• Title/Summary/Keyword: I-PD Control

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Design of the PD Controller in the I-PD Control System for Position Control (위치제어를 위한 I-PD제어계에서 PD제어기의 설계)

  • Kim, Sung-Dae
    • Journal of the Institute of Convergence Signal Processing
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    • v.10 no.4
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    • pp.262-266
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    • 2009
  • Since high speed and precision control shoud be satisfied in the position control system, the DC servo motor with easy control and satisfactory response characteristic is used. The various studies of position control techniques have been proposed in order to improve the control performance in the position control system. In this paper, the design method for a position control is suggested for constructing the PD controller in I-PD control system. The coefficients of PD controller in the I-PD control system are determined by using the transfer function which is normalized. Stability and root conditions of the system are derived from mathematical technique. From the result of computer simulation in I-PD control system by applying this control technique, is investigated by the method of proposed design the effectiveness of system response characteristic for input and disturbance.

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Construction of the expanded I-PD control system by Neural network with two hidden layers (2개의 은닉층을 가진 신경망에 의한 확대 I-PD제어계의 구성)

  • 강동원;김대성;하홍곤;고태언
    • Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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    • 1999.11a
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    • pp.256-261
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    • 1999
  • Many control techniques have been proposed in order to improve the control performance of discrete-time domain control system. In the position control system using a DC servo motor as control system, the response-characteristic of system is controlled by the I-PD controller. In the I-PD longer if gains of I-PD controller are unsuitable. In this paper, therefore, a expanded I-PD control system is constructed by inserting a pre-compensator at out terminal of I-PD controller. It is implemented by neural network with two hidden layers. From the result of computer simulation in the proposed control algorithm, its usefulness is verified.

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A High-Performance Induction Motor Drive with 2DOF I-PD Model­Following Speed Controller

  • El-Sousy Fayez F. M.
    • Journal of Power Electronics
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    • v.4 no.4
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    • pp.217-227
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    • 2004
  • A robust controller that combines the merits of the feed-back, feed-forward and model-following control for induction motor drives utilizing field orientation control is designed in this paper. The proposed controller is a two-degrees-of­freedom (2DOF) integral plus proportional & rate feedback (I-PD) speed controller combined with a model-following (2DOF I-PD MFC) speed controller. A systematic mathematical procedure is derived to find the parameters of the 2DOF I-PD MFC speed controller according to certain specifications for the drive system. Initially, we start with the I-PD feed­back controller design, then we add the feed-forward controller. These two controllers combine to form the 2DOF I-PD speed controller. To realize high dynamic performance for disturbance rejection and set point tracking characterisitics, a MFC controller is designed and added to the 2DOF I-PD controller. This combination is called a 2DOF I-PD MFC speed controller. We then study the effect of the 2DOF I-PD MFC speed controller on the performance of the drive system under different operating conditions. A computer simulation is also run to demonstrate the effectiveness of the proposed controller. The results verify that the proposed 2DOF I-PD MFC controller is more accurate and more reliable in the presence of load disturbance and motor parameter variations than a 2DOF I-PD controller without a MFC. Also, the proposed controller grants rapid and accurate responses to the reference model, regardless of whether a load disturbance is imposed or the induction machine parameters vary.

Design of Fuzzy PD+I Controller Based on PID Controller

  • Oh, Sea-June;Yoo, Heui-Han;Lee, Yun-Hyung;So, Myung-Ok
    • Journal of Navigation and Port Research
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    • v.34 no.2
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    • pp.117-122
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    • 2010
  • Since fuzzy controllers are nonlinear, it is more difficult to set the controller gains and to analyse the stability compared to conventional PID controllers. This paper proposes a fuzzy PD+I controller for tracking control which uses a linear fuzzy inference(product-sum-gravity) method based on a conventional linear PID controller. In this scheme the fuzzy PD+I controller works similar to the control performance as the linear PD plus I(PD+I) controller. Thus it is possible to analyse and design an fuzzy PD+I controller for given systems based on a linear fuzzy PD controller. The scaling factors tuning scheme, another topic of fuzzy controller design procedure, is also introduced in order to fine performance of the fuzzy PD+I controller. The scaling factors are adjusted by a real-coded genetic algorithm(RCGA) in off-line. The simulation results show the effectiveness of the proposed fuzzy PD+I controller for tracking control problems by comparing with the conventional PID controllers.

Design of Nonlinear Fuzzy I+PD Controller Using Simplified Indirect Inference Method (간편간접추론방법을 이용한 비선형 퍼지 I+PD 제어기의 설계)

  • Chai, Chang-Hyun;Chae, Seok;Park, Jae-Wan;Yoon, Myong-Kee
    • Proceedings of the KIEE Conference
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    • 1999.07g
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    • pp.2898-2901
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    • 1999
  • This paper describes the design of nonlinear fuzzy I+PD controller using simplified indirect inference method. First, the fuzzy I+PD controller is derived from the conventional continuous time linear I+PD controller. Then the fuzzification, control-rule base, and defuzzification using SIIM in the design of the fuzzy controller are discussed in detail. The resulting controller is a discrete time fuzzy version of the conventional I+PD controller. which has the same linear structure. but are nonlinear functions of the input signals. The proposed controller enhances the self-tuning control capability. Particularly when the process to be controlled is nonlinear When the SIIM is applied, the fuzzy inference results can be calculated with splitting fuzzy variables into each action component and are determined as the functional form of corresponding variables. So the proposed method has the capability of the high speed inference and adapting with increasing the number of the fuzzy input variables easily. Computer simulation results have demonstrated the superior to the control performance of the one Proposed by D. Misir et at.

