scholarly journals Dynamic Decoupling and Intelligent Optimal PID Controller Tuning of Multivariable Qua-drones

2021 ◽  
Vol 10 (4) ◽  
pp. 228-240
Author(s):  
Prof. Dong Hwa Kim ◽  
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Control Methods ◽  
System Matrix ◽  
Loop Control ◽  
Decoupling Method ◽  
Optimal Response ◽  
Single Loop ◽  
Dynamic Decoupling ◽  
Pid Controller Tuning

This paper deals with dynamic decoupling and its intelligent PID control method of multivariable qua-drone. Up to this time, many sophisticated intelligent algorithms and control methods for drone systems have been mentioned. However, almost many cases have been focusing on single loop control methods and general multivariable systems. Therefore, we cannot guarantee its stability and optimal response by PID control used in multivariable qua-drone. Herein, this paper suggests a novel control method for PID control for multivariable qua-drone. As first step, this paper decouples dynamic of multivariable qua-drone using diagonal method of system matrix and then applies intelligent method PSO and GA to single loop obtained by decoupling method to obtain optimal response.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

scholarly journals The Design of Optimal PID Control Method for Quadcopter Movement Control

2018 ◽  
Vol 2 (1) ◽  
pp. 1 ◽  
Author(s):  
Hanum Arrosida ◽  
Mohammad Erik Echsony
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Controller Design ◽  
Minimum Energy ◽  
Linear Quadratic Regulator ◽  
Research Field ◽  
Unmanned Aircraft ◽  
Control Methods ◽  
Linear Quadratic ◽  
Optimal Pid Control

Nowadays, quadcopter motion control has become a popular research topic because of its versatile ability as an unmanned aircraft can be used to alleviate human labor and also be able to reach dangerous areas or areas which is unreachable to humans. On the other hand, the Optimal PID control method, which incorporates PID and Linear Quadratic Regulator (LQR) control methods, has also been widely used in industry and research field because it has advantages that are easy to operate, easy design, and a good level of precision. In the PID control method, the main problem to be solved is the accuracy of the gain value Kp, Ki, and Kd because the inappropriateness of those value will result in an imprecise control action. Based on these problems and referring to the previous study, the optimal PID control method was developed by using PID controller structure with tuning gain parameter of PID through Linear Quadratic Regulator (LQR) method. Through the integration of these two control methods, the optimum solutions can be obtained: easier controller design process for quadcopter control when crossing the determined trajectories, steady state error values less than 5% and a stable quadcopter movement with roll and pitch angle stabilization at position 0 radians with minimum energy function.

Research on the Elongation Control System of Tension Leveller for Continuous Pickling Line

2013 ◽  
Vol 753-755 ◽  
pp. 1442-1447
Author(s):  
Li Wang ◽  
Dian Hua Zhang ◽  
Jie Sun ◽  
Qiu Jie Chen ◽  
Hua Ding
Keyword(s):  
Control System ◽  
Pid Control ◽  
Control Algorithm ◽  
Control Method ◽  
Dynamic Performance ◽  
Vital Role ◽  
Rolled Strip ◽  
Loop Control ◽  
Elongation Control ◽  
Self Adaptive

Elongation control played a vital role for the production of cold-rolled strip. In the production process, especially during tension disturbances or parameter variations, the conventional PID control method can not meet the actual demand well. Therefore, the intelligent control algorithm was introduced in this paper. A fuzzy self-adaptive PID closed-loop control strategy which combines the fuzzy control algorithm with the conventional PID control algorithm was applied to elongation control system. It is proved in the simulation study that the fuzzy self-adaptive PID control system has both high dynamic performance and static performance as well as strong robustness, which can greatly improve control accuracy and anti-jamming capability of elongation control system of the tension leveller.

scholarly journals Application of a New Model Reference Adaptive Control Based on PID Control in CNC Machine Tools

