scholarly journals A novel ship path following method in inland waterways based on adaptive feedforward PID control

2021 ◽  
Vol 3 (4) ◽  
pp. Manuscript
Author(s):  
Siwei Xin ◽  
Yixiong He ◽  
Liwen Huang
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Path Following ◽  
System Model ◽  
Time Varying ◽  
Curved Channel ◽  
External Disturbances ◽  
Inland Waterways ◽  
Ship Maneuverability ◽  
Adaptive Feedforward

Given the complex and time-varying external disturbances of inland waterways, designing an accurate path following controller is challenging. Based on the traditional PID controller, combined with the servo system model and the lead compensator, an adaptive feedforward PID controller for path following of ships in inland waterways is designed considering ship maneuverability and external disturbances. Simulations of a ship in a curved channel in different scenarios are carried out to illustrate the effectiveness of the proposed path following method. Compared with the traditional path following controller, the proposed one based on adaptive feedforward PID control has favorable relative stability, anti-interference ability and high steady-state precision in inland waterways.

scholarly journals Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances

2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Dongdong Mu ◽  
Guofeng Wang ◽  
Yunsheng Fan ◽  
Yiming Bai ◽  
Yongsheng Zhao
Keyword(s):  
Neural Network ◽  
Path Following ◽  
Line Of Sight ◽  
Time Varying ◽  
Parameter Learning ◽  
Learning Method ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Loop Control ◽  
Nussbaum Function

This paper investigates the path following control problem for an underactuated unmanned surface vehicle (USV) in the presence of dynamical uncertainties and time-varying external disturbances. Based on fuzzy optimization algorithm, an improved adaptive line-of-sight (ALOS) guidance law is proposed, which is suitable for straight-line and curve paths. On the basis of guidance information provided by LOS, a three-degree-of-freedom (DOF) dynamic model of an underactuated USV has been used to design a practical path following controller. The controller is designed by combining backstepping method, neural shunting model, neural network minimum parameter learning method, and Nussbaum function. Neural shunting model is used to solve the problem of “explosion of complexity,” which is an inherent illness of backstepping algorithm. Meanwhile, a simpler neural network minimum parameter learning method than multilayer neural network is employed to identify the uncertainties and time-varying external disturbances. In particular, Nussbaum function is introduced into the controller design to solve the problem of unknown control gain coefficient. And much effort is made to obtain the stability for the closed-loop control system, using the Lyapunov stability theory. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.

The Improvement of PID Control Based on Programming Transition Process

2011 ◽  
Vol 291-294 ◽  
pp. 2934-2937
Author(s):  
Zhao Qiang Zhang ◽  
Xiao Min Zhu ◽  
Jun Yang Li
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Dynamic Performance ◽  
Control Process ◽  
Transition Process ◽  
System Model ◽  
Matlab Simulation ◽  
Control Effect ◽  
Whole Process ◽  
Control Goal

PID controller has already been applied widely, but it is difficult to meet the requirement of both static and dynamic performance, which makes PID running without efficiency. Through programming transition process, the paper designs the rationality of given signals in the whole process and introduces an auxiliary application of differential signals, which can realize the control goal in programming control process and make the control key change from confirming the transition of system model to estimating the constant time of system roughly, and the control effect has been improved evidently. By analyzing MATLAB simulation, the paper verifies that the algorithm is reasonable and prevalent.

Hydraulic Leveling Technology for Electro-Hydraulic Proportional Control Based on Fuzzy PID

2014 ◽  
Vol 551 ◽  
pp. 503-508 ◽  
Author(s):  
Tian Xiang Gao ◽  
Qiang Gao ◽  
Yan Li
Keyword(s):  
Pid Control ◽  
Hydraulic System ◽  
Pid Controller ◽  
Fuzzy Theory ◽  
System Model ◽  
Horizontal Position ◽  
Fuzzy Pid ◽  
Proportional Valve ◽  
Fuzzy Pid Controller ◽  
Valve Control

In modern military and civil technologies, platforms with equipment on them are often needed to be adjusted to horizontal position rapidly and precisely and keep the platforms stable at the same time. Most leveling systems are implemented with hydraulic system, and they are time-variant nonlinear systems. To leveling both rapidly and steadily with required precision, a PID control strategy based on fuzzy theory was proposed. Electro-hydraulic proportional valve control hydraulic system model was created and analyzed, transfer function of hydraulic legs was obtained and fuzzy PID controller was created in this paper. The proposed method is simulated in Simulink. The simulation result shows that fuzzy PID controller can adjust the platform to horizontal position rapidly and steadily, and improve system performance.

