Research on PID Linear Motion Control Strategy of Self-Balanced Two-Wheeled Vehicle

2013 ◽  
Vol 694-697 ◽  
pp. 1679-1683 ◽  
Author(s):  
Ying Li ◽  
Da Zheng Wang ◽  
Xiao Hua Zhang ◽  
Peng Bo Bian
Keyword(s):  
Motion Control ◽  
Closed Loop ◽  
Controller Design ◽  
Lagrange Equation ◽  
Special Kind ◽  
Linear Motion ◽  
Dynamics Modeling ◽  
Wheeled Vehicle ◽  
Pid Controller Design ◽  
Classical Control

Abstract. The self-balanced two-wheeled vehicle is a special kind of mobile robot, this typical under-actuated system is multivariable, nonlinear, strong coupling and parameter-uncertain; the structure characteristics is its small size, simple structure, less energy consumption, flexible movement. This paper selects Lagrange equation as dynamics modeling method for this tricyclic system, and determines the dual closed-loop PID as control scheme, finally completes the study of its linear motion control. By discussing the robustness, transient performance, steady-state performance of the system, this paper uses classical control theory to complete the dual closed-loop PID controller design and simulation with MATLAB / Simulink.

LMI-Based Decentralized PID Controller Design With Application to the Shape Control of Magnetic Fluid Deformable Mirrors

2010 ◽  
Author(s):  
Zhizheng Wu ◽  
Azhar Iqbal ◽  
Foued Ben Amara
Keyword(s):  
Adaptive Optics ◽  
Output Feedback ◽  
Pid Controller ◽  
Control Algorithm ◽  
Closed Loop ◽  
Controller Design ◽  
Design Method ◽  
Pid Controller Design ◽  
Static Output ◽  
Adaptive Optics System

In this paper, a decentralized robust PID controller design method is proposed for multi-input multi-output systems. The system model is first decoupled in the low frequency range, and only the diagonal entries in the DC-decoupled plant model are retained. To deal with the resulting unmodeled high frequency dynamics, a decentralized robust PID controller design method is proposed, where the robust stability and transient response performance of the resulting closed loop system are formulated as a multi-objective H∞/H2 static output feedback problem. The desired parameters of the PID controller are determined by solving a static output feedback problem using linear matrix inequalities (LMIs). Finally, the performance of the proposed control algorithm is experimentally evaluated on the adaptive optics system involving a prototype magnetic fluid deformable mirror (MFDM). The experimental results illustrate the effectiveness of the proposed control algorithm for the MFDM surface shape tracking in the closed loop adaptive optics system.

scholarly journals Dynamics Modeling and Analysis of a Novel Constraint Metamorphic Reversible Plough

2019 ◽  
Vol 2019 ◽  
pp. 1-20
Author(s):  
Yanyan Song ◽  
Boyan Chang ◽  
Guoguang Jin ◽  
Zhan Wei ◽  
Bo Li
Keyword(s):  
Closed Loop ◽  
Dynamic Models ◽  
Lagrange Equation ◽  
Initial Position ◽  
Dynamics Modeling ◽  
Constraint Force ◽  
Vector Method ◽  
Modeling And Analysis ◽  
Acceleration Analysis ◽  
Source Phase

To meet the requirements of different farming objects, this paper presents a novel constraint metamorphic reversible plough (CMRP) which has four distinct working phases and the feature of underactuation, and its prototype has been manufactured for practical testing purposes. Firstly, the kinematics of the mechanism in each phase are studied systematically with the closed-loop vector method, including displacement, velocity, and acceleration analysis. Considering the underactuated characteristics of the mechanism in the source phase, its dynamic models in the source phase are further established by the Lagrange equation. Based on the theory that velocity and acceleration are the same in an extremely brief period, the motion laws of the slider in the source phase can be obtained. To obtain the constraint force/torque acting on the crucial joints in each phase, the dynamic model of the CMRP is established by the Newton–Euler equation. Furthermore, the initial position of the CMRP with a flexible prismatic joint can be determined using the static balance equation. Finally, the obtained kinematic and dynamic models of the CMRP in each phase are verified, respectively, through comparing the simulation results in SolidWorks and Matlab software, and the experiment with the prototype is conducted. The CMRP proposed in this study provides a feasible technical scheme for improving the capability of reversible plough over unknown and complex terrains.

