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.

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.

Fractional Order Proportional Integral Derivative Controller Design and Simulation for Bioengineering Systems

This paper deals with the study of fractional order system tuning method based on Factional Order Proportional Integral Derivative( FOPID) controller in allusion to the nonlinear characteristics and fractional order mathematical model of bioengineering systems. The main contents include the design of FOPID controller and the simulation for bioengineering systems. The simulation results show that the tuning method of fractional order system based on the FOPID controller outperforms the fractional order system based on Fractional Order Proportional Integral( FOPI) controller. As it can enhance control character and improve the robustness of the system.

Intelligent Fractional-Order Controller for SMES Systems in Renewable Energy-Based Microgrid

An autonomous microgrid that runs on renewable energy sources is presented in this article.It has a supercon-ducting magnetic energy storage(SMES)device,wind energy-producing devices,and an energy storage battery.However,because such microgrids are nonlinear and the energy they create varies with time,controlling and managing the energy inside them is a difficult issue.Fractional-order proportional integral(FOPI)controller is recommended for the current research to enhance a standalone microgrid’s energy management and performance.The suggested dedicated control for the SMES comprises two loops:the outer loop,which uses the FOPI to regulate the DC-link voltage,and the inner loop,responsible for regulating the SMES current,is constructed using the intelligent FOPI(iFOPI).The FOPI+iFOPI parameters are best developed using the dandelion optimizer(DO)approach to achieve the optimum performance.The suggested FOPI+iFOPI controller’s performance is contrasted with a conventional PI controller for variations in wind speed and microgrid load.The optimal FOPI+iFOPI controller manages the voltage and frequency of the load.The behavior of the microgrid as a reaction to step changes in load and wind speed was measured using the proposed controller.MATLAB simulations were used to evaluate the recommended system’s performance.The results of the simulations showed that throughout all interruptions,the recommended microgrid provided the load with AC power with a constant amplitude and frequency.In addition,the required load demand was accurately reduced.Furthermore,the microgrid functioned incredibly well despite SMES and varying wind speeds.Results obtained under identical conditions were compared with and without the best FOPI+iFOPI controller.When utilizing the optimal FOPI+iFOPI controller with SMES,it was found that the microgrid performed better than the microgrid without SMES.

船用汽轮机变工况的遗传粒子群优化智能控制方法研究

为提升船用汽轮发电机组大幅变工况时的控制精度和鲁棒性,以船用汽轮机调节系统各部件的模块化数学模型为基础,建立汽轮机组数字电液(digital electric hydraulic,DEH)闭环模糊比例、积分、微分(proportion integration derivative,PID)控制模型;融合遗传算法的选择、交叉、变异和自适应递减权重法,提出遗传粒子群智能优化算法,并结合标准测试函数验证提出算法具有较高的收敛速度和精度;基于遗传粒子群智能优化算法建立汽轮机变工况自适应智能模糊PID控制模型,实现模糊PID的量化因子与比例因子最优化设计,进而开展船用汽轮发电机组大幅变工况动态特性及扰动因素影响分析,结果表明本文建立的自适应智能模糊PID控制模型具有更好的控制稳态性能与鲁棒性,为船用汽轮机组大幅度变工况智能控制优化设计提供了有力的技术支撑。

广义预测控制和PID控制在混凝投药中的应用

针对水处理过程中混凝投药的非线性和时滞特点,分析了其混凝投药的工作原理,采用传统的控制方法难以实现很好的控制效果.提出了一个混凝投药的方案,把广义预测控制算法和PID(proportion-integralderivative)控制算法结合起来,通过预测被控系统的若干个时刻的未来输出值,得到一个新的性能优化函数,通过实时优化被控对象的控制参数,计算出一个合理的混凝投药量.最后,采用Visual Basic软件编程完成该控制方案,并通过对混凝投药自动化控制的现场实验,得到较好的输出控制结果,从而验证了该控制方案的可行性.

CONTROL OF ROBOT DRIVEN BY MULTIPLE ULTRASONIC MOTORS BASED ON ROBUST PARAMETER DESIGN

An ultrasonic motor （USM） is difficlt to be mathematically described because of its complex energy conversion and nonlinear parameters from increasing temperature and changing operating conditions. To achieve good performance of a three-joint robot directly driven by USM, according to the operating characteristics of USM, a new position-velocity feedback control strategy is proposed. In the control strategy, there are a total of 18 controller gains to he tuned. Through a series of ＂Design of Experiments＂ by the robust parameter design, an optimal and robust set of proportional integral derivative （PID） controller gains is obtained. Results show that the control strategy can achieve the best performance of the robot and the robust parameter design is effective and convenient to USMs.