Machines ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 274
Author(s):  
Hongdong Gai ◽  
Xuewei Li ◽  
Fangrui Jiao ◽  
Xiang Cheng ◽  
Xianhai Yang ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Pid Control ◽  
Control Method ◽  
Model Reference Adaptive Control ◽  
Cnc Machine Tools ◽  
Cnc Machine ◽  
Model Reference ◽  
Loop Control ◽  
Model Reference Adaptive ◽  
Following Error

To improve the control performance of the CNC machine tool feed servo system with nonlinear disturbances, a model reference adaptive control (MRAC) based on PID control is proposed. The method is based on the traditional three-loop control, the output signal of the speed loop controller is used as the input signal of the model reference adaptive controller, and the adaptive law is derived on the basis of Lyapunov stability theory. To verify the effectiveness, this paper analyzed the method through simulation and experiment. Results showed that the following error caused by nonlinear friction was significantly reduced when the speed was reversed, and the influence of noise and mechanical resonance was effectively suppressed. The proposed control method in this paper improves the motion-control accuracy and anti-interference ability of the control system.

Study on Improved Neural Network PID Control for Coal Mining Power Grid Arc Suppression Coil Compensating System

2010 ◽  
Vol 426-427 ◽  
pp. 427-431
Author(s):  
C.Y. Ma ◽  
C.L. Wang ◽  
J.H. Liu ◽  
X.B. Li ◽  
R. Liang
Keyword(s):  
Neural Network ◽  
Adaptive Learning ◽  
Bp Neural Network ◽  
Pid Control ◽  
Model Building ◽  
Control Method ◽  
Control Effect ◽  
Loop Control ◽  
Arc Suppression Coil ◽  
Neural Network Pid

The paper analyzed arc suppression coil with magnetic bias compensating system with linear system rules. The nonlinear and time-variable performances are considered during model building process. In order to optimize control effect, the paper adopted improved BP neural network PID controller with closed loop control method. Improve BP neural network with the combination of the two strategies, adding momentum method and adaptive learning rate adjustment, can not only effectively suppress the network appearing local minimum but also good to shorten learning time and improve stability of the network furthermore. The results of simulation and experiments indicate that arc suppression coil based on improved neural network with PID control method can quickly and accurately control the compensating capacitive current to an expected value and it has strong robustness. The paper also provided core controller with software and hardware designing scheme based on STM32 microcontroller.

Research on Deviation Correction Control Technique of the Paver’s Traveling System

2012 ◽  
Vol 490-495 ◽  
pp. 1777-1782
Author(s):  
Dong Qing Wang ◽  
En Rong Mao ◽  
Xiu Jie Yin
Keyword(s):  
Pid Control ◽  
Working Condition ◽  
Control Method ◽  
Fuzzy Controller ◽  
Control Technique ◽  
Control Plan ◽  
Loop Control ◽  
Difference Variable ◽  
Distance Difference ◽  
The Right

In order to improve the performance of crawler paver’s traveling and reduce the paver’s straight traveling deviation, a new control plan of paver’s traveling system was proposed. In the control plan, the left wheel control method adopted velocity closed loop control in order to keep constant-speed moving of the paver. The right wheel control method adopted the series structure of fuzzy control and PID control in which the fuzzy controller slightly adjusted the right wheel set point of PID controller according to the distance difference variable and velocity difference variable of paver’s left wheel and right wheel. In the working condition of straight paving, the real time deviation correction is achieved to assure paver’s straight traveling.

