Design and Simulation of Fuzzy Self-Tuning PID Controller for Two-Link Robot

2012 ◽  
Vol 152-154 ◽  
pp. 1133-1137
Author(s):  
Jian Hu Jiang ◽  
Chao Wu ◽  
Gang Zhang
Keyword(s):  
Pid Controller ◽  
Control Method ◽  
Fuzzy Model ◽  
Parameter Tuning ◽  
Matrix Operation ◽  
Dynamical Equations ◽  
Tuning Method ◽  
Self Tuning ◽  
Actual Response ◽  
Fuzzy Pd

In this paper, fuzzy self-tuning controller is introduced first. The fuzzy model is built according to the experience of PID parameter tuning with fuzzy set theory. Parameter tuning is achieved by use of fuzzy ratiocination and decision according to actual response, which is applied for control towards robot. Mathematical model of two-link robot has been built as well as its geometric and dynamical equations through coordinate transformation and matrix operation. Finally, fuzzy PD controller with self-tuning method is applied to realize control towards robots. Simulation in Matlab has been carried out whose result shows that the control method proposed in this paper has better performance than the traditional ones.

Fuzzy Control Tuning Method of Digital PID Parameters

2012 ◽  
Vol 499 ◽  
pp. 469-473
Author(s):  
Yan Zhong Huo ◽  
Guo Ling Niu ◽  
Shi Jun Ma ◽  
Xu Du
Keyword(s):  
Fuzzy Control ◽  
Pid Controller ◽  
Control Method ◽  
Parameter Tuning ◽  
Control Technology ◽  
Tuning Method ◽  
Parameters Tuning ◽  
Digital Pid ◽  
Controller Performance ◽  
Pros And Cons

As a control method, PID control is the most widely used in industrial processes. However, PID controller parameter tuning of the pros and cons of PID controller performance has been an important factor. Fuzzy control technology is an advanced intelligent control technology, because of its advanced features and easy implementation, it can develop rapidly. This paper describes the theory and method of fuzzy control to realize the dynamic PID controller parameters tuning approach to the PID controller to achieve the best control performance.

Study on Auto-Tuning PID Controller

2014 ◽  
Vol 1037 ◽  
pp. 225-227
Author(s):  
Yin Ping Chen
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Control Method ◽  
Industrial Process ◽  
Parameter Tuning ◽  
Relay Feedback ◽  
Tuning Method ◽  
Common Control ◽  
Auto Tuning ◽  
Tuning Methods

PID control is the most common control method used in process control. The PID control parameters tuning methods are develop constantly. At present, in numerous tuning methods, there are mainly two methods applied better in the practical industrial process. One is based on pattern identification (based on rules); the other is based on relay feedback (based on model). They are collectively referred to as intelligent PID parameter tuning method. This paper studies on the PID parameter auto-tuning methods and introduces the results of the latest research on this subject. Finally, the development direction of auto-tuning PID controller was also prospected.

Digital Twin-Driven Controller Tuning Method for Dynamics

2021 ◽  
Vol 21 (3) ◽  
Author(s):  
Bin He ◽  
Tengyu Li ◽  
Jinglong Xiao
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Parameter Tuning ◽  
Control Effect ◽  
Controller Tuning ◽  
Digital Twin ◽  
Tuning Method ◽  
Twin Model ◽  
Pid Controller Tuning ◽  
Self Tuning

Abstract The control performance of the control system directly affects the running performance of the product. In order to solve the problem that the dynamics characteristics of mechanical systems are affected by the performance degradation of the controller, a digital twin-driven proportion integration differentiation (PID) controller tuning method for dynamics is proposed. In this paper, first, the structure and operation mechanism of the digital twin model for PID controller tuning are described. Using the advantages of virtual real mapping and data fusion of the digital twin model, combined with the online identification of the controlled object model, the problems of real-time feedback of an actual control effect of the controller and the unreal virtual model of the control system caused by time-varying working conditions are effectively solved, and the closed-loop self-tuning of PID controller is realized. At the same time, intelligent optimization algorithm is integrated to improve the efficiency and accuracy of PID controller parameter tuning. Second, the modeling method of the digital twin model is described from three aspects of physical prototyping, twin service system, and virtual prototyping. Finally, the controller tuning for gear transmission stability is taken as an example to verify the practicability of the proposed method.

