1,092 research outputs found
Model-Based Policy Search for Automatic Tuning of Multivariate PID Controllers
PID control architectures are widely used in industrial applications. Despite
their low number of open parameters, tuning multiple, coupled PID controllers
can become tedious in practice. In this paper, we extend PILCO, a model-based
policy search framework, to automatically tune multivariate PID controllers
purely based on data observed on an otherwise unknown system. The system's
state is extended appropriately to frame the PID policy as a static state
feedback policy. This renders PID tuning possible as the solution of a finite
horizon optimal control problem without further a priori knowledge. The
framework is applied to the task of balancing an inverted pendulum on a seven
degree-of-freedom robotic arm, thereby demonstrating its capabilities of fast
and data-efficient policy learning, even on complex real world problems.Comment: Accepted final version to appear in 2017 IEEE International
Conference on Robotics and Automation (ICRA
A classification of techniques for the compensation of time delayed processes. Part 2: Structurally optimised controllers
Following on from Part 1, Part 2 of the paper considers the use of structurally optimised controllers to compensate time delayed processes
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
A survey of recent advances in fractional order control for time delay systems
Several papers reviewing fractional order calculus in control applications have been published recently. These papers focus on general tuning procedures, especially for the fractional order proportional integral derivative controller. However, not all these tuning procedures are applicable to all kinds of processes, such as the delicate time delay systems. This motivates the need for synthesizing fractional order control applications, problems, and advances completely dedicated to time delay processes. The purpose of this paper is to provide a state of the art that can be easily used as a basis to familiarize oneself with fractional order tuning strategies targeted for time delayed processes. Solely, the most recent advances, dating from the last decade, are included in this review
A LOW-COST APPROACH TO DATA-DRIVEN FUZZY CONTROL OF SERVO SYSTEMS
Servo systems become more and more important in control systems applications in various fields as both separate control systems and actuators. Ensuring very good control system performance using few information on the servo system model (viewed as a controlled process) is a challenging task. Starting with authors’ results on data-driven model-free control, fuzzy control and the indirect model-free tuning of fuzzy controllers, this paper suggests a low-cost approach to the data-driven fuzzy control of servo systems. The data-driven fuzzy control approach consists of six steps: (i) open-loop data-driven system identification to produce the process model from input-output data expressed as the system step response, (ii) Proportional-Integral (PI) controller tuning using the Extended Symmetrical Optimum (ESO) method, (iii) PI controller parameters mapping onto parameters of Takagi-Sugeno PI-fuzzy controller in terms of the modal equivalence principle, (iv) closed-loop data-driven system identification, (v) PI controller tuning using the ESO method, (vi) PI controller parameters mapping onto parameters of Takagi-Sugeno PI-fuzzy controller. The steps (iv), (v) and (vi) are optional. The approach is applied to the position control of a nonlinear servo system. The experimental results obtained on laboratory equipment validate the approach
Universal direct tuner for loop control in industry
This paper introduces a direct universal (automatic) tuner for basic loop control in industrial applications. The direct feature refers to the fact that a first-hand model, such as a step response first-order plus dead time approximation, is not required. Instead, a point in the frequency domain and the corresponding slope of the loop frequency response is identified by single test suitable for industrial applications. The proposed method has been shown to overcome pitfalls found in other (automatic) tuning methods and has been validated in a wide range of common and exotic processes in simulation and experimental conditions. The method is very robust to noise, an important feature for real life industrial applications. Comparison is performed with other well-known methods, such as approximate M-constrained integral gain optimization (AMIGO) and Skogestad internal model controller (SIMC), which are indirect methods, i.e., they are based on a first-hand approximation of step response data. The results indicate great similarity between the results, whereas the direct method has the advantage of skipping this intermediate step of identification. The control structure is the most commonly used in industry, i.e., proportional-integral-derivative (PID) type. As the derivative action is often not used in industry due to its difficult choice, in the proposed method, we use a direct relation between the integral and derivative gains. This enables the user to have in the tuning structure the advantages of the derivative action, therefore much improving the potential of good performance in real life control applications
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