• Title/Summary/Keyword: Velocity Feedback PID

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A Study on Nonlinear PID Controller Design Using a Cell-Mediated Immune Response (세포성 면역 반응을 이용한 비선형 PID 제어기 설계에 관한 연구)

  • Park Jin-Hyun;Choi Young-Kiu
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.52 no.5
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    • pp.259-267
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    • 2003
  • In this paper, we propose a nonlinear variable PID controller using a cell-mediated immune response. An immune feedback response is based on the functioning of biological T-cells. An immune feedback response and P-controller of conventional PID controllers resemble each other in role and mechanism. Therefore, we extend immune feedback mechanism to nonlinear PE controller. And in order to choose the optimal nonlinear PID controller games, we also propose the on-line tuning algorithm of nonlinear functions parameters in immune feedback mechanism. The trained parameters of nonlinear functions are adapted to the variations of the system parameters and any command velocity. And the adapted parameters obtained outputs of nonlinear functions with an optimal control performance. To verify performances of the proposed control systems, the speed control of nonlinear BC motor is performed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system variations.

A Study on Position Control of Hydraulic Single-Rod Cylinder Subjected to Load Disturbance (부하외란을 받는 편로드 유압실린더의 위치제어에 관한 연구)

  • 윤일로;염만오
    • Journal of the Korean Society for Precision Engineering
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    • v.20 no.12
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    • pp.89-95
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    • 2003
  • A PID controller integrated with a velocity feedback is designed for fluid power elevator model system in this study. In this case, for outside disturbance load a hydraulic cylinder and a pressure control valve are used. In this method overshoot is reduced and settling time becomes also shorter than the values achieved from the PID controller system only In conclusion a PID controller integrated with a velocity feedback is considered a suitable control method for fluid power elevator system.

Effect of feedback on PID controlled active structures under earthquake excitations

  • Nigdeli, Sinan Melih
    • Earthquakes and Structures
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    • v.6 no.2
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    • pp.217-235
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    • 2014
  • In this paper, different feedback control strategies are presented for active seismic control using proportional-integral-derivative (PID) type controllers. The parameters of PID controller are found by using an numerical algorithm considering time delay, maximum allowed control force and time domain analyses of shear buildings under different earthquake excitations. The numerical algorithm scans combinations of different controller parameters such as proportional gain ($K_p$), integral time ($T_i$) and derivative time ($T_d$) in order to minimize a defined response of the structure. The controllers for displacement, velocity and acceleration feedback control strategies are tuned for structures with active control at the first story and all stories. The performance and robustness of different feedback controls on time and frequency responses of structures are evaluated. All feedback controls are generally robust for the changing properties of the structure, but acceleration feedback control is the best one for efficiency and stability of control system.

A Study on Control Characteristics of Fluid Power Elevator (유압식 엘리베이터의 제어특성에 관한 연구)

  • Yum, Man-Oh
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.2 no.3
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    • pp.41-47
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    • 2003
  • In this study an elevator plant model is made with an electro-hydraulic servo valve and a single rod cylinder. A PID controller, a velocity feedback PID controller and a MRAC controller ate designed. Experimental apparatus including an elevator plant model and these controllers are constructed. In case of experiment, external load which is made with a hydraulic cylinder and a pressure control valve burdens varying load to the elevator plant model being driven. With experiment, the control performances of three proposed control methods are compared.

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Control Characteristics Improvement of Single Rod Hydraulic Cylinder Subjected to Varying Load (가변하중을 받는 유압실린더의 제어특성개선)

  • Yum, Man-Oh
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.2 no.4
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    • pp.46-52
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    • 2003
  • For position control of electro-hydraulic servo system, single rod cylinders and double rod cylinders are used. Single rod cylinders have simple structure for manufacturing but different volume ratio of two sides induce to non-linearity in process of then mathematical modeling. So only with conventional PID control method it is difficult to control single rod cylinders precisely. For mole precise position control of single rod cylinders, a controller which is inserted a velocity feedback PID controller and MRAC controller are proposed. With experiment control performances of three control methods are compared. In case of experiment, for external varying load to the system, a hydraulic cylinder and a pressure control valve are used. In conclusion a MRAC is considered a suitable control method for external varying load.

