scholarly journals DESIGNING DIGITAL CONTROLLERS FOR A CONTROLLED PLANT

2020 ◽  
pp. 24-33
Author(s):  
A Khaimuldin ◽  
T Mukatayev ◽  
N. Assanova ◽  
N. Khaimuldin
Keyword(s):  
Steady State ◽  
Design Procedure ◽  
Open Loop ◽  
Settling Time ◽  
System Response ◽  
Systematic Design ◽  
Digital Controllers ◽  
Controlled System ◽  
Step Input ◽  
State Error

This paper report contains an explanation of how to design a digital controller using the Laplace Transform to z-Transform conversion method. The objectives are that the controlled system should track step input with a reasonably small steady-state error and a settling time faster than the open-loop settling time. Furthermore, it should do so with the minimum overshoot that is reasonably possible. The main contribution is to establish the feasibility and ease of the systematic design procedure and future work will focus in more detail on applying the Sampling Theorem and deadbeat controller. There are several objectives that the controlled system should reach: 1. Track step input with a reasonably small steady-state error and a settling time which should be faster than the open-loop settling time. 2. Gain a small overshoot that is sufficiently possible. 3. Have a systematic design procedure. A method for finding the parameters of the deadbeat controller in the MatLab environment is presented. Based on the results obtained the simulation reveals that even when the control grows by one-step, the settling time of the system response could be less than that of the deadbeat controller. The work shows that deadbeat could be a powerful analysis tool since it is possible to grab the entire dynamic easily using several samples.

Robot torque and position control using an electrorheological actuator

1998 ◽  
Vol 212 (3) ◽  
pp. 229-238 ◽  
Author(s):  
D J Brookfield ◽  
Z B Dlodlo
Keyword(s):  
Steady State ◽  
Applied Field ◽  
Position Control ◽  
Open Loop ◽  
Settling Time ◽  
Time Varying ◽  
Control Loop ◽  
Loop Transfer Function ◽  
Non Linear ◽  
State Error

An electrorheological (ER) clutch driven from a constant speed motor provides a steady torque independent of shaft angle and can be controlled by control of the applied field. Such an actuator avoids the ‘cogging’ variation in torque observed in d.c. servo-motors and is thus well suited to robot control applications, particularly in view of the very rapid time response of ER clutches (≍ 10−3 s). However, the relationship between applied field and torque is difficult to model, being both non-linear and time varying. Whereas the non-linearity can be shown to be relatively small, the time-varying characteristic has remained a problem. In most controlled plants, a non-linear or time-varying characteristic can be mitigated by providing a closed control loop around the plant. A PID (proportional plus integral plus derivative)-based torque controller was developed and tested. This was shown to be stable with at least critical damping and to exhibit low steady state error. Design of the controller was facilitated by the identification of the open-loop transfer function of the ER actuator. The ER actuator with torque feedback was used to position a small robot link. A second PID control loop responding to the error in the link position and tuned using the standard Ziegler and Nichols method was designed and tested. A steady state error of less than 0.75 mm was achieved with a 2 per cent settling time of 2.0 s. Finally, the link position was controlled using a single-loop controller with no torque feedback and a similar steady state error achieved with a 2 per cent settling time of 1.4 s. It is argued that the ER torque actuator is ideally suited to the actuation of robot joints where precise smooth movement is required.

scholarly journals Analisa Gerak Putar Eksentris Continous Satu Massa Horisontal pada Sistem Kendali NCTF Berbasis Arduino Uno

2018 ◽  
Vol 17 (01) ◽  
pp. 37-48
Author(s):  
Perwita Kurniawan ◽  
Adi Nugroho
Keyword(s):  
Steady State ◽  
Open Loop ◽  
Sampling Time ◽  
Settling Time ◽  
Trajectory Following ◽  
Arduino Uno ◽  
State Error

Sistem kendali nominal characteristic trajectory following (NCTF) adalah sebuah sistem kendali yang terdiri dari dua buah sub sistem, yaitu nominal characteristic trajectory (NCT) dan kompensator. Pembuatan pengendali berdasarkan pada eksperimen open-loop sederhana sehingga sistem kendali NCTF sangat praktis untuk digunakaan. Arduino Uno digunakan sebagai pengendali sistem putar eksentris satu massa horisontal. Perintah ke Arduino Uno diberikan oleh perangkat lunak MATLAB®, selanjutnya Arduino Uno akan menggerakkan motor dan membaca encoder. Performa sistem diukur dengan melakukan pengujian menggunakan variasi pembebanan dan variasi gerakan continous. Variasi pembebanan yang diberikan diantaranya 0, 0.066, dan 0.156Kg. Sedangkan variasi gerakan continous yang diberikan berupa gerakan bolak-balik satu kali dan gerakan bolak-balik yang berulang. Informasi yang dianalisa berupa nilai steady state error, settling time, dan overshoot, yang digunakan untuk menentukan performa sistem yang telah dibuat. Hasil penelitian menunjukkan bahwa sistem Kendali NCTF berbasis Arduino Uno pada Gerak Putar Eksentris Continous Satu Massa Horisontal, mampu menunjukkan performa yang cukup baik. Keakuratan penunjukan posisi dapat dilihat dari kecilnya rata-rata error. Nilai rata-rata error yang terjadi sebesar 3.85 derajat. Kecepatan respon yang baik dapat dilihat dari kemampuan sistem untuk menyesuaikan perintah posisi secara visual dari grafik gerakan yang dihasilkan saja. Hal ini terjadi karena nilai settling time dan overshoot tidak bisa terukur, akibat dari perintah gerak continous yang selalu berubah tiap sampling time 0,01 detik. Sistem mampu robust untuk mengatasi faktor pengganggu dari luar seperti grafitasi, gesekan, inersia, dan beban untuk mekanisme putar eksentris  satu massa horisontal.