Optimal PID controller design with Kalman filter for Qball-X4 quad-rotor unmanned aerial vehicle

2016 ◽  
Vol 39 (12) ◽  
pp. 1785-1797 ◽  
Author(s):  
Feng Pan ◽  
Lu Liu ◽  
Dingyu Xue
Keyword(s):  
Mathematical Model ◽  
Kalman Filter ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Closed Loop ◽  
Controller Design ◽  
Absolute Error ◽  
Pid Controller Design ◽  
Aerial Vehicle ◽  
Set Up

In this paper, we used a Qball-X4 quad-rotor unmanned aerial vehicle (UAV) which was developed by the Quanser Company as the experimental platform. First, a fundamental mathematical model of the Qball-X4 quad-rotor UAV was built and a simulation model was set up based on the proposed mathematical model; then, a double closed-loop optimal proportional–integral–derivative (PID) controller based on integral of time multiplied by absolute error (ITAE) indices was designed according to the model structure. In consideration of the possible system error and data delay, we designed a corresponding Kalman filter, which can estimate the target trajectory and be put before the proposed PID controller to ensure their validity. Finally, simulation results of the system with presented PID controller and Kalman filter were shown to verify their effectiveness.

Application of LQR Techniques to the Anti-Sway Controller of Overhead Crane

2010 ◽  
Vol 139-141 ◽  
pp. 1933-1936 ◽  
Author(s):  
Bin Yang ◽  
Bin Xiong
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Lagrange Equation ◽  
Linear Quadratic Regulator ◽  
Analytical Mechanics ◽  
Overhead Crane ◽  
Closed Loop System ◽  
Linear Quadratic ◽  
Weighting Matrix ◽  
Motion System

This paper explains and demonstrates how to design an anti-sway controller of overhead crane for eliminating pendulum of hook-headed. In this paper, we use Lagrange Equation in analytical mechanics to obtain a mathematical model of crane crab motion system. Then the paper comes up with a piece of new idea, i.e. applies linear quadratic regulator techniques to the anti-sway controller’ design of overhead crane. In order to make the designed linear optimal system meet the practical production requirements better, we use a parametric formula’s method of solutions to LQ inverse problems to obtain the weighting matrix Q. In fact, the method is simple and practical, and ensures the performance of closed-loop system is optimized. The paper will introduce the design steps of anti-sway controller of overhead crane and realization of anti-sway controller, which are new and original in this paper.

scholarly journals Direct Synthesis Based Fractional Order PID Controller Design for Non - Integer Order Systems with Time Delay

2020 ◽  
Vol 9 (4) ◽  
pp. 1042-1049
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Direct Synthesis ◽  
Tuning Parameter ◽  
Method Performance ◽  
Tuning Parameters ◽  
Integer Order ◽  
Loop Transfer Function ◽  
Pid Controller Design ◽  
Fractional Order Pid

Present study focuses on design and implementation of PI𝝀D𝝁 controller to obtain the closed loop response of for non-integer order systems (NIOS). Controller is designed using direct synthesis (DS) method. Performance analysis in terms of IAE, ISE and ITAE is made and compared with that of literature reported methods. Robustness in terms of Maximum Sensitivity (Ms) is also analyzed. Tuning parameters q and 𝝀, are selected with an arbitrary value for set-point trajectory and disturbance rejection. The closed loop response is studied for various non-integer order systems. Tuning parameters with respect to q (adjustable tuning parameter in assumed closed loop transfer function) and 𝝀 are arrived at for different case studies, q varying from 0.05 to 0.5 and 𝝀 varying from 0.5 to 6. FOMCON tool box of Simulink in MATLAB is employed for the simulation study.

scholarly journals On PID Controller Design by Combining Pole Placement Technique with Symmetrical Optimum Criterion

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Viorel Nicolau
Keyword(s):  
Transfer Function ◽  
Closed Loop ◽  
Controller Design ◽  
Open Loop ◽  
Pole Placement ◽  
Loop Transfer Function ◽  
Heading Control ◽  
Pid Controller Design ◽  
Analytical Expressions ◽  
Placement Technique

In this paper, aspects of analytical design of PID controllers are studied, by combining pole placement technique with symmetrical optimum criterion. The proposed method is based on low-order plant model with pure integrator, and it can be used for both fast and slow processes. Starting from the desired closed-loop transfer function, which contains a second-order oscillating system and a lead-lag compensator, it is shown that the zero value depends on the real-pole value of closed-loop transfer function. In addition, there is only one pole value, which satisfies the assumptions of symmetrical optimum criterion imposed to open-loop transfer function. In these conditions, by combining the pole placement technique with symmetrical optimum criterion, the analytical expressions of the controller parameters can be simplified. For simulations, PID autopilot design for heading control problem of a conventional ship is considered.

Type-III closed loop control systems-Digital PID controller design

2013 ◽  
Vol 23 (10) ◽  
pp. 1401-1414 ◽  
Author(s):  
Konstantinos G. Papadopoulos ◽  
Nikolaos D. Tselepis ◽  
Nikolaos I. Margaris
Keyword(s):  
Control Systems ◽  
Pid Controller ◽  
Closed Loop ◽  
Controller Design ◽  
Closed Loop Control ◽  
Loop Control ◽  
Type Iii ◽  
Digital Pid ◽  
Pid Controller Design
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