Penerapan Advanced Pid Tuning Pada Plant Yang Critically Stable: Height Levitation Pingpong Ball

2019 ◽  
Vol 9 (01) ◽  
pp. 41-46
Author(s):  
M Iqbal Nugraha ◽  
Aan Febriansyah ◽  
A F Khoiri ◽  
D Pratama
Keyword(s):  
Steady State ◽  
Rise Time ◽  
Pid Controller ◽  
Simple Algorithm ◽  
Good Control ◽  
Settling Time ◽  
Experimental Result ◽  
Pid Tuning ◽  
Tuning Methods ◽  
State Error

PID controller is the most popular feedback controller in industry. It has been known that PID controller is capable to provide a good control performance despite having a simple algorithm and easy to understand. However, the most common problem of using this control system is that it is difficult to stipulate the most appropriate constants to each controller or tuning. This project implemented advanced PID tuning which involves several tuning methods to acquire best performance on system or plant which is volatile or critically stable such as controlling height levitation pingpong ball. The tuning methods used and compared were Ziegler-Nichols (ZN) and Chien-Hrones-Reswick (CHR). Tuning process and monitoring were performed in real time using Simulink-Arduino. Based on experimental result, CHR method gave better performance compared to ZN method. ZN resulted in overshoot, rise time, settling time, and steady state error of 48%, 0.85s, 3.8s, and ±2cm respectively, while CHR method resulted in overshoot, rise time, settling time, and steady state error of 14%, 1.15s, 1.4s, and ±1cm respectively.

scholarly journals Objective functions modification of GA optimized PID controller for brushed DC motor

2020 ◽  
Vol 10 (3) ◽  
pp. 2426
Author(s):  
A.A.M. Zahir ◽  
Syed Sahal Nazli Alhady ◽  
A.A.A Wahab ◽  
M.F. Ahmad
Keyword(s):  
Steady State ◽  
Objective Function ◽  
Rise Time ◽  
Pid Controller ◽  
Optimization Method ◽  
Settling Time ◽  
Performance Parameter ◽  
Objective Functions ◽  
Performance Requirement ◽  
State Error

PID Optimization by Genetic Algorithm or any intelligent optimization method is widely being used recently. The main issue is to select a suitable objective function based on error criteria. Original error criteria that is widely being used such as ITAE, ISE, ITSE and IAE is insufficient in enhancing some of the performance parameter. Parameter such as settling time, rise time, percentage of overshoot, and steady state error is included in the objective function. Weightage is added into these parameters based on users’ performance requirement. Based on the results, modified error criteria show improvement in all performance parameter after being modified. All of the error criteria produce 0% overshoot, 29.51%-39.44% shorter rise time, 21.11%-42.98% better settling time, 10% to 53.76% reduction in steady state error. The performance of modified objective function in minimizing the error signal is reduced. It can be concluded that modification of objective function by adding performance parameter into consideration could improve the performance of rise time, settling time, overshoot percentage, and steady state error

scholarly journals Analisis Pengaruh Moment Gyroscope Pada Keseimbangan Pendulum Cartessian

2019 ◽  
Vol 9 (02) ◽  
pp. 1-7
Author(s):  
Muhammad Iqbal Nugraha ◽  
J Hartati ◽  
W Afridani ◽  
Masdani Masdani
Keyword(s):  
Steady State ◽  
Rise Time ◽  
Pid Controller ◽  
Control Mechanism ◽  
Settling Time ◽  
Materials Used ◽  
The Moment ◽  
Made In ◽  
State Error

Crane is identical to the pendulum in term of its control mechanism. Based on modelling, these two devices are very similar and therefore, the pendulum can be used as a prototype for controlling a crane. This research aims to control the balance or to reduce the swing on the pendulum by utilizing the moment of gyroscope with a mass pendulum up to 1.5 kg. Gyroscope was designed and made in the form of a disc, in which dimensions and materials used were determined according to the desired moment force. The PID controller was used to control the speed of gyroscope based on the angle of the pendulum (θ). Based on the results of the experiment, it was obtained that the resulting settling time was 2.29 times faster than without control in average. The overshoot and rise time resulted by the system using gyroscope were very similar to the system which is without gyroscope. However, the steady state error was totally eliminated. It can be concluded that the moment of gyroscope is able to be used for controlling the pendulum or crane.

