Simple PID Controller Research Articles

A physically based PID controller for the power maneuvering of nuclear reactors

Development of rapid and efficient regulators for the load following operation of nuclear power plants is an ongoing research interest. A physics-based PID regulation approach which adopts Ziegler-Nichols tuning mechanism is therefore attempted in this work. To this end, the prompt jump approximation inspiring the broader singular perturbation framework is resorted. PID parameters obtained in this regard give rise to a rapid and efficient closed loop power tracking performance during load following operation. Stable closed loop tracking at various operating power levels is moreover procured through this approach. • A simple PID controller designed for load following purposes. • Ziegler-Nichols (Z-N) framework is adopted. • The prompt jump (PJ) approximation employed to refine the Z-N tuning method.

Particle Swarm Optimization for tuning a Fuzzy Supervisory Controller Parameters (Takagi Seguno and Mamdani Engines)

Steam generation systems are a crucial part of most power plants. Therefore, boiler control is an important problem for power plants that are frequently changing load or subject to sudden load disturbances, which are common in current market driven electricity industry. Hence, the control of such processes needs the design of more effective controllers. Although Fuzzy logic controllers seem more adequate for controlling chemical processes, since they provides solutions to incompletely defined and nonlinear processes industrials does not prefer such type of controllers since the tuning of these controllers requires the adjustment of a large number of parameters, which is tedious. The fact that let the industrials prefer the use of simple PID controllers rather than complicated fuzzy or neural controllers. Hence in this paper a simple PD controller is used to control the steam flow parameters of whereas its parameters are deduced using fuzzy supervisory controller the parameters of the supervisory controller are optimized using particle swarm optimization algorithm, the most known inference Engines SEGUNO and MAMDANI are considered.

Robustness Through Simplicity: A Minimalist Gateway to Neurorobotic Flight.

In attempting to build neurorobotic systems based on flying animals, engineers have come to rely on existing firmware and simulation tools designed for miniature aerial vehicles (MAVs). Although they provide a valuable platform for the collection of data for Deep Learning and related AI approaches, such tools are deliberately designed to be general (supporting air, ground, and water vehicles) and feature-rich. The sheer amount of code required to support such broad capabilities can make it a daunting task to adapt these tools to building neurorobotic systems for flight. In this paper we present a complementary pair of simple, object-oriented software tools (multirotor flight-control firmware and simulation platform), each consisting of a core of a few thousand lines of C++ code, that we offer as a candidate solution to this challenge. By providing a minimalist application programming interface (API) for sensors and PID controllers, our software tools make it relatively painless for engineers to prototype neuromorphic approaches to MAV sensing and navigation. We conclude our discussion by presenting a simple PID controller we built using the popular Nengo neural simulator in conjunction with our flight-simulation platform.

DEVELOPMENT OF PID LIKE FLC ALGORITHM FOR INDUSTRIAL APPLICATIONS

Now a day, in many industries different types of controllers (PD, PID, PLC, FLC etc.) are used. One of them is fuzzy logic controller. Here we develop a PID like fuzzy logic controller for industrial application, such application is water purification plant. For developing the PID like FLC, first we have to design a PID algorithm than we develop an algorithm for fuzzy logic controller. By comparing this two of controller we will develop a PID like FLC. A simple PID controller is sum of three type of controller proportional, integral and derivative controller, after simulated on MATLAB. Same cases we can be develop a structure of FLC for water purification plant. In the water purification plant raw water or ground water is promptly purified by injecting chemical rates at rates, related to water quality [13][2]. The feed of chemical rate judged and determined by the skilled operator. Here we try to develop an FLC algorithm so that the feed rate of coagulant is can be judged automatically without any skilled operator, than compose a PID like FLC for water purification plant process.

Position and Force Control of a Twisted and Coiled Polymeric Actuator

Twisted and coiled polymer (TCP) actuator has many advantages such as high contraction capability, high work density, low cost materials, and easiness of fabrication, making it promising for applications in biomedical devices, soft robotic, and energy-harvesting equipment. However, convenient and effective control of TCP actuators still remain some challenges. In this paper, we use an accurate strain-temperature and force-temperature model of TCP actuators to design a simple and efficient closed-loop PID control system. The validity of the proposed controllers is investigated through numerical simulations and experiments. The results show good control performance with minimum tracking errors which is less than 3% in our work. Such accuracy is ideal for many engineering fields and robotic designs.

Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation

Reaction wheels have been extensively used to control and stabilize a wide range of applications due to the angular momentum exchange that they provide to mechanical systems. However, there exist several limitations associated with actuator saturation and the presence of singularities that lead towards the use of different controllers and devices. Recently, a new and unusual configuration using two reaction wheels was proposed and illustrated in an inverted pendulum to drive and control it using a simple and well-known PID controller. In this context, this paper improves the previous results on the same system by proposing two more sophisticated nonlinear controllers: a nonlinear proportional-derivative and a sliding mode controller. The proof of the stability of each controller is also provided, and the asymptotic stability is proven. A friction model is experimentally updated into the differential equations of the pendulum and also included for the controllers designing. A real-time application verifies the performance of the controllers using low-cost hardware. Results based on the analysis of different performance indices highlight the improvement of applying these two nonlinear control techniques comparing to the previous paper using this configuration of actuators.

Assessment of Model Predictive Voltage Control for Autonomous Four-Leg Inverter

The Finite control set model predictive control (FCS-MPC) is recently introduced to control inverters without the modulation stage. The absence of the modulation stage gives an unpredictable performance of the control system. In this paper, the performance of FCS-MPC is assessed by comparing with PID control which is based on Scalar Pulse Width Modulation (PWM). The two control techniques are applied for load voltage regulation of the autonomous four-leg voltage source inverter (FLVSI). Practically, the predictive control requires a large number of calculations, resulting in high computation time and delay. In this paper, a new finite control set model predictive voltage control (MPVC) algorithm is proposed to predict the load voltages for 15 switching states instead of 16 switching states for reducing the computation time required for the control algorithm. Moreover, the algorithm is optimized by removing the repeated computations and the delay is compensated using the two-step prediction horizon principle. An accurate discrete-time state-space model of the autonomous FLVSI with output LC-filter is used for predicting the load voltages considering the neutral inductance and damping resistance of the LC filter. A simple PID control scheme with decoupled feedforward voltage and current loops is used in the DQ0 reference frame, while MPVC operates in the ABC reference frame. The simulation and experimental results are used to show the full assessment of the MPVC. The prominent outcomes show the ability of the proposed MPVC algorithm to provide high power quality under unbalanced and non-linear load conditions with high stability and robustness.

Semi-batch reactor control with NMPC avoiding thermal runaway

Several exothermic reactions are carried out in semi-batch reactors (SBR). A not suitable control system can lead to dangerous situations if thermal runaway develops. Reactor runaway can be avoided with application of a non-linear model predictive control (NMPC) with implemented runaway criterion to manipulate the feed flow rate of reagent, although the prediction horizon has to be chosen correctly. For this purpose, process safety time (PST) of the system is determined. Two different operation modes are considered. In the first case the loaded reagent is preheated to avoid accumulation, while in the second mode, only the produced heat by the reactions heat up the reactor. A simple PID controller and the proposed NMPC were tested in both cases. Operation results are compared to each other based on batch times and energy consumptions next to a safe operation. Runaway criteria can be successfully implemented in NMPC for the intensification of SBRs.

Advance control scheme for Desalination Plant

The multistage flash desalination (msf) process is used to separate brine from sea water and provide distilled water. The factors that determine the performance of the plant (distillate produced) depends on the output temperature of the brine heater which is known as top brine temperature.Single loop controllers are usually used to control top brine temperature. Control of top brine temperature of MSF plants is a multivariable control problem, due to interaction between other variables like, brine inlet flow to the brine heater, brine heater level, brine concentration etc., the use of simple PID controllers cannot cope with the compound interactions with other variables which affects the top brine temperature. Hence it is necessary to have dependable model of the plant behavior to account for the interaction between the controlled and manipulated variables. For this purpose, a non-linear dynamic model was developed for the MSF plant with multi variable interaction approach. Simulation studies were carried out to maintain top brine temperature by varying brine flow and brine heater level. A feed forward controller was developed and the performance was compared with the conventional PID controller. The merits of the proposed scheme were highlighted. [19],[20],[21]

A Method of Enhancing Fast Steering Mirror’s Ability of Anti-Disturbance Based on Adaptive Robust Control

Fast steering mirror (FSM) plays a crucial role in stabilization of the line-of-sight (LOS) and phase shift compensation. The control accuracy of the FSM is affected by various disturbances especially the vibration in the aviation environment. Traditional anti-disturbance methods, such as disturbance observer (DOB), have a little effect of suppressing disturbance in FSM. But it also brings some problem, such as increasing mass and amplifying high frequency noise. To solve these problems, an anti-disturbance strategy based on adaptive robust control (ARC) was proposed. And it will not amplify the high-frequency noise which is inevitable in DOB. Experimental results show that, using adaptive robust controller, the steady-state error of the FSM decreased 4.8 times compared to simple PID control and 1.9 times compared to DOB+PID control in the simulated vibration environment.