Stiffness Control of a SMA Actuator

2009 ◽  
Author(s):  
Minal Y. Bhadane ◽  
Mohammad H. Elahinia
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Control Algorithm ◽  
Angular Position ◽  
System Model ◽  
Hardware In The Loop ◽  
Result Show ◽  
Stiffness Control ◽  
Sma Actuator ◽  
And Control

This paper presents a control of stiffness for an actuator that utilizes the properties of shape memory alloy (SMA) wires. The control algorithm is developed based on angular position of the SMA actuated arm. The model for calculation of stiffness is prepared in MATLAB/Simulink environment. In this application, a PID controller is designed to regulate the applied voltage of the SMA wire. For all the experiments, dSPACE hardware-in-the-loop solution is used. Simulation and experimental results are collected to validate system model. Result show good performance and control of stiffness through PID control system.

GPC Based PID Control for Superheat Control of Refrigeration System

2013 ◽  
Vol 846-847 ◽  
pp. 148-152
Author(s):  
Min Zhao ◽  
Xiao Long Jia ◽  
Ping Song
Keyword(s):  
Predictive Control ◽  
Pid Control ◽  
Pid Controller ◽  
Large Time ◽  
Least Square ◽  
System Model ◽  
Generalized Predictive Control ◽  
Refrigeration System ◽  
Pid Algorithm ◽  
Operation Conditions

Superheat control of refrigeration system features large time-delay. When the operation conditions change, it is difficult for a traditional PID controller with fixed parameters to achieve ideal control effects. Consider the advantage of traditional PID and generalized predictive control (GPC) algorithm, a new PID algorithm based on GPC is proposed in this paper. After obtaining the system model by using the least square identification, the solution of Diophantine equation is used for the PID parameters, which can change adaptive according to the operation conditions. And the simulation results in the last part of the paper prove the efficiency of strategy.

Dynamic Simulation of Position Servo System of Pneumatic Manipulator Based on AMESim and Simulink

2010 ◽  
Vol 97-101 ◽  
pp. 2580-2584 ◽  
Author(s):  
Rui Bo Yuan ◽  
Chun Geng Sun ◽  
Qing Lee ◽  
Hai Feng Yang
Keyword(s):  
Steady State ◽  
Dynamic Simulation ◽  
Pid Control ◽  
Pid Controller ◽  
Servo System ◽  
Mathematic Model ◽  
System Control ◽  
Time Varying ◽  
Position Servo ◽  
Line Type

The research works involved in a three freedoms line type pneumatic manipulator. The object is aimed to control of position servo system. According to the mathematic model of single freedoms pneumatic manipulator, AMESim and MATLAB were used for system control simulation, and made comparison between whether or not have PID controller in the pneumatic position servo system in the simulation, obtain Consistent results. The Results shown that PID control of the pneumatic position servo system has high steady-state accuracy, short adjusting time, little overshoot, and can overcome the nonlinear time—varying characteristics to some extent.

Water Temperature Control Using PID Control System Based on LabVIEW

2016 ◽  
Vol 4 (2) ◽  
pp. 35-46
Author(s):  
Ari Ramadhani
Keyword(s):  
Water Temperature ◽  
Pid Control ◽  
Temperature Sensor ◽  
Pid Controller ◽  
Current Flow ◽  
Electrical Energy ◽  
Heating Process ◽  
Water Heater ◽  
Digital Thermometer ◽  
Flow Through

Abstract - Automatic system have grown widespread across all sector so do water heater. Traditionally, heating water is done by utilizing fire as heat source. As the growing of technology, the heating process could be done by manipulating electrical energy by convert it to heat. Electrical energy is flown to a metal rod that contact directly with the water which increase the water temperature. On some case, appropiate water temperature is needed. Altough, a thermometer is needed to read the actual temperature as a feedback value for the system and a system that can control the electricity current flow through the heater that the heat produced is linear to the current flow. With implementing microcontroller as a process node for generating PWM signal, this problem can be solved. Also, Labview is needed as an interface for monitoring and bursting an output which have been processed by Proportional, Integral, and Devivative (PID) controller to producing accurate and stable heat. Based on the results of testing, the system is able to provide a rapid response to any changes that occur, both changes in set-point and changes in water temperature (actual value). Another test is done by comparing the temperature value detected by the temperature sensor in this device with an external digital thermometer placed in the same place, and from some of the tests the temperature value detected by the temperature sensor in this device has a difference of ± 0.19 ℃ with a digital thermometer. Keyword : Water Heater, Thermometer, Microcontroller, LabView, PID.

