PID Settings Research Articles

Nastawy regulatora kursu dla autopilota statku

Selected methods of PID settings for the heading controller in the ship’s autopilot are presented. The consistency of the design is possible due to the fact that the Nomoto model was used for the ship and thanks to the elimination of the time constant of the object by the controller, so that the closed system becomes a 2nd order system. In two cases, it was additionally assumed that the system is to have a double time constant, differing in a given ratio r from the time constant of the object. It has been shown that the heading controller designed in this way provides critical aperiodic waveforms at a step change in the setpoint value and suppresses environmental disturbances better than standardly tuned controllers.

Simulation-guided development of advanced PID control algorithm for skin cooling in radiofrequency lipolysis.

The clinical outcomes of bipolar radiofrequency (RF) lipolysis, a prevalent non-invasive fat reduction procedure, hinge on the delicate balance between effective lipolysis and patient safety, with skin overheating and subsequent tissue damage as primary concerns. This study aimed to investigate a novel bipolar radiofrequency lipolysis technique, safeguarding the skin through an innovative PID temperature control algorithm. Utilizing COMSOL Multiphysics simulation software, a two-dimensional fat and skin tissue model was established, simulating various PID temperature control schemes. The crux of the simulation involved a comparative analysis of different PID temperatures at 45 °C, 50 °C, and 55 °C and constant power strategies, assessing their implications on skin temperature. Concurrently, a custom bipolar radiofrequency lipolysis device was developed, with ex vivo experiments conducted using porcine tissue for empirical validation. The findings indicated that with PID settings of Kp =7, Ki =2, and Kd =0, and skin temperature control at 45 °C or 50 °C, the innovative PID-based epidermal temperature control strategy successfully maintained the epidermal temperature within a safe range. This maintenance was achieved without compromising the effectiveness of RF lipolysis, significantly reducing the risk of thermal damage to the skin layers. Our research confirms the substantial practical utility of this advanced PID-based bipolar RF lipolysis technique in clinical aesthetic procedures, enhancing patient safety during adipose tissue ablation therapies.

Nondimensional analysis and experimental assessment of the PII1/2DD1/2 position control of a rotary axis

Fractional Order controllers, based on derivatives and integrals of non-integer order, represent a propitious and promising research area since they can improve the performance of mechatronic systems compared to traditional Integer Order PID controllers without requiring hardware upgrades, but only using their higher tuning flexibility. Nevertheless, Fractional Order controllers are still rarely applied in real automation tasks, since their tuning is more complex and in general requires a model-based optimization for full exploitation of their capabilities. Recently, the PII1/2DD1/2 controller has been proposed, extending the classical PID by introducing a half-integral and a half-derivative term. A Bode plot-based tuning method has been presented for this controller, deriving the PII1/2DD1/2 parameters from a given set of PID gains. This method enables a significant reduction in tracking error for position control of a mechatronic axis without the need for complex model-based optimizations. In this paper, the previous results of this PII1/2DD1/2 tuning methodology have been generalized by employing a nondimensional approach. This approach highlights the conditions under which the benefits of this Fractional Order controller over the PID are most significant. The findings have been validated through experimental tests on a rotary axis, confirming the correctness and usefulness of the method.

An improved AO algorithm optimized PID rectification model for wind speed and wind pressure regulation in video cabinet of tobacco sorting machine

Abstract Sorting and removing impurities is the use of raw materials and light impurities suspended speed differences through the wind to separate the hemp, paper, plastic, and other light materials to remove impurities. Article to tobacco sorting machine video cabinet wind pressure control system principle as a guide, combined with the structure of the sorting and impurity removal machine and the principle of wind speed balance designed to balance the wind speed and wind pressure of the tobacco sorting machine. The control model of wind speed and pressure in the video cabinet system of the tobacco sorting machine is established, and the improved AO algorithm is used for the design of the overall PID controller and optimization of the PID controller’s setting parameters. The IAO algorithm optimizes the parameters of the PID setting controller with a steady state error within 3%, and the introduction of the IAO-PID controller can make the wind speed of the sorting machine system control from 16.4m/s to 11.1m/s within 17ms. When the system detects that the negative pressure of wire feeding changes sharply to about 1.12MPa within 20ms and exceeds the differential pressure start value of 0.9MPa set by the sorter system, the tobacco wire feeding anti-clogging function is activated. The PID controller optimized by the IAO algorithm can achieve precise regulation and control of wind speed and pressure of tobacco sorting machines, improving the sorting efficiency of tobacco production.