Synthesis of Fuzzy Controller Based on Simple PID Controller

This article will present the nonlinear mathematical model of quadrotor, then this model will be linearized around more than one operational point to cover all nonlinear system dynamics while fulfilling different movements. PID controller was developed with considering of control signals constraints. The data of closed loops PID of quadrotor including error and control signals will be analyzed to derive the most appropriate input and output linguistic variables and rule base that describe the behavior, more precisely the dynamics of the system. The proposed method of analysis will define the main parameters of fuzzy controller and help avoiding the complexity of contributing experts’ knowledge which is either difficult to give full description neither readily exists in reach of the designer. This will lead to design a fuzzy controller that is supposed to maintain the performance of basic PID controller and to be immune to uncertainty of the model coefficients.

Examination of the Unmanned Aerial Vehicle

The contemporary interdisciplinary field of knowledge, which is the robotics used in unmanned aerial vehicles, is developing very dynamically. In view of the above, the authors of this paper have set themselves the following thesis: it is possible to build a flying mobile robot based on a controller with low computing power and a simple PID controller, and in this respect they undertook to prove it. The examined object in real experiments was the Quadrocopter. The article discusses the tasks implemented during the design and practical implementation of a remotely controlled flying unit. First, a mathematical model describing the dynamics of the UAV movement was defined. Then, electronic components were selected to allow the quadrocopter to fly. The board has a central unit in the form of the ATmega644PA microcontroller. In the following, the process of programming subsequent elements that make up the quadrocopter control program was carried out. The control system for stabilizing the machine requires information about the location of the quadrocopter in space. This is accomplished by a measurement module containing an accelerometer and a gyroscope. In addition, the quadrocopter needs information about the potential operator's commands. In the final part of the article, based on the analysis of the research subject, the mathematical model created and the necessary simulation tests carried out in this area, practical conclusions were presented.

OPTIMIZATION OF PID PARAMETERS BASED ON PARTICLE SWARM OPTIMIZATION FOR BALL AND BEAM SYSTEM

Ball and beam system is one of a nonlinear and unstable control system, thus providing a challenge to the control engineers and researchers. This paper introduces the application of an optimization technique, known as Particle Swarm Optimization (PSO) algorithm to the problem of tuning the Proportional-IntegralDerivative (PID) controller for a linearized ball and beam control system. After describing the basic principles of the Particle Swarm Optimization, the proposed method concentrates on finding the optimal solution of PID controller in the cascade control loop of the Ball and Beam Control System. Ball and Beam control system tends to balance a ball on a particular position on the beam as defined by the user. The main challenge for this paper is that the integrating with lag transfer function of the DC motor model (slave loop) and the doable integrating transfer function of ball-beam model (primary loop) are difficult to control using simple PID Control algorithm and gives inaccurate response and bad performance, but it can be used by searching algorithm (PSO-PID) to extract the best PID parameters and getting better performance. The efficiency of Particle Swarm Optimization algorithm for tuning the controller will be compared with a classical method, Trial and Error method. The comparison is based on the time response performance. The two tuning methods have been developed by simulation study using Matlab\m-file software. The evaluations show that Evolutionary method Particle Swarm Optimization (PSO) algorithm gives a much better response than trial and error method.

Uncertainty analysis of transfer function of proton exchange membrane fuel cell and design of PI/PID controller for supply manifold pressure control

ABSTRACTProton Exchange Membrane (PEM) fuel cell is one of the possible green solutions for energy generation. The response of the fuel cell system depends on the air and hydrogen feed, flow and heat/ water management. The main control task is to maintain the supply manifold pressure at the cathode side of PEMFC. In this article, an approximation of First Order plus Time Delay (FOPTD) model is obtained from the PEMFC dynamic model by process reaction curve method. The analysis of uncertainty for the FOPTD model was carried out. From the FOPTD model, a simple PID controller was designed and compared with other techniques like: ZN-PI, Skogestad – Internal Model Control (SIMC)-PI, Improved SIMC-PID and Smith Predictor. Also, MPC and decoupler design were implemented. The simulation results are obtained using MATLAB® which shows that the response of supply manifold pressure is well controlled. The gain and phase margins were found out from the Bode plots of open loop transfer function and closed loop transfer functions for stability analysis.

