Comparison of Sliding Mode Control With State Feedback and PID Control Applied to a Proportional Solenoid Valve

1996 ◽  
Vol 118 (3) ◽  
pp. 434-438 ◽  
Author(s):  
J. B. Gamble ◽  
N. D. Vaughan
Keyword(s):  
Pid Control ◽  
State Feedback ◽  
Sliding Mode ◽  
Control Strategies ◽  
Step Response ◽  
Sliding Mode Controller ◽  
Experimental Step ◽  
Reaction Forces ◽  
Valve Dynamics ◽  
Direct Acting

A novel nonlinear sliding mode controller has recently been developed for direct acting proportional solenoid valves. This paper presents a comparison between the valve performance using this controller, and that obtained using two alternative control strategies; state feedback and PID control. Each controller is described in turn, and experimental step response results are presented to demonstrate the validity of each strategy. These results are compared on the basis of response time, overshoot, and steady-state error. The time taken to design each controller, and the required level of knowledge of the valve dynamics, are also assessed. The ability of each controller to reject flow reaction forces is evaluated by observing the changes in the step response when oil is passed through the valve. The results demonstrate that the sliding mode controller results in a faster, more robust closed-loop response. In addition, only minimal knowledge of the valve dynamics is required in order to design the controller.

PLC-based Automatic Control of Food Production Line

2012 ◽  
Vol 482-484 ◽  
pp. 2214-2217
Author(s):  
Yan Ping Guo ◽  
Qi Cui
Keyword(s):  
Pid Control ◽  
Production Line ◽  
Food Production ◽  
State Feedback ◽  
Research Study ◽  
Control Strategies ◽  
Normal Operation ◽  
Advanced Process Control ◽  
Industrial Food Production ◽  
Predictive Controller

Standard programmable logic controller (PLC) based proportional-integral-derivative (PID) was originally employed as part of the food production line control strategy, but after observing the response of those process due to measured disturbances during normal operation, it was evident that PID control could not meet the desired cooking specifications. It was decided to pursue advanced process control strategies as a means to meet the food production specifications. The problem of this research study was to design and analyze the performance of a PLC-based model state feedback controller implementation for an industrial food production line, and to determine its viability in comparison to commercially available PC-based model predictive controller implementations applied to food production line.

scholarly journals Robust Non-Overshoot Time Responses Using Cascade Sliding Mode-PID Control

2007 ◽  
Vol 11 (10) ◽  
pp. 1224-1231 ◽  
Author(s):  
Thanh H. Tran ◽  
◽  
Quang P. Ha ◽  
Hung T. Nguyen
Keyword(s):  
Pid Control ◽  
Sliding Mode ◽  
Delay Systems ◽  
Step Response ◽  
Order System ◽  
Outer Loop ◽  
Automatic Control Systems ◽  
Damped System ◽  
Highly Nonlinear ◽  
Nonlinear Uncertainties

Overshoot is a serious problem in automatic control systems. This paper presents a new method for elimination of the step response overshoot in a conventional PID-controlled system and enhancement of its robustness by cascading a sliding mode controller in the outer loop. The idea is first to use the cascade control principle to model the under-damped system under PID control with a second-order system. Then, by making use of the sliding mode control outer loop, a robust, reduced-order response can be obtained to suppress the control overshoot. The proposed approach can also deal with time delay systems. Its validity is verified through simulation for some dynamic systems subject to highly nonlinear uncertainties, where overshoot remains an issue.

Partial state feedback sliding mode control for double-pendulum overhead cranes with unknown disturbances

2022 ◽  
pp. 095440622110520
Author(s):  
Qingrong Chen ◽  
Wenming Cheng ◽  
Jiahui Liu ◽  
Run Du
Keyword(s):  
Nonlinear Dynamics ◽  
State Feedback ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Sliding Mode Controller ◽  
Double Pendulum ◽  
The Novel ◽  
Overhead Cranes ◽  
Unknown Disturbances ◽  
Partial State

In this paper, a novel sliding mode controller which requires partial state feedback is proposed for double-pendulum overhead cranes subject to unknown payload parameters and unknown external disturbances. Firstly, it is theoretically proved that the hook and payload tend to their respective equilibrium points concurrently. Secondly, a decoupling transformation is performed on the original nonlinear dynamics of double-pendulum overhead cranes. The novel sliding mode controller that does not require the prior information and motion signals of the payload is designed based on the decoupled nonlinear dynamics. Then, the asymptotic stability of the equilibrium point of double-pendulum overhead cranes is proved by rigorous analysis. Finally, several simulations are conducted to validate the effectiveness and robustness of the proposed controller.

scholarly journals Real-Time Implementation of Robust Control Strategies Based on Sliding Mode Control for Standalone Microgrids Supplying Non-Linear Loads

Energies ◽  
2018 ◽  
Vol 11 (10) ◽  
pp. 2590 ◽  
Author(s):  
Seghir Benhalima ◽  
Rezkallah Miloud ◽  
Ambrish Chandra
Keyword(s):  
Sliding Mode Control ◽  
Real Time ◽  
Sliding Mode ◽  
Control Strategies ◽  
Storage System ◽  
Voltage Source ◽  
Voltage Source Converter ◽  
Sliding Mode Controller ◽  
Diesel Generator ◽  
Mode Control

In this paper enhanced control strategies for standalone microgrids based on solar photovoltaic systems (SVPAs) and diesel engine driven fixed speed synchronous generators, are presented. Single-phase d-q theory-based sliding mode controller for voltage source converter voltage source converter (VSC) is employed to mitigate harmonics, balance diesel generator (DG) current, and to inject the generated power by SVPA into local grid. To achieve fast dynamic response with zero steady-state error during transition, sliding mode controller for inner control loop is employed. To achieve maximum power point tracking (MPPT) from SVPA without using any MPPT method, a DC-DC buck boost converter supported by battery storage system is controlled using a new control strategy based on sliding mode control with boundary layer. In addition, modeling and detailed stability analysis are performed. The performance of the developed control strategies, are validate by simulation using MATLAB/Simulink and in real-time using hardware prototype.