scholarly journals Model Penahan Ketinggian Quadrotor Berbasis PID dengan Jaringan Syaraf Tiruan Propagasi Mundur

2021 ◽  
Vol 10 (2) ◽  
pp. 156-162
Author(s):  
Faisal Fajri Rahani ◽  
Dinan Yulianto
Keyword(s):  
Steady State ◽  
Real Time ◽  
Unmanned Aerial Vehicle ◽  
Rise Time ◽  
Settling Time ◽  
Aerial Vehicle ◽  
State Error

Quadrotor adalah salah satu jenis Unmanned Aerial Vehicle (UAV) atau wahana terbang tanpa awak yang dapat terbang dengan kendali jarak jauh maupun menggunakan kendali otomatis. Dalam melakukan misinya, quadrotor memerlukan sistem kendali yang baik. Salah satu sistem kendali dalam sistem quadrotor adalah sistem kendali ketinggian. Kendali ketinggian akan mengendalikan quadrotor seusai ketinggian yang diinginkan walaupun terdapat gangguan dan beban quadrotor itu sendiri. Metode kendali yang banyak digunakan adalah kendali PID. Kendali PID menghasilkan respons yang kurang baik karena konstanta PID yang bersifat tetap, sedangkan gangguan saat quadrotor terbang akan berubah-ubah. Oleh karena itu, makalah ini menawarkan kendali yang dapat menyesuaikan diri saat terkena gangguan tertentu. Metode yang ditawarkan adalah kendali PID dengan Jaringan Saraf Tiruan (JST). Sistem JST akan menala komponen PID secara real-time sesuai gangguan yang terjadi. Penggunaan PID dengan JST menghasilkan respons rise time lebih cepat 0,0594 detik, overshoot turun 7,58%, steady state error turun ±0,0672, dan settling time turun 1,031 detik dibandingkan dengan PID konvensional. Hal ini menunjukkan bahwa PID dengan JST menghasilkan respons kendali yang lebih baik dibandingkan dengan PID saja.

scholarly journals Ball On Plate Balancing System Pada KIT Praktek PID Mata Kuliah Dasar Sistem Kendali

2017 ◽  
Vol 3 (3) ◽  
pp. 134
Author(s):  
Anwar Mujadin ◽  
Dwi Astharini
Keyword(s):  
Control System ◽  
Steady State ◽  
Rise Time ◽  
Input Image ◽  
Settling Time ◽  
Loop System ◽  
Close Loop System ◽  
Intelligent Control System ◽  
Arduino Uno ◽  
State Error

<p><em>Abstrak – </em><strong>Ball on plate adalah sistem pengendalian cerdas untuk mengarahkan bola  yang ada diatas plate sesuai dengan pola gerakan yang diinginkan tanpa menjatuhkan bola. Ball on plate ini digerakan oleh dua buah motor servo sebagai aktuator (keluaran) untuk menentukan posisi bola. Sedangkan kamera ditempatkan diatas plate sebagai sensor (masukan). Image yang ditangkap oleh kamera kemudian diolah oleh labview menjadi pixel posisi X dan Y. Kerjasama antar mikrokontroler Arduino Uno  dan Labview membentuk sebuah pengendalaian close loop system. Pada tulisan ini akan dibahas parameter penting dalam menganalisa  rise time, overshoot, settling time dan steady state error pada pengendalian sistem ball on plate menggunakan PID.</strong></p><p><strong><br /></strong></p><p><strong><em>Kata kunci </em></strong><em>- Arduino Uno R3 Ball on plate Controller,</em></p><p><em> </em></p><p><em>Abstract –</em> <strong>Ball on the plate is an intelligent control system to steer the ball over the plate that is in accordance with the desired pattern of movement without dropping the ball. Ball on plate is controlled  by two servo motors as actuators (output) to determine the position of the ball. While the camera is placed on the plate as a sensor (input). Image captured by the camera and processed by labview to pixel positions X and Y. The cooperation among the microcontroller Arduino Uno and Labview configurate a close loop system. In this paper will discuss important parameter in analyzing the rise time, overshoot, settling time and steady state error in the control system using PID ball on the plate.</strong></p><p><strong><br /></strong></p><strong><em>Keywords</em></strong><em> – Arduino Uno R3 Ball on plate Controller </em>

scholarly journals Analisis Penalaan Kontrol PID pada Simulasi Kendali Kecepatan Putaran Motor DC Berbeban menggunakan Metode Heuristik

