• Title/Summary/Keyword: PID controller PID

Search Result 1,747, Processing Time 0.026 seconds

A Study on the Dynamic Positioning Control Algorithm Using Fuzzy Gain Scheduling PID Control Theory (퍼지게인 스케쥴링 PID 제어이론을 이용한 동적 위치 유지 제어기법에 관한 연구)

  • Jeon, Ma-Ro;Kim, Hee-Su;Kim, Jae-Hak;Kim, Su-Jeong;Song, Soon-Seok;Kim, Sang-Hyun
    • Journal of the Society of Naval Architects of Korea
    • /
    • v.54 no.2
    • /
    • pp.102-112
    • /
    • 2017
  • Many studies on dynamic positioning control algorithms using fixed feedback gains have been carried out to improve station keeping performance of dynamically positioned vessels. However, the control algorithms have disadvantages in that it can not cope with changes in environmental disturbances and response characteristics of vessels motion in real time. In this paper, the Fuzzy Gain Scheduling - PID(FGS - PID) control algorithm that can tune PID gains in real time was proposed. The FGS - PID controller that consists of fuzzy system and a PID controller uses weighted values of PID gains from fuzzy system and fixed PID gains from Ziegler - Nichols method to tune final PID gains in real time. Firstly, FGS - PID controller, control allocation algorithm, FPSO and environmental disturbances were modeled using Matlab/Simulink to evaluate station keeping performance of the proposed control algorithm. In addition, simulations that keep positions and a heading angle of vessel with wind, wave, current disturbances were carried out. From simulation results, the FGS - PID controller was confirmed to have better performances of keeping positions and a heading angle and consuming power than those of the PID controller. As a consequence, the proposed FGS - PID controller in this paper was validated to have more effectiveness to keep position and heading angle than that of PID controller.

Control of Systems Containing Deadzone of PID Controller using Fuzzy Compensator and Fuzzy Tuner (퍼지 보상기와 퍼지 동조기를 이용한 PID제어기의 Deadzone을 포함한 시스템 제어)

  • 박재형;김승철;조용성;최부귀
    • Journal of the Korea Institute of Information and Communication Engineering
    • /
    • v.3 no.2
    • /
    • pp.403-410
    • /
    • 1999
  • A conventional PID controller has poor performance when it applied to systems with unknown deadzones. To solve this problem, this paper proposes PID controller using two layered-fuzzy logic. The structure of controller is reconstructed with fuzzy compensator and fuzzy tuner on the conventional PID controller. Our proposed control scheme shows superior transient and steady-state performance compared to conventional PID controller. The scheme is robust to variations in deadzone nonlinearities as well as the steady-state gain of the plant. The performance of the developed controller is verified through simulation.

  • PDF

The PSO-PID Speed Controller Design for the BLDC Motor (BLDC 모터를 위한 PSO-PID 속도 제어기 설계)

  • Kim, Seung-Ki;Han, Byung-Jo;Yang, Hai-Won
    • The Transactions of The Korean Institute of Electrical Engineers
    • /
    • v.60 no.9
    • /
    • pp.1777-1782
    • /
    • 2011
  • Brushless DC motors applied in many control systems because of the good respose characteristic and the easy control characteristic. The speed control of the BLDC motors is important in the systems. This paper has designed PSO-PID speed controller for the speed control of BLDC motors. The PSO algorithm optimized the parameters of the PID controller in the PSO-PID speed controller. The several methods obtained the optimal inertia weight of the PSO algorithm by comparison. The optimal inertia weight of the PSO algorithm optimized the PSO-PID speed controller for BLDC motors. This paper confirmed the performance of proposed PSO-PID speed controller through simulation results.

Design of Fuzzy PID Controller for Tracking Control (퍼지 PID 제어를 이용한 추종 제어기 설계)

  • Kim, Bong--Joo;Chung, Chung-Chao
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.7 no.7
    • /
    • pp.622-631
    • /
    • 2001
  • This paper presents a fuzzy modified PID controller that uses linear fuzzy inference method. In this structure, the proportional and derivative gains vary with the output of the system under control. 2-input PD type fuzzy controller is designed to obtain the varying gains. The proposed fuzzy PID structure maintains the same performance as the same performance as the general-purpose linear PID controller, and enhances the tracking performance over a wide range of input. Numerical simulations and experimental results show the effectiveness of the fuzzy PID controller in comparison with the conventional PID controller.

  • PDF

Robust PID Controller Tuning Technique and Applicationi to Speed Controller Design for BLDC Motors (견실 PID 제어기 조정기법 및 BLDC 모터의 속도제어기 설계에의 응용)

  • Kim, In-Soo;Lee, Young-Jin;Park, Sung-Jun;Park, Han-Woong;Lee, Man-Hyung
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.17 no.8
    • /
    • pp.126-133
    • /
    • 2000
  • This paper is a study on robust PID controller tuning technique using the frequency region model matching method.To design the robust PID controller satisfying disturbance attenuation and robust tracking property for a reference input first an {{{{ETA _$\infty$}}}} controller satisfying given performances is designed using an H$_{\infty}$ control method, And then the parameters(proportional gain integral gain and derivation gain) of the robust PID controller with the performances of the desinged H$_{\infty}$ controller are determined using the model matching method at frequency domain. in this paper this PID controller tuning technique is applied to PID speed controller design for BLDC motors. Consequently simulation results show that the proposed PID speed controller satisfies load torque disturbance attenuation and robust tracking property and this study has usefulness and applicability for the speed control system; design of BLDC motors.

