PI/PID Controller Relay Experiment Auto-Tuning with Extended Kalman Filter and Second-Order Generalized Integrator as Parameter Estimators

This paper presents a method for the estimation of key parameters of limit cycle oscillations (amplitude and frequency) during a relay experiment used for automatic tuning of proportional-integral (PI) and proportional-integral-derivative (PID) feedback controllers. The limit cycle parameter estimator is based on the first-order extended Kalman filter (EKF) for resonance frequency estimation, to which a second-order generalized integrator (SOGI) is cascaded for the purpose of limit cycle amplitude estimation. Based on thus-obtained parameters of the limit cycle oscillations, the ultimate gain and the ultimate period of the limit cycle oscillations are estimated. These are subsequently used for the tuning of PI and PID controller according to Takahashi modifications of Ziegler-Nichols tuning rules. The proposed PI and PID controller auto-tuning method is verified by means of simulations and experimentally on the heat and air-flow experimental setup for the case of air temperature feedback control. The results have shown that the proposed auto-tuning system based on relay control experiment for the heat and air-flow process PI/PID temperature control can capture the ultimate gain and period parameters fairly quickly in simulations and in experiments. Subsequent controller tuning according to Takahashi modifications of Ziegler-Nichols rules using thus-obtained ultimate point parameters can provide favourable closed-loop load disturbance rejection, particularly in the case of PID controller

PI/PID Controller Relay Experiment Auto-Tuning with Extended Kalman Filter and Second-Order Generalized Integrator as Parameter Estimators

This paper presents a method for the estimation of key parameters of limit cycle oscillations (amplitude and frequency) during a relay experiment used for automatic tuning of proportional-integral (PI) and proportional-integral-derivative (PID) feedback controllers. The limit cycle parameter estimator is based on the first-order extended Kalman filter (EKF) for resonance frequency estimation, to which a second-order generalized integrator (SOGI) is cascaded for the purpose of limit cycle amplitude estimation. Based on thus-obtained parameters of the limit cycle oscillations, the ultimate gain and the ultimate period of the limit cycle oscillations are estimated. These are subsequently used for the tuning of PI and PID controller according to Takahashi modifications of Ziegler-Nichols tuning rules. The proposed PI and PID controller auto-tuning method is verified by means of simulations and experimentally on the heat and air-flow experimental setup for the case of air temperature feedback control. The results have shown that the proposed auto-tuning system based on relay control experiment for the heat and air-flow process PI/PID temperature control can capture the ultimate gain and period parameters fairly quickly in simulations and in experiments. Subsequent controller tuning according to Takahashi modifications of Ziegler-Nichols rules using thus-obtained ultimate point parameters can provide favourable closed-loop load disturbance rejection, particularly in the case of PID controller

Otomasi Sistem Destilasi Menggunakan Plc Omron Cp1h dan Kontrol Suhu dengan Kendali Auto Tuning Pid dalam Penampil Scada

Industrial world today can\u27t be separated with the problem of automation for various production facilities, one of them is the process of distillation in industry or the oil refining industry. Distillation is the process of separating substance by boiling point, where the temperature becomes the focal point of the phase that change process so it to control of substances that aims to keep the temperature value in the range of desired values. In this study using a multilevel distillation system, so it has two set of controling temperature points. Operation of distillation system automatically works with the help of controls Service such as PLC OMRON CP1H and temperature control with auto tuning PID (Proportional Integral Derivative). The system is equipped with SCADA (Supervisory Control and Data Acquisition) and data logger so as to facilitate the operation of automation and configuration PID parameters such as proportional coefficient (Kp), the integral time (Ti), the time derivative (Td). Modeling materials processed using methanol with 64 oC boiling point and ethanol with a boiling point of 78 °C. Results of the research showed us that the temperature control system can use the auto tuning PID controled by a PLC can be done, a good temperature control is obtained with a small error rate. auto tuning method is still having oscillations, but a PID value will be automatically calculated quickly so that a constant parameter values obtained to get the stability of temperature. The value of maximum overshoot (Mp) of auto tuning of 9,09% and error steady state (ESS) of 1.53%. Results of calculation from the value of parameter auto tuning PID used as next tuning parameters and steady state response is obtained more quickly, with Mp of 4,61% and 0% of ESS