scholarly journals Design and Simulation of Voltage Amplidyne System using Robust Control Technique

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Eliyas Alemayehu
Keyword(s):  
Optimal Control ◽  
Robust Control ◽  
Control Theory ◽  
Open Loop ◽  
Settling Time ◽  
Control Technique ◽  
Control Synthesis ◽  
Step Input ◽  
Optimal Control Synthesis ◽  
Simulation Results

In this paper, modelling designing and simulation of a simple voltage amplidyne system is done using robust control theory. In order to increase the performance of the voltage amplidyne system with H ∞ optimal control synthesis and H ∞ optimal control synthesis via ∞-iteration controllers are used. The open loop response of the voltage amplidyne system shows that the system can amplify the input 7 times. Comparison of the voltage amplidyne system with H ∞ optimal control synthesis and H ∞ optimal control synthesis via ∞-iteration controllers to track a desired step input have been done. Finally, the comparative simulation results prove the effectiveness of the proposed voltage amplidyne system with H ∞ optimal control synthesis controller in improving the percentage overshoot and the settling time.

scholarly journals Meningkatkan kinerja motor induksi menggunakan teknologi fuzzy logic controller berbasis artificial intelligence

2021 ◽  
Vol 2 (2) ◽  
pp. 40-47
Author(s):  
I Putu Sutawinaya ◽  
◽  
Anak Agung Ngurah Made Narottama ◽  
Keyword(s):  
Artificial Intelligence ◽  
Fuzzy Logic ◽  
Steady State ◽  
Fuzzy Logic Controller ◽  
Settling Time ◽  
Peak Time ◽  
State Error

Motor induksi adalah merupakan motor listrik arus bolak balik (AC) yang umum digunakan pada industri-industri karena memiliki beberapa keuntungan, diantaranya relatif murah, kokoh serta handal. Namun kelemahan motor induksi saat terjadi perubahan torsi beban secara mendadak, maka akan terjadi penurunan kinerja (performansi) motor. Hal tersebut akan berpengaruh terhadap kestabilan putaran motor, di mana overshoot maupun undershoot relatif tinggi serta risetime relatif lambat. Untuk mengantispasi hal tersebut dibutuhkan sistem kontrol kecepatan motor induksi yang tentunya dapat meningkatkan kinerja motor induksi tersebut. Dalam penelitian ini dilakukan pengujian terhadap sistem kontrol kecepatan motor induksi menggunakan teknologi Fuzzy Logic Controller (FLC) melalui simulasi perangkat lunak Matlab. Dilakukan pengujian terhadap perubahan kinerja motor induksi melalui pemberian torsi beban serta setpoint yang berubah-ubah. Adapun hasil simulasi menunjukan bahwa performansi motor induksi, seperti undershoot, overshoot dan steady state error relatif kecil serta peak time, risetime dan settling time relatif cepat. Sistem yang dirancang mampu menurunkan arus start rata-rata sekitar 72,7% dan torsi awal rata-rata sekitar 81,8% terhadap kondisi idealnya.

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 KONTROL SUDUT ATTITUDE MENGGUNAKAN LINEAR QUADRATIC REGULATOR (LQR) UNTUK QUADROTOR DENGAN PAYLOAD

ROTASI ◽  
2013 ◽  
Vol 15 (4) ◽  
pp. 16 ◽  
Author(s):  
Mochammad Ariyanto ◽  
Joga Dharma Setiawan ◽  
Ismoyo Haryanto
Keyword(s):  
Steady State ◽  
State Space ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Aerial Manipulation ◽  
Step Input ◽  
Object Interaction ◽  
Integral Action ◽  
Linear State ◽  
State Error

Quadrotor telah dikembangkan oleh peneliti di dunia ini sebagai aerial object interaction/aerial manipulation. Agar quadrotor bisa terbang mengangkat beban, maka dibutuhkan sistem kontrol yang dapat mengkompensasi perubahan pusat gravitasi. Pada penelitian ini, model matematika quadrotor dengan efek beban/payload akan dikembangkan. Untuk mengkompensasi perubahan lokasi pusat gravitasi karena efek beban, Linear Quadratic Regulator (LQR) akan digunakan untuk stabilisasi sudut Euler.Model linear state space dihitung menggunakan persmaan gerak onlinear quadrotor tanpa beban, kemudian disintesis sistem kontrol   LQR. Kontrol tersebut diterapkan dalam model matematika nonlinear dengan beban/payload. Berdasarkan hasil simulasi integral action dari kontrol LQR dapat menghilangkan steady state error setelah diberikan step input, dan kondisi sudut awal sebesar 50. Variasi beban dari 0 gr sampai dengan 200 gr tidak akan memberikan steady state error

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.

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

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

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