Design and assessment of a flexible fish robot actuated by shape memory alloys

In this paper, we present a fish-like underwater robot inspired by the black bass fish. This robot is composed of a deformable structure and muscle-like linear actuators based on shape memory alloy wires. Such actuators are used to bend a continuous structure representing the backbone of the fish. The prototype is also equipped with a bio-inspired synthetic skin made of liquid silicone rubber and Lycra microfiber mesh. We present the mechatronics of the prototype and its control scheme, which take advantage of flex sensors for proprioception. Experiments under different conditions (in air and in water) assess the effectiveness of the mechatronics design and demonstrate that a relatively simple PID controller provides high precision of the muscles’ position control. Here, the implementation of biomimetic kinematics and silent actuation technology in bio-inspired underwater robotics are demonstrated. Progress in this technology could provide multiple applications, including fish farming, coastal protection and live animal monitoring where silent robotics are necessary.

Adaptive Flow Separation Control Over an Asymmetric Airfoil

A closed-loop adaptive flow control system was experimentally demonstrated to control the flow separation over an NACA 64A210 airfoil. To control the flow separation, piezoelectrically driven synthetic jet actuators and pressure sensors were used. Before performing the closed-loop flow separation control experiment, the effectiveness of the synthetic jet actuator was investigated by open-loop experiments for an NACA 64A210 airfoil in various operating conditions to examine the effective control parameter. The pressure gradient, which was calculated from the difference of mean pressure coefficients between two sensor positions, was found to be a criterion for flow recovery in these experiments. Therefore, the pressure gradient was selected as a control parameter for separated flow. An adaptive flow control system using adaptive inverse control and extremum-seeking control was developed to control the pressure gradient for separated flow over an NACA 64A210 airfoil. The performance of the resulting flow control system was compared with a simple PID control system. Experimental results based on the proposed adaptive flow control system demonstrated the satisfactory tracking performance of the pressure gradient for the pressure recovery. As a result, the proposed adaptive flow control approach enhanced the aerodynamics performances in terms of lift and drag coefficients and lift/drag ratio in the closed-loop control system.

Use of the benchmark for PID control in engineering studies at the University of Almería

This paper presents the methodology followed to evaluate students ability to face the challenge of controlling a refrigeration system based on vapour compression proposed as a benchmark for PID control design in the PID18 Conference. This benchmark has been also proposed as test-bed plant for the design of controllers in the subject Industrial Control Techniques at the University of Almería, Spain. The solutions proposed by the students range from simple SISO PID control loops (including anti-windup effect) to MIMO ones, including decoupling, filters and feedforward action to reject disturbances. All these solutions rely on models obtained from the reaction curve method. The selection of adequate specifications is encouraged, although students creativity has led them to exploit very aggressive specifications taking into account the different system restrictions, and obtaining very good values of the proposed evaluation indexes. © Copyright IFAC 2018.

Identification and control of process using the Modified asymmetrical Relay Feedback method

In this work a single asymmetric relay Feedback method was used in order to identify the parameters of the Different processes, unlike the traditional approach a relay feedback method along with the sinusoidal excitation was employed to generate sustained oscillations with a single asymmetrical relay, for effectiveness of the present method it was compared with other existing methods in the literature. The identified parameters from the Relay feedback test were used to design the Simple PID controller for Different processes.

Active Impedance Matching in Slender Continua via a Special PID Controller

AbstractThe concept of impedance matching is well known in electrical engineering and can be applied in mechanical engineering as well. Slender systems, which have a relatively low stiffness and should not be treated as a rigid body are typical candidates for the application of impedance matching.Impedance matching imposes a special boundary condition. In general, at the boundary of a slender mechanical system, waves are partially reflected. The goal of impedance matching is to minimize those wave reflections and to transmit the wave motion to the vicinity. In this paper, it is shown that the impedance matching approach has a great potential of damping vibrations and that a simple PID controller can be used to implement an active version. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)

Quasi Cascaded H-Bridge Five-Level Boost Inverter

Latterly, multilevel inverters have become more attractive for researchers due to low total harmonic distortion in the output voltage and low electromagnetic interference. This paper proposes a novel single-stage quasi-cascaded H-bridge five-level boost inverter (qCHB-FLBI). The proposed five-level inverter has the advantages over the CHB quasi-Z-source inverter in cutting down passive components. Consequently, size, cost, and weight of the proposed inverter are reduced. Additionally, the proposed qCHB-FLBI can work in the shoot-though state. A capacitor with low voltage rating is added to the proposed topology to remove an offset voltage of the output ac voltage when the input voltages of two modules are unbalanced. Besides, a simple PID controller is used to control the capacitor voltage of each module. This paper presents circuit analysis, the operating principles, and simulation results of the proposed qCHB-FLBI. A 1.2-kVA laboratory prototype was constructed based on a DSP TMS320F28335 to validate the operating principle of the proposed inverter.