  • PDF

Air-Gap Control Using Optimal PID Controller for SIL-Based Near-Field Recording System (SIL 기반 근접장 기록 시스템의 간극 제어를 위한 최적화된 PID 제어 알고리즘 성능평가)

  • Shin, Won-Ho;Kim, Jung-Gon;Park, No-Cheol;Yang,, Hyun-Seok;Park, Young-Pil;Park, Kyoung-Su
    • Transactions of the Society of Information Storage Systems
    • /
    • v.5 no.1
    • /
    • pp.41-46
    • /
    • 2009
  • In SIL-based NFR servo systems, the residual error and the overshoot that are occurred in the process of the modes-witching servo which consists of approach, gap-control modes, and safety mode are reduced by using PID controller. However, the design method of conventional PID controller is not sufficient for the stable air gap control system. Therefore, the optimal PID controller using LQR manner is more useful to find the designed parameters of PID controller. In this paper, we show that the performance of the optimal PID controller is better than that of the lead-lag controller.

  • PDF

PID controller tuning for processes with time delay

  • Lee, Yongho;Lee, Moonyong;Park, Sunwon;Brosilow, Coleman
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1996.10a
    • /
    • pp.291-294
    • /
    • 1996
  • By far the PID controller is most widely sed in the process industries. However, current tuning methods yield PID parameters only for a restricted class of process models. There is no general methodology of PID controller tuning for arbitrary process models. In this paper, we generalize the IMC-PID approach and obtain the PID parameters for general models by approximating the ideal controller with a Maclaurin series. Further, the PID controller tuned by the proposed PID tuning method gave more closer closed-loop response to the desired response than those tuned by other tuning methods.

  • PDF

A Learning Method of PID Controller by Jacobian in Multi Variable System (다변수 시스템에서 자코비안을 이용한 PID 제어기 학습법)

  • 임윤규;정병묵
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.20 no.2
    • /
    • pp.112-119
    • /
    • 2003
  • Generally, PID controller is not suitable to control multi variable system because it is very difficult to tune the PID gains. However, this paper shows that it is not hard to tune the PID gains if we can find a Jacobian matrix of the system. The Jacobian matrix expresses the ratio of output variations according to input variations. It is possible to adjust the input values in order to reduce the output error using the Jacobian. When the colt function is composed of error related terms, the gradient approach can tune the PID gains to minimize the function. In simulation, a hydrofoil catamaran with two inputs and two outputs is applied as a multi variable system. We can easily get the multi variable PID controller by the proposed teaming method. When the controller is compared with LQR controller, the performance is as good as that of LQR controller with a modeling equation.

Adaptive-Tuning of PID Controller using Self-Recurrent Neural Network (자기순환 신경망을 이용한 PID 제어기의 적응동조)

  • 박광현;허진영;하홍곤
    • Proceedings of the Korea Institute of Convergence Signal Processing
    • /
    • 2001.06a
    • /
    • pp.121-124
    • /
    • 2001
  • In industrial actual control system, PID controller has been used with its high delicate control system in position control system. PID controller has simple structure and superior ability in several characteristics. When the response of system is changed by delay time, variable load , disturbances and external environment, control gain of PID controller must be readjusted on the system dynamic characteristics. Therefore, a control ability of PID controller is degraded when th control gain is inappropriately determined. When the response characteristic of system is changed under a condition, control gain of PID controller must be changed adaptively to be a waited response of system. In this paper an adaptive-tuning type PID controller is constructed by self-recurrent Neural Network(SRNN). applying back-propagation(BP) algorithm. Form the result of computer simulation in the proposed controller, its usefulness is verified.

  • PDF

A Study on Anti-Sway of Crane using Neural Network Predictive PID Controller (Anti-Sway에 관한 연구)

  • 손동섭;이진우;민정탁;이권순
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
    • /
    • 2002.03a
    • /
    • pp.219-227
    • /
    • 2002
  • In this paper, we designed neural network predictive PID controller to control sway happened in transfer of trolley for automatic travel control system. We include dynamic character of nonlinear system, and mathematical expression veny simple used neural network. When various establishment location and surrounding disturbance were approved based on mathematical modelling of crane, controller designed to become effective control location error and vibration angle of two control variables that simultaneously can predictive control. Neural network predictive PID controller produced parameter of PID controller using neural network self-tuner. Neural network self-tuner's input used crane's output and neural network predictive output. Neural network self-tuner using error back propagation algorithm. We analyzed control performance comparison through computer simulation when applied disturbance about sway of location and angle in transfer of crane. The results show that the proposed neural network predictive PID controller has better performances than general PID controller, neural network PID controller.

  • PDF