• Title/Summary/Keyword: nonlinear PID controller

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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
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    • v.49 no.5
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    • pp.225-234
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    • 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.

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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
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    • v.52 no.3
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    • pp.134-141
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    • 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
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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.

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

  • 박장호;김종화;류기석
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.69-69
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    • 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.

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Stability Analysis and Proposal of a Simple Form of a Fuzzy PID Controller

  • Lee, Byung-Kyul;Kim, In-Hwan;Kim, Jong-Hwa
    • Journal of Advanced Marine Engineering and Technology
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    • v.28 no.8
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    • pp.1299-1312
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    • 2004
  • This paper suggests the simple form of a fuzzy PID controller and describes the design principle, tracking performance, stability analysis and changes of parameters of a suggested fuzzy PID controller. A fuzzy PID controller is derived from the design procedure of fuzzy control. It is well known that a fuzzy PID controller has a simple structure of the conventional PID controller but posses its self-tuning control capability and the gains of a fuzzy PID controller become nonlinear functions of the inputs. Nonlinear calculation during fuzzification, defuzzification and the fuzzy inference require more time in computation. To increase the applicability of a fuzzy PID controller to digital computer, a simple form of a fuzzy PID controller is introduced by the backward difference mapping and the analysis of the fuzzy input space. To guarantee the BIBO stability of a suggested fuzzy PID controller, ‘small gain theorem’ which proves the BIBO stability of a fuzzy PI and a fuzzy PD controller is used. After a detailed stability analysis using ‘small gain theorem’, from which a simple and practical method to decide the parameters of a fuzzy PID controller is derived. Through the computer simulations for the linear and nonlinear plants, the performance of a suggested fuzzy PID controller will be assured and the variation of the gains of a fuzzy PID controller will be investigated.

A Study on the Performance Improvement of a Nonlinear Fuzzy PID Controller (비선형 퍼지 PID 제어기의 성능 개선에 관한 연구)

  • 김인환;이병결;김종화
    • Journal of Advanced Marine Engineering and Technology
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    • v.27 no.7
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    • pp.852-861
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    • 2003
  • In this paper, in order to improve the disadvantages of the fixed design-parameter fuzzy PID controller. a new fuzzy PID controller named a variable design-parameter fuzzy PID controller is suggested. The main characteristic of the suggested controller is to adjust design-parameters of the controller by comparing magnitudes between fuzzy controller inputs at each sampling time when controller inputs are measured. As a result. all fuzzy input partitioned spaces converge within a time-varying normalization scale. and the resultant PID control action can always be applied precisely regardless of operating input magnitudes. In order to verify the effectiveness of the suggested controller. several a computer simulations for a nonlinear system are executed and the control parameters of the variable design-parameter fuzzy PID controller are throughly analyzed.

Neural Network based Fuzzy Type PID Controller Design (신경 회로망 기반 퍼지형 PID 제어기 설계)

  • 임정흠;권정진;이창구
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.86-86
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    • 2000
  • This paper describes a neural network based fuzzy type PID control scheme. The PID controller is being widely used in industrial applications. however, it is difficult to determine the appropriate PID gains for (he nonlinear system control. In this paper, we re-analyzed the fuzzy controller as conventional PID controller structure, and proposed a neural network based fuzzy type PID controller whose scaling factors were adjusted automatically. The value of initial scaling factors of the proposed controller were determined on the basis of the conventional PID controller parameters tuning methods and then they were adjusted by using neural network control techniques. Proposed controller was simple in structure and computational burden was small so that on-line adaptation was easy to apply to. The result of practical experiment on the magnetic levitation system, which is known to be hard nonlinear, showed the proposed controller's excellent performance.

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Design of a Neural Network Based Self-Tuning Fuzzy PID Controller (신경회로망 기반 자기동조 퍼지 PID 제어기 설계)

  • Im, Jeong-Heum;Lee, Chang-Goo
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.50 no.1
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    • pp.22-30
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    • 2001
  • This paper describes a neural network based fuzzy PID control scheme. The PID controller is being widely used in industrial applications. However, it is difficult to determine the appropriated PID gains in nonlinear systems and systems with long time delay and so on. In this paper, we re-analyzed the fuzzy controller as conventional PID controller structure, and proposed a neural network based self tuning fuzzy PID controller of which output gains were adjusted automatically. The tuning parameters of the proposed controller were determined on the basis of the conventional PID controller parameters tuning methods. Then they were adjusted by using proposed neural network learning algorithm. Proposed controller was simple in structure and computational burden was small so that on-line adaptation was easy to apply to. The experiment on the magnetic levitation system, which is known to be heavily nonlinear, showed the proposed controller's excellent performance.

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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
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    • v.44 no.6
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    • pp.1-10
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    • 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.

Disturbance Observer based PID Controller for robustness enhancement of UAVs under the presence of wind disturbance (무인항공기의 내풍성 강화를 위한 제어기의 외란관측기 연구)

  • Oh, Seungjo;Lee, Dongjin
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.26 no.2
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    • pp.61-67
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    • 2018
  • This paper presents a method to apply disturbance observer to PID controller for robustness enhancement of UAVs. The system uncertainties and disturbances bring adverse effects on performance and stability of UAVs. In this paper, we estimate the acceleration disturbances using nonlinear disturbance observer, then compensate disturbances with composite controller. By employing nonlinear disturbance observer and composite controller, we have better performance and robustness than conventional PID controller. The asymptotical stability of nonlinear disturbance observer is presented through theoretical analysis. The estimation performance of nonlinear disturbance observer is evaluated by numerical simulation. And performance of disturbance observer based PID controller is evaluated by comparing the performance with conventional PID controller.