DC motorun otomatik ayarlamalı PID ile hız kontrolünün gerçekleştirilmesi

Although advanced controllers are used in control applications, proportional-integral-derivative (PID) controllers are preferred in industry due to their simple structure and ease of application. However, it can difficult to set these controller parameters for the controlled platform. These parameters tuning with trial-error method leads to time and job loss, and the parameters determined in this way cannot provide a sufficiently efficient operating characteristic. In order to overcome this problem related to PID parameter tuning many automatic tuning methods have been developed. In this paper, the automatic tuning method proposed by Aström and Hagglund was applied to a DC motor speed control system. The DC motor speed control system was implemented in an interface designed on Laboratory Virtual Instrument Electronic Workbench (LabVIEW) environment and CompactRIO unit. The PID parameters obtained with trial-error and two types auto-tuning methods were tested in the DC motor control system and achieved results were compered. The results showed that performance of the PID controller tuned with LAbVIEW auto-tuning method is better than others.Kontrol uygulamalarında gelişmiş kontrolörler kullanılsa da PID (Proportional-Integral-Derivative) kontrolörler basit yapısından ve kolay uygulanabildiğinden dolayı endüstride tercih edilmektedir. Ancak kontrol edilecek platforma uygun PID parametrelerinin ayarlanması oldukça güç olabilmektedir. Bu parametrelerin deneme yanılma yöntemiyle ayarlanması zaman ve iş kaybına sebep olmakla birlikte bu yolla tespit edilen parametrelerle ayarlanan kontrolörler yeterince verimli bir çalışma karakteristiği sunmayabilmektedir. PID parametrelerinin ayarıyla ilgili bu sorunların üstesinden gelebilmek için çok sayıda otomatik ayar yöntemi geliştirilmiştir. Bu makalede Åström ve Hägglund tarafından önerilen otomatik ayar yöntemi bir DC motoru hız kontrol sistemine uygulanmıştır. Bu DC motor hız kontrol sistemi LabVIEW (Laboratory Virtual Instrument Electronic Workbench) ortamında geliştirilen ara yüz ve CompactRIO ünitesi üzerinde gerçekleştirilmiştir. Deneme yanılma ve iki farklı otomatik ayarlama yöntemiyle elde edilen PID parametreleri DC motor kontrol sistemi üzerinde denenmiş ve elde edilen sonuçlar karşılaştırılmıştır. Sonuçlar, LabVIEW otomatik ayarlama yöntemiyle elde edilen parametrelerle işletilen PID kontrolörün daha iyi performans gösterdiğini göstermişti

The effects of auto-tuned method in PID and PD control scheme for gantry crane system

Gantry crane system is a mechanism in heavy engineering that moves payload such container from one point to another. Generally, experienced operators or experts are required to control manually the gantry position while minimizing the payload vibration or swing oscillation. Therefore, those manpower has to be trained in order to operate the gantry crane system safely and efficiently. Thus, to overcome this problem, a feedback control scheme has been utilized in the system. In this paper, PID and PD controllers are introduced for controlling the trolley displacement and the swing oscillation in the gantry crane system. PID controller is designed for tracking the desired position of the trolley whereas PD controller is implemented to minimize the payload oscillation. The PID and PD parameters are tuned by the auto-tuning method. Simulation results have demonstrated satisfactory response based on control system performances

The Effects Of Auto-Tuned Method In Pid And Pd Control Scheme For Gantry Crane System

Gantry crane system is a mechanism in heavy engineering that moves payload such container from one point to another. Generally, experienced operators or experts are required to control manually the gantry position while minimizing the payload vibration or swing oscillation. Therefore, those manpower has to be trained in order to operate the gantry crane system safely and efficiently. Thus, to overcome this problem, a feedback control scheme has been utilized in the system. In this paper, PID and PD controllers are introduced for controlling the trolley displacement and the swing oscillation in the gantry crane system. PID controller is designed for tracking the desired position of the trolley whereas PD controller is implemented to minimize the payload oscillation. The PID and PD parameters are tuned by the auto-tuning method. Simulation results have demonstrated satisfactory response based on control system performances

Diseño de un control auto sintonizado usando software de control LabVIEW para la planta QNET Vertical Take–Off and Landing (VTOL).

