Intelligent PID controller based on ant system algorithm and fuzzy inference and its application to bionic artificial leg

A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller,by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*p , Ti* and T*d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , Ti*and Td* and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.

Robust PID Controller Design on Quantum Fuzzy Inference: Imperfect KB Quantum Self-Organization Effect-Quantum Supremacy Effect

The new method of robust self-organized PID controller design based on a quantum fuzzy inference algorithm is proposed.The structure and mechanism of a quantum PID controller(QPID)based on a quantum decision-making logic by using two K-gains of classical PID(with constant K-gains)controllers are investigated.Computational intelligence toolkit as a soft computing technology in learning situations is applied.Benchmark’s simulation results of intelligent robust control are demonstrated and analyzed.Quantum supremacy demonstrated.

Fuzzy-GA PID controller with incomplete derivation and its application to intelligent bionic artificial leg

An optimal PID controller with incomplete derivation is proposed based on fuzzy inference and the geneticalgorithm, which is called the fuzzy-GA PID controller with incomplete derivation. It consists of the off-line part andthe on-line part. In the off-line part, by taking the overshoot, rise time, and settling time of system unit step re-sponse as the performance indexes and by using the genetic algorithm, a group of optimal PID parameters K*p , Ti* ,and Tj are obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-linepart, based on K; , Ti* , and T*d and according to the current system error e and its time derivative, a dedicatedprogram is written, which is used to optimize and adjust the PID parameters on line through a fuzzy inference mech-anism to ensure that the system response has optimal dynamic and steady-state performance. The controller has beenused to control the D. C. motor of the intelligent bionic artificial leg designed by the authors. The result of computersimulation shows that this kind of optimal PID controller has excellent control performance and robust performance.

Optimal fuzzy PID controller with adjustable factors based on flexible polyhedron search algorithm

A new kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an on line fuzzy inference system, and the other is a conventional PID controller. In the fuzzy inference system, three adjustable factors x p, x i , and x d are introduced. Their functions are to further modify and optimize the result of the fuzzy inference so as to make the controller have the optimal control effect on a given object. The optimal values of these adjustable factors are determined based on the ITAE criterion and the Nelder and Mead′s flexible polyhedron search algorithm. This optimal fuzzy PID controller has been used to control the executive motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that this controller is very effective and can be widely used to control different kinds of objects and processes.

Application of Fuzzy Logic Controller to Level Control of Twin-Roll Strip Casting

An intelligent fuzzy-PID controller consisting of fuzzy logic controller and PID controller was developed to control the molten steel level of twin-roll strip caster.Additionally,a feedforward differential PID controller was used for stopper position control in order to avoid differential kick.It is proved by simulation that the proposed intelligent controller is able to obtain zero steady state error asymptotically and the control system is robust due to its fuggy behavior of the controller.

An Adaptive Neuro-Fuzzy Inference System to Improve Fractional Order Controller Performance

The design and analysis of a fractional order proportional integral deri-vate(FOPID)controller integrated with an adaptive neuro-fuzzy inference system(ANFIS)is proposed in this study.Afirst order plus delay time plant model has been used to validate the ANFIS combined FOPID control scheme.In the pro-posed adaptive control structure,the intelligent ANFIS was designed such that it will dynamically adjust the fractional order factors(λandµ)of the FOPID(also known as PIλDµ)controller to achieve better control performance.When the plant experiences uncertainties like external load disturbances or sudden changes in the input parameters,the stability and robustness of the system can be achieved effec-tively with the proposed control scheme.Also,a modified structure of the FOPID controller has been used in the present system to enhance the dynamic perfor-mance of the controller.An extensive MATLAB software simulation study was made to verify the usefulness of the proposed control scheme.The study has been carried out under different operating conditions such as external disturbances and sudden changes in input parameters.The results obtained using the ANFIS-FOPID control scheme are also compared to the classical fractional order PIλDµand conventional PID control schemes to validate the advantages of the control-lers.The simulation results confirm the effectiveness of the ANFIS combined FOPID controller for the chosen plant model.Also,the proposed control scheme outperformed traditional control methods in various performance metrics such as rise time,settling time and error criteria.

