scholarly journals A vision anti-sway control algorithm for container cranes

2017 ◽  
Vol 20 (K1) ◽  
pp. 35-41
Author(s):  
Nguyen Quoc Chi ◽  
Nguyen Tien Khang
Keyword(s):  
Numerical Simulations ◽  
Pid Control ◽  
Control Algorithm ◽  
Position Control ◽  
Vision System ◽  
Control Algorithms ◽  
Feedback Signal ◽  
Container Cranes ◽  
Container Crane ◽  
Control Scheme

In this paper, a control scheme is proposed for an automated container crane. The proposed control scheme includes position control (for the trolley) and sway control algorithms (for the payload) where PID control is used for position control and PD control is assigned for sway control. The proposed control scheme employs the feedback signal of the sway angle, which is acquired by a vision system. The idea to employ the vision system is to overcome the difficulty in installing a conventional sensor system for measuring the sway angle. Numerical simulations and experiments have been carried out to verify the effectiveness of the proposed control scheme.

scholarly journals Stabilising a cart inverted pendulum with an augmented PID control scheme

2018 ◽  
Vol 197 ◽  
pp. 11013
Author(s):  
Indrazno Siradjuddin ◽  
Zakiyah Amalia ◽  
Budhy Setiawan ◽  
Ferdian Ronilaya ◽  
Erfan Rohadi ◽  
...  
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Inverted Pendulum ◽  
Control Algorithms ◽  
Pendulum System ◽  
Lagrange’S Equation ◽  
System A ◽  
Inverted Pendulum System ◽  
Best Response ◽  
Control Scheme

A cart inverted pendulum is an under actuated system that highly unstable and nonlinear. Therefore, it makes a good problem example which attracts control engineers to validate the developed control algorithms. In this paper, an augmented PID control algorithm is proposed to stabilise a cart inverted pendulum at the desired state. The derivation of a mathematical model of the cart inverted pendulum using Lagrange's equation is discussed in detail. The system dynamics is illustrated to understand better the behaviour of the system. A simulation program has been developed to verify the performance of the proposed control algorithm. The system dynamic behaviours with respect to the variation of the controller parameters are analysed and discussed. Controllers parameters are expressed into two PID gain sets which associated with 2 dynamic states: the cart position (ϰ) and the pendulum angle (θ). It can be concluded from the simulation result that the proposed control algorithm can perform well where acceptable steady errors can be achieved. The best response from the cart inverted pendulum system has been obtained with the value of kPX 190, kDX 50, kIX 5, kPθ 140, kDθ 5, and kIθ 25.

scholarly journals Smooth Tracking Trajectory Generation of Large Antenna

2016 ◽  
Vol 53 (1) ◽  
pp. 24-33 ◽  
Author(s):  
S. Upnere ◽  
N. Jekabsons ◽  
U. Locans
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Case Analysis ◽  
Control Algorithms ◽  
Control Methods ◽  
Antenna Feed ◽  
Feed Forward Control ◽  
Order Polynomial ◽  
Smooth Tracking ◽  
Tracking Trajectory

Abstract The current paper presents an engineering approach for studies of the control algorithm designed for a mechanically robust large antenna. Feed-forward control methods with the 3rd-order polynomial tracking algorithm are supplemented to the original feed-back PID control system. Dynamical model of the existing servo system of 32m radio telescope has been developed to widen a case analysis of observation sessions and efficiency of the control algorithms due to limited access to an antenna. Algorithms along with the results from the system implemented on a real antenna as well as model results are presented.

Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force

2013 ◽  
Vol 765-767 ◽  
pp. 1920-1923
Author(s):  
Li Jiang ◽  
Yang Zhou ◽  
Bin Wang ◽  
Chao Yu
Keyword(s):  
Numerical Simulations ◽  
Relative Position ◽  
Position Control ◽  
Impedance Control ◽  
Force Sensors ◽  
Operational Space ◽  
Novel Approach ◽  
Control Scheme ◽  
Statics And Dynamics ◽  
Dual Arm

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.

Research on Accurate Modeling and Control for Pneumatic Electric Braking System of Commercial Vehicle Based on Multi-Dynamic Parameters Measurement

2020 ◽  
Author(s):  
Yongtao Zhao ◽  
Yiyong Yang ◽  
Xiuheng Wu ◽  
Xingjun Tao
Keyword(s):  
Dynamic Response ◽  
Real Time ◽  
Predictive Control ◽  
Control Algorithm ◽  
Control Algorithms ◽  
Dynamic Parameters ◽  
Braking System ◽  
Control Scheme ◽  
Braking Force ◽  
Electric Braking