El presente trabajo tuvo como objetivo el diseño de un control auto sintonizado usando software de control LabVIEW para la planta QNET VERTICAL TAKE–OFF AND LANDING (VTOL). Este sistema simula el despegue y aterrizaje vertical de una aeronave de 1 grado de libertad ,con el uso de este software se desarrolló un instrumento virtual que realiza el control del sistema de vuelo con la aplicación de un controlador de tipo proporcional integral derivativo (PID), para cumplir este objetivo se obtuvo de forma analítica un modelo matemático del sistema mecánico de la planta basado en la primera y segunda ley de Newton, para la obtención de los valores del controlador se utilizó el primer método de sintonización expuesto por Ziegler & Nichols en 1943, una vez obtenidos los parámetros del compensador se realizó la auto sintonización del sistema usando herramientas del software, esto con el fin de optimizar el rendimiento del sistema QNET cuando está en vuelo, los controladores obtenidos se los evaluaron utilizando dos criterios integrales del error, integral del error absoluto (IAE), integral del tiempo por el error absoluto (ITAE), dando como resultado un incremento en la eficiencia del compensador en un 45%, las pruebas se enfocaron en introducir diferentes perturbaciones que modifiquen la planta en tiempo real. Se concluyó que el sistema está en la capacidad de realizar una auto sintonización en tiempo real de los parámetros del PID con el fin de mejorar la respuesta del sistema. Se recomienda evaluar este algoritmo de control sobre dispositivos VTOL con más de un 1 grado de libertad.The current research had like objective the design of an auto-tuning control using a control software LabVIEW for the plant QNET VERTICAL TAKE-OFF AND LANDING (VTOL). This system simulates the vertical take-off and landing of a one freedom degree airship, with the use of this software a virtual instrument that realize the control of flight system was developed with the application of a proportional integral derivative controller (PID), in order to fulfil this objective was obtained of analytic way a math model of the plant´s mechanical system, based on first and second Newton´s Law, for getting the controller values, the first method of tuning presented by Ziegler and Nichols in 1943 was used, once obtained the compensator parameters the auto-tuning of system was carried out using software tools, with the purpose of organizing the system´s performance QNET when it is flying, the controllers were evaluated using two integral criteria of error, integral of absolute error (IAE), integral of time by absolute error (ITAE), getting like result an increasing in the compensator efficiency in a 45%, the tests were focused on introduce different disturbances than modify the plant in real time. It was concluded that the system is able to do an auto-tuning in real time of the parameters of PID in order to improve the system response. It is recommended to evaluate this control algorithm over devices VTOL with more than one freedom degree

Design of a wireless intelligent fuzzy controller network

Since the first application of fuzzy logic in the field of control engineering, fuzzy logic control has been successfully employed in controlling a wide variety of applications, such as commercial appliances, industrial automation, robots, traffic control, cement kilns and automotive engineering. The human knowledge on controlling complex and non-linear processes can be incorporated into a controller in the form of linguistic expressions. Despite these achievements, however, there is still a lack of an empirical or analytical design study which adequately addresses a systematic auto-tuning method. Indeed, tuning is one of the most crucial parts in the overall design of fuzzy logic controllers and it has become an active research field. Various techniques have been utilised to develop algorithms to fine-tune the controller parameters from a trial and error method to very advanced optimisation techniques. The structure of fuzzy logic controllers is not straightforward as is the case in PID controllers. In addition, there is also a set of parameters that can be adjusted, and it is not always easy to find the relationship between the parameters and the controller performance measures. Moreover, in general, controllers have a wide range of setpoints; changing from one value to another requiring the controller parameters to be re-tuned in order to maintain a satisfactory performance over the entire range of setpoints. This thesis deals with the design and implementation of a new intelligent algorithm for fuzzy logic controllers in a wireless network structure. The algorithm enables the controllers to learn about their plants and systematically tune their gains. The algorithm also provides the capability of retaining the knowledge acquired during the tuning process. Furthermore, this knowledge is shared on the network through a wireless communication link with other controllers. Based on the relationships between controller gains and the closed-loop characteristics, an auto-tuning algorithm is developed. Simulation experiments using standard second order systems demonstrate the effectiveness of the algorithm with respect to auto-tuning, tracking setpoints and rejecting external disturbances. Furthermore, a zero overshoot response is produced with improvements in the transient and the steady state responses. The wireless network structure is implemented using LabVIEW by composing a network of several fuzzy controllers. The results demonstrate that the controllers are able to retain and share the knowledge

FPGA IMPLEMENTATION OF ZIEGLER-NICHOLS CLOSED-LOOP METHOD FOR AUTOMATIC PID PARAMETERS TUNING

A control loop is necessary in order to control a plant or system in order to gain low error system, robust system, or system with fast response depend on the purpose. The most commonly known and used control loop is Proportional-Integral/Proportional-Integral-Derivative. In order to gain the desired output, its parameters, which have different effects, have to be set according to the design requirements. Several methods can be used to determine the parameter; one of them is Ziegler-Nichols closed-loop method. The purpose of this project is to carry out FPGA implementation of Ziegler-Nichols closed-loop method for automatic PID parameters tuning. The commonly used design hardware for digital projects is microcontroller. Microcontroller device resources is limited, we do not know how much device resources this project will take, and to add an additional resources is quite complicated as well, therefore we choose FPGA instead. This project is part of a bigger project which consists of three projects, which are handled by a student each. The most important parts for this project are estimator and controller modules which are located in the FPGA. This is because the estimator’s function is to do the steps of the Ziegler-Nichols closed loop method and the controller is necessary because the estimator cannot function if there is no controller. To build and test out the system, it is necessary to begin from the subsystems. If the subsystem’s tests are successful, then the probability for the overall system to be success is higher. Experimental results show that the subsystems have been successfully designed, but the overall system could not be applied because the target Spartan 3E FPGA does not have sufficient logic resources on. The first and second objectives was achieved but the third objective was not achieved because this project could not be applied on the target FPGA and therefore this project has not been used on the real tools.Keywords – Auto-tuning PID controller, Ziegler-Nichols, FPGA Implementatio