2013 ◽  
Vol 1 (2) ◽  
pp. 79 ◽  
Author(s):  
WALUYO WALUYO ◽  
ADITYA FITRIANSYAH ◽  
SYAHRIAL SYAHRIAL
Keyword(s):  
Steady State ◽  
Rise Time ◽  
Pid Controller ◽  
Settling Time ◽  
Control Parameters ◽  
Motor Speed ◽  
Set Point ◽  
Dc Motors ◽  
And Control ◽  
Peak Value

ABSTRAKMotor DC banyak digunakan di industri kecil dan besar.Kecepatan motor DC sering tidak stabil akibat gangguan dari luar maupun perubahan parameter dan torsi beban sehingga perlu dilakukan rancangan kontroler.Kontroler yang dirancang menggunakan PID yang terdiri dari tiga jenis cara pengaturan yang dikombinasikan, yaitu kontrol P (Proportional), kontrol I (Integral) dan kontrol D (Derivatif).Kontroler yang dirancang disimulasikan menggunakan perangkat lunak. Hasil simulasi menunjukan kontroler PID untuk kendali kecepatan motor DC ini menghasilkan kondisi robust (kokoh) saat nilai Kp = 1,1, Ti = 0,1, Td = 3,7. Hasil dari parameter kendali yang dirancang memiliki error steady state 0,99 % dan dengan settling time 3,7 detik pada rise time 2,00 detik dan nilai peak terletak pada 0,99. Kecepatan awal yang dihasilkan mendekati set point yang diinginkan pada detik ke 6 dan kecepatannya tidak ada penurunan atau tetap konstan sampai dengan detik ke 100.Kata kunci: Motor DC, PID, Heuristik, Steady State, Rise Time ABSTRACT DC motors are widely used in small and large industries. Their speeds are often unstable due to interference from outside or change the parameters and load torque, so that it was necessary to design a controller. The controller was designed using a PIDconsists of three types of arrangements, which are mutually combined way, namely the control P (Proportional), control I (Integral) and control D (Derivative). The controllers were designed using software for simulation. The simulation results showed the PID controller for DC motor speed control produced robust conditionswhen the value of Kp, Ti and Tdwere 1.1,  0.1 and 3.7 respectively. The results of the control parameters had error steady state 0.99 % and the settling time of 3.7 seconds at 2.0 sec rise time and the peak value was 0,99. The resulted initial velocity was very fast to approach the desired set point in the sixth second and its speed was remain constant until 100thsecond.Keywords: Motor DC, PID, Heuristic, Steady State, Rise Time

scholarly journals Implementation of Fuzzy Logic Control System on Rotary Car Parking System Prototype

2018 ◽  
Vol 12 (2) ◽  
pp. 706
Author(s):  
Nanang Ismail ◽  
Iim Nursalim ◽  
Hendri Maja Saputra ◽  
Teddy Surya Gunawan
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Steady State ◽  
Fuzzy Control ◽  
Rise Time ◽  
Settling Time ◽  
Inference Model ◽  
Time Value ◽  
Parking System ◽  
State Error

Rotary car parking system (RCPS) is one of the effective parking models used in the metropolitan area because the mechanical parking system is designed vertically to conserve the land usage. This paper discussed the implementation of fuzzy logic with the Sugeno Inference Model on the RCPS miniature control system. The research started with kinematics analysis and a mathematical model was derived to determine the slot position and optimal power requirements for each condition. Furthermore, the Fuzzy Inference model used was the Sugeno Model, taking into account two variables: distance and angle. These two variables were selected because in the designed miniature RCPS there will be rotational changes of rotation and rotation in turn. Variable distance was divided into four clusters, such as Zero, Near, Medium and Far. While the angle variables were divided into four clusters as well, such as Zero, Small, Medium, and Big. The test results on a miniature RCPS consisting of six parking slots showed that fuzzy based control provided better results when compared to conventional systems. Step response on the control system without fuzzy control showed the rise time value of 0.58 seconds, peak time of 0.85 seconds, settling time of 0.89, percentage overshoot of 0.20%, and steady state error of 4.14%. While the fuzzy control system provided the rise time value of 0.54 seconds, settling time of 0.83 seconds, steady state error of 2.32%, with no overshoot.