Jednolite projektowanie regulatorów kursu i ścieżki dla autopilota statku

Uniform approach to selection of PID settings for heading and path tracking controllers that create a cascade control system for ship autopilot is presented. Uniformity of the design follows from observation that for each of the controllers the controlled plant looks like an integrator with time constant. In case of the heading controller, the plant is represented by the known Nomoto model. Due to elimination of the plant time constant by the controller, each of the closed loop systems becomes of 2nd order. One assumes that such system should have a double time constant, different in a prescribed ratio from time constant of the controlled plant. It is shown that the heading controller designed in this way suppresses disturbances better than the controller with standard settings.

Sensorless Load Angle Control for Energy Optimal Sinusoidal Driven BLDC Motor Applications

Choosing sine-wave instead of square-wave shaped currents to drive a brushless DC (BLDC) motor can increase the energy-efficiency up to 9.5%.But, unfortunately, for sine-wave setpoint current generation, the typical electronic or sensing low-resolution commutation feedback techniques become unavailable. For broad industrial employability, other sensing techniques such as computationally complex observers or signal injection methods requiring access to the switching states of the power electronics are not preferred. This raises the need to develop a computationally sufficient simple sensorless controller that optimizes the energy efficiency. Therefore, the authors propose a PID algorithm controlling the estimated load angle technique that enables sinusoidal current supply without the need for position feedback or user input. The aim is to implement a controller for dynamic speed-varying BLDC motor applications, which means that accurate speed trajectory tracking behavior and high robustness against load changes should be guaranteed. The application-dependent PID settings for setpoint and disturbance rejection control are estimated during an initialization speed trajectory based on only one stator winding current and voltage measurement. The proposed control algorithm is validated through experimental measurements on a BLDC motor with a nominal speed and power of 3000 r/min and 225 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathrm{W}$</tex-math></inline-formula> , respectively.

Single-Input Single-Output System with Multiple Time Delay PID Control Methods for UAV Cluster Multiagent Systems

Multiagent has become a multidomain intersecting hot issue as artificial intelligence technology has advanced in the industrial sector. Multiagent system creation control has lately undergone a lot of academic research, and it has got applications in a wide range of fields, including drag reduction, monitoring, telecommunications relay, and searching. A matrix theory using algebraic graph theory for automatic control principle learning is proposed based on multiagent system collaborative control strategy method to study the application of PID control method in human-machine cluster multi-intelligence system. The method first presents the determination of the stability set of the low-order controller parameters for the multidelay single-input single-output system with complex coefficients; through matrix theory, the multi-intelligence system is decomposed into multiple subsystems and the problem is transformed into subsystem stability analysis problem; thus, the complexity of the system is reduced. It has been proved that the power system device adopted by the UAV hardware platform can make the UAV flight time up to 24.7 min and additional load up to 1.5 kg. Based on the simulation analysis of PID control algorithm, the PID parameters of UAV are adjusted, which improves the parameter tuning efficiency and enhances the response speed of UAV to error and the stability of motion. The experimental findings suggest that the UAV hardware platform in the UAV control system has high dynamic performance. Good PID settings allow the UAV to respond to control orders quickly and correctly; also, the data received by the sensor decrease the complexity of operating several UAVs at the same time and minimize the operators’ burden.

