• Title/Summary/Keyword: nonlinear PID

Search Result 272, Processing Time 0.035 seconds

Nonlinear PID Controller with Neural Network based Compensator (신경회로망 보상기를 갖는 비선형 PID 제어기)

  • Lee, Chang-Gu
    • The Transactions of the Korean Institute of Electrical Engineers D
    • /
    • v.49 no.5
    • /
    • pp.225-234
    • /
    • 2000
  • In this paper, we present an nonlinear PID controller with network based compensator which consists of a conventional PID controller that controls the linear components and neuro-compensator that controls the output errors and nonlinear components. This controller is based on the Harris's concept where he explained that the adaptive controller consists of the PID control term and the disturbance compensating term. The resulting controller's architecture is also found to be very similar to that of Wang's controller. This controller adds a self-tuning ability to the existing PID controller without replacing it by compensating the output errors through the neuro-compensator. Various simulations and comparative studies have proven that the proposed nonlinear PID controller produces superior results to other existing PID controllers. When applied to an actual magnetic levitation system which is known to be very nonlinear, it has also produced an excellent results.

  • PDF

Design of Nonlinear PID Controller Based on Immune Feedback Mechanism (면역 피드백 메카니즘에 기초한 비선형 PID 제어기 설계)

  • Park Jin-Hyun;Choi Young-Kiu
    • The Transactions of the Korean Institute of Electrical Engineers D
    • /
    • v.52 no.3
    • /
    • pp.134-141
    • /
    • 2003
  • PID controllers with constant gains have been widely used in various control systems due to its powerful performance and easy implementation. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a nonlinear variable PR controller with immune feedback mechanism. An immune feedback mechanism is based on the functioning of biological T-cells, they include both an active term, which controls response speed. and an inhibitive term, which controls stabilization effect. Therefore, the proposed nonlinear PID controller is based on immune responses of biological. immune feedback mechanism which is the cell mediated immunity and In order to choose the optimal nonlinear PID controller games, we also propose the tuning algorithm of nonlinear function parameter in immune feedback mechanism. To verify performance of the proposed algorithm, the speed control of nonlinear DC motor are performed. Front the simulation results, we have found that the proposed algorithm is more superior to the conventional constant fain PID controller.

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
    • /
    • v.52 no.5
    • /
    • pp.259-267
    • /
    • 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.

Nonlinear Hydraulic System Control Using Fuzzy PID Control Technique (퍼지 PID 제어 기법을 이용한 비선형 유압시스템의 제어)

  • 박장호;김종화;류기석
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2000.10a
    • /
    • pp.69-69
    • /
    • 2000
  • Control systems using a hydraulic cylinder as an actuator are modeled to a nonlinear system owing to varying of moments and nonlinearities of hydraulic itself. In this paper, we want to control nonlinear hydraulic systems by adopting the fuzzy PID control technique which include nonlinear time varying control parameters. To do this, we propose the design method of fuzzy Pm controller and in order to assure effectiveness of fuzzy PID controller, computer simulations were executed for the control system.

  • PDF

Embedded Hardware Implementation of an FPGA Based Nonlinear PID Controller for the ROBOKER Arm (ROBOKER 팔의 제어를 위한 FPGA 기반 비선형 제어기의 임베디드 하드웨어 구현)

  • Kim, Jeong-Seob;Jeon, Hyo-Won;Jung, Seul
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.13 no.12
    • /
    • pp.1153-1159
    • /
    • 2007
  • This paper presents the hardware implementation of nonlinear PID controllers for the ROBOKER humanoid robot arms. To design the nonlinear PID controller on an FPGA chip, nonlinear functions as well as the conventional PID control algorithm have to be implemented by the hardware description language. Therefore, nonlinear functions such as trigonometric or exponential functions are designed on an FPGA chip. Simulation studies of the position control of humanoid arms are conducted and results are compared. Superior performances by the nonlinear PID controllers are confirmed when disturbances are present. Experiments of humanoid robot arm control tasks are conducted to confirm the performance of our hardware design and the simulation results.