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Construction of the I-PD Control System by Multilayer Neural Network (다층 신경망에 의한 I-PD 제어계의 구성)

  • 고태언
    • Journal of the Institute of Convergence Signal Processing
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    • v.3 no.1
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    • pp.74-79
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    • 2002
  • Many control techniques have been proposed in order to improve the control performance in discrete-time domain control system. In control system using these techniques, the response-characteristic of system is dependent on the gains of the controller. Specially, There is a need to readjust the gain of controller when the response of system is changed by disturbance or load fluctuation. In this paper, I-PD controller and pre-compensator are designed by multilayer neural network. The gains of I-PD controller and pre-compensator are adjusted automatically by back propagation algorithm when the response characteristic of system is changed under a condition. Applying this control technique to the position control system using a DC servo motor as a driver, the control performance of controller is verified by the results of experiment.

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Fuzzy PD+I Control Method for Two-wheel Balancing Mobile Robot (퍼지 PD+I 제어 방식을 적용한 Two-wheel Balancing Mobile Robot)

  • Eom, Ki-Hwan;Lee, Kyu-Yun;Lee, Hyun-Kwan;Kim, Joo-Woong
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.45 no.1
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    • pp.1-8
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    • 2008
  • A two-wheel balancing vehicle, which helps people moving freely and fast, and is applied from inverted pendulum system, has been widely researched and developed, and some products are came into a market in actuality. Until now, the two-wheel balancing vehicles developed have chosen the general PID control method. In this paper, we propose a new control method to improve a control capacity for a two-wheeled balancing vehicle for human transportation. The proposed method is the fuzzy PD+I control that is one of the improved PID control, and it contains a 2input-1output fuzzy system. This fuzzy system processes signals from proportional and derivative controller, and the fuzzy output signal generates the final output by summing up integral signal. The non-linearity of the fuzzy system makes an optimal output control signal by changing weight of the proportional signal and the derivative signal in process of time. We have simulated the fuzzy PD+I control system and experimented by implementing the two-wheel balancing mobile robot to verify the advantages of the proposed fuzzy PD+I control method in comparison with general PID control. As the results of simulation and experimentation, the proposed fuzzy PD+I control method has better control performance than general PID in this system and improves it.

Hybrid I-PD control for pneumatic cylinders with fuzzy theory

  • Inohana, Kenichiro;Fujiwara, Atsushi;Ishida, Yoshihisa
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10a
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    • pp.193-196
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    • 1996
  • A pneumatic cylinder has been used in the production facilities of various industries. However, it is difficult to achieve deciding the precise position of the piston rod, due to the nonlinear properties arising from the air compression and the friction. In recent years, the fuzzy control algorithm has been frequently applied to various kinds of systems on account of its simple algorithm, good adaptability to complex or nonlinear systems and so on. On the other hand, the PID or I-PD control has been used in many engineering fields because of the excellent performance. However, it is known that each one of them has disadvantages. In this paper, we propose a hybrid control which is strived to obtain the advantages of each other. It is shown that the proposed hybrid control performs better than the conventional I-PD control through the experimental results.

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A Design of I-PD Controller using CDM

  • Choo, Yeon-Gyu;Lee, Kwang-Seok;Kim, Hyun-Deok;Lee, Chang-Ho;Kim, Seong-Cheol
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2007.10a
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    • pp.681-684
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    • 2007
  • This paper proposed and designed I-PD Controller using Shunji Manabe's CDM. The designed controller is applied to a level control system. The designed I-PD controller is smaller steady state error and get a specific response. A simulation results, the designed controller was better than a Fuzzy I-PD controller on a level control system.

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Research on Fuzzy I-PD Optimal Preview Control

  • Wang, Dong;Aida, Kazuo
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.483-483
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    • 2000
  • The Fuzzy Preview Control (FPC) design methodology using I-PD Preview Control (IPC) and Optimal Preview Control (OPC)[6] are discussed in this paper. First we show a new fuzzy controller with single input single output, and build a relationship between it and the I-PD Control proposed by Kitamari, as well as Optimal Control with some specific equations. We also give the stability analysis with Lyapunov theorem. On this way, we can design a Fuzzy I-PD Controller (FIC) very easier and more effective. Then, preview control element design methodology of FCP was given according to IPC and OPC. Third, to make the system more rapidly and more little overshooting, two factors are given to adjust the controller's properties. At last, the performance of FPC is revealed via computer simulation using a nonlinear plant.

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