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Nonlinear Adaptive PID Controller Desist based on an Immune Feedback Mechanism and a Gradient Descent Learning (면역 피드백 메카니즘과 경사감소학습에 기초한 비선형 적응 PID 제어기 설계)

  • 박진현;최영규
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 2002.12a
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    • pp.113-117
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    • 2002
  • PID controllers, which have been widely used in industry, have a simple structure and robustness to modeling error. But it is difficult to have uniformly good control performance in system parameters variation or different velocity command. In this paper, we propose a nonlinear adaptive PR controller based on an Immune feedback mechanism and a gradient descent teaming. This algorithm has a simple structure and robustness to system parameters variation. To verify performances of the proposed nonlinear adaptive PID controller, the speed control of nonlinear DC motor Is peformed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system parameters variation

A controller Design using Immune Feedback Mechanism (인체 면역 피드백 메카니즘을 활용한 제어기 설계)

  • Park, Jin-Hyun;Kim, Hyun-Duck;Choi, Young-Kiu
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • v.9 no.2
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    • pp.701-704
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    • 2005
  • PID controllers, which have been widely used in industry, have a simple structure and robustness to modeling error. But They are difficult to have uniformly good control performance in system parameters variation or different velocity command. In this paper, we propose a nonlinear adaptive PID controller based on a cell-mediated immune response and a gradient descent learning. This algorithm has a simple structure and robustness to system parameters variation. To verify performances of the proposed nonlinear adaptive PID controller, the speed control of nonlinear DC motor is performed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system parameters variation.

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CONTROLLER DESIGN FOR A ROBOTIC MANIPULATOR DELAYED FEEDBACK (Delayed Feedback을 이용한 로보트 제어기의 설계)

  • ;Chyung, Dong H.
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10a
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    • pp.145-148
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    • 1990
  • In this paper, the problem of designing a feedback controller for a robotic manipulator, which is activated by a D.C. motor through a gear train and a flexible shaft or chain, is considered. When the response of the closed loop control system is relatively slow, a satisfactory controller may be designed as a PID controller. As the speed of the control system increases, however, the spring effect of the linkage becomes profound, and as a result, the transient response exhibits a substantial oscillation. To eliminate this oscillation, it is necessary to design the controller based on at least a fourth order system model. This, in turn, requires the feedback of the entire state variables. In practice, however, only the position of the manipulator and the velocity of the motor are readily measurable. The state variable reconstruction method or a state observer cannot be used because of the system nonlinearities such as the Coulomb frictions. In this study, an alternative controller, which is based on delayed feedback of the output variable only, is proposed, and a successful delayed feedback controller is designed and implemented on an actual experimental manipulator.

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The velocity control system design of marine diesel engine with mechanical-hydraulic governor using w transformation method (w 변환에 의한 기계-유압식 조속기를 가진 선박용 디젤기관의 속도제어 시스템 설계)

  • Kang, C.N.;Park, J.G.;Chung, J.Y.;Roh, Y.O.
    • Proceedings of the KIEE Conference
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    • 1997.07b
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    • pp.696-698
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    • 1997
  • The marine diesel engine have been widely applied with a mechanical hydraulic governor to control the ship speed for long time. But it was recently very difficult for the mechanical hydraulic governor to control the speed of engine under the condition of low speed and low load because of jiggling by rough fluctuation of rotating torque and hunting by dead time of diesel engine. In order to analyze the speed control system the transfer function was converted from z to w transformation. The author proposed velocity control system with feedback loop by PID controller in order to stabilize for unstable area. The influence of dead time was discussed by Nichols chart and unit step response curve. It was confirmed through computer simulation that the performance improvement of a mechanical hydraulic governor can be obtained by PID controller.

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Modeling and experiment for the force/impact control via passive hardware damper

  • Oh, Y.H.;Chung, W.K.;Youm, Y.
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10b
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    • pp.172-178
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    • 1993
  • This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.

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