In this paper, a new methodology to design robust sliding-PID tracking motion controllers for a certain class of nonlinear systems is presented. The methodology is based upon the combination of the conventional PID co...
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ISBN:
(纸本)9783902823182
In this paper, a new methodology to design robust sliding-PID tracking motion controllers for a certain class of nonlinear systems is presented. The methodology is based upon the combination of the conventional PID control, sliding-mode control in Filippov's sense, and relative degree concepts. The tracking of desired motion trajectories is performed in the presence of nonlinearities, modeling uncertainties, and external disturbances. The proposed methodology is successfully applied to the pitch-axis autopilot design for a tactical missile. High-level performances, robustness, and fast convergence of the closed-loop system are guaranteed.
Many tuning strategies for PID control algorithms have been proposed in the literature depending on modeling choice from heuristics, physical laws and/or experimental essays. In this paper, the properties of three mod...
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ISBN:
(纸本)9783902823182
Many tuning strategies for PID control algorithms have been proposed in the literature depending on modeling choice from heuristics, physical laws and/or experimental essays. In this paper, the properties of three model-free adaptive PID controldesign conceptions, known as direct PID control, are investigated and implemented. The recursive least squares estimator is used to identify the PID controller gains without the knowledge of the plant mathematical model. The tuning strategies of the direct PID controller are applied to the boiler control system proposed by Fernando Morilla (UNED, Spain) as a benchmark problem for the 2012 ifacconference on Advances in PID controllers.
In this paper, a new approach to design a robust gain scheduled linear parameter varying (LPV) PID controller with pole placement constraints (through LM regions) is proposed for LPV systems with second order structur...
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ISBN:
(纸本)9783902823182
In this paper, a new approach to design a robust gain scheduled linear parameter varying (LPV) PID controller with pole placement constraints (through LM regions) is proposed for LPV systems with second order structure and time-varying delay. The controller structure includes a Smith predictor, real time estimated parameters that schedule the controller and Smith predictor (using the known part of the delay) and unstructured dynamic uncertainty which covers the delay uncertainty. Finally, the proposed control technique is validated in a real case study based on a piece of a sewer system.
Proportional-Integral-Derivative (PID) controllers are undoubtedly the most employed controllers in industry. Also, since the so called exact model matching is impossible in the actual realities, the partial model mat...
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ISBN:
(纸本)9783902823182
Proportional-Integral-Derivative (PID) controllers are undoubtedly the most employed controllers in industry. Also, since the so called exact model matching is impossible in the actual realities, the partial model matching from the lowest order term to as higher the term as possible is adopted by Kitamori. This controller has a structure which cousists of information about the controlled object and the reference model. PID can be obtained after some manipulation from the original solution. Thus a problem arises which is the superior, the original one or PID. In this paper, we propose adaptive I-PD controller using augmented error method for SISO systems. In addition, we show the effectiveness of the proposed method by the simulation result.
The paper addresses the problem of decreasing the overshoot for underdamped second-order systems. A new technique to control the overshoot is proposed, which is based on Posicast control and proportional integral and ...
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ISBN:
(纸本)9783902823182
The paper addresses the problem of decreasing the overshoot for underdamped second-order systems. A new technique to control the overshoot is proposed, which is based on Posicast control and proportional integral and derivative (PID) control, which performs switching between two controllers. The aim is to use open-loop feedforward control to increase tracking performance and PID control to deal with disturbance rejection. It has been shown that the proposed control scheme can have some advantages over the classical approaches without switching capabilities.
This paper deals with the boiler control problem proposed as a benchmark for the ifacconference on Advances in PID controllers (PID'12). This boiling process is a multivariable nonlinear system that shows interac...
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ISBN:
(纸本)9783902823182
This paper deals with the boiler control problem proposed as a benchmark for the ifacconference on Advances in PID controllers (PID'12). This boiling process is a multivariable nonlinear system that shows interactions and is subjected to input constraints. As proposal, in this work, a PID control by inverted decoupling with feedforward compensation is developed. The design simplicity and easiness of implementation are highlighted. Experiment simulations considered in the benchmark show that the proposed design achieves better performance indexes than those of the reference cases.
The proceedings contain 125 papers. The topics discussed include: unified PID tuning approach for stable, integrative and unstable dead-time processes;design and analysis of IMC based PID controller design for unstabl...
ISBN:
(纸本)9783902823182
The proceedings contain 125 papers. The topics discussed include: unified PID tuning approach for stable, integrative and unstable dead-time processes;design and analysis of IMC based PID controller design for unstable systems for enhanced closed loop performance;design of adaptive I-PD control for systems including time lag;robust semi-automatic design of PID controllers for systems with time delay;fictitious reference tuning using information in frequency domain;PID controller tuning based on disturbance attenuation FRIT using one-shot experimental data due to a load change disturbance;design of feedback control for underdamped systems;laboratory essay with online back-calculation anti-windup scheme for a MTG system;improvements on the filtered smith predictor using the CLEGG integrator;and oscillation shaping in uncertain linear plants with nonlinear pi control: analysis and experimental results.
Wastewater treatment is an energy-intensive process pursuing two objectives: pollution abatement and energy conservation. To achieve these goals automatic control must be applied. This paper describes the performance ...
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ISBN:
(纸本)9783902823182
Wastewater treatment is an energy-intensive process pursuing two objectives: pollution abatement and energy conservation. To achieve these goals automatic control must be applied. This paper describes the performance improvement obtained by the coordinated automation of some basic process operations. Starting with the basic dissolved oxygen control, coordinated control actions are then introduced and their performance assessed. After discussing the design alternatives, the performance of the best combination is selected on the basis of energy conservation, provided that the effluent quality meets the environmental standards. It is shown that a combination of properly tuned PID and fuzzy regulators considerably improves the energy efficiency of the process.
In this paper an extension of the Matlab-tool PIDrobust is presented. This tool calculates the entire set of PID controllers that stabilizes a set of linear systems with time delay simultaneously. On this basis an ite...
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ISBN:
(纸本)9783902823182
In this paper an extension of the Matlab-tool PIDrobust is presented. This tool calculates the entire set of PID controllers that stabilizes a set of linear systems with time delay simultaneously. On this basis an iteratively algorithm is used to improve σ-stability in order to assist operators. At the end of the process the operator is able to judge the results and interactively choose a controller. This tool needs much less computational effort than other optimization methods and achieves similar performance. It is can also be used for tuning robust controllers by means of the parameter space approach.
In practice, there are several processes which are exhibiting oscillatory behaviour. Some representatives are disk-drive heads, robot arms, cranes and power-electronics. One of techniques, aimed at reducing the oscill...
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ISBN:
(纸本)9783902823182
In practice, there are several processes which are exhibiting oscillatory behaviour. Some representatives are disk-drive heads, robot arms, cranes and power-electronics. One of techniques, aimed at reducing the oscillations, is Posicast Input Command Shaping (PICS) method. The paper combines the PICS method and Magnitude Optimum Multiple Integration (MOMI) tuning method for PID controllers. The combination of both methods significantly improves the speed and stability of the closed-loop tracking responses. Moreover, the proposed approach is relatively simple for implementation in practice and can be used either on process time-response data or on the process model in frequency-domain.
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