PID controls: the forgotten bioprocess parameters

The ambr250 high-throughput bioreactor platform was adopted to provide a highly-controlled environment for a project investigating genome instability in Chinese hamster ovary (CHO) cells, where genome instability leads to lower protein productivity. Development of the baseline (control) and stressed process conditions highlighted the need to control critical process parameters, including the proportional, integral, and derivative (PID) control loops. Process parameters that are often considered scale-independent, include dissolved oxygen (DO) and pH; however, these parameters were observed to be sensitive to PID settings. For many bioreactors, control loops are cascaded such that the manipulated variables are adjusted concurrently. Conversely, for the ambr250 bioreactor system, the control levels are segmented and implemented sequentially. Consequently, each control level must be tuned independently, as the PID settings are independent by control level. For the CHO cell studies, it was observed that initial PID settings did not resulted in a robust process, which was observed as elevated lactate levels; which was caused by the pH being above the setpoint most of the experiment. After several PID tuning iterations, new PID settings were found that could respond appropriately to routine feed and antifoam additions. Furthermore, these new PID settings resulted in more robust cell growth and increased protein productivity. This work highlights the need to describe PID gains and manipulated variable ranges, as profoundly different outcomes can result from the same feeding protocol. Additionally, improved process models are needed to allow process simulations and tuning. Thus, these tuning experiments support the idea that PID settings should be fully described in bioreactor publications to allow for better reproducibility of results.

1D modelling and PID control of helicopter Diesel engine rotational speed in torque changes

The article discusses the results of simulation tests concerning the operation of a diesel engine for a light helicopter. The tests were carried out in the AVL Boost software which is used to analyze dynamic phenomena in internal combustion engines. The research object was a newly designed diesel engine of a V8 structure and a power of 330 kW. This engine was designed to be used in the construction of a light class helicopter. The created one-dimensional simulation model included all the main engine components as well as the connection to the helicopter main transmission and the helicopter rotor. The tests consisted in selecting the P value in the PID controller used to control the amount of fuel injected into the engine. The change in the P value indirectly influenced the reaction of the engine to a change in power and torque during horizontal flight of a helicopter. These changes were introduced by changing thrust torque in the helicopter rotor. The fuel injection regulator was designed to maintain a constant engine rotational speed. The maximum speed deviations from the nominal speed of the engine operation due to both increasing and decreasing speed were analyzed. Additionally, the sum of the deviation values was analyzed until the rotational speed of the tested object stabilized. The results showed that the change of the P parameter affects all the analyzed parameters of the engine operation; however, the minimum deviation values for each parameter occur at non-equal PID settings, which makes it difficult to clearly indicate the appropriate value of the P element.

Study on Temperature Control Strategy of Boiler Main Steam for Frequent Action of AGC Command in Power Grid

Traditional PID is widely used in the main steam temperature control system of thermal power unit Cascade control. Although this control scheme is easy to be debugged on site, it is impossible to solve the problem of large fluctuation and over temperature of steam temperature only by adjusting PID parameters due to the characteristics of variable parameters, large inertia and large time delay of main steam temperature control system. Especially when the AGC command of power grid fluctuates frequently, the conventional control strategy is difficult to deal with, resulting in the change of main steam temperature regulation quality Poor, affecting unit economy and safety. In this paper, the sub PID set value adaptive control logic and desuperheating water injection logic to prevent the main steam temperature overshoot are used to solve the problem of the quality deterioration of the main steam temperature regulation under the frequent fluctuation of AGC instructions.

QUADCOPTER FLIGHT CONTROLLER DESIGN ON THE OTHTT SYSTEM PROTOTYPE (OVER THE HORIZON TARGET TRACKING)

The development of drone technology at this time is very rapid with a variety of functions and uses, including use in the military sphere. In this study, researchers made a prototype of a drone that can identify the target while determining the latitude and longitude of the target. This research was carried out because the Navy had defense equipment, a ship that had the ability to shoot missiles. This missile possession is important because in addition to being a deterence effect, modern naval battles are dominated by long-distance warfare or Over The Horizon. In missile fire, accurate intelligence is needed to determine the position of the target. So far what has been done is sending submarines or reconnaissance aircraft. This is very inefficient because in addition to requiring large resources, the risk of losing personnel and material is also very large. To realize this, researchers create a system that can overcome existing limitations. The focus of research conducted by researchers at this time is to create a flight controller on the drone. This system uses the Arduino Mega 2560 PRO Embed as a flight controller that is connected to other parts such as batteries, brushless motors, ESC (Electronic Speed Control) and propeller so that it can move the drone according to operating needs. At the time of testing, vertical flight test, horizontal flight test, pitch and roll control test and altitude control test were carried out. Meanwhile, to get stability when flying, then you need the right PID settings on the flight controller. Based on the test results obtained Kp = 7.5, Ki = 0.045 and Kd = 24, so that the drone can fly stably. From the test results it can also be concluded that the drone has been able to carry out its basic functions to fly, approach the target and return to the ground station after carrying out the mission.&#x0D; Keywords: Drone, Control, Stability.

