Optimization of PID for industrial electro-hydraulic actuator using PSOGSA

The Electro-hydraulic actuator (EHA) systems known to be extremely nonlinear due to its dynamic characteristics and these existing nonlinearities and uncertainties yield to the constraint in the control of EHA system, which influences the position tracking accuracy and affect the occurrences of leakage and friction in the system. The purpose of this work is to develop the mathematical model for the industrial electrohydraulic actuator, then to design a controller by proportional-integral-derivative (PID) and optimize the parameters using Particle Swarm Optimization - Gravitational Search Algorithm (PSOGSA). A few controllers such as conventional PID (CPID) and model reference adaptive control (MRAC) designed for comparison. The performance of PID, PID-PSOGSA and modern controller MRAC will be compared in order to determine the most efficient controller. Despite all controllers are capable to provide good performance, PID-PSOGSA control methods generate good response compared to PID and MRAC in term of positioning

Optimization of Modified Sliding Mode Control for an Electro-Hydraulic Actuator System with Mismatched Disturbance

This paper presents a modified sliding mode controller (MSMC) for tracking purpose of electro-hydraulic actuator system with mismatched disturbance. The main contribution of this study is in attempting to find the optimal tuning of sliding surface parameters in the MSMC using a hybrid algorithm of particle swarm optimization (PSO) and gravitational search algorithms (GSA), in order to produce the best system performance and reduce the chattering effects. In this regard, Sum square error (SSE) has been used as the objective function of the hybrid algorithm. The performance was evaluated based on the tracking error identified between reference input and the system output. In addition, the efficiency of the designed controller was verified within a simulation environment under various values of external disturbances. Upon drawing a comparison of PSOGSA with PSO and GSA alone, it was learnt that the proposed controller MSMC, which had been integrated with PSOGSA was capable of performing more efficiently in trajectory control and was able to reduce the chattering effects of MSMC significantly compared to MSMC-PSO and MSMC-GSA, respectively when the highest external disturbance, 10500N being injected into the system's actuator

Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Actuator System with Mismatched Disturbance

This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system’s performance. In respect of system’s performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error

Particle swarm algorithm sliding mode control on spacecraft’s attitude with switching function method thorough error feedback

Small spacecraft requires capable processors with energy efficiency, low cost and low computational burden while maintaining the output tracking accuracy. This paper presents the extension of work in [1], to enhance the transient performance using particle swarm optimization (PSO) on decaying boundary layer and switching function thorough error feedback (DBLSF) in Sliding Mode Control (SMC). Generally, SMC is known for having chattering as the main drawback which can introduce wear and tear to moving mechanical parts. As a solution, a DBLSF proposed in [1] and capable of eliminating the chattering in SMC while considering the essential requirements for small spacecraft operation. Then, the extension implemented on spacecraft's attitude, which is one-of-six subsystems in spacecraft, used to orient the spacecraft referred to reference objects and control the dynamics of a spacecraft time-to-time according to the needs. However, the SMC's transient response can be tuned using some coefficients in the SMC algorithm. The parameters in [1] were tuned using outputs observation technique. In this paper, then, an improvement is introduced to optimize the outputs by adding a PSO in the SMC-DBLSF in term of transient performances and accuracy while reducing the chattering permanently

Design and Development of a DAST Based on 2RPS-1S Parallel Mechanism

There are a number of process design that available in the literature in order to develop a new parallel mechanism that can be applied to the solar farm. However, the best ways to develop a new mechanism still have a challenge. Therefore, this project provides a systematic process design with include the kinematics derivation, mechanical and hardware development, and software development. This project aims to design and development of a Dual Axes Solar Tracking (DAST) based on 2RPS (Revolute-Prismatic-Spherical) -1S (Spherical) parallel mechanism by implementing the systematic process design. The focus is on a two degree-of-freedom (DOF) parallel mechanism – which encloses a closed loop in the structure. Based on MATLAB simulation and real prototyping motion result is show that the movement position of the solar panel has similarity. In summary, both method simulation and prototyping are able to represent a two DOF parallel mechanism. At the same time, the comparative analysis is able also to validate the equation of kinematics that derives from Denavit-Harternberg (DH) methods