基于Fuzzy推理的自调整PID控制器

本文提出一种新的基于Fuzzy推理的PID自整定控制器．它利用Fuzzy推理，对系统所处的不同状态实现PID参数的在线自动整定，使系统在任何状态下，都能得到比传统PID更好的控制效果和更强的鲁棒性．仿真结果也证明了这一点．

典型大时变时滞系统的鲁棒fuzzy-PID控制及应用

针对典型大时变时滞系统 ,设计新的鲁棒fuzzy_PID控制器 ,实现系统参数大范围失配情况下的闭环鲁棒稳定 ,并且使闭环系统达到设定值无静差跟踪及满意的动态性能 .现场应用效果良好 .

最优Fuzzy-GA PID控制器及其应用

提出了一种基于模糊推理与遗传算法的最优PID控制器的设计方法 .该控制器由离线和在线 2部分组成 .在离线部分 ,以系统响应的超调量、上升时间及调整时间为性能指标 ,利用遗传算法搜索出一组最优的PID参数K p ,T i 及T d ,作为在线部分调节的初始值 ;在在线部分 ,采用一个专用的PID参数优化程序 ,以离线部分获得的K p ,T i 及T d 为基础 ,根据系统当前的误差e和误差变化率 e ,通过模糊推理在线调整系统瞬态响应的PID参数 ,以确保系统的响应具有最优的动态和稳态性能 .计算机仿真结果表明 ,与传统的PID控制器相比 ,这种最优PID控制器具有良好的控制性能和鲁棒性能 。

具有不完全微分的Fuzzy-GA PID控制器及其在智能仿生人工腿中的应用

以模糊推理和遗传算法为基础 ,提出了一种新的具有不完全微分的最优 PID控制器的设计方法 .该控制器由离线和在线两部分组成 .在离线部分 ,以系统响应的超调量、上升时间以及调整时间为性能指标 ,利用遗传算法搜索出一组最优的 PID参数 Kp*、Ti*和 Td*,作为在线部分调整的初始值 .在在线部分 ,一个专用的 PID参数优化程序以离线部分获得 Kp*、Ti*和 Td*为基础 ,根据系统当前的误差 e和误差变化率 e,通过一个模糊推理系统在线调整系统瞬态响应的 PID参数 ,以确保系统的响应具有最优的动态和稳态性能 .该控制器已被用来控制由作者设计的智能仿生人工腿中的执行电机 .计算机仿真结果表明 。

Fuzzy-PID控制在方便面油炸锅温度控制中的应用研究

由于常规PID控制在非线性、大滞后的油炸锅温度控制上效果不理想,为此采用常规PID和模糊控制复合的方法对其控制,并采用模糊推理的方法完成2种控制方式的平稳过渡。控制结果表明,该方法与常规PID控制相比,可以提高控制精度和缩短系统响应时间,较好地满足了方便面油炸的性能要求。

基于Fuzzy-PID的超薄快速铝板铸轧机前箱液位控制

液位控制精度是影响超薄快速铝板铸轧机产品质量的关键因素之一 ,在对典型系统动态响应分析的基础上 ,提出了一种基于 Fuzzy推理的 PID参数自整定控制器 .利用 Fuzzy推理 ,对PID参数在线自整定 ,从而使液位控制系统在不同状态都能得到比传统 PID更好的控制效果 ,达到较高的控制精度 ,仿真试验证明了这一点 .

基于Fuzzy—PID嵌入式平台调平控制器设计

为提高惯性平台调平精度、缩短调平时间，采用FPGA嵌入式技术，运用Fuzzy-PID控制算法，设计完成了平台调平控制器设计；通过电压一频率转换电路将平台加速度计输出的误差电压信号转换为成比例的脉冲串，FPGA对脉冲进行计数，通过内部的Fuzzy--PID控制逻辑，输出占空比可调的PWM波控制作用于陀螺力矩的脉冲电流，实现平台精确调平；实验结果表明该调平控制器能够实现平台全工作角度范围内（-60°～60°）调平，且调平精度小于2角分，调平时间小于10s，相较现有武器系统，调平精度提高10％，调平时间缩短30％。

