scholarly journals Position Tracking Performance with Fine Tune Ziegler-Nichols PID Controller for Electro-Hydraulic Actuator in Aerospace Vehicle Model

2021 ◽  
Vol 2107 (1) ◽  
pp. 012064
Author(s):  
S.M. Othman ◽  
Noorhazirah Sunar ◽  
Hassrizal H.B ◽  
A.H. Ismail ◽  
M.N. Ayob ◽  
...  
Keyword(s):  
Pid Controller ◽  
External Disturbance ◽  
Viscous Friction ◽  
Fine Tuning ◽  
Tracking Performance ◽  
Position Tracking ◽  
Trial And Error ◽  
Hydraulic Actuator ◽  
Tuning Method ◽  
Non Linear System

Abstract Electro-Hydraulic Actuator (EHA) system is a third order non-linear system which is highly suffer from system uncertainties such as Coulomb friction, viscous friction and pump leakage coefficient which makes this system more complicated for the designing of the controller. The Proportional-Integral-Derivative (PID) controller has proposed in this paper to control EHA system and main problem in its application is to tune the parameter to its optimum value. Two different methods are used to tune the PID controller which are trial and error and Ziegler-Nichols method. MATLAB Simulink is used to simulate the system. In order to determine the performance of EHA system for the position tracking. 3 different of external disturbance such as 0N, 5000N and 10000N has been injected into the system. Simulation results show that the Ziegler-Nichols fine tuning method provides the better tracking performance when compared to the trial and error method for every specific disturbance setting. The Ziegler Nichols method provides better disturbance rejection as the performances indexes such as percentage overshoot, settling time and steady state error are not affected by the varying of disturbance.

scholarly journals Improving Disturbance-Rejection by Using Disturbance Estimator

2021 ◽  
Author(s):  
Damir Vrančić ◽  
Mikuláš Huba
Keyword(s):  
Disturbance Rejection ◽  
Pid Controller ◽  
Transfer Functions ◽  
Process Models ◽  
Tracking Performance ◽  
Fast Tracking ◽  
Tuning Method ◽  
Process Output ◽  
Process Disturbances ◽  
Disturbance Estimator

The main tasks of control in various industries are either tracking the setpoint changes or rejecting the process disturbances. While both aim at maintaining the process output at the desired setpoint, the controller parameters optimised for setpoint tracking are generally not suitable for optimal disturbance rejection. The overall control performance can be improved to some extent by using simpler 2-DOF PID controllers. Such a controller structure allows the disturbance rejection to be optimised, while it also improves the setpoint tracking performance with additional controller parameters (usually through the setpoint weighting factors). Since such 2-DOF structures are usually relatively simple, the optimization of tracking performance is usually limited to the reduction of process overshoots instead of achieving an optimal (fast) tracking response. In this chapter, an alternative approach is presented in which the parameters of the PID controller are optimised for reference tracking, while the performance of the disturbance rejection is substantially increased by introducing a simple disturbance estimator approach. The mentioned estimator requires adding two simple blocks to the PID controller. The blocks are the second-order transfer functions whose parameters, including the PID controller parameters, can be calculated analytically from the process characteristic areas (also called process moments). The advantage of such an approach is that the mentioned areas can be analytically calculated directly from the process transfer function (of any order with time delay) or from the time response of the process when the steady state of the process is changed. Both of the above calculations are absolutely equivalent. Moreover, the output noise of the controller is under control as it is considered in the design of the controller and compensator. The closed loop results on several process models show that the proposed method with disturbance estimator has excellent tracking and disturbance rejection performance. The proposed controller structure and tuning method also compare favourably with some existing methods based on non-parametric description of the process.

EHA System Integration Design Analysis and Position Tracking Performance by PID Controller

2013 ◽  
Vol 419 ◽  
pp. 826-834
Author(s):  
Syed Imran Jawaid ◽  
Liang Wang
Keyword(s):  
Dynamic Analysis ◽  
System Integration ◽  
Pid Controller ◽  
High Performance ◽  
Aerospace Industry ◽  
Important Application ◽  
Tracking Performance ◽  
Position Tracking ◽  
Simulation Results ◽  
Almost All

Electro-hydraulic actuation is now an emerging and well established technology and currently applicable in almost all fields but most important application of electro-hydrostatic actuator (EHA) is aerospace industry. This paper will discuss the selection and designing of major sub-assemblies and their integration to form an EHA unit. A complete, compact, and high performance EHA will be designed in different sections of paper and dynamic analysis of major assemblies is carried out to meet the designed requirements. In last section position tracking performance of the EHA is analysed by using a conventional PID Controller and simulation results are discussed.

scholarly journals A Modified 2-DOF Control Framework and GA Based Intelligent Tuning of PID Controllers

Processes ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 423
Author(s):  
Gun-Baek So
Keyword(s):  
Disturbance Rejection ◽  
Pid Controller ◽  
Weighting Function ◽  
Pid Controllers ◽  
Set Point ◽  
Tuning Method ◽  
Point Tracking ◽  
Load Disturbance ◽  
Control Framework ◽  
Feedforward Controller

