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A novel adaptive PID controller with new seesaw algorithms using alternative derivatives

SYSTEMS SCIENCE & control ENGINEERING 2024年第1期12卷

作者： Hernandez, Juan Pablo Manzo Vargas, Julio Cesar Solano Fernandez, Juan Manuel Barrera Orduna, Daniel Moreno Saqui, Cristian Hamilton Sanchez Ctr Ingn & Desarrollo Ind CIDESI Queretaro Mexico

The $ PID $ PID controller is present in at least 90% of industrial applications due to its simplicity and robustness to control linear and non-linear systems. Its main drawbacks include difficulty in achieving proper gains tuning for complex systems and lack of adaptability attributed to its fixed gains when system dynamics change. Despite the emergence of promising controllers like Neural Networks, Fuzzy Logic, Sliding Modes, or Genetic algorithms, diverse research efforts focus on using these to improve the $ PID $ PID rather than replacing it, aiming for either ideal fixed gains or adaptive gains. Nevertheless, while some require system models, training data, rules establishment, extensive iterations, and demanding computational resources, the $ PID $ PID and the novel $ APID $ APID controller do not. The new seesaw algorithms propose alternative behaviours based on the current error and its derivative, which are dynamic parameters that change over time. These behaviours can be inserted into the $ PID $ PID to imbue it with adaptive characteristics, achieving adaptive $ PID $ PID ( $ Seesaw APID $ SeesawAPID) controllers with faster signal rise and stabilization times, reduction of the maximum peak, and less error accumulation compared to conventional $ PID $ PID.

关键词： Seesaw algorithms alternative derivatives adaptive PID control control algorithms adaptive control PID control

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A strategy of designing routing algorithms based on ideal routings

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INTERNATIONAL JOURNAL OF MODERN PHYSICS C 1999年第1期10卷 63-94页

作者： Shinjo, K Shimogawa, S Yamada, J Oida, K ATR Adapt Communicat Res Labs Seika Kyoto 61902 Japan

This paper proposes a strategy of designing routing algorithms for connectionless packet-switched networks. This strategy consists of three design elements as follows: [A] the notion of ideal routings is introduced to provide the upper performance limits attained by improving routing algorithm and it serves as a standard to measure the performance of other algorithms;[B] a method of constructing simple algorithms is presented under implementation conditions from ideal routings;[C] a method is described to enhance the performance limits of [A]. By using these elements, simple algorithms with a maximum degree of performance attainment are realized. By "degree of performance attainment", we mean that we can see how much room is left for the improvement of algorithms. We develop [A] and [B] with the performance measures of throughput and average packet delay and the M/M/1 queuing network. We decide ideal static routings and their performance limits from [A]. We obtain a new simple algorithm from [B] based on the notion of the ideal routings in implementation conditions. The designed algorithm improves the throughput and the average delay, which are comparable to those from ideal static routings. This improvement is contrasted to the adaptive and distributed OSPF (Open Shortest Path First), a standard Internet routing protocol.

关键词： control algorithms routing algorithms connectionless networks ideal routings

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ATTEMPTS AT PERFECT NORMALIZATION OF GLUCOSE-TOLERANCE TEST OF SEVERE DIABETICS BY ARTIFICIAL BETA-CELL

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HORMONE AND METABOLIC RESEARCH 1976年第4期8卷 256-261页

作者： KERNER, W THUM, C TAMAS, G BEISCHER, W CLEMENS, AH PFEIFFER, EF MILES LABS INC ELKHART IN USA UNIV ULM CTR INTERN MED & PEDIAT DEPT INTERN MED ENDOCRINOL & METAB D-7900 ULM FED REP GER

The artificial .beta.-cell is a Glucose controlled Insulin (and dextrose) Infusion System (CGIIS) for maintaining normoglycemia in diabetic conditions and other disturbances of metabolism. The insulin and dextrose infusion rates are calculated by a microcomputer according to the static glucose concentration (proportional control) and to its rate of change (dynamic control). The algorithms controlling the computer can be adapted to the subjects'' requirements. The artificial .beta.-cell is able to maintain blood sugar values in diabetics within physiological ranges during the course of the day. The response of the artificial .beta.-cell was examined using a 100 g oral glucose load in severe diabetics. The 1st type of control algorithms applied effected a small initial insulin infusion following OGTT in 8 juvenile diabetics connected with the artificial .beta.-cell. The glucose responses thus obtained were similar to latent diabetes. When the computer was controlled by the 2nd type of algorithms with a more responsive dynamic control and a consequently higher initial insulin infusion, in 1 diabetic OGTT [oral glucose tolerance test] fully normalized, whereas an improvement was achieved in another diabetic patient. control algorithms must be varied individually, depending on residual .beta.-cell function and glucose regulatory mechanisms.

