Proportion Integration Differentiation(PID)Control Strategy of Belt Sander Based on Fuzzy Algorithm

Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion integration differentiation(PID)was proposed by analyzing the signal transmission process and the dynamic characteristics of the grinding mechanism.The simulation results showed that compared with the classical PID control strategy,the system adjustment time was shortened by 98.7%,the overshoot was reduced by 5.1%,and the control error was 0.2%-0.5%when the system was stabilized.The optimized fuzzy control system had fast adjustment speeds,precise force control and stability.The experimental analysis of the surface morphology of the machined blade was carried out by the industrial robot abrasive grinding mechanism,and the correctness of the theoretical analysis and the effectiveness of the control strategy were verified.

Fuzzy Self-adaptive Proportional Integration Differential Control for Attitude Stabilization of Quadrotor UAV

The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential(PID) controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom(6-DOF) for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.

Improvement of one-cycle controller by use of proportional integral differential controller

The main advantage of one-cycle control is its ability to reject input disturbance in one-cycle. Despite this great ability, it can not provide good responses in following commands and rejecting load disturbance. This study explores the way to overcome these problems by using another controller. Although the idea of using output feedback has been used in previous works, by considering a simple model for one-cycle controller, the design of the controller has become simpler in this work. In the proposed method, difficult mathematical modeling is avoided. Based on decupling of effects of feedback and input voltage disturbance, a simple model for one-cycle controller has been given. Therefore, by employing a conventional averaging method and the model of one-cycle controller, design of proportional integral differential controller has become straightforward.

Design of a Proportional-Integral-Derivative Controller for an Automatic Generation Control of Multi-area Power Thermal Systems Using Firefly Algorithm

Essentially, it is significant to supply the consumer with reliable and sufficient power. Since, power quality is measured by the consistency in frequency and power flow between control areas. Thus, in a power system operation and control,automatic generation control(AGC) plays a crucial role. In this paper, multi-area(Five areas: area 1, area 2, area 3, area 4 and area 5) reheat thermal power systems are considered with proportional-integral-derivative(PID) controller as a supplementary controller. Each area in the investigated power system is equipped with appropriate governor unit, turbine with reheater unit, generator and speed regulator unit. The PID controller parameters are optimized by considering nature bio-inspired firefly algorithm(FFA). The experimental results demonstrated the comparison of the proposed system performance(FFA-PID)with optimized PID controller based genetic algorithm(GAPID) and particle swarm optimization(PSO) technique(PSOPID) for the same investigated power system. The results proved the efficiency of employing the integral time absolute error(ITAE) cost function with one percent step load perturbation(1 % SLP) in area 1. The proposed system based FFA achieved the least settling time compared to using the GA or the PSO algorithms, while, it attained good results with respect to the peak overshoot/undershoot. In addition, the FFA performance is improved with the increased number of iterations which outperformed the other optimization algorithms based controller.

Adaptive proportional integral differential control based on radial basis function neural network identification of a two-degree-of-freedom closed-chain robot

A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical-use. This paper presents an adaptive proportional integral differential （PID） control algorithm based on radial basis function （RBF） neural network for trajectory tracking of a two-degree-of-freedom （2-DOF） closed-chain robot. In this scheme, an RBF neural network is used to approximate the unknown nonlinear dynamics of the robot, at the same time, the PID parameters can be adjusted online and the high precision can be obtained. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories. The results also indicate that the system robustness and tracking performance are superior to the classic PID method.

