The Control of an Industrial Manipulator's Positioning System Using Dahlin Algorithm

Clitan, Iulia; Abrudean, Mihail; Mureşan, Vlad

doi:10.1016/j.protcy.2015.02.077

Cited by 1 publication

(3 citation statements)

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“…This algorithm of digital controller parameters se ing is applied in the contr tems, in which time constants are significantly higher than the transport delay and it is desired that the controlled variable has an aperiodic response to a step signa input in the closed feedback loop [27][28][29]31].…”

Section: The Dahlin Controller Designmentioning

confidence: 99%

“…) of the denominator in the Dahlin controller transfer function [27,30,31]. For N = 1, this modified Dahlin controller, which can eliminate the effect of sudden changes in the control signal, has the following form:…”

Section: The Dahlin Controller For the Coupled Tank Modelmentioning

confidence: 99%

“…None of the mentioned approaches for controlling the liquid level in the tank utilize the Dahlin controller [27][28][29][30][31][32]. The Dahlin controller provides the aperiodic response of the assigned time constant.…”

mentioning

confidence: 99%

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Nonlinear Tank-Level Control Using Dahlin Algorithm Design and PID Control

et al. 2023

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Liquid-level control in tanks is widely used in various industrial sectors. Due to problems arising from the case that the liquid level is above or below the recommended, the process of its control is of great significance. The proportional integral differential (PID) controller is one of the most widely used controllers in applications that require accuracy and optimal automatic control. In this paper, single and coupled ship fuel tank systems are discussed. In addition, mathematical models and their linearization using two different approaches are presented. The two control approaches are used to maintain the specified liquid level in tanks. The first is based on the design of standard PID controllers, with the application of the Ziegler–Nichols, Takahashi tuning, and Auto-tuning methods. The second approach, proposed by the authors, is based on the application of the Dahlin algorithm. The simple modification of the Dahlin controller, which can avoid the “ringing” of the control signal, is suggested in the paper. Moreover, the lower limit of the decrease in the desired time constant, which ensures the desired behavior of the system, is determined. The comparisons provided for different performance indexes show the advantages of the modified Dahlin algorithm approach compared to the standard PID controllers. Furthermore, the comparison with the literature-known approaches is realized.

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Section: The Dahlin Controller Designmentioning

confidence: 99%

Section: The Dahlin Controller For the Coupled Tank Modelmentioning

confidence: 99%