关键词： Glucose controlled Insulin Infusion System (GCIIS) Artificial Beta Cell Artificial Endocrine Pancreas control algorithms Continuous Plasma Glucose Measurement Oral Glucose Tolerance Test First Phase Insulin Secretion

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SLIDING MODE control OF AUTOMOTIVE ENGINES

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1993年第4期115卷 687-693页

作者： MOSKWA, JJ Department of Mechanical Engineering University of Wisconsin-Madison Madison WI 53706

There is considerable interest in coordinated automotive engine/transmission control for smooth shifts, or for traction control of front wheel drive vehicles. Closed-loop control of the engine has been shown to be useful in improving shift quality. Because of the nonlinear dynamic behavior of the engine, the control method of sliding modes is well suited for engine control algorithms. The authors outline a dynamic engine model, and develop the sliding control laws to follow desired torque converter pump and turbine speed trajectories. The relationships between these desired trajectories and shift quality are also outlined.

关键词： Traction Automotive engines Turbines Vehicles control algorithms Wheels Pumps Torque converters Sliding mode control Engines

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control Strategy of 1 kV Hybrid Active Power Filter for Mining Applications

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ENERGIES 2021年第16期14卷 4994页

作者： Bula, Dawid Michalak, Jaroslaw Zygmanowski, Marcin Adrikowski, Tomasz Jarek, Grzegorz Jelen, Michal Silesian Tech Univ Fac Elect Engn PL-44100 Gliwice Poland

The paper presents a shunt hybrid active power filter for 1 kV mining applications in configuration with a single-tuned passive filter. The focus is on the method of controlling the filter, with particular emphasis on the influence of network voltage distortion and time delays in control on the effectiveness of harmonic reduction, which is one of the most important aspect of power quality. The low-power loss configuration of a hybrid filter with SiC transistors is shown, as well as the control algorithm which limits the influence of voltage distortion. Theoretical considerations are verified by results obtained from simulations and tests of the hybrid active power filter prototype.

关键词： power quality hybrid active power filters harmonic reduction control algorithms time delay voltage distortion

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Real-Time Planning and Nonlinear control for Quadrupedal Locomotion With Articulated Tails

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2021年第7期143卷 071004页

作者： Fawcett, Randall T. Pandala, Abhishek Kim, Jeeseop Hamed, Kaveh Akbari Mech Engn Virginia Tech Blacksburg VA 24061 USA

The primary goal of this paper is to develop a formal foundation to design nonlinear feedback control algorithms that intrinsically couple legged robots with bio-inspired tails for robust locomotion in the presence of external disturbances. We present a hierarchical control scheme in which a high-level and real-time path planner, based on an event-based model predictive control (MPC), computes the optimal motion of the center of mass (COM) and tail trajectories. The MPC framework is developed for an innovative reduced-order linear inverted pendulum (LIP) model that is augmented with the tail dynamics. At the lower level of the control scheme, a nonlinear controller is implemented through the use of quadratic programming (QP) and virtual constraints to force the full-order dynamical model to track the prescribed optimal trajectories of the COM and tail while maintaining feasible ground reaction forces at the leg ends. The potential of the analytical results is numerically verified on a full-order simulation model of a quadrupedal robot augmented with a tail with a total of 20 degrees-of-freedom. The numerical studies demonstrate that the proposed control scheme coupled with the tail dynamics can significantly reduce the effect of external disturbances during quadrupedal locomotion.

关键词： Yaw Pendulums Robotics Simulation Dynamics (Mechanics) Predictive control Robustness Design control algorithms algorithms control equipment Quadratic programming Robots Legged locomotion

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FINITE-ELEMENT ANALYSES OF REAL-TIME STABILITY control IN SHEET FORMING PROCESSES

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JOURNAL OF ENGINEERING MATERIALS AND TECHNOLOGY-TRANSACTIONS OF THE ASME 1992年第2期114卷 180-188页

作者： SIM, HB BOYCE, MC Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA

Sheet metal forming processes involve the plastic deformation of a sheet of material into a desired shape. In practice, the uncontrolled variation of boundary and material conditions have made the continual reproducibility of a sheet forming process a very difficult operation. Recently, real-time control schemes based on simplified models of "average" in-process stresses and/or strains have provided a repeatability of end product quality in terms of final shape, failure modes, and/or material state. The success of these control schemes have warranted a more detailed investigation into the complete physics of the deformation process. This study takes one such operation, the axisymmetric cup-forming process, and conducts an off-line detailed analysis using the finite element method in order to obtain information on the state of the material during the deformation process. In our analysis, actual closed-loop feedback control laws which have previously been applied in experiments have been numerically simulated with a novel method of modifying the boundary conditions based on current conditions. This has lead to further understanding of the role of the control law in optimizing draw failure height. Our further investigation and analysis directly incorporates the predicted localized nature of failure of this process into the feedback loop and has lead to the construction of an improved control algorithm which has the potential of dramatically increasing the failure height and which can be used in on-line control of the process. The study clearly demonstrates the utility and power of using off-line detailed analyses which incorporate closed-loop feedback laws to obtain a better understanding of the physics of the deformations which occur during processing, and thereby greatly improve upon the algorithms which are used for real time control of forming or other processing.

