Development of a PID Control Law for an ON/OFF Actuator with Operating Signal Saturation

2018 ◽  
Author(s):  
Wisawa Mama ◽  
Thana Radpukdee
Keyword(s):  
Pid Control ◽  
Control Law ◽  
Signal Saturation

The Research on Height Control of Airship with Constant Flying Speed

2014 ◽  
Vol 644-650 ◽  
pp. 875-878
Author(s):  
Xin Li Zhang ◽  
Yun An Hu ◽  
Di Liu
Keyword(s):  
Nonlinear Model ◽  
Flight Control ◽  
Pid Control ◽  
Simulation Analysis ◽  
Reference Value ◽  
Control Law ◽  
High Increase ◽  
Height Control ◽  
Control Scheme ◽  
Detailed Simulation

The PID control scheme of airship with fixed flying high is studied in allusion to pitch channel nonlinear model of a class of stratosphere airship in this paper. The traditional PID control law is designed aim at the fixed high flight control of airship. The detailed simulation analysis is presented. It indicates that the airship can realize the fixed high flight in the range of 1000 meters. When flying high increase further, PID control scheme is not reasonable because instruction is too large. At the same time, the speed of engine has large influence on PID control scheme. The research of paper has good technical reference value for design and experiments of stratosphere airship.

Development of a Tracking System on the Mobile Robot

2015 ◽  
Vol 764-765 ◽  
pp. 680-684
Author(s):  
Kuo Lan Su ◽  
Jr Hung Guo ◽  
Kuo Hsien Hsia
Keyword(s):  
Image Processing ◽  
Control System ◽  
Mobile Robot ◽  
Pid Control ◽  
Balance Control ◽  
Tracking System ◽  
Control Law ◽  
Moving Target ◽  
System A ◽  
Feedback Data

The purpose of this paper is to develop an intelligent mobile robot using image processing technology. The mobile robot is composed of a visual tracking system, a loading platform, a balance control system, a PC-based controller, four ultrasonic sensors and a power system. We develop a PC based control system for image processing and path planning. The mobile robot can track a moving target and adjust the loading platform by the balance control system simultaneously. The Image processing based on OpenCV use two different tracking methods, MTLT (Match Template Learning Tracking) and TLD (Tracking, Learning and Detection), to track moving targets. The efficiencies of both methods for tracking the moving target on the mobile robot are compared in this paper. The loading platform control system uses HOLTEK Semiconductor Company's HT66F Series 8-bit microprocessor as the processor, and receives the feedback data from the FAS-A inclinometer sensor. The controller of the loading platform uses the PID control law according to the feedback signals of the inclinometer sensor, and controls the rotation speed of the platform motor to tune the balance level. Keywords— Intelligent mobile robot, Image processing, OpenCV, MTLT, TLD, HOLTEK, FAS-A inclinometer sensor, PID control.

Application of Torque Control Mode in Drilling & Routing Machine

2012 ◽  
Vol 569 ◽  
pp. 758-762
Author(s):  
Guang Chao Liu ◽  
Ming Jun Liu
Keyword(s):  
Control System ◽  
Dynamic Response ◽  
Pid Control ◽  
High Speed ◽  
Torque Control ◽  
Control Mode ◽  
Control Law ◽  
Forward Algorithm ◽  
Positioning Systems ◽  
Speed And Accuracy

In high speed and accuracy positioning systems, torque control mode can achieve much better dynamic response and easy tuning of PID parameters compared to those of position and speed control modes. By adopting and implementing the improved PID control law with feed forward algorithm, the control system can provide much higher performance at high speed movement.

scholarly journals On PID Design Constraints in Relation to Control of Strictly Metzler Linear MIMO Systems

Symmetry ◽  
2021 ◽  
Vol 13 (9) ◽  
pp. 1589
Author(s):  
Dušan Krokavec ◽  
Anna Filasová
Keyword(s):  
Pid Control ◽  
Mimo Systems ◽  
Feasibility Problem ◽  
Linear Matrix ◽  
Control Law ◽  
Matching Conditions ◽  
Time Invariant ◽  
Parameter Constraints ◽  
The Given ◽  
First Time

For time-invariant Metzler linear MIMO systems, this paper proposes an original approach reflecting necessary matching conditions, specifically structural system constraints and necessary positiveness in solving the problem of MIMO PID control. Covering the matching conditions by the supporting structure of measurement, refining the controller and system parameter constraints and introducing enhanced equivalent system descriptions, the reformulated design task is consistent with PID control law parameter representation and is formulated as a linear matrix inequality feasibility problem. Characterization of the PID control law parameters is permitted to highlight dynamical properties of the closed-loop system and the structural influence of the control derivative gain value in the design step. For the first time, the paper comprehensively sets the synthesis standard for PID control of MIMO Metzler systems because others for the given task have not been created at present.

