• Title/Summary/Keyword: Model parameter tuning

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Auto-tuning of PID/PIDA Controllers based on Step-response (스텝응답에 기반한 PID/PIDA 제어기의 자동동조)

  • Ahn, Kyung-Pil;Lee, Jun-Sung;Lim, Jae-Sik;Lee, Young-Il
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.10
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    • pp.974-981
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    • 2009
  • In this paper, a method of auto-tuning of PID (Proportional-Integral-Derivative) and PIDA (Proportional-Integral-Derivative-Acceleration) controllers is proposed that can be applied to a time-delayed second order model. The proposed identification method is based on step responses, but it can be easily automated rising digital controller unlike the existing graphical identification methods. We provide a ways to yield parameter identifications which is independent to initial values of the plants. The tuning rule is based on the pole-placement strategy and is formulated so that it can be implemented using a digital controller with ease.

Self-Tuning Controller design for the motion control of a Single Rod Hydraulic Cylinder (편로드 유압실린더의 운동제어를 위한 자기동조 제어기설계)

  • 김정태;김문생
    • Journal of KSNVE
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    • v.8 no.3
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    • pp.441-449
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    • 1998
  • A self-tuning control scheme, incorporated with the simplified 1st-order ARMAX(Auto-Regressive Moving Average eXogenous) model, for single rod hydraulic cylinder which has varying dynamic characteristics is presented here. An adaptive controller is developed for the system that uses feedforward and optimal feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the self-tuning controller with a fixed gain proportional controller clearly shows its superior ability in handling load changes in quiescent states.

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Application of SIMC Based Quad-rotor Cascade Control by Using 1-axis Attitude Control Test-bench (1축 자세제어실험 장비를 이용한 SIMC 기반 쿼드로터 Cascade 제어기 적용에 관한 연구)

  • Choi, Yun-sung;You, Young-jin;Jeong, Jin-seok;Kang, Beom-soo
    • Journal of Advanced Navigation Technology
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    • v.19 no.6
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    • pp.473-483
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    • 2015
  • This paper reports the single-input-single-output cascade control by using 1-axis attitude control test-bench for quad-rotor UAV. The test-bench was designed as a see-saw shape using 2 motors and propellers, and to enable changing the center of gravity with the center of gyration using ballast. The experiment was carried out by constructing a PID-PID controller having a cascade structure with the test-bench. The SIMC based PID gain tuning process, which makes PID gain tuning easy, was grafted to cascade control. To graft SIMC method, the system parameter estimation result was conducted with second order time delay model by using Matlab-Simulink. Gain tuning was conducted by simulating with estimated system parameter. In this paper, the conventional application of SIMC was conducted and improved application was proposed for improving stability at tuning process.

Automatic Selection of the Turning Parametter in the Minimum Density Power Divergence Estimation

  • Changkon Hong;Kim, Youngseok
    • Journal of the Korean Statistical Society
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    • v.30 no.3
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    • pp.453-465
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    • 2001
  • It is often the case that one wants to estimate parameters of the distribution which follows certain parametric model, while the dta are contaminated. it is well known that the maximum likelihood estimators are not robust to contamination. Basuet al.(1998) proposed a robust method called the minimum density power divergence estimation. In this paper, we investigate data-driven selection of the tuning parameter $\alpha$ in the minimum density power divergence estimation. A criterion is proposed and its performance is studied through the simulation. The simulation includes three cases of estimation problem.

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Implementation of self-tuning PlD-Controller based on predictive control technique (예측 제어기법을 이용한 자기동조 PID 제어기의 구현)

  • Yu, Y.W.;Kim, J.M.;Kim, S.J.;Lee, C.K.
    • Proceedings of the KIEE Conference
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    • 1992.07a
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    • pp.333-336
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    • 1992
  • In this paper, We propose a PID-type of self-tuning algorithm which is based on the parameter estimation and the minimization of the cost function. We use the CARIMA model for parameter estimation and determine the discrete PID controller parameters by minimizing the cost function which considers the quadratic deviations of the predicted output over the set-point as well as the control efforts. Also, The algorithm is extended by incorporating constraints of the control signal. Simulations are performed to illustrate the efficiency of the proposed method.

