Stabilization control of under-actuated mechanical system based on improved NPSO-PID controller

Establish the attitude model for self-designed mobile robot, According to the characteristics of nonlinear, unstable, using BP neural network method to achieve self-tuning PID parameters to make optimal parameters of the PID controller. Stabilization control of two-wheeled self-balanced robots at the same time, decrease the overshoot of the system and the number of shocks. Simulation experiments show that: Using BP neural network self-tuning PID controller improves system stability, effectiveness has been well controlled, with high practical value

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Line-of-sight stabilization control based on a fuzzy PID controller and Kalman filter

Control Engineering and Electronics Engineering ◽

10.2495/cceee140041 ◽

2014 ◽

Cited By ~ 1

Author(s):

Qijian Tang ◽

Xiangjun Wang ◽

Qingping Yang

Keyword(s):

Kalman Filter ◽

Pid Controller ◽

Line Of Sight ◽

Fuzzy Pid ◽

Fuzzy Pid Controller ◽

Stabilization Control

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Design of Auto-Stabilization Control Technique for a Quadrotor System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.313-314.559 ◽

2013 ◽

Vol 313-314 ◽

pp. 559-564

Author(s):

Norafizah Abas ◽

Rini Akmeliawati ◽

Zulkiflie Ibrahim ◽

M. Zamzuri A. Rashid ◽

N. Hazahsha Samsudin

Keyword(s):

Pid Controller ◽

Feedback Linearization ◽

Control Algorithm ◽

Equations Of Motion ◽

Control Technique ◽

Proportional Integral Derivative ◽

Stabilization Control ◽

Highly Nonlinear ◽

Quadrotor System ◽

Manual Mode

This paper presents the design of auto-stabilization control technique for a quadrotor system. Aquadrotor is a highly nonlinear and has to be stabilized by a suitable control technique. Therefore, the main focus of this research is to design an appropriate control algorithm that able to auto-stabilize the quadrotor at hover. The dynamic modeling of the quadrotor is described by sets of equations of motion that are derived based on the Newton-Euler formalism with the implementation of UKF for parameter identification and state estimation. The control strategy adopted includes feedback linearization coupled with Proportional-Derivative (PD) controller for the translational subsystem and backstepping based Proportional-Integral-Derivative (PID) controller for the rotational subsystem. It is developed in MATLAB/Simulink platform and is validated via real-time implementation. Both controllers give satisfactory simulation results, where acceptable peak of overshoot and small steady state errors are achieved. Experimentally, the throttle is controlled in manual mode while attitude angles are stabilized automatically. The simulation and experimental results show that the proposed controller is able to effectively stabillized the quadrotor.

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Electromagnetic Strip Stabilization Control in a Continuous Galvanizing Line using Mixture of Gaussian Model Tuned Fractional PID Controller

Journal of Institute of Control Robotics and Systems ◽

10.5302/j.icros.2015.15.0075 ◽

2015 ◽

Vol 21 (8) ◽

pp. 718-722

Author(s):

Bae-Young Koo ◽

Sang-Chul Won

Keyword(s):

Pid Controller ◽

Gaussian Model ◽

Stabilization Control ◽

Mixture Of Gaussian ◽

Mixture Of Gaussian Model

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Study of the dynamics of ТПА 350 automatic mill working stand elements

Ferrous Metallurgy Bulletin of Scientific Technical and Economic Information ◽

10.32339/0135-5910-2020-8-830-840 ◽

2020 ◽

Vol 76 (8) ◽

pp. 830-840

Author(s):

S. R. Rakhmanov ◽

V. V. Povorotnii

Keyword(s):

Mechanical System ◽

Dynamic Model ◽

Maximum Amplitude ◽

Calculation Scheme ◽

Dynamic Loads ◽

Forced Oscillations ◽

Mass Model ◽

Automatic Mill ◽

Hollow Billet ◽

Oscillation Movement

To form a necessary geometry of a hollow billet to be rolled at a pipe rolling line, stable dynamics of the base equipment of the automatic mill working stand has a practical meaning. Among the forces, acting on its parts and elements, significant by value short-time dynamic loads are the least studied phenomena. These dynamic loads arise during transient interaction of the hollow billet, rollers, mandrel and other mill parts at the forced grip of the hollow billet. Basing of the calculation scheme and dynamic model of the mechanical system of the ТПА 350 automatic mill working stand was accomplished. A mathematical model of dynamics of the system “hollow billet (pipe) – working stand” within accepted calculation scheme and dynamic model of the mechanical system elaborated. Influence of technological load of the rolled hollow billet variation in time was accounted, as well as variation of the mechanical system mass, and rigidity of the ТПА 350 automatic mill working stand. Differential equations of oscillation movement for four-mass model of forked sub-systems of the automatic mill working stand were made up, results of their digital calculation quoted. Dynamic displacement of the stand elements in the inter-roller gap obtained, which enabled to estimate the results of amplitude and frequency characteristics of the branches of the mill rollers setting. It was defined by calculation, that the maximum amplitude of the forced oscillations of elements of the ТПА 350 automatic mill working stand within the inter-roller gap does not exceed 2 mm. It is much higher than the accepted value of adjusting parameters of the deformation center of the ТПА 350 automatic mill. A scheme of comprehensive modernization of the rollers setting in the ТПА 350 automatic mill working stand was proposed. It was shown, that increase of rigidity of rollers setting in the ТПА 350 automatic mill working stand enables to stabilize the amplitude of forced oscillations of the working stand elements within the inter-rollers gap and considerably decrease the induced nonuniform hollow billet wall thickness and increase quality of the rolled pipes at ТПА 350.

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