基于电厂水位的FUZZY—PID控制研究

根据电厂系统的水位实验数据及其工作原理,建立了水位控制的数学模型,并针对该系统的大延迟和模型不确定性,将FUZZY—PID控制引入到电厂系统的水位控制中。理论分析和仿真结果表明,应用这种方法设计出的水位控制系统,在稳定时间和稳态精度方面均优于单一的PID控制和FUZZY控制。该研究具有一定的使用价值,为FUZZY—PID控制在电厂水位系统中的应用打下了理论基础。

基于模糊自整定PID的双容水箱串级液位控制系统研究

双容水箱串级液位控制具有抗干扰能力强、超调量小、过渡过程较短等特点。传统的PID算法和参数整定方法难以达到期望的控制效果。因此,针对双容水箱串级液位控制,利用模糊推理的方法实现在线自整定PID参数,设计相应的模糊PID控制器,基于Simulink仿真建模,对比传统的PID与模糊自整定PID输出响应曲线发现,该模糊自整定PID系统具有更好的鲁棒性,抑制系统超调以及对控制参数变化的自适应能力更强。

Measurement and AFPS control of molten steel level in strip casting

The measurement and control of the molten steel level are studied, which affect the quality of strip surface in strip casting. A system of molten steel measurement with a CCD (Charge Coupled Devices) sensor is designed, real-time measured data are given and its precision is analyzed. The level fluctuation model is derived, and an adaptive fuzzy-PID controller with supervisory control (AFPS) is proposed. The stability of the system is proved using Lyapunov theorem, and the simulation results are given when the model, the casting speed and the roll gap change. It is suggested that this kind of coupled nonlinear and time varying system is stable and robust using the designed AFPS controller.

基于Smith预估模糊PID的浮选液位控制系统设计

浮选机内液位高低影响着浮选效果和生产稳定性,针对煤泥浮选中浮选机液位对浮选结果产生的影响,结合浮选液位控制系统的特点及其性能要求,采用了一种将Smith预估控制、模糊控制、PID控制结合的液位控制系统,并利用MATLAB中Simulink模块设计浮选液位仿真模型,进行仿真分析,同时改变液位以测试系统的稳定性。通过对传统PID、模糊PID及Smith预估模糊PID控制算法进行比较可知,液位控制系统采用Smith预估模糊PID算法,其控制效果由于传统PID和模糊PID控制,调节时间更短,稳定性更强,提高了浮选机液位的稳定性,能更好地满足浮选过程对液位的要求。

基于Smith模糊多级积分分离PID的加热盘温度控制

为提高大尺寸晶圆的加工良率,研究采用金属氧化物导电涂层加热的碳化硅晶圆加热盘分区控制方法,提出基于Smith模糊多级积分分离PID的四分区温控系统,解决高精度要求下晶圆加热盘表面温度一致性问题。通过热效应仿真建立系统模型,分析各区域的热量分布,进而基于PLC控制器搭建加热盘温度控制系统,提出便于实际应用的Smith模糊多级积分分离PID算法提高控制精度,在MATLAB中结合系统模型与常规PID算法进行对比,最后基于所建立的加热盘温度控制系统进行实验验证。仿真结果与实验结果均表明,所提控制方法具有更高的控制精度,可以实现加热盘表面温度一致性稳定在0.05℃左右,平均温度稳态误差±0.05℃,控制效果良好。

模糊自适应PID在汽包水位控制中的应用研究

针对传统PID控制算法在锅炉汽包水位控制中存在稳定性差、响应速度慢等问题,提出了一种基于模糊自适应PID的汽包水位控制方法,该方法通过引入模糊控制器对PID控制器进行优化,并利用模糊规则对模糊控制器进行调整,以提高控制器的响应速度和控制精度。实验仿真结果表明,提出的方法可以有效提高汽包水位控制的精度和速度,并具有较高的稳定性和鲁棒性,具有较好的应用前景。

基于模糊PID连铸机控制系统的研究与实现

为进一步提升连铸工艺在钢铁冶炼的应用效果,保证铸坯的表面质量和避免漏液等事故的发生,在对连铸机设备简单概述及各部分系统分析的基础上,以结晶器为核心开展了系列研究,重点对其液位和振动的控制系统进行了设计,并明确了对应的控制参数。通过实验表明,所设计的结晶器控制系统可对振动位移进行平稳、快速控制,从而确保产品质量满足要求。