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A Study on Tuning Method of Turbine Speed Controller Using Fuzzy Inference (퍼지추론을 이용한 수차 속도제어기 동조기법에 관한 연구)

  • Lee, J.H.;Kim, W.H.;Paik, D.H.;Sung, K.M.;Shin, G.W.
    • Proceedings of the KIEE Conference
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    • 1993.07a
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    • pp.316-318
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    • 1993
  • In order to estimation the optimum PID parameter of the turbine speed controller, the response cure of the object plant was compared with the reference pattern and then the magnitude peak value error and peak time error was calculated. With the calculated errors as input into the Fuzzy inference Method was introduced to propose the tuning method for each parameter. And the computer simulation was performed with the above Fuzzy inference method in which the Chunju hydro power plant turbine governor system was used as a model. This Study also aims to develop the exclusive tuner for govenor using industrial computer.

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Real-Time Multiple-Parameter Tuning of PPF Controllers for Smart Structures by Genetic Algorithms (유전자 알고리듬을 이용한 지능구조물의 PPF 제어기 실시간 다중변수 조정)

  • Heo, Seok;Kwak, Moon-Kyu
    • Journal of KSNVE
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    • v.11 no.1
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    • pp.147-155
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    • 2001
  • This paper is concerned with the real-time automatic tuning of the multi-input multi-output positive position feedback controllers for smart structures by the genetic algorithms. The genetic algorithms have proven its effectiveness in searching optimal design parameters without falling into local minimums thus rendering globally optimal solutions. The previous real-time algorithm that tunes a single control parameter is extended to tune more parameters of the MIMO PPF controller. We employ the MIMO PPF controller since it can enhance the damping value of a target mode without affecting other modes if tuned properly. Hence, the traditional positive position feedback controller can be used in adaptive fashion in real time. The final form of the MIMO PPF controller results in the centralized control, thus it involves many parameters. The bounds of the control Parameters are estimated from the theoretical model to guarantee the stability. As in the previous research, the digital MIMO PPF control law is downloaded to the DSP chip and a main program, which runs genetic algorithms in real time, updates the parameters of the controller in real time. The experimental frequency response results show that the MIMO PPF controller tuned by GA gives better performance than the theoretically designed PPF. The time response also shows that the GA tuned MIMO PPF controller can suppress vibrations very well.

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The Analysis and Adjustment for the Control Parameter of HVDC System (HVDC 시스템의 제어 게인에 대한 분석 및 정정)

  • Kim, Chan-Ki
    • The Transactions of the Korean Institute of Power Electronics
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    • v.11 no.2
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    • pp.184-191
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    • 2006
  • This paper deals with the HVDC system fault analysis and the tuning of the control parameter. This paper is based on the actual cable fault which was caused by the overvoltage due to commutation failure. In order to analyze the fault, the detailed PSCAD/EMTDC model which the sampling time is $50{\mu}s$, was made. Finally, the control parameter of HVDC system was tuned.

Model updation using multiple parameters influencing servoelastic response of a flexible aircraft

  • Srinivasan, Prabha;Joshi, Ashok
    • Advances in aircraft and spacecraft science
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    • v.4 no.2
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    • pp.185-202
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    • 2017
  • In a flexible airvehicle, an assessment of the structural coupling levels through analysis and experiments provides structural data for the design of notch filters which are generally utilized in the flight control system to attenuate the flexible response pickup. This is necessitated as during flight, closed loop control actuation driven with flexible response inputs could lead to stability and performance related problems. In the present work, critical parameters influencing servoelastic response have been identified. A sensitivity study has been carried out to assess the extent of influence of each parameter. A multi-parameter tuning approach has been implemented to achieve an enhanced analytical model for improved predictions of aircraft servoelastic response. To illustrate the model updation approach, initial and improved test analysis correlation of lateral servoelastic responses for a generic flexible airvehicle are presented.

An Edge-Based Algorithm for Discontinuity Adaptive Image Smoothing (에지기반의 불연속 경계적응 영상 평활화 알고리즘)

  • 강동중;권인소
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.273-273
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    • 2000
  • We present a new scheme to increase the performance of edge-preserving image smoothing from the parameter tuning of a Markov random field (MRF) function. The method is based on automatic control of the image smoothing-strength in MRF model ing in which an introduced parameter function is based on control of enforcing power of a discontinuity-adaptive Markov function and edge magnitude resulted from discontinuities of image intensity. Without any binary decision for the edge magnitude, adaptive control of the enforcing power with the full edge magnitude could improve the performance of discontinuity-preserving image smoothing.

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