• Title/Summary/Keyword: Fuzzy PID Control

Search Result 432, Processing Time 0.036 seconds

Development of hovering-type AUV test-bed 'OCTAGON' (호버링 타입 자율무인잠수정 'OCTAGON'의 테스트베드 개발)

  • Choi, Dong-Ho;Lee, Young-Jin;Hong, Sung-Min;Kim, Joon-Young
    • Journal of Advanced Marine Engineering and Technology
    • /
    • v.40 no.6
    • /
    • pp.516-526
    • /
    • 2016
  • This paper introduces a hovering-type autonomous underwater vehicle (AUV) developed for research and its fundamental motion performance results obtained by simulation and field test. The AUV can control its motion in four degrees of freedom (DOF) by means of its horizontal and vertical thrusters, and it is designed to provide a test-bed that facilitates ease of operation and experimentation. Prior to the field tests, six DOF equations of motion are developed, and a simulation program is constructed using MATLAB and Simulink to verify the essential motion performance of the designed vehicle. Furthermore, a proportional-integral-derivative (PID) controller and fuzzy PID controller are designed, and their performances are verified through a simulation. Field tests are performed to verify the motion performance of the AUV; way-point tracking is executed by the PID and fuzzy PID controllers. The results confirmed appropriate control performance under current disturbances.

Development of robot control system using DSP (DSP를 이용한 로보트 제어시스템 개발)

  • Lee, Bo-Hee;Kim, Jin-Geol
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.1 no.1
    • /
    • pp.50-57
    • /
    • 1995
  • In this paper, the design and the implementation of the controller for an articulate robot, which is developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies structures by the time-division control with TMS320C31 DSP chip. The method of control is based on the fuzzy-compensated PID control with scale factor, which compensates for the influence of load variation resulting from the various postures of the robot with conventional PID scheme. The application of the proposed controller to the robot system with DC servo-motors shows some excellent control capabilities. Also, the response characteristics of system for the various trajectory commands verify the superiority of the controller.

  • PDF

Fuzzy PID Control of Warranty Claims Time Series (보증 클레임 시계열 데이터를 위한 퍼지 PID 제어)

  • Lee, Sang-Hyun;Lee, Sang-Joon;Moon, Kyung-Il;Cho, Sung-Eui
    • Journal of Information Technology Services
    • /
    • v.8 no.4
    • /
    • pp.175-185
    • /
    • 2009
  • Objectifying claims filed during the warranty period, analyzing the current circumstances and improving on the problem in question is an activity worth doing that could reduce the likelihood of claims to occur, cut down on the costs, and enhance the corporate image of the manufacturer. Existing analyses of claims are confronted with two problems. First, you can't precisely assess the risks of claims involved by means of the value of claims per 100 products alone. Second, even in a normal state, the existing approach fails to capture the probabilistic conflicts that escape the upper control limit of claims, thus leading to wrong control activities. To solve the first problem, this paper proposed that a time series detection concept where the claim rate is monitored based on the date when problems are processed and a hazard function for expression of the claim rate be utilized. For the second problem, this paper designed a model whereby to define a normal state by making use of PID (Proportion, Integral, Differential) and infer by way of a fuzzy concept. This paper confirmed the validity and applicability of the proposed approach by applying methods suggested in the actual past data of warranty claims of a large-scaled automotive firm, unlike hypothetical simulation data, in order to apply them directly in industrial job sites, as well as making theoretical suggestions for analysis of claims.

An intelligent Speed Control System for Marine Diesel Engine (선박용 디젤기관의 지능적인 속도제어시스템)

  • 오세준
    • Journal of Advanced Marine Engineering and Technology
    • /
    • v.22 no.3
    • /
    • pp.320-327
    • /
    • 1998
  • The purpose of this study is to design the intelligent speed control system for marine diesel engine by combining the Model Matching Method and the Nominal Model Tracking Method. Recently for the speed control of a diesel engine some methods using the advanced control techniques such as LQ control Fuzzy control or H$\infty$ control etc. have been reported. However most of speed controllers of a marine diesel engine developed are still using the PID control algorithm But the performance of a marine diesel engine depends highly on the parameter setting of the PID controllers. The authors proposed already a new method to tune efficiently the PID parameters by the Model Mathcing Method typically taking a marine diesel engine as a non-oscillatory second-order system. It was confirmed that the previously proposed method is superior to Ziegler & Nichols's method through simulations under the assumption that the parameters of a diesel engine are exactly known. But actually it is very difficult to find out the exact model of the diesel engine. Therefore when the model and the actual diesel engine are unmatched as an alternative to enhance the speed control characteristics this paper proposes a Model Refernce Adaptive Speed Control system of a diesel engine in which PID control system for the model of a diesel engine is adopted as the nominal model and a Fuzzy controller is adopted as the adaptive controller, And in the nominal model parameters of a diesel engine are adjusted using the Model Matching Method. it is confirmed that the proposed method gives better performance than the case of using only Model Matching Method through the analysis of the characteristics of indicial responses.