DESAIN KONTROL KECEPATAN MOTOR INDUKSI TIGA FASA MENGGUNAKAN FUZZY PID BERBASIS IDIRECT FIELD ORIENTED CONTROL

2019 ◽  
Vol 11 (2) ◽  
pp. 146-155
Author(s):  
Ridwan Ridwan ◽  
Era Purwanto ◽  
Hary Oktavianto ◽  
Muhammad Rizani Rusli ◽  
Handri Toar
Keyword(s):  
Steady State ◽  
Rise Time ◽  
Settling Time ◽  
Field Oriented Control ◽  
Fuzzy Pid ◽  
Indirect Field Oriented Control ◽  
State Error

Motor induksi tiga fasa (MITF) umumnya digunakan di berbagai aplikasi di industri  karena keandalannya, biaya rendah, kontruksi kokoh, perawatan rendah, dan effisiensi yang tinggi. Namun untuk mengontrol MITF tidak semudah seperti mengontrol motor DC, karena MITF merupakan motor yang tidak linear. Penggunaan metode indirect field oriented control (IFOC) dengan kontroler fuzzy proportional integrator and derivative (FPID) dipilih untuk dapat mengatur kecepatan MITF. Metode IFOC akan membuat MITF dapat dikontrol seperti motor DC penguat terpisah. Kontroler FPID yang di desain dengan mengganti kontroler PID konvensional. Performa kontroler FPID yang di desain dibandingkan dengan kontroler PID konvensional. Performa respon yang dibandingkan seperti rise time, settling time, overshoot, steady state error, dan undershoot. Hasil simulasi yang dibuat menunjukkan bahwa dengan menggunakan kontroler FPID lebih baik dibandingkan dengan kontroler PID. Dimana respon overshoot untuk kontroler FPID 0% sedangkan kontroler PID adalah 0.23%. Begitu pula dengan respon undershoot untuk kontrol FPID adalah 2.88% sedangkan kontroler PID adalah 6.78%. Untuk respon rise time, settling time, dan steady state error tidak jauh berbeda dari kedua kontroler. Sistem yang sudah di buat disimulasikan di platform LabView

POINT-TO-POINT (PTP) CONTROL PERFORMANCES OF AN UPPER LIMB ROBOTIC ARM

2016 ◽  
Vol 78 (7) ◽  
Author(s):  
Mariam Md Ghazaly ◽  
Ting Huan Teo ◽  
Vivek A/L Regeev ◽  
Kartikesu A/L Vijayan ◽  
Chong Shin Hong ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Steady State ◽  
Upper Limb ◽  
Pid Controller ◽  
Fuzzy Logic Controller ◽  
Settling Time ◽  
Robotic Arm ◽  
Point To Point ◽  
Precision Motion ◽  
State Error

The objective of this paper is to design a controller which is able to control the output angle for an upper limb of a robotic arm, for precision motion and high speed response.  The aim is to optimize the best controller for an upper limb robotic arm system for precision motion, in which improper motion will results in injuries/ fatality and loss of production in manufacturing system. In this research, a robotic arm prototype with a 1 degree-of-freedom (DOF) was designed and fabricated, in which the DC geared motor was implemented.  Studies are carried out based on previous research to investigate the suitable type of controller. PID controller and fuzzy logic controller are chosen and compared in terms of their performances such as the steady-state error, settling time, rise time and overshoot. The equipment’s used are Micro-Box 2000/2000C, Cytron DC geared motor, motor driver circuit. Micro-Box module acts as the interface between hardware component and MATLAB R2009a. Open-loop simulations are carried out to obtain the transfer function of the motor and substituted into the system for further simulation analysis. Simulation for the uncompensated system is carried out to observe the close-loop system characteristic without the controller. After that, the close-loop point-to-point (PTP) trajectory control for simulations & experiments are carried out for the compensated systems using PID controller based on the Ziegler-Nichols frequency response method. Analyses are made based on the results obtained and the best type of controller is chosen for achieving precise motion control for the upper limb robotic arm. In this paper, the PID controller shows better performances compared to the Fuzzy Logic controller (FLC) with the steady state error of less than 0.010 and settling time of 0.5s; for the input reference of 150  respectively. 