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.

Studyon hardware-in-the-loopsimulation of beer fermentation system

Beer fermentation process is a complex biochemical reaction process.It is the most important to control temperature of the wort in fermentation tank in accordance with the beer fermentation temperature curve so as to ensure the completion of fermentation.The controlled object is characterized by large inertia,long time delay and mutual coupling of three temperature areas.Based on this,a temperature control method for beer fermentation system is designed.Using digital incremental proportion integration differentiation （PID） control algorithm,the controlled quantity is transmitted to the controlled object after diagonal matrix decoupling.This simulation system can be completed in laboratory using VB and Kingview software,so it has the features of good security and low cost.It is very suitable for experimental teaching.

Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-Control for Intelligent Vehicles

Intelligent vehicles can effectively improve traffic congestion and road traffic safety.Adaptive cruise followingcontrol(ACFC)is a vital part of intelligent vehicles.In this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of vehicles.Firstly,a traditional variable time headway model is improved considering the acceleration of the lead car.Secondly,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating habits.To reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control structure.Thirdly,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)separately.Meanwhile,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different scenes.Finally,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.

改进的神经网络PID在空调温度控制中的应用

为提高候机楼中央空调温度控制水平,针对候机楼中央空调系统具有时滞性、扰动因素较多等特点,提出了一种基于改进天牛须搜索(IBAS,improved beetle antennae search)算法的模糊径向基函数(RBF,radial basis function)神经网络(PID,proportion integration differentiation)控制方法,建立了空调区域温度控制模型,通过模糊RBF神经网络实现PID参数在线整定,解决系统非线性、时变的问题。同时由于神经网络参数存在难以选取问题,提出利用天牛须搜索(BAS,beetle antennae search)算法优化模糊RBF神经网络参数的方法,并引入莱维飞行机制和变步长策略对BAS算法进行改进,提高其跳出局部最优的能力和稳定性。仿真结果表明,采用IBAS算法优化的模糊RBF神经网络PID控制方法有效提高了系统的鲁棒性和自适应能力,对候机楼中央空调系统具有良好的控制效果。

Structure Analysis and Control Optimization on High Speed Lift Platform

Dynamic analysis of scissor hydraulic lift platform has been performed to invest/gate the key factors which determine size and shape of the platfolan. By using MATLAB, the position of hydraulic cylinder has been optimized to reduce jacking force of piston and the whole system. Thus structure deformation decreases which is beneficial to control accuracy. Additionally, a new proportion integration differentiation （PID） control mode based on BP neural network has been developed to improve the stability and accuracy for the pasitio^L control in this system. Compared with existing PID tuning meth~~ls and fuzzy self-adjusted PID controllers, the proposed back propagation （BP） based PID controller can achieve better performance for a wide range of complex processes and realize self-tuning of parameters. It was confirmed that the performance of the lift platform regarding the force variation and position accuracy was greatly enhanced by optimizing of the system both in structure and control. Considerable economic benefit can also be achieved thrangh the application of this intelligent PID system.

Design of the PLC-based burner Control System

With consideration to the acid gas incinerator burned and the problems identified during its application, renovation program has been proposed. According to the new design, draught burners with automatic control system shall be used to eliminate problems encountered during application of original burner. In addition to implement automatic control of combustion processes, the new system may minimize labor intensity and enhance safety of facilities.

Fuzzy PID control system for hose pulse experiment based on LabVIEW

The hose pulse testing bench generally uses electro-hydraulic servo system. It occupies little space, tracks signals fast and has simple structure, and therefore it is widely used in industrial control field. However, there are lots of problems such as little accuracy and instability caused by slow response of hydraulic and various interference factors. Simple proportional integra- tion derivatiation （PID） control method of traditional pulse bench is simple in principle, but it is difficult in parameter adjust- ment. According to the special requirements of the control system, a PID method based on fuzzy control is proposed in the pa- per. This method not only retains the advantages of the conventional control system, but also ameliorates the drawbacks of parameter uncertainty, instability and lag. It has been testified that the method is practicable and can improve the precision and adaptation.