  • PDF

A Design of Auto-Tuning PID Controller using Fuzzy Reasoning (퍼지추론을 이용한 자동동조 PID 제어기의 설계)

  • Park, S.J.;Hong, H.P.;Park, J.K.;Lim, Y.C.;Cho, K.Y.
    • Proceedings of the KIEE Conference
    • /
    • 1991.11a
    • /
    • pp.345-348
    • /
    • 1991
  • This paper describes a new auto tuning method for the intelligent PID control system. This new method is hosed on the settling time of the process and has been introduced into auto-tuning PID controller using fuzzy logic. The performance of the controller is measured by computer simulation. Simulation shows good results that controller searches well the optimal values of PID parameters in any conditions and the response characteristic of the control system is improved.

  • PDF

Development of Control Algorithm for Auto-Vehicle (자동차 무인화를 위한 제어알고리즘 개발)

  • Bae, Jong-Il;Hwang, Jong-Duck
    • Proceedings of the KIEE Conference
    • /
    • 2008.07a
    • /
    • pp.1931-1932
    • /
    • 2008
  • To demonstration the efficiency of fuzzy logic controller, we carried out simulation with a automobile's transfer function. First, we designed the PID controller by using Ziegler-Nichols tunning method. Second, we calculated time response for each controller, then we compared the speed patterns of fuzzy controlled system and PID controlled system. Also we compared the difference of input variable. By comparing two controller's response, we can confirm the merit of fuzzy controller about comfortability. Fuzzy controller can reduce input changing frequency.

  • PDF

Development of Width Control System at Top of Strip for Hot Finishing Mill (열간 사상압연 선단부 폭 제어 시스템 개발)

  • Park, Cheol-Jae;Lee, Duk-Man
    • Proceedings of the KSME Conference
    • /
    • 2001.06b
    • /
    • pp.152-157
    • /
    • 2001
  • This paper presents the design method of the new controller for looper system in hot strip finishing mill. Looper response time is related to the performance of the tension control to reduce the delivery width error. The quality of the hot strip product, especially width deviation at the top of the strip, is influenced greatly by the precision of tension control. In this paper, a new fuzzy PID control system is designed to obtain the fast looper angle response and the high control precision. The computer simulation to verify the performance of the new controller is executed. From the results of the simulation, the tension control can obtain better performance than that of the conventional PID case.

  • PDF

Rotary inverted pendulum control using PID-neural network controller (PID-신경망 제어기를 이용한 rotary inverted pendulum 제어)

  • 선권석
    • Proceedings of the IEEK Conference
    • /
    • 1998.06a
    • /
    • pp.901-904
    • /
    • 1998
  • In this paper, we describes PID-neural network controller for the rotary inverted pendulum. PID control is applied to many fields but has some problems in nonlinear system due to a variation of parameter. So, we should desing the controller which is adjusted PI parameters by the neural network which is learned by backpropagation algorithm. And we show that on-line control is possible through the PID-neural network controller. The angle of the pendulum is controlled and then the position of the rotating arm is also controlled to maintain with in the set point. Measurement of the pendulum angle is obtained using a potentionmeter. The objective of the experiment is to design a PID-neural network control system that positions the arm as well as maintains the ivnerted pendulum vertical. Finally, we describe the actual experiment system and confirm the experimental results.

  • PDF

An Adaptive Speed Control of a Diesel Engine by means of a Model Matching method and the Nominal Model Tracking Method (모델 매칭법과 규범모델 추종방식에 의한 디젤기관의 적응속도제어)

  • 유희한;소명옥;박재식
    • Journal of Advanced Marine Engineering and Technology
    • /
    • v.27 no.5
    • /
    • pp.609-616
    • /
    • 2003
  • The purpose of this study is to design the adaptive speed control system of a marine diesel engine by combining the Model Matching Method and the Nominal Model Tracking Method. The authors proposed already a new method to determine efficiently the PID control Parameters by the Model Matching Method. typically taking a marine diesel engine as a non-oscillatory second-order system. But. actually it is very difficult to find out the exact model of a diesel engine. Therefore, when diesel engine model and actual diesel engine are unmatched as an another approach to promote the speed control characteristics of a marine diesel engine, this paper Proposes a Model Reference Adaptive Speed Control system of a diesel engine, in which PID control system for the model of a diesel engine is adopted as the nominal model and Fuzzy controller and derivative operator are adopted as the adaptive controller.

Development of a Self-tuning Fuzzy-PID Controller for Water Level of Steam Generator (증기발생기 수위제어를 위한 자기동조 퍼지 PID 제어기 개발)

  • Han, Jin-Wook;Lee, Chang-Goo;Han, Hoo-Seuk
    • The Transactions of the Korean Institute of Electrical Engineers A
    • /
    • v.48 no.10
    • /
    • pp.1251-1258
    • /
    • 1999
  • The water level control of a steam generator in the unclear power plant is an important process. Most of the water level controllers of the actual plant are PID controllers. But they have limitations in appling for tracking the set point and getting rid of disturbances, so there are some defects to apply in the actual ground even though many research works represented the resolutions to solve it. In this paper, it is suggested that the established simple PID controller in low power has the ability to remove disturbances and trace the set-point, and then possesses the real-time self-tuning function according to the variety of moving peculiarity of a plant. This function realized by making use of fuzzy logic. PID parameters are formulated by a variable ${\alpha}$ and made it fluctuate by a fuzzy inference according to level error and level error change. This mechanism makes application of actual plant effective as well as taking advantage of improving the efficiency of water level controller by way of adding the function of self-tuning instead of replacing PID controller. The computer simulation of this scheme shows the improved performance compare to conventional PID controller.

  • PDF