Optimized Pulse Modulation: A Novel Idea of a Digital Control Method for On/Off Valves

2011 ◽  
Author(s):  
Ingo Schepers ◽  
Daniel Weiler ◽  
Juergen Weber
Keyword(s):  
Digital Control ◽  
Closed Loop ◽  
Control Method ◽  
Closed Loop Control ◽  
The Novel ◽  
Control Methods ◽  
Pulse Control ◽  
Pulse Modulation ◽  
Loop Control ◽  
The Common

This article describes how on/off valves can be used in the closed loop control. After studying different industrial hydraulic applications typical requirements will be compiled. From these requirements a basic on/off valve architecture will be derived. In this article the number of parallel connected on/off valves per control edge is limited to one valve. So the typical digital hydraulics with a high number of parallel connected valves is not considered. The on/off valves could not be controlled like normal directional valves. To control on/off valves digital control methods are common to use. The digital control methods are not optimized for the hydraulic on/off valves, because the origins of the digital control methods will be found in the electrical engineering. The novel idea for the digital control methods is the optimized pulse control which eliminates the disadvantages of the common digital control methods. How the optimized pulse control works is described in this article.

A Design of Loop Control Method for Feedforward Power Amplifier

2012 ◽  
Vol 588-589 ◽  
pp. 731-734
Author(s):  
Hua Zhou ◽  
Lu Yu Wang ◽  
Wei Chang
Keyword(s):  
Theoretical Analysis ◽  
Power Amplifier ◽  
Control Method ◽  
Design Method ◽  
System Simulation ◽  
Design System ◽  
Control Methods ◽  
Loop Control ◽  
Analysis And Design ◽  
Signal Cancellation

This letter delivered an analysis and design method of signal cancellation loop for feedforward power amplifier. To begin with the inherent defects of feedforward amplifier, it stated the merits and drawbacks of existing feedforward amplifier loop control methods, then put forward a new signal cancellation loop control method, namely separating amplitude feedback and phase feedback in signal cancellation loop, then advanced the theoretical analysis and calculation. The result of theoretical calculation was in line with the outcome of simulation, which confirmed through ADS (Advanced Design System) simulation. This method has multiple advantages: high feedback convergence rate, readily implementation and high linearity.

Dynamic Simulation for Grid-Connected Inverters of Distributed Generation Based on DIgSILENT Software

2013 ◽  
Vol 291-294 ◽  
pp. 2042-2046
Author(s):  
Zhang Le Zhao ◽  
You Bing Zhang ◽  
Jun Qi
Keyword(s):  
Distributed Generation ◽  
Control Strategy ◽  
Control Method ◽  
Control Strategies ◽  
Simulation Models ◽  
Double Loop ◽  
Rotating Frame ◽  
Control Methods ◽  
Outer Loop ◽  
Loop Control

This paper introduces some typical control methods for the grid-connected inverters in the distributed generation (DG) systems, the double-loop control strategy is focused on and analyzed in detail. The proposed outer-loop control strategies are summarized. Meanwhile, the inner-loop control method established on dq rotating frame is introduced. The simulation models of the inverters for DG in the DIgSILENT software are introduced, and the simulations for the proposed control strategies are realized.

Based on NERGA a Novel Decentralized PID for Non-Square System

2011 ◽  
Vol 179-180 ◽  
pp. 1143-1149 ◽  
Author(s):  
Ling Quan ◽  
Qi Bing Jin ◽  
Xue Wei Wang
Keyword(s):  
Pid Control ◽  
Time Delays ◽  
Control Method ◽  
Multivariable Control ◽  
Pid Controllers ◽  
Control Methods ◽  
Chemical Production ◽  
Input And Output ◽  
The Matrix ◽  
Simulation Results

Multivariable non-square system with time delays often arises in the chemical production process. Owing to the matrix that is adopted to describe non-square system is not square, many classical multivariable control methods can be hardly applied in such system. In this paper, based on Non-square effective relative gain (NERGA) a novel decentralized PID control method is proposed. The input and output loops of the non-square system are paired though NERGA firstly, and then strong robust decentralized multivariable proportional-integral-differential (PID) controllers are designed individually based on the squared models. Finally, Simulation study was carried out for three inputs and two outputs system, the simulation results can demonstrate the effectiveness of the proposed method.

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