基于改进麻雀优化PID的波浪补偿控制方法

随着海上风电“十四五”规划的不断推动,在深远海域对兆瓦级大功率海上风机的需求量随之增加,其规模也在不断扩大。但是,在吊运、安装等海上工作过程中,复杂海浪对船舶产生的持续影响导致风机安装的精度和效率大幅下降,甚至会对人员安全以及财产造成重大损失。在深远海域复杂海况下对工程船舶进行有效的波浪补偿,可提供稳定的作业环境以保证精准高效地完成各项工作,因此,本文提出了一种基于改进麻雀优化PID的波浪补偿控制方法并将其应用于Stewart补偿平台。首先,建立波浪补偿平台动力学以及运动学反解模型,并设计正解模型迭代求解算法。随后,使用PID进行波浪补偿控制,并通过麻雀搜索算法优化参数。接着,采用Circle混沌映射对其进行初始化分布,以解决初始化不均匀的问题;并采用动态自适应加权、柯西突变以及反向学习以提升算法全局寻优能力。最后,生成4~6级海况下的某工程船运动数据作为系统输入,利用MATLAB和Simulink软件平台搭建模型进行补偿控制验证,并在Stewart硬件平台上做补偿试验。结果表明,改进麻雀搜索算法具有较快的收敛速度、较高的精度和更好的寻优能力,优化后的PID控制方法更适合用于复杂海况下波浪补偿平台的控制优化,可为大功率海上风机安装的补偿平台控制系统设计提供参考。

数控压机伺服控制系统复合控制器I-ABC与PID优化

为了提高数控压机伺服控制系统的控制精度,针对伺服控制系统运行控制过程构建数学模型,在人工蜂群算法基础上融入了云分析模型,之后采用改进人工蜂群算法(Improved Artificial Bee Colony,I-ABC)调节比例-积分-微分(Proportional Integral Differential,PID)参数,建立了一种复合控制方法。研究结果表明:以I-ABC进行PID控制时,可以使幅度差降低到0.4%,相位差基本在-0.54°之内,系统加载精度也获得了明显提升,表现出了更优的跟踪性能。以I-ABC进行PID控制时,能够对多余力起到明显抑制作用,响应速度也获得明显提升,可以有效满足系统的准确控制要求。在系统内加入干扰信号,引入I-ABC实施PID调节可以减小系统超调量,还可以获得更短调节时间,使系统获得更强抗干扰性能。

Improved quantum bacterial foraging algorithm for tuning parameters of fractional-order PID controller

The quantum bacterial foraging optimization(QBFO)algorithm has the characteristics of strong robustness and global searching ability. In the classical QBFO algorithm, the rotation angle updated by the rotation gate is discrete and constant,which cannot affect the situation of the solution space and limit the diversity of bacterial population. In this paper, an improved QBFO(IQBFO) algorithm is proposed, which can adaptively make the quantum rotation angle continuously updated and enhance the global search ability. In the initialization process, the modified probability of the optimal rotation angle is introduced to avoid the existence of invariant solutions. The modified operator of probability amplitude is adopted to further increase the population diversity.The tests based on benchmark functions verify the effectiveness of the proposed algorithm. Moreover, compared with the integerorder PID controller, the fractional-order proportion integration differentiation(PID) controller increases the complexity of the system with better flexibility and robustness. Thus the fractional-order PID controller is applied to the servo system. The tuning results of PID parameters of the fractional-order servo system show that the proposed algorithm has a good performance in tuning the PID parameters of the fractional-order servo system.

Improved single-neuron PID controller for DC motor applied in robot system

An improved single-neuron proportional integral derivative （ PID ） controller and a new method to build the DC motor system were presented in the article. In the simulation, the robot arm is considered as an external load to DC motor. Both the motor module and the load module are crea- ted in Simulink to achieve simulation results closer to real robot system. In this way, it can well veri- fy the performance of the improved single-neuron PID controller, which is a combined controller of normal PID controller and single-neuron PID controller. Besides, an intelligent switcher can help to realize the function of choosing a better control algorithm according to motor＇ s velocity output. Sim- ulated results confirm the rapid and stable response of the improved PID controller. Moreover, the improved single-neuron PID controller has an excellent ability to overcome the load impact and su- press the jamming signals. At last, a GUI interface platform is built to make the controller easier to be applied in other robot systems.