scholarly journals Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller

2019 ◽  
Vol 11 (2) ◽  
pp. 44-49
Author(s):  
Esa Apriaskar ◽  
Fahmizal Fahmizal ◽  
Nur Azis Salim ◽  
Dhidik Prastiyanto
Keyword(s):  
Performance Evaluation ◽  
Steady State ◽  
Pid Controller ◽  
Performance Test ◽  
Pulse Width Modulation ◽  
Pi Controller ◽  
Settling Time ◽  
Proportional Integral ◽  
Rising Time ◽  
State Error

Due to potential features of unmanned aerial vehicles for society, the development of bicopter has started to increase. This paper contributes to the development by presenting a performance evaluation of balancing bicopter control in roll attitude. It aims to determine the best controller structure for the balancing bicopter. The controller types evaluated are based on Ziegler-Nichols tuning method; they are proportional (P), proportional-integral (PI), and proportional-integral-derivative (PID) controllers. Root locus plot of the closed-loop balancing bicopter system is used to decide the tuning approach. This work considers a difference in pulse-width-modulation (PWM) signal between the left and right rotors as the signal control and bicopter angle in roll movement as the output. Parameters tuned by the method are Kp, Ti, and Td which is based on the ideal PID structure. The performance test utilizes rising time, settling time, maximum overshoot, and steady-state error to determine the most preferred controller. The result shows that PI-controller has the best performance among the other candidates, especially in maximum overshoot and settling time. It reaches 8.34 seconds in settling time and 3.71% in maximum overshoot. Despite not being the best in rising time and resembling PID-controller performances in steady-state error criteria, PI-controller remains the most preferred structure considering the closeness of the response to the desired value.

scholarly journals Transient Response of Glycerin Heating Process

2019 ◽  
Vol 9 (2) ◽  
pp. 2419-2423
Keyword(s):  
Transient Response ◽  
Rise Time ◽  
Pid Controller ◽  
Absolute Error ◽  
Settling Time ◽  
Heating Process ◽  
Tuning Parameters ◽  
Response Characteristics ◽  
Process System ◽  
Tuning Methods

Controlling the temperature of the glycerin purification process system was not an easy task, as an increase in operating temperature would significantly reduce the quality of the purified glycerin. This is because an unlimited increase in temperature beyond the set point and an excessive prolongation of the heating process would result in the formation of an excessive secondary oxidation product in the final purified glycerin. This paper discusses the transient response characteristics of the glycerin heating process using a parallel PID controller. The glycerin heating process behavior was determined experimentally using step input test and modelled as the First Order plus Delay Time. The controller parameters wereadjusted using Ziegler-Nichols, Cohen-Coon and Wang tuning methods, each of which was analyzed on the basis of the corresponding integral error criterion value. The Integral Square Error, Integral Absolute Error and Integral Time-weighted Absolute Error criteria value were used to evaluate the efficiency of the glycerin heating process. The transient response performances in terms of overshoot, rise time and settling time were also evaluated. Simulation work has shown that the process has experienced high overshoots for Ziegler-Nichols and Cohen-Coon, and has taken longer time to settle. Wang method exhibits with no overshoot but slow response. The lower gain PID controller was found to improve the process response in terms of overshoot but increase in the rise time and settling time. The results indicate that the desired process performance were more or less influenced by the interaction between the tuning parameters. The Ziegler-Nichols PID controller is not recommended for controlling glycerin heating process due to process response oscillations that are difficult to eliminate without prolonging the heating cycle

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