• Title/Summary/Keyword: Ziegler-Nichols method

Search Result 91, Processing Time 0.032 seconds

PID control with parameter scheduling using fuzzy logic

  • Kwak, Jae-Hyuck;Jeon, Gi-Joon
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1994.10a
    • /
    • pp.449-454
    • /
    • 1994
  • This paper describes new PID control methods based on the fuzzy logic. PID gains are retuned after evaluating control performances of transient responses in terms of performance features. The retuning procedure is based on fuzzy rules and reasoning accumulated from the knowledge of experts on PID gain scheduling. For the case that the retuned PID gains result in worse CLDR (characteristics of load disturbance rejection) than the initial gains, an on-line tuning scheme of the set-point weighting parameter is, proposed. This is based on the fact that the set-point weighting method efficiently reduce either overshoot or undershoot without any degradation of CLDR. The set-point weighting parameter is adjusted at each sampling instant by the fuzzy rules and reasoning. As a result, better control performances were achived in comparison with die controllers tuned by the Z-N (Ziegler-Nichols) parameter tuning formula or by the fixed set-point weighting parameter.

  • PDF

A Study on Improvement of Automatic Vehicle´s Comfortability using Fuzzy Controller

  • Il, Bae-Jong;Park, H.S.;Park, Yeon-Wook;Yeun, Hwnag-Yeong;Ha M.K.
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2001.10a
    • /
    • pp.128.4-128
    • /
    • 2001
  • Based on fuzzy logic algorithm this paper constructed fuzzy logic controller for automated vehicles. For passenger´s convenience especially comfortability controller need to reduce the frequency of input variable´s changing. So we established membership functions for comfortability as well as speed following. It made possible to control comfortability directly. 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 ...

  • PDF

Robotic Deburring for Casting(TRajectory Control of Grinder by PID Flow Rate Control (주물의 디버링(Deburring) 로봇에 관한 연구(PID유량제어에 의한 그라인디의 목표궤도제어))

  • 강순동;허만조;원경;횡천융일
    • Proceedings of the Korean Society for Technology of Plasticity Conference
    • /
    • 1995.03a
    • /
    • pp.131-144
    • /
    • 1995
  • This paper presetns modifications of a hydraulic shovel to robotize, and we derive a dynamic model of the hydraulic shovel arms,and hydraulic analysis are discussed . Then , our purpose is making to imitate a target railroad line of the grinder position by the PID control. Moreover, to determine the gains of the PId controller, we referenced the Ziegler and Nichols' method. In this paper, we demonstrated that the PID control is available for system. These results indicated the possibility of practical use fo the deburring robot with the hydraulic shovel.

  • PDF

Automatic Automobile Control System with Multi-Sensor (다중센서를 이용한 무인자동차 제어시스템)

  • Han, Chang-Woo;Choi, Won-Sik
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.4 no.3
    • /
    • pp.339-347
    • /
    • 2001
  • Automatic automobile has been studied as the alternative energy system and the production flow automation device recently. But this is dependent on the import production, and its position cannot be controlled free from the fixed path. It is difficult to control the automobile position because of the eccentricity of inertia monent, slip and roughness between wheel and road surface. This problems is solved for the controller to be feedbacked the data of the multi-sensor system consisting of the rotary encoder and electronic compass. The proportional Integrated controller in the modified Ziegler-Nichols method is made up with Hitachi 7034 microprocessor. To the real time control the mechanical, electrical and electronic hardware and software device is produced by myself. The RF data of automobile speed and position is supplied to the remote PC to be displayed the automobile condition. By the experinent of the forward, spin, point path planning, it is known for autombile.

  • PDF

Fuzzy PID Controller Design and Auto Tuning (퍼지 PID 제어기 설계 및 자동 동조)

  • Im, Jeong-Heum;Lim, Hyung-Soon;Lee, Chang-Goo
    • Proceedings of the KIEE Conference
    • /
    • 2000.07d
    • /
    • pp.2651-2654
    • /
    • 2000
  • In this paper, we re-analyzed the fuzzy controller as conventional PID controller structure, and proposed a self tuning fuzzy PID controller whose input output scaling factors were tuned automatically. At first stage, the tuning parameters of fuzzy controller were determined by Ziegler-Nichols tuning method and then they were adjusted as the delay time and process environment were changed. Proposed controller was simple in its structrue and computational burden was small so that on line adaptation was easy to apply to. The result of computer simulation and practical experiment showed the proposed controller's excellent performance

  • PDF

Auto-tuning of boiler drum level controller in Thermal Power Plant (화력 발전소 보일러 드럼수위 제어기의 자동 동조)