Experimental Validation of AMIGO Based PID for a Binary Distillation Column

Distillation is highly energy consuming process in industrial application concern. This paper focuses on energy consumption of an actuator through appropriate control design for a binary distillation column. Temperature control of binary distillation column is challenging because of existence of interaction between the variables. Independent variables of the process are fast acting (Reflux flow) and slow acting (Reboiler) with respect to process variables (Tray temperatures). Energy consumption of manipulated variable depends on efficient tuning of controller. AMIGO based PID controller design is implemented in this paper to show the optimal energy utilization of actuator. Performance analysis has been carried out to validate the control structure. It is been analyzed that based on the speed and quality requirement of the process, set of controller values can be obtained and best set of PID can be selected for real time implementation. Results depicts the efficiency of control scheme with performance index.

Designing of internal model control proportional, integral, and derivative controller with second‐order filtering for lag‐ and delay‐dominating processes based on suitable dead time approximation

AbstractIn practice, majority of the industrial chemical processes contain considerable dead time and significant process lag. Depending on the value of dead time to time constant ratio, industrial processes can be classified as lag dominating and delay dominating in nature. Here, an attempt has been made to find out an improved dead time estimation technique from the available methodologies like Taylor series and Pade's approximation relations so that a more accurate process model can be obtained and, consequently, an enhanced model‐based internal model control based proportional, integral, and derivative (IMC‐PID) controller may be designed. In addition, to ensure an improved closed loop performance, a second‐order filter is incorporated in IMC‐PID structure where damping term of the filter is calculated from dead time to time constant ratio of the concerned process. Efficacy of the proposed scheme is verified through simulation study on first‐order plus dead time, second‐order plus dead time, higher order, and nonminimum phase processes in comparison with recently reported model‐based PID settings. In addition to simulation study, a real‐time experimental verification is also made on a level control loop under transient and steady state operating phases.

Temperature control of vacuum dividing wall column – case study on oleochemical fatty acid fractionation

Analysis of oleochemical compositions in distillation column often have large process delays. Inferential control is commonly used by means of stage temperature as the measured variable which provide more responsive in composition control. This work aims to evaluate the performance of temperature control in vacuum dividing wall column (VDWC) for fatty acid oleochemical fractionation. Product purity at 99% used as inferred parameter to determine the temperature. Sensitivity analysis was used to determine the relationship between stage and temperature difference for changes in the manipulated variables. The most sensitive tray was selected and implemented to a Distillate- Side Stream- Boilup (DSV) control configuration in Aspen Dynamics following the work by Othman (2019b). Controller adopted with PI and PID settings using Ziegler-Nichols (ZN) and Internal Model Control (IMC) tuning calculation method. Both methods were compared based on the settling time and overshoot. The best setting was then fine-tuned before tested to set point tracking without any disturbances. From the sensitive analysis, temperature at stage 6, 29 and 34 were selected used as controlled variable which inferred distillate, middle and bottom product purity at 99% respectively. PID controller setting based on ZN method provide the best setup with fastest settling time and smallest overshoot and provide good performance for set point tracking.

Design of Autonomous Quadcopter Using Orientation Sensor with Variations in Load Fulcrum Point

In designing the quadcopter, the main focus is stability and balance. Thus, in the more specific implementation, for example for aerial photography, a quadcopter can also be used as a load carrier. To be able to balance the quadcopter equipped with an orientation sensor on the controller, the orientation sensor includes a gyroscope sensor, accelerometer, and magnetometer. For this reason, it is necessary to have an autonomous stabilizer mechanism that can make the quadcopter stay in a stable and balanced condition even with the additional load. Furthermore, in this research, we will discuss how to determine the PID set points for quadcopter balance that can be tested on loads with different fulcrums. The test is limited to the condition of the quadcopter being hovered for pitch and roll angles. Based on the testing results, it can be concluded that there is a stability response in the Quadcopter. It can be seen from the RMS value obtained that it is by the steady-state tolerance of 2% -5% of the setpoint. Then, the Quadcopter can carry the maximum load with different fulcrums; 950g for fulcrum in the middle of the quadcopter, 580g for the load is placed 6 cm from the middle of the quadcopter, and 310g if the load is placed on one motor.

