Multiple closed loop system control with digital PID controller using FPGA

2014 ◽  
Author(s):  
Sirin Akkaya ◽  
Onur Akbati ◽  
Haluk Gorgun
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Loop System ◽  
System Control ◽  
Closed Loop System ◽  
Digital Pid

scholarly journals MODELING AND SIMULATION OF QUAY CRANE CONTROL SYSTEM FOR PID CONTROLLER OPTIMAL PARAMETERS DETERMINATION / KRANTINĖS KRANO VALDYMO SISTEMOS KOMPIUTERINIS MODELIAVIMAS OPTIMALIOMS PID VALDIKLIO VERTĖMS NUSTATYTI

2016 ◽  
Vol 8 (5) ◽  
pp. 540-547
Author(s):  
Tomas Eglynas ◽  
Audrius Senulis ◽  
Marijonas Bogdevičius ◽  
Arūnas Andziulis ◽  
Mindaugas Jusis
Keyword(s):  
Mathematical Model ◽  
Parameter Estimation ◽  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Loop System ◽  
Control Algorithms ◽  
Closed Loop System ◽  
Matlab Simulink ◽  
Crane Control

The main control object of Quay crane, which is operating in seaport intermodal terminal cargo loading and unloading process, is the crane trolley. One of the main frequent problem, which occurs, is the swinging of the container. This swinging is caused not only by external forces but also by the movement of the trolley. The research results of recent years produced various types of control algorithms by the other researchers. The control algorithms are solving separate control problems of Quay crane in laboratory environment. However, there is still complex control algorithm design and the controller’s parameter estimation problems to be solved. This paper presents mathematical model of the Quay crane trolley mechanism with the suspended cargo. The mathematical model is implemented in Matlab Simulink environment and using Dormand-Prince solving method. The presented model of laboratory quay crane mathematical model is dedicated to parameter estimation of PID controller of closed loop system with the usage of S –form speed input profile. The article includes the dynamic model of the presented system, the description of closed loop system and modeling results. These results will be used as an initial information for the PID parameters estimation in real quay crane control system. The simu-lation of the model was performed using estimated values of controller. The sway influence of the cargo, the usage of the trolley speed input S-shaper and the PID controller was used to control the trolley speed. Jūriniame įvairiarūšiame terminale atliekant konteinerių krovos procesus, vienas iš krantinės kranų valdymo objektų yra vežimėlis. Viena iš problemų, su kuria susiduriama dažniausiai, yra konteinerio svyravimai, kuriuos, be išorinių veiksnių, taip pat sukelia ir vežimėlio judėji-mas. Remdamiesi paskutinių kelerių metų tyrimais, mokslininkai sukūrė įvairių valdymo algoritmų, kurie laboratorinėmis sąlygomis spren-džia atskiras krantinės kranų valdymo problemas. Tačiau kompleksinių ir efektyvių valdymo algoritmų ir jų valdymo sistemos parametrų nustatymo metodai vis dar kuriami ir tobulinami. Šiame darbe sudarytas krantinės krano vežimėlio su kabančiu kroviniu mechanizmo sis-temos matematinis modelis. Šis modelis realizuotas Matlab Simulink aplinkoje ir sprendžiamas taikant Dormand-Prince metodą. Sukurtas laboratorinio krantinės krano valdymo sistemos kompiuterinis modelis skirtas uždarosios valdymo sistemos PID valdiklio parametrams nustatyti, kai užduoties signalui taikomas S formos greičio kitimo profilis. Darbe pateiktas sistemos dinaminis modelis, aprašyta uždaroji valdymo sistema, pateikti kompiuterinio modeliavimo rezultatai, kuriuos planuojama panaudoti kaip pradinę informaciją realaus krano PID valdiklio parametrams derinti. Atlikta simuliacija naudojant nustatytas vertes ir įvertinti krovinio svyravimai taikant S formos greičio kitimo profilį kartu su PID valdikliu vežimėlio greičiui valdyti.

