scholarly journals Optimization of the PID-PD parameters of the overhead crane control system by using PSO algorithm

2019 ◽  
Vol 255 ◽  
pp. 04001 ◽  
Author(s):  
Nur Iffah Mohamed Azmi ◽  
Nafrizuan Mat Yahya ◽  
Ho Jun Fu ◽  
Wan Azhar Wan Yusoff
Keyword(s):  
Pso Algorithm ◽  
Performance Criterion ◽  
Performance Criteria ◽  
Step Response ◽  
Pd Controller ◽  
Overhead Crane ◽  
Proportional Integral Derivative ◽  
Criterion Function ◽  
Proportional Integral ◽  
Load Swing

The development of combination of proportional-integral-derivative and proportional- derivative (PID-PD) controller for overhead crane is presented. Due to the pendulum-like settings, the swinging of load has caused many difficulties while operating the overhead crane. Swinging of the load causes unnecessary tension to the cable and structure of the overhead crane, which will compromise the safety of operator and other workers. Overhead cranes should have the ability to move the load to desired point as fast as possible while minimizing the load swing and maintaining the accuracy. Proportional-integral-derivative (PID) controller is used for overhead crane positioning and proportional-derivative (PD) controller for load oscillation. New time-domain performance criterion function is used in particle swarm optimization (PSO) algorithm for the tuning of the PID-PD controller rather than the general performance criteria using error of the system. This performance criterion function monitors the performance in terms of rise time, overshoot, settling time and steady state error of the overhead crane system. The performance of the optimised PID-PD controller is verified with simulation in MATLAB. The PSO optimized PID-PD controllers with new performance criterion are shown effective in improving the step response of the overhead crane position as well as controlled the load oscillation.

Modelling and PID Control of a Quadrotor Aerial Robot

2014 ◽  
Vol 903 ◽  
pp. 327-331 ◽  
Author(s):  
Ismail Mohd Khairuddin ◽  
Anwar P.P.A. Majeed ◽  
Ann Lim ◽  
Jessnor Arif M. Jizat ◽  
Abdul Aziz Jaafar
Keyword(s):  
Pid Control ◽  
Pitch Angle ◽  
Pid Controller ◽  
Pd Controller ◽  
Proportional Integral Derivative ◽  
Hovering Flight ◽  
Proportional Integral ◽  
Aircraft Model ◽  
Aerial Robot ◽  
Aerial Vehicle

This paper elucidates the modeling of a + quadrotor configuration aerial vehicle and the design of its attitude and altitude controllers. The aircraft model consists of four fixed pitch angle propeller, each driven by an electric DC motor. The hovering flight of the quadrotor is governed by the Newton-Euler formulation. The attitude and altitude controls of the aircraft were regulated using heuristically tuned (Proportional-Integral-Derivative) PID controller. It was numerically simulated via Simulink that a PID controller was sufficient to bring the aircraft to the required altitude whereas the attitude of the vehicle is adequately controlled by a PD controller.

Double-loop PI controller design of the DC-DC boost converter with a proposed approach for calculation of the controller parameters

2017 ◽  
Vol 232 (2) ◽  
pp. 137-148 ◽  
Author(s):  
Ayhan Özdemir ◽  
Zekiye Erdem
Keyword(s):  
Discrete Time ◽  
Direct Current ◽  
Experimental Studies ◽  
Boost Converter ◽  
Performance Criteria ◽  
Compact Form ◽  
Double Loop ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Model Based

Parameters of digital proportional–integral/proportional–integral–derivative controllers are usually calculated using commonly known conventional methods or solution of discrete-time equations. In literature, a model-based compact form formulation for calculation of discrete-time proportional–integral/proportional–integral–derivative controller parameters has not been come across yet. The proposed model-based compact form formulations are introduced to calculate the proportional–integral parameters in discrete time as a new approach. Generally, different types of control techniques are chosen in similar studies for double-loop control for direct current–direct current boost converter control except proportional–integral/proportional–integral. In this study, double-loop proportional–integral controller is used as a different control method from literature. By this way, the most important advantages of the proposed study are to reduce different design methods to a unique proportional–integral design method and shorten all calculations. The accuracy of the double-loop proportional–integral controller’s parameters calculated using the model-based compact form formulations is validated both in simulation and experimental studies under various disturbance effects. Satisfactory performance of the proposed controller under model uncertainty and other cases are comparatively shown with the predefined performance criteria.