Active Damping of Milling Vibration Using Operational Amplifier Circuit

The problem of chatter vibration is associated with adverse consequences that often lead to tool impairment and poor surface finished in a workpiece, and thus, controlling or suppressing chatter vibrations is of great significance to improve machining quality. In this paper, a workpiece and an actuator dynamics are considered in modeling and controller design. A proportional-integral controller(PI) is presented to control and actively damp the chatter vibration of a workpiece in the milling process. The controller is chosen on the basis of its highly stable output and a smaller amount of steady-state error. The controller is realized using analog operational amplifier circuit. The work has contributed to planning a novel approach that addresses the problem of chatter vibration in spite of technical hitches in modeling and controller design. The method can also lead to considerable reduction in vibrations and can be beneficial in industries in term of cost reduction and energy saving. The application of this method is verified using active damping device actuator(ADD) in the milling of steel.

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.

PSO Based Multi-Objective Approach for Controlling PID Controller

CSTR(Continuous stirred tank reactor)is employed in process control and chemical industries to improve response characteristics and system efficiency.It has a highly nonlinear characteristic that includes complexities in its control and design.Dynamic performance is compassionate to change in system parameterswhich need more effort for planning a significant controller for CSTR.The reactor temperature changes in either direction from the defined reference value.It is important to note that the intensity of chemical actions inside the CSTR is dependent on the various levels of temperature,and deviation from reference values may cause degradation of biomass quality.Design and implementation of an appropriate adaptive controller for such a nonlinear system are essential.In this paper,a conventional Proportional Integral Derivative(PID)controller is designed.The conventional techniques to deal with constraints suffer severe limitations like it has fixed controller parameters.Hence,A novel method is applied for computing the PID controller parameters using a swarm algorithm that overcomes the conventional controller’s limitation.In the proposed technique,PID parameters are tuned by Particle Swarm Optimization(PSO).It is not easy to choose the suitable objective function to design a PID controller using PSO to get an optimal response.In this article,a multi-objective function is proposed for PSO based controller design of CSTR.

Parallel Fuzzy P+Fuzzy I+Fuzzy D Controller:Design and Performance Evaluation

In this paper, a parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP＋FI＋FD） controller is proposed. It is derived from the conventional parallel proportional-integral-derivative （PID） controller. It preserves the linear structure of a conventional parallel PID controller, with analytical formulas. The final shape of the controller is a discrete-time fuzzy version of a conventional parallel PID controller. Computer simulations are performed to evaluate the performance of the FP＋FI＋FD controller for setpoint tracking and load-disturbance rejection for some complex processes, such as first- and second-order processes with delay, inverse response process with and without delay and higher order processes. Also, the performance of the proposed fuzzy controller is evaluated experimentally on highly nonlinear liquid-flow process with a hysteresis characteristic due to a pneumatic control valve. The simulation and real time control is done using National InstrumentTM hardware and software （LabVIEWTM）. The response of the FP＋FI＋FD controller is compared with the conventional parallel PID controller, tuned with the Ziegler-Nichols （Z-H） and /~strSm- H^gglund （A-H） tuning technique. It is observed that the FP＋FI＋FD controller performed much better than the conventional PI/PID controller. Simulation and experimental results demonstrate the effectiveness of the proposed parallel FP＋FI＋FD controller.

模糊PID复合控制在超精密工作台控制系统中的应用

基于模糊控制算法与PID(proportion-integral-derivative)控制算法的优缺点,提出将模糊PID复合控制算法应用于超精密工作台控制系统中,它结合了2种控制算法的优点,分段对工作台实施控制。并且对此控制系统进行了Matlab仿真,仿真结果表明该控制方法能使系统达到良好的控制效果。

Simulation study on starting of dual clutch transmission for tracked vehicles

In order to study the application of dual clutch transmission （DCT） on tracked vehicles, a simulation moclel and two control methods were performed for starting analysis. Based on a certain transmission of an existing tracked vehicle, a DCT structure was proposed. Matlab/Simulink was a dopted as a platform to develop the simulation model. The engine speed was controlled to follow the target speed as a launch strategy. Two control methods, a proportional integral derivative （ PID ） control method and a fuzzy control method, were proposed to control the engine throttle and oil pressure in order to track the target engine speed. Simulation results show that either the PID control or fuzzy control method can improve the starting performance compared with no loop control meth od. Fuzzy control method can lead a better starting quality compared with PID control method.