Abstract Accurate pressure control and fast dynamic response are vital to the pneumatic electric braking system (PEBS) for that commercial vehicles require higher regulation precision of braking force on four wheels when braking force distribution is carried out under some conditions. Due to the lagging information acquisition, most feedback-based control algorithms are difficult to further improve the dynamic response of PEBS. Meanwhile, feedforward-based control algorithms like predictive control perform well in improving dynamic performance. but because of the large amount of computation and complexity of this kind of control algorithm, it cannot be applied in real-time on single-chip microcomputer, and it is still in the stage of theoretical research at present. To address this issue and for the sake of engineering reliability, this article presents a logic threshold control scheme combining analogous model predictive control (AMPC) and proportional control. In addition, an experimental device for real-time measuring PEBS multi-dynamic parameters is built. After correcting the key parameters, the precise model is determined and the influence of switching solenoid valve on its dynamic response characteristics is studied. For the control scheme, numerical and physical validation are executed to demonstrate the feasibility of the strategy and for the performance of the controller design. The experimental results show that the dynamic model of PEBS can accurately reflect its pressure characteristics. Furthermore, under different air source pressures, the designed controller can stably control the pressure output of PEBS and ensure that the error is within 8KPa. Compared with the traditional control algorithm, the rapidity is improved by 32.5%.

Research of Several PID Algorithms Based on MATLAB

2013 ◽  
Vol 760-762 ◽  
pp. 1075-1079
Author(s):  
Jin Zeng ◽  
Li Guang Wang ◽  
Meng Jun Ye ◽  
Chang Hui Hu ◽  
Tian Feng Ye
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Dead Zone ◽  
Control Algorithms ◽  
Pid Algorithm ◽  
Digital Pid ◽  
Digital Pid Control

This paper introduces several PID control algorithms and their discretization expression. Compare the performance of positional PID algorithm with incremental PID algorithm, integration separate PID algorithm, incomplete differential PID algorithm and PID algorithm with dead zone. The experiment results show that different digital PID control algorithm could achieve different using.

Application of PID Control Based on Repetitive Compensation in Transmission System of Double-Side Blade Grinding Machine

2012 ◽  
Vol 529 ◽  
pp. 339-342
Author(s):  
He Ran Yang ◽  
Lei Zhang ◽  
Zuo Jie Zhang ◽  
Guo Liang Zhao
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Position Control ◽  
Control Structure ◽  
Control Method ◽  
Transmission System ◽  
Good Prospect ◽  
Precision Machine Tools ◽  
Grinding Machine ◽  
Axial Transmission

A control structure of PID control based on repetitive compensation for the X axial transmission system of the double-side blade grinding machine is proposed in this paper. The repetitive control structure is applied into the common PID control method. Then the simulation for the position control of the transmission system is carried out to verify the effectiveness and feasibility of the proposed control algorithm by Simulink. The results show that the control algorithm proposed in this paper has a good prospect in precision machine tools.

scholarly journals Điều khiển thích nghi vị trí trên cơ sở kỹ thuật vi xử lý Phần I: Hệ thống điều chỉnh vị trí nhờ quan sát và phản hồi trạng thái

2018 ◽  
Vol 5 (4) ◽  
pp. 10-16
Author(s):  
Pham Huy Thoa
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Problem ◽  
Control Algorithm ◽  
Position Control ◽  
The State ◽  
Control Algorithms ◽  
State Variable ◽  
Load Characteristics ◽  
Positional Control

  In order to investigate different position control algorithms for numerical controlled machines and robots, a positional control system was built on the base of  a microcomputer. In part I, the paper presents the  observer algorithm for  state variable estimation and the state variable feedback control algorithm applied to the position control of a  particular machine-table. With the hardware and software structure of the microcomputer based digital system described in this paper different control algorithms can be  realized flexibly. The position control problem for the plant with variations or  uncertainties of  parameters and load characteristics will be reported in part II.

scholarly journals Application of anti integral saturation cascade PID control algorithm in superheated steam temperature control

2021 ◽  
Vol 2087 (1) ◽  
pp. 012038
Author(s):  
Zhe Sun ◽  
Chunhui Liu ◽  
Ming Li ◽  
Junda Zhao ◽  
Yao Xu
Keyword(s):  
Temperature Control ◽  
Pid Control ◽  
Control Algorithm ◽  
Superheated Steam ◽  
Temperature Control System ◽  
Control Algorithms ◽  
Regulation System ◽  
Steam Temperature ◽  
Superheated Steam Temperature ◽  
Main Regulator

Abstract At present, most units adopt the superheated steam temperature control system with cascade PID control structure. However, because most cascade PID control algorithms have no anti-integral saturation function, the automatic control of boiler superheated steam temperature cannot be put into operation normally. On the existing cascade PID superheated steam temperature regulation system, we judge the deviation value of the main regulator and the output value of the auxiliary regulator, and cancel the integration function at an appropriate time. When the input deviation signal turns over, the regulating system can immediately enter the normal regulating state, so that the cascade PID superheated steam temperature regulating system can timely and accurately regulate the superheated steam temperature. The fuel cost is saved by about 155,600 yuan per year.

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