The Application of Fractional Order Calculus in Closed-Loop System Control

2012 ◽  
Vol 442 ◽  
pp. 315-320
Author(s):  
Yun Fang Feng
Keyword(s):  
Closed Loop ◽  
Design Method ◽  
Open Loop ◽  
Loop System ◽  
System Control ◽  
Closed Loop System ◽  
Open Loop System ◽  
System Robustness ◽  
Fractional Controller ◽  
Frequency Phase

A design method of fractional controller has been developed to meet the five different specifications, including for the closed-loop system robustness. The specifications of cross frequency, phase to get financing ϕ meters and robustness and complete performance curve based on level off the stage of open loop system, ensure damping is worse reaction time of model uncertainty gain change.

scholarly journals Design and experimentation of a self-tuning PID control applied to the 3DOF helicopter

2013 ◽  
Vol 23 (3) ◽  
pp. 311-331 ◽  
Author(s):  
Ahsene Boubakir ◽  
Salim Labiod ◽  
Fares Boudjema ◽  
Franck Plestan
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Loop System ◽  
Closed Loop System ◽  
Adaptation Mechanism ◽  
Model Free ◽  
Self Tuning ◽  
Model Free Control ◽  
The Stability

Abstract The paper presents design and experimental validation of a stable self-tuning PID controller for three degrees of freedom (3-DOF) helicopter. At first, it is proposed a self-tuned proportional-integral-derivative (PID) controller for a class of uncertain second order multiinput multi-output nonlinear dynamic systems to which the 3-DOF helicopter dynamic model belongs. Within this scheme, the PID controller is employed to approximate unknown ideal controller that can achieve control objectives. PID controller gains are the adjustable parameters and they are updated online with a stable adaptation mechanism designed to minimize the error between the unknown ideal controller and the used by PID controller. The stability analysis of the closed-loop system is performed using Lyapunov approach. It is proven that all signals in the closed-loop system are uniformly ultimately bounded. The proposed approach can be regarded as a simple and effective model-free control since the mathematical model of the system is assumed unknown. Experimental results are presented to verify the effectiveness of the proposed controller.

scholarly journals Design of Fractional Order PID Controller Based Particle Swarm

2014 ◽  
Vol 7 (4) ◽  
pp. 24-39
Author(s):  
Abdelelah Kidher Mahmood ◽  
Bassam Fadel Mohammed
Keyword(s):  
Fractional Order ◽  
Pid Controller ◽  
Closed Loop ◽  
Particle Swarm ◽  
Optimization Methods ◽  
Loop System ◽  
Closed Loop System ◽  
Unknown Parameters ◽  
And Performance ◽  
Fractional Order Pid

Fractional order PID (FOPID) controller is a special kind of PID controller whose derivative and integral order are fractional rather than integer which has five parameters to be tuned. This paper presents study of the implementation of tuning method and performance enhancement of the closed loop system by use of the fractional order PID (PIλDμ) controller utilizing a MATLAB/Simulink. The tuning methods for these type controllers have many mixed tools of the available optimization methods and update artificial optimization methods in the design. In this paper particle swarm optimization has been implemented to design FOPID controller in which the unknown parameters are determined minimizing a given integral of time weighted absolute error (ITAE). The main specification of this paper is that the all five parameters of (PIλDμ) have been found directly without spreading the steps. It has been shown that the response and performance of the closed loop system with FOPID controller is much better than integer order PID controller for the same system and with better robustness.

scholarly journals Design of a model reference adaptive PID control algorithm for a tank system

2021 ◽  
Vol 11 (1) ◽  
pp. 300
Author(s):  
Yohan Darcy Mfoumboulou
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Closed Loop ◽  
Reference Model ◽  
Pi Controller ◽  
Loop System ◽  
Closed Loop System ◽  
Model Reference ◽  
Adaptive Pid Control ◽  
Model Reference Adaptive

This paper describes the design of an adaptive controller based on model reference adaptive PID control (MRAPIDC) to stabilize a two-tank process when large variations of parameters and external disturbances affect the closed-loop system. To achieve that, an innovative structure of the adaptive PID controller is defined, an additional PI is designed to make sure that the reference model produces stable output signals and three adaptive gains are included to guarantee stability and robustness of the closed-loop system. Then, the performance of the model reference adaptive PID controller on the behaviour of the closed-loop system is compared to a PI controller designed on MATLAB when both closed-loop systems are under various conditions. The results demonstrate that the MRAPIDC performs significantly better than the conventional PI controller.

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