Research on Control Strategy of Dissolved Oxygen in Aerobic Wastewater Treatment Process

2013 ◽  
Vol 788 ◽  
pp. 371-374 ◽  
Author(s):  
Jia Yu Kang ◽  
Guang Di Gao ◽  
Tian Bao Liu
Keyword(s):  
Wastewater Treatment ◽  
Dissolved Oxygen ◽  
Pid Control ◽  
Treatment Process ◽  
Control Strategies ◽  
Robustness Analysis ◽  
Step Response ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Wastewater Treatment Process

Aerobic biological wastewater treatment processes are difficult to be controlled because of their complex and nonlinear behavior, however, the control of the dissolved oxygen (DO) level in the reactors plays an important role in the operation of the facility, which affects the activity of activated sludge. A mathematical model of aeration system is established with the actual pulp and paper wastewater aerobic biological treatment process in Shandong as the background. Three control strategies for DO are designed. MATLAB simulation was carried out to compare the PID control, fuzzy control and fuzzy PID control of the step response. The robustness analysis of the three control systems is also researched. Conclusion is that the performance of Fuzzy PID control is the best.

Active Disturbance Rejection for Bipedal Walk of a Humanoid Robot Using the Motions of the Arms

2011 ◽  
Author(s):  
Joshua Hill ◽  
Farbod Fahimi
Keyword(s):  
Disturbance Rejection ◽  
Humanoid Robot ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Biped Robot ◽  
Sliding Mode Controller ◽  
Active Disturbance Rejection ◽  
Support Reaction ◽  
Reaction Forces ◽  
Velocity Information

A control system for the walking of a redundant biped robot in the swing phase is considered. The biped is a humanoid with 6DOF per leg and 3DOF per arm. The controller will be based on a full kinematic model of the robot to depict a more accurate behavior of the robot. The arms of the robot are used to compensate for disturbances the robot may experience during walking. Instead of controlling the robots ZMP, keeping it within the support polygon, all six foot support reaction components are controlled. First, a “shoe” with force sensors detect the forces and moments on the foot for feedback. The feedback from the joint servos provide position and velocity information. The support reaction and the joint position/velocities are fedback to a sliding mode controller, which makes adjustments to the arm links’ acceleration to compensate the shift in the reaction components. Simulations show the comparison of the ZMP shift when disturbances are applied with and without controlling the reaction forces to prove the effectiveness of the approach.

scholarly journals n -th Order Sensor Output to Control k -DoF Serial Robot Arms

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Sergio Alvarez-Rodríguez ◽  
Francisco Gerardo Peña Lecona
Keyword(s):  
Pid Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Control Strategies ◽  
Variable Structure ◽  
Sensor Output ◽  
Loop Control ◽  
Robot Arms ◽  
Serial Robot ◽  
The Given

Currently, zero-order sensors are commonly used as positioning feedback for the closed-loop control in robotics; thus, in order to expand robots’ control alternatives, other paths in sensing should be investigated more deeply. Conditions under which the n -th order sensor output can be used to control k -DoF serial robot arms are formally studied in this work. In obtaining the mentioned control conditions, the Pickard-Lindeloff theorem has been used to prove the existence and uniqueness of the robot’s mathematical model solution with n order sensory systems included. To verify that the given conditions and claims guarantee controllability for both continuous-based and variable structure-based systems, two types of control strategies are used in obtaining simulation results: the conventional PID control and a second-order Sliding Mode control.

Cascaded fractional order sliding mode control for trajectory control of a ball and plate system

2016 ◽  
Vol 40 (3) ◽  
pp. 701-711 ◽  
Author(s):  
Prasanta Roy ◽  
Arindam Das ◽  
Binoy Krishna Roy
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Control Strategies ◽  
Experimental Studies ◽  
Open Loop ◽  
Trajectory Control ◽  
Sliding Mode Controller ◽  
Tracking Accuracy ◽  
Laboratory Setup ◽  
Plate System

This paper presents a comparative study between a sliding mode controller and a fractional order sliding mode controller applied to the problem of trajectory control of a ball in a ball and plate system. The ball and plate system is a well-known benchmark to test advanced control strategies because of its multivariable nonlinear coupled dynamics, open loop instability, parameter uncertainty, and under actuation. A cascaded sliding mode controller is initially designed to mitigate the problem. Furthermore, to improve the performance, a cascaded fractional order sliding mode controller is proposed. The proposed control strategies are experimentally validated on a ball and plate laboratory setup (Feedback Instruments Model No. 033-240). Simulation and experimental studies reveal that the fractional order sliding mode controller outperforms the sliding mode controller in terms of tracking accuracy, speed of response, chattering effect, and energy efficiency.

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