关键词： Stability Sheet metal work Product quality control algorithms Shapes Stress Construction Failure Boundary-value problems Finite element methods Real-time control Feedback algorithms Physics Deformation Failure mechanisms Finite element analysis

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EVALUATION OF EXOGENOUS INSULIN HOMEOSTASIS BY ARTIFICIAL PANCREAS IN INSULIN-DEPENDENT DIABETES

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DIABETOLOGIA 1977年第3期13卷 273-278页

作者： MIROUZE, J SELAM, JL PHAM, TC CAVADORE, D HOP ST ELOI MALADIES METABOL & ENDOCRINIE F-34059 MONTPELLIER FRANCE

With an artificial pancreas insulin was delivered through a venous infusion and the rate of delivery was adjusted according to data provided by a continuous blood glucose monitor. After different trials, control algorithms integrating 2 parameters were selected: instantaneous blood glucose concentration and increasing or decreasing patterns of blood glucose. A constant basal insulin infusion rate was added and improved the control of glycemic excursions. Different parameters concerning exogenous insulin homoeostasis were determined. The delay to reach an insulin effect was 18 .+-. 2 min and was shortened by a priming-dose at the beginning of the infusion. The insulin effect remained for 28 .+-. 2 min after the infusion had been stopped, but differences were noted in the morning (21 .+-. 2 min), in the afternoon (32 .+-. 2 min) and during the night (25 .+-. 3 min). Insulin needs were evaluated during meals. Related to the amount of carbohydrates, the doses fell from 0.53 units/h per g of carbohydrate for breakfast to 0.15 for dinner. From these data, it appears that the efficiency of exogenous insulin exhibits a circadian rhythm.

关键词： Insulin infusion artificial betacell artificial endocrine pancreas control algorithms continuous blood glucose measurement

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Stability of PDF controller with stick-slip friction device

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1997年第3期119卷 486-490页

作者： Yen, JY Huang, CJ Lu, SS Department of Mechanical Engineering National Taiwan University Taipei Taiwan

This paper-presents the precision control of drive devices with significant stick-slip, friction. The controller design follows the Pseudo-Derivative Feedback (PDF) control algorithm. Using the second order system model, the PDF controller offers arbitrary pole placement. In this paper the stability proof for the controller with stick-slip friction is presented. On the basis of this proof the stability criteria are derived. The paper also includes both the computer. simulation and the experimental works to confirm the theoretical result. The experiments conducted on a Traction Type Drive Device (TTDD) shows that control accuracy of as high as +/-/ arc- second is achieved.

关键词： Stability Stick-slip Traction Friction Pole placement control algorithms Design control equipment Feedback Computer simulation

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A networked platform for agricultural management systems

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COMPUTERS AND ELECTRONICS IN AGRICULTURE 2001年第1期31卷 75-90页

作者： Serôdio, C Cunha, JB Morais, R Couto, C Monteiro, J Univ Tras Os Montes & Alto Douro Commun Grp P-5000 Vila Real Portugal Univ Tras Os Montes & Alto Douro Instrumentat & Control Grp P-5000 Vila Real Portugal Univ Minho Ind Elect Dept P-4700 Braga Portugal

Greenhouse control computers are an essential part of modern greenhouse operation. Climate, irrigation and nutrient supply must be controlled, in an economical way, to produce the best crop conditions. Current research on CO2 enrichment and optimal growth strategies implies the use of powerful tools, either based on hardware or software. This paper describes the design and implementation of a distributed data acquisition and control system for computerised agricultural management systems that is being developed at Universidade of Tras-os-Montes and Alto Douro, Vila Real. Different communications platform concepts, such as controller Area Network (CAN), Wireless Technologies, Ethernet and Internet tools supported by Transfer control Protocol/Internet Protocol (TCP/IP) and e-mail tools supported by Simple Mail Transfer Protocol (SMTP) were used to achieve a network with a low-cost, flexible, and functional characteristics. The system management and maintenance tasks are divided into two types of performance levels. At a lower supervision level, a Local controller placed in the greenhouses performs the monitoring/control and communications actions. The management decisions are performed at the higher level. The techniques and tools, which provide to the user a transparent, friendly and intuitive Graphical User Interface (GUI) will be presented. (C) 2001 Elsevier Science B.V. All rights reserved.

关键词： agriculture automation control algorithms models network topologies

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