantee uniformly bounded and uniformly final bounded systems. Simulation and experiment results show that the proposed controller is better than proportional-integral-derivative control and mode-based proportional-derivative control in stability tracking performance and robustness. In addition, the CSPACE platform for rapid controller prototyping may reduce the arduous programming effort and offer a lot of ease for the trials.

Rigid–Flexible Coupled Modeling and Flexoelectric Control for Flexible Rotating Structures

The pursuit of lightweight structures has propelled spacecraft with large flexible appendages to the forefront of modern aerospace engineering. Flexoelectric actuators, with their inherent self-sensing and self-actuating capabilities, perfectly align with the demand for lightweight structures. This paper presents a dynamic model and a flexoelectric vibration control method tailored for spacecraft equipped with single-sided flexible appendages. The spacecraft system is a central rigid hub with flexible cantilever beam appendages that allow for single-axis rotation. The flexible beam has a flexoelectric element attached to it. Leveraging Hamilton’s principle, the equations of motion are derived, accounting for flexoelectric effects, the centrifugal stiffening effect, and the coupling between rigid body attitude and flexible beam vibration. A closed-loop proportional–derivative controller is crafted for attitude control of the system. Additionally, a flexoelectric patch is employed as an actuator for active vibration control of the flexible beam. The precision and efficacy of the proposed model and control scheme are meticulously validated through numerical simulation. The results indicate that the flexoelectric patch can effectively manage the vibration of the flexible beam, consequently impacting the attitude control performance of the system. Furthermore, the flexoelectric effect of the system under static conditions is scrutinized, and the influence of the flexoelectric actuator on the rigid–flexible coupling characteristics of the system is thoroughly analyzed. These analyses not only confirm the feasibility of flexoelectricity in rigid–flexible coupled systems, but also open avenues for applications and optimizations in intelligent control methods for flexible appendages.

Nonlinear-Model-Inversion Control for Stall-Flutter Suppression of an Airfoil via Camber Morphing

This paper presents a nonlinear-model-inversion control law to suppress stall flutter of an airfoil with active trailing-edge morphing. First, a nonlinear aeroelastic model is proposed utilizing two nonlinear autoregressive neural networks with exogenous inputs , which are used to predict aerodynamic moments on an airfoil due to large-amplitude oscillation and camber morphing, respectively. Afterward, a nonlinear-model-inversion control system is designed upon the mentioned aeroelastic system to suppress stall flutter via the camber morphing. A fluid–structure–control (FSC) coupling strategy is developed with structure and control systems embedded in the high-fidelity computational-fluid-dynamics environment to validate the control effect. The FSC high-fidelity simulations show that the nonlinear-model-inversion controller can suppress pitching oscillation completely, whereas a linear proportional–derivative controller without time delay only performs a limited suppression rate by 25.6%. The flowfield evolution result infers that the active camber morphing can generate a converse training-edge vortex, which counteracts the leading-edge vortex during stall flutter. From the perspective of an energy hysteresis, active camber morphing works well by converting injected aerodynamic energy from positive to negative.

Adaptive Proportional Derivative Control for Magnetic Bearing in Full Maglev Left Ventricular Assist Device

Adaptive Proportional Derivative Control for Magnetic Bearing in Full Maglev Left Ventricular Assist Device

Enhancing DC Motor Speed Control Performance Using Heuristic Optimization and Comparative Analysis of Control Methods

