Proportional–integral–derivative attitude control subject to dynamic rate saturation of elevator through explicit command reshaping: An engineering approach

2016 ◽  
Vol 230 (6) ◽  
pp. 562-577 ◽  
Author(s):  
Yi Li ◽  
Mingwei Sun ◽  
Zenghui Wang ◽  
Zengqiang Chen
Keyword(s):  
Control Subject ◽  
Attitude Control ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Engineering Approach

PIDNN control for Vernier-gimballing magnetically suspended flywheel under nonlinear change of stiffness and disturbance

2020 ◽  
pp. 095965182097757
Author(s):  
Jiqiang Tang ◽  
Mengyue Ning ◽  
Xu Cui ◽  
Tongkun Wei ◽  
Xiaofeng Zhao
Keyword(s):  
Neural Network ◽  
Attitude Control ◽  
Magnetic Force ◽  
Magnetic Bearing ◽  
Network Control ◽  
Gradient Descent Method ◽  
Neural Network Control ◽  
Proportional Integral Derivative ◽  
Tracking Accuracy ◽  
Proportional Integral

Vernier-gimballing magnetically suspended flywheel is often used for attitude control and interference suppression of spacecrafts. Due to the special structure of the conical magnetic bearing, the radial component generated by the axial magnetic force and the change of the magnetic air gap will cause the nonlinearity of stiffness and disturbance. That will lead to not only poor stability of the suspension control system but also unsatisfactory tracking accuracy of the rotor position. To solve the nonlinear problem of the system, this article proposes a proportional–integral–derivative neural network control scheme. First, the rotor model considering the nonlinear variation of disturbance and stiffness parameters is established. Then, the weight of neural network is adjusted by the gradient descent method online to ensure the accurate output of magnetic force. Finally, the convergence analysis is carried out based on the Lyapunov stability theory. Compared with the general proportional–integral–derivative control and the radial basis function neural network control, the simulation results demonstrate that the proposed method has the highest tracking accuracy and excellent performance in improving stability. The experimental results prove the correctness of the theoretical analysis and the validity of the proposed method.

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yihui Gong ◽  
Lin Li ◽  
Shengbo Qi ◽  
Changbin Wang ◽  
Dalei Song
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
External Disturbance ◽  
Proportional Integral Derivative ◽  
Content Type ◽  
Proportional Integral ◽  
Control Scheme ◽  
Yaw Attitude ◽  
Nonlinear Hydrodynamics ◽  
Parameters Perturbation

Purpose A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance. Design/methodology/approach This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment. Findings In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment. Research limitations/implications The delays occurred in the control process can be solved in the future work. Practical implications The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller. Social implications The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks. Originality/value The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

Semi Automatic T-Shirt Folding Machine Berbasis PID (Proportional Integral Derivative)

2020 ◽  
Vol 2 (1) ◽  
Author(s):  
Muhammad Apriliyanto ◽  
Miftachul Ulum ◽  
Koko Joni
Keyword(s):  
Ultrasonic Sensor ◽  
Proportional Integral Derivative ◽  
Servo Motor ◽  
Aesthetic Value ◽  
Proportional Integral ◽  
Door Opening ◽  
Dc Motors ◽  
The Aesthetic ◽  
The Right

<em>The process of folding clothes is one of the activities carried out in the laundry business or household. The activity is fairly easy but many people are still lazy to do it. As a result, clothes that have been washed will fall apart in certain rooms, thereby reducing the aesthetic value of a home. Semi Automatic T-Shirt Folding Machine is the right solution to make folding clothes easier and more time efficient. This tool is equipped with a servo motor that moves the folding board that has been designed in such a way that the user only needs to manghandle the shirt just once and simply push one button then the shirt will fold itself and will be neatly arranged through the clothes stacker board. The PID method is applied to DC motors that move under the clothes folder so that the buildup of clothes underneath will not be pressured upward when the clothes are piled up when they are folded. Ultrasonic sensor will measure the right height between the clothes with the door opening the stacking clothes with kp = 1, ki = 0.1, kd = 0.5 for thin clothes and kp = 5, ki = 1, kd = 2.5 for thick clothes so that the movement of the motor can adjust its speed . This tool can fold one shirt in 16.83 seconds 11 seconds faster than folding clothes manually</em>