Straight-Move Robot Control System with LabView-Based Proportional Integral Derivative (PID) Control

2019 ◽  
Vol 3 (2) ◽  
pp. 13-24
Author(s):  
Andrean George W
Keyword(s):  
Pid Control ◽  
Rotational Speed ◽  
Pid Controller ◽  
Dc Motor ◽  
Motor Speed ◽  
Labview Software ◽  
Dc Motors ◽  
Dc Motor Control ◽  
Process System ◽  
Interface Devices

Abstract - Control and monitoring of the rotational speed of a wheel (DC motor) in a process system is very important role in the implementation of the industry. PWM control and monitoring for wheel rotational speed on a pair of DC motors uses computer interface devices where in the industry this is needed to facilitate operators in controlling and monitoring motor speed. In order to obtain the best controller, tuning the Integral Derifative (PID) controller parameter is done. In this tuning we can know the value of proportional gain (Kp), integral time (Ti) and derivative time (Td). The PID controller will give action to the DC motor control based on the error obtained, the desired DC motor rotation value is called the set point. LabVIEW software is used as a PE monitor, motor speed control. Keyword : LabView, Motor DC, Arduino, LabView, PID.

Robust steering assistance control for tracking large-curvature path considering uncertainties of driver’s steering behavior

2021 ◽  
pp. 095440702097682
Author(s):  
Jinxiang Wang ◽  
Zhenwu Fang ◽  
Mengmeng Dai ◽  
Guodong Yin ◽  
Jingjing Xia ◽  
...  
Keyword(s):  
Path Following ◽  
Vehicle Speed ◽  
Time Varying ◽  
Steering Control ◽  
Characteristic Parameters ◽  
Parameter Uncertainties ◽  
Large Curvature ◽  
Steering Characteristics ◽  
Dynamic Compensator ◽  
Takagi Sugeno

A human-machine shared steering control is presented in this paper for tracking large-curvature path, considering uncertainties of driver’s steering characteristics. A driver-vehicle-road (DVR) model is proposed in which uncertain characteristic parameters are defined to describe the human driver’s steering behaviors in tracking large-curvature path. Then the radial basis function neural network (RBF) is used to estimate parameters of different drivers’ characteristics and to obtain the boundaries of these parameters. Parameter uncertainties of the driver’s steering characteristics and time-varying vehicle speed of the DVR model are handled with the Takagi-Sugeno (T-S) fuzzy logic. And these parameter uncertainties are considered in the design of the shared steering controller. Then based on the DVR model, a T-S fuzzy full-order dynamic compensator with D-pole assignment is designed to assist driver’s steering for tracking path with large curvature. Simulation results show that the proposed controller can provide individual levels of steering assistance in path following according to driver’s proficiency, and can improve driving comfort significantly.

Optimal tuning of PID controller in time delay system: a review on various optimization techniques

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Thomas George ◽  
V. Ganesan
Keyword(s):  
Time Delay ◽  
Pid Control ◽  
Pid Controller ◽  
Optimization Techniques ◽  
Operating Conditions ◽  
Delay Systems ◽  
Pid Controllers ◽  
Time Delay Systems ◽  
Process Industries ◽  
First Order

AbstractThe processes which contain at least one pole at the origin are known as integrating systems. The process output varies continuously with time at certain speed when they are disturbed from the equilibrium operating point by any environment disturbance/change in input conditions and thus they are considered as non-self-regulating. In most occasions this phenomenon is very disadvantageous and dangerous. Therefore it is always a challenging task to efficient control such kind of processes. Depending upon the number of poles present at the origin and also on the location of other poles in transfer function different types of integrating systems exist. Stable first order plus time delay systems with an integrator (FOPTDI), unstable first order plus time delay systems with an integrator (UFOPTDI), pure integrating plus time delay (PIPTD) systems and double integrating plus time delay (DIPTD) systems are the classifications of integrating systems. By using a well-controlled positioning stage the advances in micro and nano metrology are inevitable in order satisfy the need to maintain the product quality of miniaturized components. As proportional-integral-derivative (PID) controllers are very simple to tune, easy to understand and robust in control they are widely implemented in many of the chemical process industries. In industries this PID control is the most common control algorithm used and also this has been universally accepted in industrial control. In a wide range of operating conditions the popularity of PID controllers can be attributed partly to their robust performance and partly to their functional simplicity which allows engineers to operate them in a simple, straight forward manner. One of the accepted control algorithms by the process industries is the PID control. However, in order to accomplish high precision positioning performance and to build a robust controller tuning of the key parameters in a PID controller is most inevitable. Therefore, for PID controllers many tuning methods are proposed. the main factors that lead to lifetime reduction in gain loss of PID parameters are described in This paper and also the main methods used for gain tuning based on optimization approach analysis is reviewed. The advantages and disadvantages of each one are outlined and some future directions for research are analyzed.

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