Two-loop controller design and implementations for an inverted pendulum system with optimal self-adaptive fuzzy-proportional–integral–derivative control

2021 ◽  
pp. 014233122110403
Author(s):  
Tayfun Abut ◽  
Servet Soyguder
Keyword(s):  
Pid Control ◽  
Inverted Pendulum ◽  
Absolute Error ◽  
Performance Criteria ◽  
Control Methods ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Adaptive Fuzzy ◽  
Squared Error ◽  
Self Adaptive

Since inverted pendulum systems (IPSs) are under-actuated systems, controlling these systems has become an important problem. Because of their irregular movements and being structurally unstable, the balancing of these systems poses a major problem. In this study, the dynamic model of a linear IPS has been obtained by using the Newton–Euler method and also conventional proportional–integral–derivative (PID), fuzzy logic (FLC), and self-adaptive fuzzy-proportional–integral–derivative (SAF-PID) control algorithms have been designed for the control of the system. The purpose of these designed controllers is to keep the arms of the IPS on the moving cart in a vertical position and bring the cart to the specified equilibrium position. In conventional control methods, unwanted oscillations have occurred during the movement of the cart. By using two-loop control methods, it is aimed to reduce these oscillations and to design a robust system. The results have been obtained using the conventional PID, FLC, and SAF-PID controllers. To increase the performance of the SAF-PID control type, the optimum value of the coefficients of the points where the legs of the membership functions touch were calculated using the firefly optimization algorithm. To conclude, the designed controllers were performed on computer simulation. The results are given graphically and numerically. Mean absolute error (MAE), mean squared error, integral absolute error IAE, and integral squared error have been compared and examined with each other and with the studies in the literature using performance criteria. As a result, the proposed control method was at least 26.31% more successful in the angular control of the pendulum and at least 9.26% better in the position control of the cart than the studies in the literature.

Robust control of interlinking converter using PSO and ABC algorithms

2020 ◽  
Vol 13 ◽  
Author(s):  
Mudita Juneja ◽  
Shyam Krishna Nagar
Keyword(s):  
Robust Control ◽  
Controller Design ◽  
Optimization Algorithms ◽  
Tracking Error ◽  
Parameter Tuning ◽  
Pso Algorithm ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Loop Shaping ◽  
Optimal Control Scheme

Objective: In this paper, an optimal control scheme for the Interlinking Converter (IC) system is achieved by the proper regulation of its gate switching functions through appropriate optimal feedback controller design. Methods: Proportional-Integral-Derivative (PID), Fractional Order Proportional-Integral-Derivative (FOPID) and Hinfinity loop shaping controller have been designed for the two-fold control objective of simultaneous improvement in system robustness and reduced tracking error using parameter tuning via Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) optimization algorithms. Results: The controller parameters are obtained by optimization algorithms. The comparative analysis of the controller performance is carried out through simulation in MATLAB platform to validate the effectiveness in the controller design under various changing situations. Conclusion: The optimized controller parameters obtained through ABC algorithm are better than that obtained through PSO algorithm in terms of both objective function values and execution time. The resultant robust control strategy for IC system obtained through H-infinity loop shaping controller provides reduced tracking error and improved stability as compared to PID and FOPID controller, as proved by the simulation results.

OPTIMAL TUNING OF A PID CONTROLLER FOR EMDAP-CVT USING PARTICLE SWARM OPTIMIZATION

2015 ◽  
Vol 75 (11) ◽  
Author(s):  
M. Azwarie Mat Dzahir ◽  
Mohamed Hussein ◽  
Bambang Supriyo ◽  
Kamarul Baharin Tawi ◽  
Mohd Shafiek Yaakob ◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Pid Controller ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Proportional Integral Derivative ◽  
Swarm Optimization ◽  
Controlled System ◽  
Optimal Tuning ◽  
Proportional Integral ◽  
Variable Transmission

This paper looked into optimal tuning of a Proportional-Integral-Derivative (PID) controller used in Electro-mechanical Dual Acting Pulley Continuously Variable Transmission (EMDAP-CVT) system for controlling the output obtained, and hence, to minimize the integral of absolute errors (IAE). The main objective was to obtain a stable, robust, and controlled system by tuning the PID controller by using Particle Swarm Optimization (PSO) algorithm. The incurred value was compared with the traditional tuning techniques like Ziegler-Nichols and it had been proven better. Hence, the results established that tuning the PID controller using PSO technique offered less overshoot, a less sluggish system, and reduced IAE.