Direct Current (DC) motors are an important component that converts electrical energy into mechanical energy, used in a wide range of applications from industrial applications to home appliances. DC motor speed control has an important role in industrial processes to increase efficiency, realize precise movements and optimize energy consumption. In this study, various control methods and parameter optimization techniques for speed control of DC motors, which have a wide range of applications, have been systematically analyzed. The aim of the study is to develop an effective control strategy to ensure that DC motors reach the determined target speed by monitoring them in real time at different speeds and to minimize fluctuations caused by variable loads or external factors. In our study, Proportional-Integral-Derivative (PID), Proportional-Integral (PI), and Proportional-Derivative (PD) control methods were used. The parameters of these controllers were tuned using Matlab Tuned, The Cheetah Optimizer (CO) Algorithm, a new generation heuristic optimization method, and Particle Swarm Optimization (PSO), a widely accepted optimization method. The performances of the controllers were determined using criteria such as Integral of Absolute Error (IAE), Integral Squared Error (ISE), and Integral of Time multiplied by Absolute Error (ITAE). According to the results obtained, it was found that the PID, PI and PD control parameters determined using the CO Algorithm performed better than the controllers created using Matlab Tuned and PSO methods. New optimization methods, such as the CO Algorithm, have been found to have significant potential to improve the performance of control systems. Thanks to this study, it offers a practical approach for optimizing DC motor speed control in industrial processes. As a result, it has been found that the control parameters determined by the CO Algorithm have significant potential in improving the performance of DC motor speed control and control systems compared to other optimization methods.

Design and modeling of a proportional derivative controller for a three-phase induction motor speed

Design and modeling of a proportional derivative controller for a three-phase induction motor speed

Quadrotor Trajectory Tracking Via SMC-Embedded Wild Horse Optimization

This study provides an integrated control strategy with proportional derivative (PD) and sliding mode control (SMC) for a quadrotor. For inner loop control, the SMC, a robust nonlinear control method, is used to increase the system's resistance to uncertainty and shocks. By using high-speed switching in variable structure control, it reduces tracking mistakes. In the meantime, the PD control concentrates on tracking a helical path while controlling the outer loop for trajectory tracking. The PD and SMC parameters (k1, k2, and k3) could not be manually adjusted to produce acceptable results at first. As a result, this work presents an improvement by optimizing these control parameters using the Wild Horse Optimization (WHO) algorithm, a modern and cutting-edge optimization technique. This improvement shows good results in improving the quadrotor's tracking precision and stability, and it also greatly increases system performance.All simulations were performed in MATLAB, which facilitated detailed analysis and validation of the proposed control strategy.

Full-Dimensional Proportional-Derivative Control Technique for Turing Pattern and Bifurcation of Delayed Reaction-Diffusion Bidirectional Ring Neural Networks

Abstract In neural networks, the states of neural networks often exhibit significant spatio-temporal heterogeneity due to the diffusion effect of electrons and differences in the concentration of neurotransmitters. One of the macroscopic reflections of this time-spatial inhomogeneity is Turing pattern. However, most current research in reaction-diffusion neural networks has focused only on one-dimensional location information, and the remaining results considering two-dimensional location information are still limited to the case of two neurons. In this paper, we conduct the dynamic analysis and optimal control of a delayed reaction-diffusion neural network model with bidirectional loop structure. First, several mathematical descriptions are given for the proposed neural network model and the full-dimensional partial differential proportional-derivative (PD) controller is introduced. Second, by analyzing the characteristic equation, the conditions for Hopf bifurcation and Turing instability of the controlled network model are obtained. Furthermore, the amplitude equation of the controlled neural network is obtained based on the multiscale analysis method. Subsequently, we determine the key parameters affecting the formation of Turing pattern depending on the amplitude equation. Finally, multiple sets of computer simulations are carried out to support our theoretical results. It is found that the diffusion coefficients and time delays have significant effects on spatio-temporal dynamics of neural networks. Moreover, after reasonable parameter proportioning, the full-dimensional PD control method can alleviate the spatial heterogeneity caused by diffusion projects and time delays.