Although a controller is well-tuned for set-point tracking, it shows poor control results for load disturbance rejection and vice versa. In this paper, a modified two-degree-of-freedom (2-DOF) control framework to solve this problem is proposed, and an optimal tuning method for the pa-rameters of each proportional integral derivative (PID) controller is discussed. The unique feature of the proposed scheme is that a feedforward controller is embedded in the parallel control structure to improve set-point tracking performance. This feedforward controller and the standard PID con-troller are combined to create a new set-point weighted PID controller with a set-point weighting function. Therefore, in this study, two controllers are used: a set-point weighted PID controller for set-point tracking and a conventional PID controller for load disturbance rejection. The parameters included in the two controllers are tuned separately to improve set-point tracking and load dis-turbance rejection performances, respectively. Each controller is optimally tuned by genetic algo-rithm (GA) in terms of minimizing the IAE performance index, and what is special at this time is that it also tunes the set-point weighting parameter simultaneously. The simulation results performed on four virtual processes verify that the proposed method shows better performance in set-point tracking and load disturbance rejection than those of the other methods.

scholarly journals Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 20
Author(s):  
Manh Hung Nguyen ◽  
Hoang Vu Dao ◽  
Kyoung Kwan Ahn
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Lyapunov Theory ◽  
Tracking Performance ◽  
System Stability ◽  
Position Tracking ◽  
Parametric Uncertainties ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.

scholarly journals Optimal Fractional-Order Active Disturbance Rejection Controller Design for PMSM Speed Servo System

Entropy ◽  
2021 ◽  
Vol 23 (3) ◽  
pp. 262
Author(s):  
Pengchong Chen ◽  
Ying Luo ◽  
Yibing Peng ◽  
Yangquan Chen
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Pid Controller ◽  
External Disturbance ◽  
Servo System ◽  
Stable Region ◽  
Speed Tracking ◽  
Active Disturbance Rejection ◽  
Load Disturbance ◽  
Tuning Strategy

In this paper, a fractional-order active disturbance rejection controller (FOADRC), combining a fractional-order proportional derivative (FOPD) controller and an extended state observer (ESO), is proposed for a permanent magnet synchronous motor (PMSM) speed servo system. The global stable region in the parameter (Kp, Kd, μ)-space corresponding to the observer bandwidth ωo can be obtained by D-decomposition method. To achieve a satisfied tracking and anti-load disturbance performance, an optimal ADRC tuning strategy is proposed. This tuning strategy is applicable to both FOADRC and integer-order active disturbance rejection controller (IOADRC). The tuning method not only meets user-specified frequency-domain indicators but also achieves a time-domain performance index. Simulation and experimental results demonstrate that the proposed FOADRC achieves better speed tracking, and more robustness to external disturbance performances than traditional IOADRC and typical Proportional-Integral-Derivative (PID) controller. For example, the JITAE for speed tracking of the designed FOADRC are less than 52.59% and 55.36% of the JITAE of IOADRC and PID controller, respectively. Besides, the JITAE for anti-load disturbance of the designed FOADRC are less than 17.11% and 52.50% of the JITAE of IOADRC and PID controller, respectively.

Composite adaptive control based on historical data for electro-hydraulic system driven by dual servo motor-pump with unknown disturbance

2021 ◽  
pp. 095965182199860
Author(s):  
Xiaofu Zhang ◽  
Guanglin Shi
Keyword(s):  
Adaptive Control ◽  
Hydraulic System ◽  
Historical Data ◽  
Tracking Performance ◽  
Load Force ◽  
Position Tracking ◽  
Servo Motor ◽  
Estimated Parameters ◽  
Unknown Disturbance ◽  
Composite Adaptive Control

This article presents a composite adaptive control method to improve the position-tracking performance of an electro-hydraulic system driven by dual constant displacement pump and dual servo motor named as a novel electro-hydraulic system with unknown disturbance. A composite adaptive controller based on backstepping method is designed to estimate the uncertainties of electro-hydraulic control system, including the damping coefficient and elastic modulus. In order to release the persistent excitation condition of conventional adaptive control, which is often infeasible in practice, a prediction error based on the online historical data is used to update the estimated parameters. Furthermore, a disturbance observer is used to estimate the disturbance including the unmeasurable load force, friction and other unmodeled disturbance. The experiment results are provided and compared with other methods to verify the effectiveness of the proposed method, and the results have indicated that the proposed method has a better position-tracking performance with the convergent estimated parameters.

scholarly journals An MEA-Tuning Method for Design of the PID Controller

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Yongli Zhang ◽  
Lijun Zhang ◽  
Zhiliang Dong
Keyword(s):  
Pid Controller ◽  
Industrial Process ◽  
Optimal Solution ◽  
Design Feature ◽  
Parameter Tuning ◽  
Parallel Structure ◽  
Evolutionary Information ◽  
Tuning Method ◽  
Efficiency And Effectiveness ◽  
Global Optimal

The optimization and tuning of parameters is very important for the performance of the PID controller. In this paper, a novel parameter tuning method based on the mind evolutionary algorithm (MEA) was presented. The MEA firstly transformed the problem solutions into the population individuals embodied by code and then divided the population into superior subpopulations and temporary subpopulations and used the similar taxis and dissimilation operations for searching the global optimal solution. In order to verify the control performance of the MEA, three classical functions and five typical industrial process control models were adopted for testing experiments. Experimental results indicated that the proposed approach was feasible and valid: the MEA with the superior design feature and parallel structure could memorize more evolutionary information, generate superior genes, and enhance the efficiency and effectiveness for searching global optimal parameters. In addition, the MEA-tuning method can be easily applied to real industrial practices and provides a novel and convenient solution for the optimization and tuning of the PID controller.

Sign in / Sign up

Export Citation Format

Share Document