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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...
Cascade control system has better anti-interference ability, quickness, flexibility and quality control, so it is widely used in complex process control. Furnace temperature is primarily regulated by the gas flow control. The furnace control system has larger capacity lags and suite for cascade PID control. However, traditional parameters tuning method of controller can only meet either of the target...
In this paper, it is tried to introduce, implement and control the voltage of one of the most important fuel cells, i.e. PEMFC, during load variations. Output voltage of fuel cell should be constant during load variation. To achieve this goal, a controller should be designed. Here, the PID controller is used which its coefficients are optimized based on genetic algorithms. In order to use this algorithm,...
Telesurgery means the remote application of interventional medical techniques; a concept that is currently widely practiced around the world for short distance through master-slave robot systems. The concept has the potential to service long distance telesurgery as well. However, this requires the effective handling of communication latency. The current paper suggests a fuzzy control solution for...
This paper introduces a design method of heating welder temperature control system for PE battery clapboard based on 89C52 single-chip, and gives hardware circuit diagram of temperature control system. It makes simulation and experimental effect comparison between PID control and integral separation PID control with Smith prediction, proved that integral separation PID control with Smith prediction...
This paper illustrates the basic work principle of a brushless DC motor and presents its control method. According to the method, a control system of a brushless DC Motor is designed using an AVR microcontroller. Design of the control system includes hardware circuit designing and software programming. The hardware structure of the control system consists of a microcontroller ATmega64, power supply...
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...
This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log...
A Fuzzy-PID Controller for the compensation of the Direct-axis current component in the flux-weakening control system of the Permanent Magnet Synchronous Motor (PMSM) is proposed in this paper. The output torque of PMSM falls down when it operates in the high-speed as the reason of its parameters variation. In order to minimize the influences from the armature reaction, the quadrature-axis current...
In this paper, we present a new particle swarm optimization. The original PSO has a weight term which is decreasing, increasing, or constant during iterations. In this paper, inertia terms are a vector instead of a scalar. Comparing a velocity and an updating term, the weight can be increased or decreased. That is, if the absolute value of velocity is larger or lesss than that of the update term,...
As the SRD system is multivariable, highly coupled and nonlinear, it is difficult to get a satisfied result by the conventional control. In this paper, the adaptive fuzzy PID controller is designed as the speed regulator, by using the Simulink toolbox of the Matlab, the result shows that the controller can reduce the overshoot, improve the accuracy and possess good robustness.
The positioning systems generally need a good controller to achieve a fast response, high accuracy and robustness. In addition, ease and simplicity of controller design structure are very important for practical applications. For satisfying these requirements, NCTF controller has been proposed as a practical control method for two-mass rotary PTP positioning systems. However, the effect of the actuator...
This paper aims to describe Metamodeling approach, a technique that can be utilized to tune controller parameters for a non-linear process quickly, and how it is used to solve real world engineering problems by applying it to the problem of designing a proportional-integral-derivative (PID) controller. The process used in this study is a single input single output (SISO) evaporator system which is...
In this paper, we present PID controller design methods for automatic voltage regulators. We use three improved particle swarm optimization for PID controllers with which the step response is optimally regulated for automatic voltage controllers. We compare three different versions of particle swarm optimizations, i.e., the modified original PSO, the crazy PSO and the chaotic PSO. Among three PSOs,...
This paper provides the design for two PID controllers, one for the terminal voltage and the other for the electric power. Both controllers are designed to control a sample power system that comprises a synchronous generator connected to a large network via a step-up transformer and a transmission line. The generator is equipped with two decoupled control-loops, namely, the speed/power (governor)...
The interactions between input/output variables are a common phenomenon and the main obstacle encountered in the design of multi-loop controllers for interacting multivariable processes. In this paper, a method for controlling multivariable processes is presented. The controller design is divided into two parts: firstly, a decoupling matrix is designed in order to minimize the interaction effects...
This paper is to investigate the best PID control structure for controlling the glycerin bleaching process that would improve the bleached glycerin quality. An ideal and alternative PID control structures is analyzed. The controller parameters are adjusted based on Wang's tuning method and compared to Ziegler-Nichols method. The system performance is evaluated in terms of settling time and percent...
In this paper, an adaptive PID-Fuzzy Logic controller is proposed in order to control the angular displacement of an automobile Pierburg mechatronic actuator and achieve a wireless network control. This new PID-fuzzy logic controller topology takes advantage of the classical PID controller and the fuzzy logic technique which can improve the angular displacement precision and reduce the time delay...
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 derives physical constraints for the output filter of a Point-of-Load (POL) converter. Time-optimal control theory is employed to translate the POL static and dynamic specifications into boundaries in the L-C design space, ultimately defining a set Σ of L and C values compatible with the application requirements. Outside the identified set Σ, no controller is capable of meeting the POL...
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