Tuning control parameters of underwater vehicle to minimize the influence of internal solitary waves

ISWs (Internal solitary waves) are waves that occur in stratified oceans, generating strong shear near the pycnocline. Encountering ISWs can cause a vehicle to experience the phenomenon of “falling deep”. Therefore, it is quite necessary to exert control on the vehicle in order to effectively avoid this phenomenon. This study establishes a numerical wave tank for ISWs based on the mKdV (modified Korteweg de Vries) theory. Additionally, a PD (Proportional Derivative) control method is developed for vehicles encountering ISWs in stratified fluids. The PD control parameters are designed and tuned, and the vehicle's control effectiveness, motion response and hydrodynamic characteristics, are analysed. The results suggest that this control method can effectively reduce the heave and pitch motions of the vehicle in different submergence depths and wave amplitudes. The pitch angle can be controlled within 0.2 rad for different control parameters. Better control can suppress changes within a range of 0.1 rad. To better evaluate the control effect, a new evaluation parameter σ is proposed, which takes into account both heave and pitch motions. After implementing control, the value of σmax significantly decreases. Optimal control parameters can reduce the value of σmax by about 90% compared to an uncontrolled vehicle.

Advanced vibrant controller results of an energetic framework structure

Abstract This research shows the influence of a new active controller technique on a parametrically energized cantilever beam (PECB) with a tip mass model. This article remains primarily concerned with regulating the system’s response using a novel control mechanism. This study describes a novel control mechanism called the nonlinear proportional-derivative cubic velocity feedback controller (NPDCVFC). The motivation of this article is to design a novel control algorithm in order to mitigate the nonlinear vibrations of a parametrically energized cantilever beam with a tip mass model. The proposed controller NPDCVFC incorporates nonlinearly second- and first-order filters into the system. The system is governed by one nonlinear differential equation having both quadratic and cubic nonlinearities within the parametric force. The controller’s efficiency in reducing framework vibrations, managing nonlinear bifurcations, and calming unstable motion is evaluated using numerical simulations of instantaneous vibrations. The perturbation technique is beneficial for solving the current model under the proposed worst resonance case ( Ω ˆ p = 2 ω ˆ 0 ) \text{(}{\hat{{\Omega }}}_{\text{p}}=2{\hat{{\omega }}}_{0}) . In order to choose the optimal controller, we have also added three more controller approaches to the configuration. Integral resonant control, positive position feedback, and nonlinear integral positive position feedback are the three controller approaches that are applied to the structure under consideration. We determine that the NPDCVFC as a new controller is the most effective for lowering the high vibration amplitudes. Over the investigated model, all numerical results were performed using the MATLAB 18.0 programmer software. The stability analysis and the effects of various elements on the controlled structure have been investigated. A comparison with recently published works of a comparable model has also been prepared. Experiment capacities for a PECB with a tip mass are obtainable to validate the results, and they demonstrate good agreement with analytical and numerical results.

Automatic Voltage Regulator Control System for Synchronous Generator

Presented in this paper is Automatic Voltage Regulator (AVR) Control System for Synchronous Generator. A nonlinear model of synchronous generator was developed in Simulink and was later linearized as a single input single output (SISO) transfer function model. A Proportional Integral and Derivative (PID) controller was designed and by using the MATLAB/Simulink PID tuner, the gains of the proportional, integral and derivative parameters were obtained. A Low Pass Filter, F(s) was designed and introduced as part of the input signal to eliminate any noise effect that may be introduced into the AVR control system through the input. Simulations were carried out considering basically three scenarios viz: the AVR control system without the proposed PIDf + F(s) control scheme, the AVR with the proposed technique, and the AVR with the PIDf + F(s) with the introduction of disturbance in form of load variation at 25 seconds. The performance of the proposed scheme was compared with conventional PID control AVR system without F(s). The results of the comparison indicated that the proposed technique provided superior performance in terms of percentage overshoot and settling time. Generally, the PIDf with F(s) control scheme was more stable than the conventional PID controller as indicated by the percentage overshoot, which was 4.58% for PIDf and 4.28% for PIDf + F(s).