Semi Automatic T-Shirt Folding Machine Berbasis PID (Proportional Integral Derivative)

2020 ◽  
Vol 2 (1) ◽  
Author(s):  
Muhammad Apriliyanto ◽  
Miftachul Ulum ◽  
Koko Joni
Keyword(s):  
Ultrasonic Sensor ◽  
Proportional Integral Derivative ◽  
Servo Motor ◽  
Aesthetic Value ◽  
Proportional Integral ◽  
Door Opening ◽  
Dc Motors ◽  
The Aesthetic ◽  
The Right

<em>The process of folding clothes is one of the activities carried out in the laundry business or household. The activity is fairly easy but many people are still lazy to do it. As a result, clothes that have been washed will fall apart in certain rooms, thereby reducing the aesthetic value of a home. Semi Automatic T-Shirt Folding Machine is the right solution to make folding clothes easier and more time efficient. This tool is equipped with a servo motor that moves the folding board that has been designed in such a way that the user only needs to manghandle the shirt just once and simply push one button then the shirt will fold itself and will be neatly arranged through the clothes stacker board. The PID method is applied to DC motors that move under the clothes folder so that the buildup of clothes underneath will not be pressured upward when the clothes are piled up when they are folded. Ultrasonic sensor will measure the right height between the clothes with the door opening the stacking clothes with kp = 1, ki = 0.1, kd = 0.5 for thin clothes and kp = 5, ki = 1, kd = 2.5 for thick clothes so that the movement of the motor can adjust its speed . This tool can fold one shirt in 16.83 seconds 11 seconds faster than folding clothes manually</em>

PERANCANGAN UJI SIRIP ROKET BAGIAN AILERON DENGAN MENGGUNAKAN KONTROL PID

2018 ◽  
Vol 14 (1) ◽  
pp. 1-11
Author(s):  
Galih Irfan Firdaus
Keyword(s):  
Proportional Integral Derivative ◽  
Accelerometer Sensor ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral

Roket merupakan sebuah peluru kendali atau suatu kendaraan terbang yang mendapatkan dorongan melalui reaksi roket secara cepat dengan bahan fluida dari keluaran mesin roket. Sistem Kendali Sirip Roket berbasis Mikrokontroller ATmega8 berguna untuk mengendalikan sirip roket khususnya bagian aileron.  Dibutuhkan komponen – komponen pendukung berupa Sensor Accelerometer, Sensor Gyroscope, ATmega8 dan Motor Servo. Alat pengendali sirip roket ini dapat digunakan untuk mengendalikan sirip roket bagian aileron pada saat posisi roket tidak stabil atau terjadi gerakan naik turun pada saat setelah diluncurkan, sehingga dapat menghasilkan penerbangan yang maksimal dalam mencapai sasaran.Perancangan yang  digunakan adalah jenis pengendalian dengan kontrol PID. PID (Proportional Integral Derivative controller) merupakan kontroller untuk menentukan presisi suatu sistem instrumentasi dengan karakteristik adanya umpan balik pada sistem tesebut. Pengontrol PID adalah pengontrol konvensional yang banyak dipakai dalam dunia industri. Karakteristik pengontrol PID sangat dipengaruhi oleh kontribusi besar dari ketiga parameter P, I dan D. Pemilihan konstanta Kp, Ki dan Kd akan mengakibatkan penonjolan sifat dari masing-masing elemen. Dalam perancangan sebuah sistem kendali menggunakan kontroller PID pada motor servo yang diharapkan mampu menggerakkan sirip naik dan sirip turun pada roket sehingga mampu menjaga kestabilan roket saat diluncurkan. Prosentase error pada proyek akhir ini adalah 0,5 %.Roket merupakan sebuah peluru kendali atau suatu kendaraan terbang yang mendapatkan dorongan melalui reaksi roket secara cepat dengan bahan fluida dari keluaran mesin roket. Sistem Kendali Sirip Roket berbasis Mikrokontroller ATmega8 berguna untuk mengendalikan sirip roket khususnya bagian aileron.  Dibutuhkan komponen – komponen pendukung berupa Sensor Accelerometer, Sensor Gyroscope, ATmega8 dan Motor Servo. Alat pengendali sirip roket ini dapat digunakan untuk mengendalikan sirip roket bagian aileron pada saat posisi roket tidak stabil atau terjadi gerakan naik turun pada saat setelah diluncurkan, sehingga dapat menghasilkan penerbangan yang maksimal dalam mencapai sasaran.Perancangan yang  digunakan adalah jenis pengendalian dengan kontrol PID. PID (Proportional Integral Derivative controller) merupakan kontroller untuk menentukan presisi suatu sistem instrumentasi dengan karakteristik adanya umpan balik pada sistem tesebut. Pengontrol PID adalah pengontrol konvensional yang banyak dipakai dalam dunia industri. Karakteristik pengontrol PID sangat dipengaruhi oleh kontribusi besar dari ketiga parameter P, I dan D. Pemilihan konstanta Kp, Ki dan Kd akan mengakibatkan penonjolan sifat dari masing-masing elemen. Dalam perancangan sebuah sistem kendali menggunakan kontroller PID pada motor servo yang diharapkan mampu menggerakkan sirip naik dan sirip turun pada roket sehingga mampu menjaga kestabilan roket saat diluncurkan. Prosentase error pada proyek akhir ini adalah 0,5 %.

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