scholarly journals An MEA-Tuning Method for Design of the PID Controller

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Yongli Zhang ◽  
Lijun Zhang ◽  
Zhiliang Dong
Keyword(s):  
Pid Controller ◽  
Industrial Process ◽  
Optimal Solution ◽  
Design Feature ◽  
Parameter Tuning ◽  
Parallel Structure ◽  
Evolutionary Information ◽  
Tuning Method ◽  
Efficiency And Effectiveness ◽  
Global Optimal

The optimization and tuning of parameters is very important for the performance of the PID controller. In this paper, a novel parameter tuning method based on the mind evolutionary algorithm (MEA) was presented. The MEA firstly transformed the problem solutions into the population individuals embodied by code and then divided the population into superior subpopulations and temporary subpopulations and used the similar taxis and dissimilation operations for searching the global optimal solution. In order to verify the control performance of the MEA, three classical functions and five typical industrial process control models were adopted for testing experiments. Experimental results indicated that the proposed approach was feasible and valid: the MEA with the superior design feature and parallel structure could memorize more evolutionary information, generate superior genes, and enhance the efficiency and effectiveness for searching global optimal parameters. In addition, the MEA-tuning method can be easily applied to real industrial practices and provides a novel and convenient solution for the optimization and tuning of the PID controller.

Research on Adaptive PID Control for Load Simulator with Varying Load

2014 ◽  
Vol 568-570 ◽  
pp. 1031-1035
Author(s):  
Ju Tian ◽  
Yao Chen
Keyword(s):  
Pid Control ◽  
Simple Structure ◽  
Control Method ◽  
Parameter Tuning ◽  
Hardware In The Loop ◽  
Tuning Method ◽  
Hydraulic Load ◽  
Variation Characteristics ◽  
Load Simulator ◽  
Adaptive Pid Control

The electro-hydraulic load simulator is an important equipment for aircraft hardware-in-the-loop simulation. An adaptive PID control method for compensating extraneous torque with simple structure and easy to implement is proposed according to the variation characteristics of load gradient in the load simulator. The control parameter tuning method is also given.

Application of Fuzzy PID Control in Sluice Control

2012 ◽  
Vol 241-244 ◽  
pp. 1248-1254
Author(s):  
Feng Chen Huang ◽  
Hui Feng ◽  
Zhen Li Ma ◽  
Xin Hui Yin ◽  
Xue Wen Wu
Keyword(s):  
Fuzzy Control ◽  
Pid Control ◽  
Information Integration ◽  
Pid Controller ◽  
Fuzzy Pid ◽  
Proportional Integral Derivative ◽  
Fuzzy Pid Control ◽  
Tuning Method ◽  
Fuzzy Pid Controller ◽  
Self Tuning

Fuzzy control, based on traditional Proportional-Integral-Derivative (PID) control, is used to improve the management of a hydro-junction’s sluice scheduling. In this study, we combined the PID and Fuzzy control theories and determined the PID parameters of the fuzzy self-tuning method of a hydro-junction’s sluice. A fuzzy self-tuning PID controller and its algorithm were designed. In hydro-junction sluice control, the Fuzzy PID controller can modify PID parameters in real-time, resulting in a more dynamic response. The application of the fuzzy self-tuning PID controller in the CiHuai River project information integration system yielded very good results.