Automatic Voltage Regulator Control System for Synchronous Generator

Presented in this paper is Automatic Voltage Regulator (AVR) Control System for Synchronous Generator. A nonlinear model of synchronous generator was developed in Simulink and was later linearized as a single input single output (SISO) transfer function model. A Proportional Integral and Derivative (PID) controller was designed and by using the MATLAB/Simulink PID tuner, the gains of the proportional, integral and derivative parameters were obtained. A Low Pass Filter, F(s) was designed and introduced as part of the input signal to eliminate any noise effect that may be introduced into the AVR control system through the input. Simulations were carried out considering basically three scenarios viz: the AVR control system without the proposed PIDf + F(s) control scheme, the AVR with the proposed technique, and the AVR with the PIDf + F(s) with the introduction of disturbance in form of load variation at 25 seconds. The performance of the proposed scheme was compared with conventional PID control AVR system without F(s). The results of the comparison indicated that the proposed technique provided superior performance in terms of percentage overshoot and settling time. Generally, the PIDf with F(s) control scheme was more stable than the conventional PID controller as indicated by the percentage overshoot, which was 4.58% for PIDf and 4.28% for PIDf + F(s).

Sensor-Less Control of Mirror Manipulator Using Shape Memory Polyimide Composite Actuator: Experimental Work.

Integrated thin film-based shape memory polyimide composites (SMPICs) are potentially attractive for efficient and compact design, thereby offering cost-effective applications. The objective of this article is to design and evaluate a mirror manipulator using an SMPIC as an actuator and a sensor with control. A sensor-less control strategy using the SMPIC (a self-sensing actuator) with a proportional derivative combined variable structure controller (PD-VSC) is proposed for position control of the mirror in both the vertical and angular directions. The mirror manipulator is able to move the mirror in the vertical and angular directions by 3.39 mm and 10.5 deg, respectively. A desired fast response is obtained as the performance under control. In addition, some benefits from the proposed control realization include good tracking, stable switching, no overshoot, no steady state oscillations, and robust disturbance rejection. These superior properties are experimentally validated to reflect practical feasibility.

Microsatellite Yaw-axis Attitude Control System Using Model Reference Adaptive Control Based PID Controller

This paper presents a Model Reference Adaptive Control (MRAC) based Proportional Integral and Derivative (PID) controller for microsatellite yaw-axis Attitude Control System (ACS). The objective is to combine the algorithm of MRAC with PID to improve the performance of a microsatellite system especially settling time. MRAC based PID controller for yaw-axis ACS was modelled and simulated in MATLAB/Simulink to meet transient response characteristics specifications. The performance of the system was evaluated in terms of rise time, settling time, maximum overshoot, and steady-state error including energy consumption measured based on armature voltage of the direct current motor. The simulation results revealed that the proposed system meets all the performance specifications and outperformed classical PID controller for adaption gain of 0.2 to 20. When compared with PID and Proportional Derivative (PD) based Controllers in previous study for adaption gain of 10, 15, and 20, the proposed system proved to be superior. Generally, the choice of the MRAC based PID controller considering the range of adaption gain (γ = 0.1 to 20) should be based on either transient response advantage or energy consumption or even both over PID controller. The significance of this study is that an MRAC based PID controller that offered wide range of adaption capability for microsatellite ACS has been proposed.

Equilibrium optimiser tuned frequency-shifted internal model control proportional-derivative decoupled dual-loop design for industrial plants followed by experimental validation

Integrating and unstable processes require rugged control demand by virtue of their non-self-regulation character. The occurrence of system poles located at the origin and on the right half of the complex frequency plane causes instability in an open-loop configuration. When these processes proceed with dead time, it demands more sophisticated control requirements. Therefore, binal-loop control schemes are recommended over single-loop controller schemes. For plants with prevalent unstable and integrating dynamics and dead time, a novel modified inferred internal model control-proportional derivative decoupled binal-loop control system is suggested. The inner-loop is controlled by the stabilising proportional derivative controller with Routh–Hurwitz stability constraints. The outer-loop contains an inferred internal model controller for reference-point tracking. The equilibrium optimiser is then used to minimise the integral squared error by tuning the inner and outer-loop controller settings in the confined search space. The suggested strategy delivers appreciable enhancement in the quantitative performance measures as compared to some of the contemporary control techniques. The effect of time-varying disturbance and robust stability analysis is also presented. Finally, utilising a magnetic levitation laboratory setup, the suggested method is experimentally verified using the hardware-in-loop method.