Nonlinear Adaptive PID Controller based on a Cell-mediated Immune Response and a Gradient Descent Learning (세포성 면역 반응과 경사감소학습에 의한 비선형 적응 PID 제어기)

  • Park Jin-Hyun;Lee Tae-Hwan;Choi Young-Kiu
    • Journal of the Korea Institute of Information and Communication Engineering
    • /
    • v.10 no.1
    • /
    • pp.88-95
    • /
    • 2006
  • PID controllers, which have been widely used in industry, have a simple structure and robustness to modeling error. But They we 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.

Optimal tuning method for nonlinear PI controllers (비선형 PI 제어기의 최적 조율법)

  • 이동권;곽철규;이문용
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1996.10b
    • /
    • pp.1392-1395
    • /
    • 1996
  • Nonlinear PID controllers have increasingly used in current industrial practice because it is robust and is easy to operate. Little guideline and tuning method, however, has been recommended for the nonlinear PID controllers while a lot of result is available for the linear PID controllers. Application guideline and tuning formulae are presented for error square type nonlinear controllers, which are most popular currently, are presented.

  • PDF

Adaptive PID Controller for Nonlinear Systems using Fuzzy Model (퍼지 모델을 이용한 비선형 시스템의 적응 PID 제어기)

  • Kim, Jong-Hua;Lee, Won-Chang;Kang, Geun-Taek
    • Journal of the Korean Institute of Intelligent Systems
    • /
    • v.13 no.1
    • /
    • pp.85-90
    • /
    • 2003
  • This paper presents an adaptive PID control scheme for nonlinear system. TSK(Takagi-Sugeno-Kang) fuzzy model is used to estimate the error of control input, and the parameters of PID controller are adapted using the error. The parameters of TSK fuzzy model also adapted to plant. The proposed algorithm allows designing adaptive PID controller which Is adapted to the uncertainty of nonlinear plant and the change of parameters. The usefulness of the proposed algorithm is also certificated by the several simulations.

Design of a nonlinear Multivariable Self-Tuning PID Controller based on neural network (신경회로망 기반 비선형 다변수 자기동조 PID 제어기의 설계)

  • Cho, Won-Chul
    • Journal of the Institute of Electronics Engineers of Korea SC
    • /
    • v.44 no.6
    • /
    • pp.1-10
    • /
    • 2007
  • This paper presents a direct nonlinear multivariable self-tuning PID controller using neural network which adapts to the changing parameters of the nonlinear multivariable system with noises and time delays. The nonlinear multivariable system is divided linear part and nonlinear part. The linear controller are used the self-tuning PID controller that can combine the simple structure of a PID controllers with the characteristics of a self-tuning controller, which can adapt to changes in the environment. The linear controller parameters are obtained by the recursive least square. And the nonlinear controller parameters are achieved the through the Back-propagation neural network. In order to demonstrate the effectiveness of the proposed algorithm, the computer simulation results are presented to adapt the nonlinear multivariable system with noises and time delays and with changed system parameter after a constant time. The proposed PID type nonlinear multivariable self-tuning method using neural network is effective compared with the conventional direct multivariable adaptive controller using neural network.

Self-tuning Nonlinear PID Control Using Neural Network (신경망을 이용한 자기동조 비선형 PID제어)

  • Kim, Dae-Ho;Kim, Jung-Wook;Seo, Bo-Hyeok
    • Proceedings of the KIEE Conference
    • /
    • 2001.07d
    • /
    • pp.2102-2104
    • /
    • 2001
  • This paper present the strategy of self-tuning nonlinear PID control using neural network. The nonlinear PID controller consists of a conventional PID controller and a neural network compensator. The neural network is trained by back-propagation algorithm. In this paper we propose modified back-propagation algorithm to improve learning speed. The results of simulation show the usefulness of the proposed scheme.

  • PDF