Design of Nichols PID Controller for Load Frequency Control

为解决互联水电系统负荷频率控制（load frequencycontrol,LFC）问题,及保持互联电网系统频率、联络线功率及区域控制误差（area control error,ACE）的稳定,根据闭环系统谐振峰值与系统响应最大峰值之间的关系,构建一个与系统参数及控制器参数都相关的优化问题,通过该问题的求解获得控制器参数与系统参数之间的数学关系,针对水轮发电系统非最小相位特性,通过串加比例–微分（proportional-derivative,PD）控制方式降低系统阶次,设计尼科尔斯（Nichols）曲线的比例–积分–微分（proportional-integral-derivative,PID）控制器。基于模型参数扰动和负荷干扰的仿真结果表明：尼科尔斯PID控制器能快速调整系统频率偏差、联络线功率偏差及ACE为0,具有良好的鲁棒性能和抗负荷干扰性能,系统过渡过程性能明显优于传统PID调节器结果。

基于MPC和PID的脚轮式全向移动平台轨迹跟踪

针对现有运动控制策略无法保证独立驱动脚轮式全向移动平台位姿的高精度控制问题,提出一种基于模型预测控制(MPC)和PID控制相结合的双闭环轨迹跟踪控制策略。首先,利用运动学几何关系建立独立驱动脚轮式全向移动平台在世界坐标系下的三自由度运动学模型,基于正交分解法建立平台在机器人坐标系下的逆运动学模型,以反映平台中心点速度与各个脚轮转速间的关系;其次,采用MPC并基于三自由度运动学模型设计位姿控制器,使平台对期望轨迹进行位姿跟踪,并在考虑多目标约束条件的情况下通过位姿控制器求解出最优控制量;最后,采用PID设计速度控制器,用于跟踪位姿控制器输出的期望速度,通过平台逆运动学模型计算得到期望轮速,从而驱动平台实现全向运动。通过仿真验证了所提控制策略的有效性,平台能有效跟踪直线轨迹和圆形轨迹。仿真结果表明,与通过平台转角逆运动学模型解耦驱动轮速的位置单环轨迹跟踪控制策略相比,加入速度内环后系统超调量下降97.23%,响应时间缩短36.84%。

Application study of digital PID controller in cockpit temperature auto-regulating system

Aiming at the inherent blemish existi ng currently in airplane cockpit temperature regulating system,a digital temperatu re auto-regulating design scheme of the system is put forward,namely,a digita l proportional-integral-derivative(PID) controller used for temperature contr ol is designed.And then it is applied in airpl ane cockpit temperature regulating system by adopting the way of cascade control.Experiment results indicate that the design scheme is reasonable and practical.

冷链运输车空调冷风机运行自适应PID控制方法研究

冷链运输车空调冷风机运行环境复杂,导致传统的比例积分微分(PID)控制过程难以准确设定控制参数。为解决这一问题,设计冷链运输车空调冷风机运行自适应PID控制方法。首先,通过分析冷链运输车空调冷风机工作过程,选取多个控制参数,以降低复杂度。然后,设计基于自适应PID控制器的控制模型,以送风温度和送风压力作为控制量,将冷、热水流量及风机转速作为被控制量,求解控制量和被控制量的传递函数。最后,根据传递函数与期望值间的耦合关系,对控制分量的增减进行调整,以实现冷链运输车空调冷风机运行的自适应PID控制。试验结果表明,该方法能够使冷链运输车内温度保持稳定。该方法控制精准度高、鲁棒性强、实用价值高,可以确保货物在整个冷链运输过程中的质量和安全。

