PID and filtered PID control design with application to a positional servo drive

Bélai, Igor; Huba, Mikuláš; Burn, Kevin; Cox, C.S.

doi:10.14736/kyb-2019-3-0540

Cited by 6 publications

(9 citation statements)

References 27 publications

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“…The detailed analysis we performed of the control of the DIPDT system by PID controllers opens the way to the control of this system with the use of higher order controllers and the generalization of some preliminary results from [16,25]. This also makes various applications possible, similarly to the control of first-order time-delayed systems [10,45]. However, before that, some issues concerning the design of controllers with two degrees of freedom [41][42][43] with the optimization of transients after setpoint steps and the issues of a suitable anti-windup and bumpless transfer [10,47] have to be resolved.…”

Section: Discussionmentioning

confidence: 95%

“…The initial steps of writing this paper were inspired by the modified (improved) SIMC controller [19,20]. Some preliminary results dedicated to the position servo control were published in [45]. This work focuses on the analysis of the influence of different equivalences of time delays used in setting the controllers, with respect to the low-pass filters used.…”

Section: Pid Controller According To the Mrdp Methodsmentioning

confidence: 99%

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Delay Equivalences in Tuning PID Control for the Double Integrator Plus Dead-Time

Huba

Vrančić

2021

Mathematics

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The paper investigates and explains a new simple analytical tuning of proportional-integrative-derivative (PID) controllers. In combination with nth order series binomial low-pass filters, they are to be applied to the double-integrator-plus-dead-time (DIPDT) plant models. With respect to the use of derivatives, it should be understood that the design of appropriate filters is not only an implementation problem. Rather, it is also critical for the resulting performance, robustness and noise attenuation. To simplify controller commissioning, integrated tuning procedures (ITPs) based on three different concepts of filter delay equivalences are presented. For simultaneous determination of controller + filter parameters, the design uses the multiple real dominant poles method. The excellent control loop performance in a noisy environment and the specific advantages and disadvantages of the resulting equivalences are discussed. The results show that none of them is globally optimal. Each of them is advantageous only for certain noise levels and the desired degree of their filtering.

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Section: Discussionmentioning

confidence: 95%

Section: Pid Controller According To the Mrdp Methodsmentioning

confidence: 99%

Delay Equivalences in Tuning PID Control for the Double Integrator Plus Dead-Time

Huba

Vrančić

2021

Mathematics

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“…[40][41][42][43][44][45][46] There are many advanced control strategies studied in manipulator control methods, such as model-based control, PID, adaptive, neural network control, SMC, computational torque control, inverse control, fuzzy control, and robust control. [47][48][49][50][51] However, due to the shortcomings of a single control algorithm, a single control algorithm is not used in the process of designing the control strategy. Therefore, multiple control methods are combined so as to resolve the tracking control problem of the manipulator.…”

Section: Related Workmentioning

confidence: 99%

Manipulator trajectory tracking based on adaptive sliding mode control

Zhao

Tao

et al. 2022

Concurrency and Computation

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A manipulator is a complex electromechanical system that is nonlinear, strongly coupled, and uncertain. Achieving its precise and high-quality trajectory control is difficult.Sliding mode control (SMC) is one of the common control methods for manipulators.However, discontinuities in SMC can cause jitter and vibration in the manipulator system, leading to a reduction in the performance of the control system. For the self-adaptive capability jitter vibration problem of SMC, the Dobot magician manipulator is treated as the research object in this article. The dynamics equations of the manipulator are established by Lagrange method, and a simplified model of the manipulator dynamics is constructed. The method of self-adaptive sliding mode control is proposed. Self-adaptive parameters are added to the SMC to achieve self-adaptive adjustment of the SMC parameters. In the MATLAB/Simulink simulation environment analysis show that the self-adaptive SMC method has better self-tuning ability and trajectory tracking ability than the traditional SMC, and weakens the jitter phenomenon existing in the traditional SMC.

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“…The filter aids to suppress the undesired high-frequency noise of the control signal [33][34][35][36]. Furthermore, some researchers have suggested implementing the Fuzzy logic controller (FLC) along with conventional controllers to improve the overall system performance [37][38][39][40][41].…”

Section: Introductionmentioning

confidence: 99%

Optimal Fuzzy PIDF Load Frequency Controller for Hybrid Microgrid System Using Marine Predator Algorithm

et al. 2021

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This paper presents a fully optimized fuzzy proportional-integral-derivative with filter (FPIDF) load frequency controller (LFC) for enhancing the performance of a hybrid microgrid system. The Marine Predator Algorithm (MPA), a recent optimization algorithm, is used to optimize the gains as well as the input scaling factors and membership functions of the proposed fuzzy PIDF controller. The controller performance is tested on a two-area hybrid microgrid system containing various renewable energy sources and energy storage devices. The effectiveness of the MPA based FPIDF controller is compared with conventional PIDF and FPIDF controllers based on other heuristic techniques presented in literatures. Moreover, different scenarios are implemented in this study to verify the robustness and sensitivity of the proposed controller to different step load perturbations, system parameters variations, wind speed fluctuation and solar irradiance variation. The dynamic response of the system is compared using different controllers in terms of settling time, maximum overshoot and undershoot values. The results are presented in the form of time domain simulations conducted via MATLAB/SIMULINK. INDEX TERMSFuzzy control, load frequency control, marine predator algorithm, microgrid system, PIDF controller, renewable energy, storage systems. NOMENCLATURE A Rotor swept area ACE Area control error B1, B2 Frequency bias coefficients BES Battery energy storage CE Change of error Predator step size control ratio Power coefficient COR Competition over resources E Error FF Fitness function FLC Fuzzy logic controller FPIDF Fuzzy proportional-integral-derivative with filter G Solar radiation ( ) Controller transfer function Solar irradiance under standard test conditions 1 , 2 Input scaling gains 12

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PID and filtered PID control design with application to a positional servo drive

Cited by 6 publications

References 27 publications

Delay Equivalences in Tuning PID Control for the Double Integrator Plus Dead-Time

Delay Equivalences in Tuning PID Control for the Double Integrator Plus Dead-Time

Manipulator trajectory tracking based on adaptive sliding mode control

Optimal Fuzzy PIDF Load Frequency Controller for Hybrid Microgrid System Using Marine Predator Algorithm

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