Revisiting Cascade Control System and Experimental Analysis to PID Setting for Improved Process Control

Revisiting Cascade Control System and Experimental Analysis to PID Setting for Improved Process Control

Modeling and control of a real time shell and tube heat exchanger

Process industries generate large amount of heat that needs to be transferred. Shell and tube heat exchangers are extensively used in industriesfor utilization of the heat energy generated from different processes. For definite utilization of this energy, the temperatures of the hot and coldfluids passing through the heat exchanger should be monitored and controlled efficiently. A proper model of heat exchanger is required for thepurpose of monitoring and control. The objective of the paper is to mathematically model the heat exchanger using system identification methodsand experimentally evaluate the effectiveness of two PID controller tuning methods such as Internal Model Control (IMC) and relay auto-tuningfor temperature control. The Auto Regressive–Moving-Average model with eXogenous inputs (ARMAX) model of the heat exchanger is obtainedfrom the Pseudo Random Binary Signal (PRBS) experiment performed on the heat exchanger system. The outlet temperature of the cold fluid isconsidered as the controlled variable. Based on the obtained model, PID settings are designed using the two tuning methods, and the closed loopresponses such as servo and regulatory are compared experimentally. It is seen from the experimental results that the IMC based controller showsbetter results than the relay auto tuning method in terms of time integral error (i.e., ISE and ITAE).

Modeling and control of a real time shell and tube heat exchanger

Process industries generate large amount of heat that needs to be transferred. Shell and tube heat exchangers are extensively used in industries for utilization of the heat energy generated from different processes. For definite utilization of this energy, the temperatures of the hot and cold fluids passing through the heat exchanger should be monitored and controlled efficiently. A proper model of heat exchanger is required for the purpose of monitoring and control. The objective of the paper is to mathematically model the heat exchanger using system identification methods and experimentally evaluate the effectiveness of two PID controller tuning methods such as Internal Model Control (IMC) and relay auto-tuning for temperature control. The Auto Regressive–Moving-Average model with eXogenous inputs (ARMAX) model of the heat exchanger is obtained from the Pseudo Random Binary Signal (PRBS) experiment performed on the heat exchanger system. The outlet temperature of the cold fluid is considered as the controlled variable. Based on the obtained model, PID settings are designed using the two tuning methods, and the closed loop responses such as servo and regulatory are compared experimentally. It is seen from the experimental results that the IMC based controller shows better results than the relay auto tuning method in terms of time integral error (i.e., ISE and ITAE).

A Self-Tuning PID Control System Based on Control Performance Assessment

A Quasi-Newton iterative method is developed for the calculation of the best achievable PID control performance and the corresponding optimal PID setting based on the control parameters and input-output data. At the basis of the proposed method, a self-tuning PID control system is proposed for the time-variant dynamic process. When controllers performance deteriorates below the general performance, controller parameters are directly adjusted with the Quasi-Newton iterative method. When below the poor performance, it can be indirectly adjusted with the identification of the closed-loop impulse response matrix. A data-driven solution is developed for calculation of the closed-loop impulse response matrix. Based on the acquired state information, system is assessed and adjusted cyclically so that a self-tuning PID control system is finally realized. Simulation results show the practicality and utility of this method.

Design of a Data‐Oriented Multivariable PID Control System

SUMMARYPID control schemes have been widely employed for industrial processes. However, it is important to choose a suitable set of PID gains included in the PID controller, because the control performance strongly depends on these PID gains. For single‐input/single‐output systems, data‐oriented control schemes without using the system model in computing PID gains have been proposed. In this paper, the proposed scheme is extended to a multi‐input/multi‐output case. That is, PID gains included in the multivariable PID controllers can be derived by using only the operating data. As a result, the suitable set of PID gains can be obtained, and it enables the system output to track to the reference model output. The behavior of the proposed scheme is examined by numerical simulation examples.