The Design of a Microcontroller-based Self Balancing Robot Employing PID Control and Kalman Filter

Fahmi, Marizan Sulaiman Ahmad; Siradjuddin, Indrazno; Dzakiyullah, Nur Rachman

doi:10.14704/web/v19i1/web19081

Cited by 2 publications

(2 citation statements)

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“…19 As a result, a technique was developed to preserve a stable air pressure under the grate by changing the speed of the grate. 20 This not only reduced the need for additional sensing components, but also made it easier to handle disturbances like kiln load and speed changes. 4 In the past, PI controllers were employed to manage UGP.…”

Section: Introductionmentioning

confidence: 99%

“…The clinker temperature profile along the full length of the cooler was also difficult to determine 19 . As a result, a technique was developed to preserve a stable air pressure under the grate by changing the speed of the grate 20 . This not only reduced the need for additional sensing components, but also made it easier to handle disturbances like kiln load and speed changes 4 .…”

Section: Introductionmentioning

confidence: 99%

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Optimum control of under‐grate pressure of clinker cooler by optimizing the proportional integral derivative controller parameters using honey badger algorithm technique

Brijet¹,

Suresh²

2023

Optim Control Appl Methods

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The minimum air pressure necessary at the grate to penetrate a bed of heated clinker of a certain thickness and permeability is known as under‐grate pressure. It is vital to keep the under‐grate pressure consistent because excessive pressure causes the clinker to form an unstable suspension and minimum pressure allows heat from the clinker to harm the cooler grates. So it is necessary to obtain excellent performance through reasonable control methods. For this purpose, this article proposes an optimization approach for a proportional integral derivative (PID) controller to control the pressure below the grate of the clinker cooler. The proposed optimization approach is the honey badger algorithm (HBA), which mimics the feeding habits of honey badgers. The main aim of proposed approach is to maintain and regulate under‐grate pressure of clinker cooler using HBA and provide optimum cooling rate to clinker. The proposed approach based grate cooler also provide the less electricity consumption and stable temperature. The proposed technique is implemented in MATLAB and its efficiency is compared to various existing techniques. From the simulation, the electricity consumption of proposed approach RMSE is 158 and mean accuracy is 98.65. Under‐grate pressure based RMSE is 5.01 and the mean accuracy become 99.55. The outlet temperature based RMSE of proposed approach is 4.32 and mean accuracy is 81.21. These values are lower than existing approaches, it reveals the proposed approach is better than the existing one.

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Section: Introductionmentioning

confidence: 99%