Smith Prediction Based on Genetic Algorithm Self-Tuning PID Control

2014 ◽  
Vol 602-605 ◽  
pp. 1186-1189
Author(s):  
Dong Sheng Wu ◽  
Qing Yang
Keyword(s):  
Genetic Algorithm ◽  
Time Delay ◽  
Pid Control ◽  
Pid Controller ◽  
Control Method ◽  
Delay System ◽  
Time Delay System ◽  
Self Tuning ◽  
On Line ◽  
Turning Control

Aiming at the phenomena of big time delay are normally existing in industry control, this paper proposes an intelligent GA-Smith-PID control method based on genetic algorithm and Smith predictive compensation algorithm and traditional PID controller. This method uses the ability of on line-study, a self-turning control strategy of GA, and better control of Smith predictive compensation to deal with the big time delay. This method overcomes the limitation of traditional PID control effectively, and improves the system’s robustness and self-adaptability, and gets satisfactory control to deal with the big time delay system.

scholarly journals Based on the Multi Variable System Design and Parameter Tuning Method of PID Controller

2017 ◽  
Vol 10 (3) ◽  
pp. 1-14
Author(s):  
Li-Fei Deng ◽  
Yaowu Shi ◽  
Lan-Xiang Zhu ◽  
D. L. Yu ◽  
Rui Zhu
Keyword(s):  
System Design ◽  
Pid Controller ◽  
Parameter Tuning ◽  
Tuning Method ◽  
Variable System

scholarly journals Dual-Active Bridge Series Resonant Electric Vehicle Charger: A Self-Tuning Method

Electronics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 253 ◽  
Author(s):  
Alireza Namadmalan ◽  
Kumars Rouzbehi ◽  
Juan Manuel Escaño ◽  
Carlos Bordons
Keyword(s):  
Control Method ◽  
Frequency Control ◽  
Fixed Time ◽  
Robust Solution ◽  
Zero Voltage Switching ◽  
Tuning Method ◽  
Dual Active Bridge ◽  
Series Resonant ◽  
Self Tuning ◽  
Power Direction

This paper presents a new self-tuning loop for a bidirectional dual-active bridge (DAB) series resonant converter (SRC). For different loading conditions, the two active bridges can be controlled with a minimum time displacement between them to assure zero voltage switching (ZVS) and minimum circulation current conditions. The tuning loop can instantly reverse the power direction with a fast dynamics. Moreover, the tuning loop is not sensitive to series resonant tank tolerances and deviations, which makes it a robust solution for power tuning of the SRCs. For simplicity, the power is controlled based on the power-frequency control method with a fixed time displacement between the active bridges. The main design criteria of the bidirectional SRC are the time displacement, operating frequency bandwidth, and the minimum and maximum power, which are simply derived and formulated based on the self-tuning loop’s parameters. Based on the parameters of the tuning loop, a simplified power equation and power control method is proposed for DAB-SRCs. The proposed control method is simulated in static and dynamic conditions for different loadings. The analysis and simulation results show the effectiveness of the new tuning method.

Self-Tuning for Fuzzy Rule Generation Based upon Fuzzy Singleton-type Reasoning Method

1999 ◽  
Vol 3 (3) ◽  
pp. 200-206 ◽  
Author(s):  
Yan Shi ◽  
◽  
Masaharu Mizumoto ◽  
Keyword(s):  
Clustering Algorithm ◽  
Learning Algorithm ◽  
Fuzzy Model ◽  
Fuzzy Rule ◽  
Fuzzy Rules ◽  
Rule Generation ◽  
Nonlinear Functions ◽  
Tuning Parameters ◽  
Tuning Method ◽  
Self Tuning

Using fuzzy singleton-type reasoning method, we propose a self-tuning method for fuzzy rule generation. We give a neurofuzzy learning algorithm for tuning fuzzy rules under fuzzy singleton-type reasoning method, then roughly design initial tuning parameters of fuzzy rules based on a fuzzy clustering algorithm before learning a fuzzy model. This should reduce learning time and fuzzy rules generated by our approach are reasonable and suitable for the identified model. We demonstrate our proposal’s efficiency by identifying nonlinear functions.

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