PERANCANGAN UJI SIRIP ROKET BAGIAN AILERON DENGAN MENGGUNAKAN KONTROL PID

2018 ◽  
Vol 14 (1) ◽  
pp. 1-11
Author(s):  
Galih Irfan Firdaus
Keyword(s):  
Proportional Integral Derivative ◽  
Accelerometer Sensor ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral

Roket merupakan sebuah peluru kendali atau suatu kendaraan terbang yang mendapatkan dorongan melalui reaksi roket secara cepat dengan bahan fluida dari keluaran mesin roket. Sistem Kendali Sirip Roket berbasis Mikrokontroller ATmega8 berguna untuk mengendalikan sirip roket khususnya bagian aileron.  Dibutuhkan komponen – komponen pendukung berupa Sensor Accelerometer, Sensor Gyroscope, ATmega8 dan Motor Servo. Alat pengendali sirip roket ini dapat digunakan untuk mengendalikan sirip roket bagian aileron pada saat posisi roket tidak stabil atau terjadi gerakan naik turun pada saat setelah diluncurkan, sehingga dapat menghasilkan penerbangan yang maksimal dalam mencapai sasaran.Perancangan yang  digunakan adalah jenis pengendalian dengan kontrol PID. PID (Proportional Integral Derivative controller) merupakan kontroller untuk menentukan presisi suatu sistem instrumentasi dengan karakteristik adanya umpan balik pada sistem tesebut. Pengontrol PID adalah pengontrol konvensional yang banyak dipakai dalam dunia industri. Karakteristik pengontrol PID sangat dipengaruhi oleh kontribusi besar dari ketiga parameter P, I dan D. Pemilihan konstanta Kp, Ki dan Kd akan mengakibatkan penonjolan sifat dari masing-masing elemen. Dalam perancangan sebuah sistem kendali menggunakan kontroller PID pada motor servo yang diharapkan mampu menggerakkan sirip naik dan sirip turun pada roket sehingga mampu menjaga kestabilan roket saat diluncurkan. Prosentase error pada proyek akhir ini adalah 0,5 %.Roket merupakan sebuah peluru kendali atau suatu kendaraan terbang yang mendapatkan dorongan melalui reaksi roket secara cepat dengan bahan fluida dari keluaran mesin roket. Sistem Kendali Sirip Roket berbasis Mikrokontroller ATmega8 berguna untuk mengendalikan sirip roket khususnya bagian aileron.  Dibutuhkan komponen – komponen pendukung berupa Sensor Accelerometer, Sensor Gyroscope, ATmega8 dan Motor Servo. Alat pengendali sirip roket ini dapat digunakan untuk mengendalikan sirip roket bagian aileron pada saat posisi roket tidak stabil atau terjadi gerakan naik turun pada saat setelah diluncurkan, sehingga dapat menghasilkan penerbangan yang maksimal dalam mencapai sasaran.Perancangan yang  digunakan adalah jenis pengendalian dengan kontrol PID. PID (Proportional Integral Derivative controller) merupakan kontroller untuk menentukan presisi suatu sistem instrumentasi dengan karakteristik adanya umpan balik pada sistem tesebut. Pengontrol PID adalah pengontrol konvensional yang banyak dipakai dalam dunia industri. Karakteristik pengontrol PID sangat dipengaruhi oleh kontribusi besar dari ketiga parameter P, I dan D. Pemilihan konstanta Kp, Ki dan Kd akan mengakibatkan penonjolan sifat dari masing-masing elemen. Dalam perancangan sebuah sistem kendali menggunakan kontroller PID pada motor servo yang diharapkan mampu menggerakkan sirip naik dan sirip turun pada roket sehingga mampu menjaga kestabilan roket saat diluncurkan. Prosentase error pada proyek akhir ini adalah 0,5 %.

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