2DOF PID Controller Design for a Class of FOPTD Models–An Analysis with Heuristic Algorithms

AbstractIn recent years, a number of controller design procedures are developed and implemented in process industries to enhance the performance of closed loop processes. In this paper, heuristic algorithm based Two Degrees Of Freedom (2DOF) PID controller design is proposed for a class of First Order Plus Time Delay (FOPTD) systems existing in the literature. Minimization of the weighted sum of multiple objective functions is considered to monitor the heuristic search towards the optimal controller parameters. A detailed comparative analysis between well known heuristic methods, such as Particle Swarm Optimization (PSO), Bacterial Foraging Optimization (BFO), Cuckoo Search (CS) and Firefly Algorithm (FA) are presented. The popular 2DOF PID structures, such as Feed Back Structure (FBS) and Feed Forward Structure (FFS) are considered in this work to enhance the performance of FOPTD systems. From the results, it is noted that, proposed controller provides enhanced results for the reference tracking and disturbance rejection operations

Design of PID Controller for Magnetic Levitation System using Harris Hawks Optimization

In most real-time industrial systems, optimal controller implementation is very essential to maintain the output based on the reference input. The controller design problem becomes a complex task when the real-time system model becomes greatly non-linear and unstable. The proposed research aims to design the finest PID controller for the unstable Magnetic Levitation System (MLS) using the Harris Hawks Optimization (HHO) algorithm. The MLS is a highly unstable electro-mechanical system and hence the design of the controller is a complex task. The proposed work implements one Degree of Freedom (1DOF) and 2DOF PID for the system. In this work, the essential controller is designed with a two-step process; (i) Initial optimization search to find the P-controller (Kp) gain to stabilize the system and (ii) Tuning the integral (Ki) and derivative (Kd) gains to reduce the deviation between the reference input and MLS output. The performance of the proposed controller is validated with the servo and regulatory operations and the result of this study confirms that the proposed method helps to get better error value and time domain specifications compared to other available methods

New optimal controller tuning method for an AVR system using a simplified Ant Colony Optimization with a new constrained Nelder-Mead algorithm

[EN] In this paper, an optimal gain tuning method for PID controllers is proposed using a novel combination of a simplified Ant Colony Optimization algorithm and Nelder¿Mead method (ACO-NM) including a new procedure to constrain NM. To address Proportional-Integral-Derivative (PID) controller tuning for the Automatic Voltage Regulator (AVR) system, this paper presents a meta-analysis of the literature on PID parameter sets solving the AVR problem. The investigation confirms that the proposed ACO-NM obtains better or equivalent PID solutions and exhibits higher computational efficiency than previously published methods. The proposed ACO-NM application is extended to realistic conditions by considering robustness to AVR process parameters, control signal saturation and noisy measurements as well as tuning a two-degree-of-freedom PID controller (2DOF-PID). For this type of PID, a new objective function is also proposed to manage control signal constraints. Finally, real time control experiments confirm the performance of the proposed 2DOF-PIDs in quasi-real conditions. Furthermore, the efficiency of the algorithm is confirmed by comparing its results to other optimization algorithms and NM combinations using benchmark functions.This work was supported by the Vanier Canada Graduate Scholarship, the Michael Smith Foreign Study Supplements Program from the Natural Sciences and Engineering Research Council of Canada and by the Ministerio de Economia y Competitividad (Spain), project DPI2015-71443-R. It was also supported by the Bourse Mobilite Etudiante from Ministere de l'Education du Quebec, the CEMF Claudette MacKay-Lassonde Graduate Engineering Ambassador Award and the SWAAC Bourseau merite pour etudiantes de cycles superieurs.Blondin, MJ.; Sanchís Saez, J.; Sicard, P.; Herrero Durá, JM. (2018). New optimal controller tuning method for an AVR system using a simplified Ant Colony Optimization with a new constrained Nelder-Mead algorithm. Applied Soft Computing. 62:216-229. https://doi.org/10.1016/j.asoc.2017.10.007S2162296

Parallel Control Structure Scheme for Load Frequency Controller Design using Direct Synthesis Approach