DEVELOPMENT OF TRACKING SYSTEM FOR MOBILE ROBOT USING IMAGE RECOGNITION ALGORITHMS

2015 ◽  
Vol 39 (3) ◽  
pp. 501-513 ◽  
Author(s):  
Kuo-Lan Su ◽  
Bo-Yi Li ◽  
Kuo-Hsien Hsia
Keyword(s):  
Image Processing ◽  
Control System ◽  
Mobile Robot ◽  
Pid Control ◽  
Balance Control ◽  
Tracking System ◽  
Control Law ◽  
Moving Target ◽  
Image System ◽  
System A

In this paper, an intelligent mobile robot using image processing technology is developed. The mobile robot contains an image system, a loading platform, a balance control system, a PC-based controller, four ultrasonic sensors and a power system. We develop a PC-based control system for image processing and path planning. The mobile robot can track a moving target and adjust the loading platform by the balance control system simultaneously. The image processing based on OpenCV uses two different tracking methods to track moving targets: MTLT (Match Template Learning Tracking) and TLD (Tracking, Learning and Detection). The efficiency of both methods for tracking the moving target on the mobile robot is compared here. The balance control system, with a HOLTEK Semiconductor Company’s HT66F Series 8-bit microprocessor as the processor, uses the PID control law according to the feedback signals of the inclinometer sensor to control the balance level of the loading platform.

Enhanced Dynamic Set-point Weighting Design for Two-Input-Two-Output (TITO) Unstable Processes

2019 ◽  
Vol 15 (1) ◽  
Author(s):  
Purushottama Rao Dasari ◽  
A. Seshagiri Rao
Keyword(s):  
Pid Control ◽  
Time Delays ◽  
Closed Loop ◽  
Control Law ◽  
Unstable Systems ◽  
Set Point ◽  
Point Tracking ◽  
Unstable Processes ◽  
Tito Systems ◽  
Independent Loops

Abstract Control of unstable systems with time delays usually result in overshoots in the closed loop responses. The intricacy involved in multivariable unstable processes further makes the problem more challenging. In industry, set-point weighting is one of the recommended methods to minimize the overshoot. However, design of the set-point weighting parameters determines the percentage of minimization of the overshoot. In this paper, a method is proposed to design the set-point weighting parameters for unstable multivariable processes which is relatively simple and also reduces the overshoot. Weighting is considered for both proportional (β) and derivative (γ) terms in the PID control law. In the closed loop relation for set-point tracking, the coefficients of ‘s’ and ‘s3’ both in the numerator and denominator are made equal in order to find dynamically β and γ. The obtained expressions for β and γ are simple and dynamically depends on the controller parameters and are applied to TITO systems in present work. Decouplers are used in TITO systems mainly to reduce the interaction between the loops so that they can be viewed as independent loops. Decoupler design suggested by (Hazarika and Chidambaram [1] has been used in this work and two TITO unstable processes with time delays are illustrated here. Comparison with the reported methods available in literature verifies that the proposed method gives improved closed loop performance.

Model-based PID control of a crane spreader by four auxiliary cables

2006 ◽  
Vol 220 (8) ◽  
pp. 1151-1165 ◽  
Author(s):  
D-H Kim ◽  
J-W Lee
Keyword(s):  
Pid Control ◽  
Null Space ◽  
External Disturbance ◽  
Dynamic Control ◽  
Control Law ◽  
Inverse Dynamic ◽  
Tension Distribution ◽  
Model Based ◽  
Inverse Dynamic Control ◽  
Main Cables

This article presents the anti-sway and anti-skew control of a container crane that is widely used in cargo terminals. A four-cable suspended spreader is used to load and unload the container. In such a loading/unloading process, the spreader has usually residual oscillation, the sway and skew, due to the motion of the trolley and the gantry or an external disturbance such as wind. Thus, it is difficult to locate the container at the desired position quickly and precisely. In order to suppress the residual oscillation, this article proposes the use of four auxiliary cables added to four main cables. Using null space, the tension of the redundant auxiliary cables, i.e. the optimal tension distribution among four auxiliary cables, is achieved. The inverse dynamic control and a model-based proportional and integral and derivative (PID) control is applied to derive the control law. The effectiveness of the proposed tension assignment for the auxiliary cables and the model-based PID control algorithm are verified by computer simulations.

Sign in / Sign up

Export Citation Format

Share Document