Preliminary Virtual Constraint-Based Control Evaluation on a Pediatric Lower-Limb Exoskeleton.

Pediatric gait rehabilitation and guidance strategies using robotic exoskeletons require a controller that encourages user volitional control and participation while guiding the wearer towards a stable gait cycle. Virtual constraint-based controllers have created stable gait cycles in bipedal robotic systems and have seen recent use in assistive exoskeletons. This paper evaluates a virtual constraint-based controller for pediatric gait guidance through comparison with a traditional time-dependent position tracking controller on a newly developed exoskeleton system. Walking experiments were performed with a healthy child subject wearing the exoskeleton under proportional-derivative control, virtual constraint-based control, and while unpowered. The participant questionnaires assessed the perceived exertion and controller usability measures, while sensors provided kinematic, control torque, and muscle activation data. The virtual constraint-based controller resulted in a gait similar to the proportional-derivative controlled gait but reduced the variability in the gait kinematics by 36.72% and 16.28% relative to unassisted gait in the hips and knees, respectively. The virtual constraint-based controller also used 35.89% and 4.44% less rms torque per gait cycle in the hips and knees, respectively. The user feedback indicated that the virtual constraint-based controller was intuitive and easy to utilize relative to the proportional-derivative controller. These results indicate that virtual constraint-based control has favorable characteristics for robot-assisted gait guidance.

A comparative study between PI, PD and PID controllers to control motor speed

DC Motors are widely used in industries for various purposes. Many situations demand changes in the speed of the DC Motor, and this makes necessity to develop a method to effectively control the speed of DC motor. There are conventional and digital controller types, Proportional Integral (PI), Proportional Derivative (PD), and Proportional Integral Derivative (PID) used to control speed of the DC motor. In this project PI, PD and PID is modeling and simulated in MATLAB SIMULINK to control speed of the DC Motor. Aforementioned Controllers analyzed and evaluated on four terms overshoot, rise time, steady state error and settling time, the purpose of the evaluation to find the best performance to control the speed of DC motor. As a result of this, PID is the best controller due to it is improved performance when compared with others controllers.

A comprehensive dynamic model and configuration control of a free-floating soft manipulator-spacecraft system

Space robots are inseparable components of many space missions. However, capabilities of space robots with rigid manipulators are restricted in confronting with unknown and confined environments and situations require high safety. To overcome these defects, the potential of bio-inspired soft robots for space applications has recently been addressed in the literature. Dynamic modeling and control of soft manipulators are challenging due to their infinite degrees of freedom. In this paper, a general comprehensive three-dimensional dynamic modeling framework is developed for a floating soft manipulator-spacecraft system employing the Euler-Lagrange method. This framework derives the coupled equations of motion adapting the generalized Jacobian approach. Consequently, the opportunity of exploiting model-based control methods will be provided. In addition, the proposed model avoids numerical singularities once the bending angles are near zero. Furthermore, the generalized Jacobian matrix is defined for any arbitrary point of the soft manipulator essential for the contact dynamics. Eventually, to verify the proposed dynamic modeling procedure, the dynamic response of a floating soft manipulator-spacecraft system released from an initial configuration is investigated. Then, a sliding mode controller is designed for the floating soft manipulator to track the desired shape and compared to the proportional-derivative control scheme. The obtained results follow the physical principles and fulfill the control objective.