基于改进PID-LQR的导弹稳定控制方法研究

导弹稳定控制系统是提高导弹制导性能的关键技术之一,一直以来都是研究的热点和重点。以导弹纵向平面为例,建立了导弹稳定控制的状态空间模型,推导了LQR控制算法,在传统LQR方法的基础上,结合PID算法提出了一种改进的PID-LQR导弹稳定控制方法。通过仿真分析,比较了所提方法和传统LQR方法、改进LQR方法、模糊PID-LQR方法的控制性能,并对建立的导弹模型参数进行了拉偏试验,仿真结果表明所提出的方法优于其他3种方法,具有良好的控制性能和鲁棒性。

基于APID-RBF神经网络的光伏MPPT方法

针对光照强度急速变化和局部阴影时光伏发电系统最大功率点追踪响应速度慢、多峰值等问题,提出一种基于RBF神经网络与自适应PID控制相结合的控制方法。首先,采用RBF神经网络对环境的实时变化直接跟踪光伏最大功率点。然后,利用自适应PID的辅助修正,抑制光伏电池输出功率的波动。神经网络能提升在复杂环境下的跟踪速度,自适应PID能增强对神经网络误差的消除能力,提升跟踪精度。仿真结果表明,APIDRBF双控策略具有稳态性能高和控制精度高等优点,能有效提高光伏发电效率和稳定性。

APPLICATION OF NONLINEAR PID CONTROLLER IN AERODYNAMICS LOADING SYSTEM

The design idea of tracking-differentiator and the nonlinear PID controllerare introduced, the applicable algorithm and its real result for distributed aerodynamicsloading control system are discussed, and the construction of the test & contro1 system arealso presented. The application shows that the nonlinear PID algorithm has the advan-tages of high reliability, short run time and strong stability.

PID-Based Bit Allocation Strategy for Asymmetric Stereoscopic Video Coding with Fuzzy Quality Controller

Asymmetric stereoscopic video coding can take advantage of binocular suppression in human vision by representing one of the two views in lower quality.This paper proposes a bit allocation strategy for asymmetric stereoscopic video coding.In order to improve the accuracy of bit allocation and rate control in the left view,a proportionalintegral-derivative controller is adopted.Meanwhile,to control the quality fluctuation between consecutive frames of the left view,a quality controller is adopted.Besides,a fuzzy controller is proposed to control the variation in quality between the left and right views by comparing the PSNR disparity of two views with a fixed threshold,which is used to quantize the binocular psycho-visual redundancy and adjust the quantization parameter (QP) of the right view correspondingly.The proposed algorithm has been implemented in H.264/AVC video codec,and the experimental results show its effectiveness in rate control while keeping a good quality for the left view,and fewer bits are allocated for the right view so that the overall bit rate is saved by 7.2% at most without the loss of subjective visual quality for stereoscopic video.

基于模糊PID的打磨头角度控制策略研究

在进行风电机组叶片表面打磨工序时,需要控制打磨头的径向与叶片表面保持垂直。对打磨头的角度调整问题进行分析和研究,通过分析打磨头的结构构成与运动轨迹,建立打磨头伺服系统的数学模型。基于角度变化引起的重力转矩补偿量,提出一种模糊比例-积分-微分(Proportion-Integral-Differential,PID)的角度伺服控制系统。Simulink仿真验证结果表明,重力补偿后模糊PID控制方法的打磨头伺服系统响应速度更快、误差更小,能够较好地调整打磨头的角度。

基于遗传算法整定驱动参数的水力发电机PID控制

为了弥补PID控制容易出现超调的现场,设计了一种基于遗传算法整定驱动参数的水力发电机PID控制方法。从正弦信号方面对水力发电机开展进给测试,促进了跟随性能的显著提升。研究结果表明:遗传算法整定方案在迭代到37次时达到收敛,幅频特性表明系统获得了理想响应性能。采用遗传算法整定驱动参数后获得更低跟随误差,表现出了更优的跟随性能。正弦信号下遗传算法参数整定时达到了更低跟随误差,表现出了更优的跟随性能。绝对误差极值降低35.5%,绝对误差积分降低50.1%。该研究有助于提高水力发电机控制稳定性,也可适用于其它的机械传动机构。