  • Lee, J.H.;Joo, H.Y.;Byun, H.S.
    • Proceedings of the KIEE Conference
    • /
    • 2000.07d
    • /
    • pp.2584-2586
    • /
    • 2000
  • A drum level control is one of the most important control systems in thermal power plant. The control objective of drum level of boiler in thermal power plant is to maintain drum level at constant set-point regardless of disturbance such as main steam flow. The implemented drum level controller is the cascade PI controller. The important factor in drum level controller is the parameters of two PI controllers. The tuning of PI controller parameter is tedious and time-consuming job. In this paper, the relay feedback Ziegler - Nichols tuning method extended to auto-tune cascade PI drum level controller. Finally, the simulation result using boiler model in Power Plant shows the validity of auto-tuned cascade PI controller.

  • PDF

A Basic Study on the constant Tension control with variable PID as a function of inertia moment in the winding roll System (면취기 시스템에 있어서 부하의 관성모멘트에 따른 가변 PID 일정 장력제어의 기초연구)

  • Heo, Jin;Jun, Hong-Bae;Kim, Chul-Han;Sa-Gong, Geon
    • Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
    • /
    • 2000.07a
    • /
    • pp.654-657
    • /
    • 2000
  • In the winding system, the constant tension control is too important. In this study, we've used a variable PID system as a function of a radius of winding roll. As a result, it was possible to measure a winding roll radius in the real time by making a mathematical model for measuring a winding roll radius. Finally, we've compared PID parameters as a function of winding roll radius after getting PID parameters in terms of the Ziegler & Nichols(ZN) method.

  • PDF

3-DOF Attitude Control of a Model Helicopter based on Explicit Decoupling and Adaptive Control Scheme

  • Park, M.S.;S.K. Hong
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2001.10a
    • /
    • pp.85.6-85
    • /
    • 2001
  • This paper describes a 3-DOF attitude control of a small model helicopter in hover through explicit decoupling and adaptive control scheme. A model helicopter mounted on gimbal-stand is considered as a system that has 3 independent SISO systems representing motions about roll, pitch and yaw axis and these subsystems are identified from the test flight data. In this consideration, the contribution of others to yaw channel is neglected since it is relatively small. Two PID controllers based on Ziegler-Nichols method are designed for roll pitch channels independently. Also, adaptive fuzzy tuner is designed and applied to those PID controllers to cope with coupling effects between each channel and system uncertainties due to variation of engine RPM. The experimental results show that the attitude control ...

  • PDF

Design of RCGA-based PID controller for two-input two-output system

  • Lee, Yun-Hyung;Kwon, Seok-Kyung;So, Myung-Ok
    • Journal of Advanced Marine Engineering and Technology
    • /
    • v.39 no.10
    • /
    • pp.1031-1036
    • /
    • 2015
  • Proportional-integral-derivative (PID) controllers are widely used in industrial sites. Most tuning methods for PID controllers use an empirical and experimental approach; thus, the experience and intuition of a designer greatly affect the tuning of the controller. The representative methods include the closed-loop tuning method of Ziegler-Nichols (Z-N), the C-C tuning method, and the Internal Model Control tuning method. There has been considerable research on the tuning of PID controllers for single-input single-output systems but very little for multi-input multi-output systems. It is more difficult to design PID controllers for multi-input multi-output systems than for single-input single-output systems because there are interactive control loops that affect each other. This paper presents a tuning method for the PID controller for a two-input two-output system. The proposed method uses a real-coded genetic algorithm (RCGA) as an optimization tool, which optimizes the PID controller parameters for minimizing the given objective function. Three types of objective functions are selected for the RCGA, and each PID controller parameter is determined accordingly. The performance of the proposed method is compared with that of the Z-N method, and the validity of the proposed method is examined.

A Study on PID Gain Auto Tuning for Steering Type mobile robot (조향형 이동로봇을 위한 PID 이득 자동 튜닝에 관한 연구)

  • Jung, Se-Young;Yang, Tae-Kyu
    • Journal of Satellite, Information and Communications
    • /
    • v.11 no.4
    • /
    • pp.39-43
    • /
    • 2016
  • In this paper, we propose PID gain auto tuning method in steering type mobile robot. PID controller gain select method are various methods. Ziegler-Nichols step tuning method is one method tuning in PID controller. Use step tuning method find a the first gain and did experiment in steering mobile robot. and Make a new the second gains from the first gains. After appling the second gain in PID controller, Where perform observe for convergence time and stabilization error. Experiments result the second gain are useful in real steering mobile robot system.