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In this paper, we proposed a disturbance rejection control method to improve the position keeping accuracy of an underwater robot. Not like a ground robot, the controlling of a floating body is a critical requirement to acquire high quality sensor data from, for examples, a gyro, an underwater optical camera, and an imaging sonar. The proposed controller consists of a model-based robust compensator...
A torque control method for Brushless Direct Current (BLDC) motor is introduced in this paper, which plays vital roles in In-wheel vehicle system. In-wheel motor can be used in electric cars with 4 wheels independent drive configuration. Within every wheel, there can be one “Direct-Drive In-wheel motor” to generate the necessary torque per wheel. In order to improve dynamic response characteristics...
In this paper, the coupling magnetic field model which the power magnetic bearing generated by interference between the rotation and levitation force is linear inverse system decoupling, and study PID control strategy on decoupling linearization system. According to the performance analysis and simulation of PID control system, it can be concluded that PID control system has quick response, high control...
Ship rudders are usually based on hydraulic systems as actuators, and the autopilots are based on PID controller because of the simplicity. But its performance in various environmental conditions is not as good as desired. These disadvantages can be decreased by using an electric motor as a flexible actuator to operate the rudder and apply the modern control theory to control the system. In this paper,...
This article presents the design of Internal Model Controller (IMC) based Fractional Order Two-Degrees-of-Freedom controller with the desired bandwidth specification and the robustness of the designed controller is briefly analyzed. For the conventional IMC based PID controller, One-Degree of Freedom is sufficient to meet the desired bandwidth specification for both Servo and regulatory performances...
This paper proposes a particular method for position velocity loops to solve the velocity control problem associated with conventional sliding mode control of permanent magnet synchronous motor (PMSM) servo system. The merits of conventional sliding mode control approach and PID control technique were introduced to design this novel controller for the position and velocity loops. The sliding mode...
Considering the disadvantages of the distribution system, which is made of the rotating machine and the mechanical transmission device, such as low positioning accuracy, vulnerable to load influence, this paper puts forward a new kind of distribution system consists of the permanent magnet linear synchronous motor (PMLSM), which is based on the fuzzy Proportional-Integral-Differential (PID) control...
In this paper, a robust digital proportional-integral-derivative (PID) controller is proposed for the H-bridge soft-switching boost converter (HSBC). This digital PID controller is designed to ensure load voltage regulation as well as to give robust performance with step loads and source rejection. The mathematical models of the H-bridge boost converter are formulated, using the system identification...
In this paper, the system functions(S-Function) such as Tracking-Differentiator (TD), Extended-State-Observer (ESO) and Non-linear-State-Error-feedback (NLSEF) were written, the model of Auto Disturbance Rejection Controller (ADRC) was established. Through a simple second-order system as the object, the ADRC and PID algorithms were simulated. After analysis and comparison of these two different control...
In this thesis, based on the analysis on the transform processes of wind energy and electric energy, considering the characteristics as the complexity of the mathematical model for the wind power generating system, strong time-varying volatility, the existence of coupling between parameters, the severity of disturbance from the environment and the difficulty of realizing the controllers etc, by Inner...
In the process industry the loop problem is how to choose a suitable set of PID parameters because of their influence on the asymptotic stability of the system. This paper develops a PID control algorithm based on Internal Model Control (IMC) design for linear and nonlinear control systems in the discrete-time domain under satisfactory performance. Compared with traditional feedback controllers, IMC...
In this paper several optimal control strategies are proposed for the power management subsystem of a hybrid fuel cell/supercapacitor power generation system. The control strategies are based on different control configurations involving the power converters associated to the hybrid source. Given certain desired performances, Linear Matrix Inequalities methods are used to solve the controller design...
This paper presents design of a robust hovering controller for a quad tilt-wing UAV to hover at a desired position under external wind and aerodynamic disturbances. Wind and the aerodynamic disturbances are modeled using the Dryden model. In order to increase the robustness of the system, a disturbance observer is utilized to estimate the unknown disturbances acting on the system. Nonlinear terms...
In the last four decades, the proportional, integral and derivative (PID) controller remains by far the most widely used in industry and continues to be an important method in control engineering, along with high control performance requirements, advanced control techniques are needed. Since 90 percent of applied control technique among industry is related to PID, any improvement of this technique...
This paper presents design of robust current controller. It takes the motor parameters as uncertain values. Comparing with other approaches it takes into account imprecision of decoupling which linearizes the motor model. The controller design uses error signals between coupling and decoupling terms and treats them as uncertainties. This approach preserves the linearity for the price of treating model...
PID and fuzzy PID controller are used for the wind turbine with the nonlinear mathematical model. PID control has simple principle and its parameters setting are rather easy. Fuzzy PID controller combines with the reasoning goals/constraints on robustness (robust fuzzy PID controller), which can effectively improve the robustness. MATLAB software is used for simulations, and the results display that...
This paper proposes a robust switching control for vehicle steering input. This control is constructed from a robust switching two-PID control to correct the lateral displacement and yaw angle of the vehicle. The controllers are based on LMI-theory stabilizing optimal and on linear time-invariant models of the vehicle, obtained around its nominal operating point. The different gains of both PID controllers...
This paper proposes robust proportional -integral-derivative (PID) control for a proton exchange membrane fuel cell (PEMFC) system. We model a PEMFC as a multivariable system, and apply identification techniques to obtain the system's transfer function matrices, where system variations and disturbances are regarded as system uncertainties. In previous studies, robust control has been successfully...
Aiming at the problem of wire extension stability in aluminum alloy pulsed MIG welding process, the influence of wire feed speed on wire extension is identified and the mathematic model has been set by the step response experimentation. According to the actuality problem of routine PID control, a self-tuning fuzzy PID system in a dynamic process was designed to improve the adaptability and the control...
Constant pressure water supply system is a complex time-delay system which makes it difficult to ensure the good control performance and fast response in the working condition for traditional PID control. This paper presents a speed control system of constant pressure pump unit based on fuzzy self-tuning PID control strategy which can realize parameter tuning of PID real-timely. According to a real...
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