This paper presents load frequency controller design for a single area as well as the multi-area thermal power system using direct synthesis approach with parallel control structure (PCS) scheme. The set-point and load frequency controller has been designed for frequency regulation and maintains tie-line power within a pre-specified limit for LFC power system.  The proposed controller has been implemented for single-area, two-area, and four-area thermal power system for frequency regulation. The proposed method shows impressive simulation results compared with existed control method. The robustness of the proposed method has been examined with the help maximum sensitivity and parametric variation in the nominal power system

Design and Implementation of an Intelligent PI Controller for a Real Time Non Linear pH Neutralization Process

In many chemical processes, pH is one of the most important parameter and control of the pH is highly non linear due to the complex nature of processes. PID controllers are widely used in process industries to control linear, non-linear and stable, unstable systems. Selection of the suitable controller tuning procedure is important to improve the performance of the PID controller and hence the process variable can be controlled in better manner. In this work, Firefly Algorithm (FA) based intelligent PI controller is attempted for a Non Linear pH control process in real time. The effectiveness of the FA controller is studied in the selected operating regions and the results are validated with Relay Feedback (RFB) method and Particle Swarm Optimization (PSO) method based controllers in the simulation environment. The simulation results indicated that the steady state performance and error performance indices of the FA controller are better than the RFB and PSO controller in the selected operating regions. The FA controller is also implemented in the real time laboratory pH control system, the results confirm that the servo response and regulatory response of the proposed intelligent controller provides better performance with the FA based PI Controllers

Quadrotor team modeling and control for DLO transportation

94 p.Esta Tesis realiza una propuesta de un modelado dinámico para el transporte de sólidos lineales deformables (SLD) mediante un equipo de cuadricópteros. En este modelo intervienen tres factores: - Modelado dinámico del sólido lineal a transportar. - Modelo dinámico del cuadricóptero para que tenga en cuenta la dinámica pasiva y los efectos del SLD. - Estrategia de control para un transporte e ciente y robusto. Diferenciamos dos tareas principales: (a) lograr una con guración cuasiestacionaria de una distribución de carga equivalente a transportar entre todos los robots. (b) Ejecutar el transporte en un plano horizontal de todo el sistema. El transporte se realiza mediante una con guración de seguir al líder en columna, pero los cuadricópteros individualmente tienen que ser su cientemente robustos para afrontar todas las no-linealidades provocadas por la dinámica del SLD y perturbaciones externas, como el viento. Los controladores del cuadricóptero se han diseñado para asegurar la estabilidad del sistema y una rápida convergencia del sistema. Se han comparado y testeado estrategias de control en tiempo real y no-real para comprobar la bondad y capacidad de ajuste a las condiciones dinámicas cambiantes del sistema. También se ha estudiado la escalabilidad del sistema

Quadrotor team modeling and control for DLO transportation

94 p.Esta Tesis realiza una propuesta de un modelado dinámico para el transporte de sólidos lineales deformables (SLD) mediante un equipo de cuadricópteros. En este modelo intervienen tres factores: - Modelado dinámico del sólido lineal a transportar. - Modelo dinámico del cuadricóptero para que tenga en cuenta la dinámica pasiva y los efectos del SLD. - Estrategia de control para un transporte e ciente y robusto. Diferenciamos dos tareas principales: (a) lograr una con guración cuasiestacionaria de una distribución de carga equivalente a transportar entre todos los robots. (b) Ejecutar el transporte en un plano horizontal de todo el sistema. El transporte se realiza mediante una con guración de seguir al líder en columna, pero los cuadricópteros individualmente tienen que ser su cientemente robustos para afrontar todas las no-linealidades provocadas por la dinámica del SLD y perturbaciones externas, como el viento. Los controladores del cuadricóptero se han diseñado para asegurar la estabilidad del sistema y una rápida convergencia del sistema. Se han comparado y testeado estrategias de control en tiempo real y no-real para comprobar la bondad y capacidad de ajuste a las condiciones dinámicas cambiantes del sistema. También se ha estudiado la escalabilidad del sistema

14th Conference on Dynamical Systems Theory and Applications DSTA 2017 ABSTRACTS

From Preface: This is the fourteen time when the conference “Dynamical Systems – Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and the Ministry of Science and Higher Education. It is a great pleasure that our invitation has been accepted by so many people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcome nearly 250 persons from 38 countries all over the world. They decided to share the results of their research and many years experiences in the discipline of dynamical systems by submitting many very interesting papers. This booklet contains a collection of 375 abstracts, which have gained the acceptance of referees and have been qualified for publication in the conference proceedings [...]