Application of electromagnetic sensor in electro-pneumatic actuator displacement control under variable loads conditions: experimental analysis

Dead-zone is a major issue that degrades the performance of the positioning control system in the pneumatic proportional valve control system. In order to address the issue, a switching inverse dead-zone compensator was incorporated to the pole-placement control of the Electro-Pneumatic Actuator (EPA) systems driven by a proportional directional control valve. The focus of this study is to do an experimental analysis to evaluate the robustness of the system under varying loads and varying position distances. Electromagnetic sensor is used to measure the displacement of the pneumatic cylinder piston movement. In this paper, the EPA model was chosen as a Hammerstein model that contains an Autoregressive with exogenous term (ARX) model and a nonlinear dead-zone model. The ARX model is estimated using the Recursive Least Square (RLS) method and the nonlinear model is obtained by using the Particle Swarm Optimization (PSO) method. The position tracking of the EPA system adapts to the pole-placement control law and is combined with switching inverse dead-zone in a feedforward manner. Experimental investigations were carried out for varying loads from 3.1 kg to 23.5 kg and varying position distances from 25 mm to 200 mm. Experimental results show that the EPA system controlled by the proposed controller is able to perform no overshoots for loads weighing less than 23.5 kg for all tested position distances. In addition, the proposed method achieved a steady state position error of 0.46 mm, a rise time of 0.21 s and a settling time of 0.49 s. The results demonstrated that as the load weight and position distance increased, transient time increased. However, the proposed method has successfully controlled the positioning of the EPA systems for all tested load weight and position distance

The ARX and ARMAX models for thermoelectric cooling on glass windows: a comparative study

Thermoelectric cooling (TEC), in particular, can be combined with a heat sink for local cooling, but they can also be integrated into electronic chips for point-to-point cooling. The study aims to develop a dynamic model of a cooling system integrated with TEC for glass window. The main target of this study is to develop a dynamic model of a cooling system integrated with TEC. The black box modelling approach in producing a mathematical model was selected based on the ARMAX and ARX model that corresponds to the actual dynamic state of the cooling system. The best model was finalized based on the best match on curve patterns when comparing the real and estimated models using the system identification tools in MATLAB, and also having the least error. The accuracy of the models was compared and analysed. The results showed that the 4th order of the ARMAX model produced a higher best fitting and standard deviation values of 80.23% and 0.027592 compared to the 4th order of the ARX model of 78.14% and 0.030769 respectively. This system accuracy is almost within the acceptable range for most error calculations in the validation method. Yet, this cooling system integrated with TEC is found more suitable for the 4th order of the ARMAX model when compared to the ARX model due to the noise parameter in the ARMAX model. Nevertheless, the noise order in this system is not dominant, therefore, whenever the noise order of the system in the ARMAX model is high than the second structure (nb), the number of errors is also high. In addition, the ARMAX model is found incapable of achieving the highest fitting due to the losses from the dynamic environment and losses from the TEC itself. Still, the use of this black box model used in this study is a significant variation where system parameters can be identified even offline

IDENTIFICATION OF ARX MODEL FOR THERMOELECTRIC COOLING ON GLASS WINDOWS

Thermoelectric cooling (TEC) is a solid-state heat pump that uses the Peltier effect to dissipate the heat generated by the electronic packaging system. TECs are widely used in aerospace, military, scientific work and industry due to small size, lack of moving parts, and ease of integration. In this study, a cooling system integrated with TEC is developed in a testing area (lecturer’s office) with the aim to reduce the temperature of the hot glass window area due to solar radiation that passes through it. This cooling system used direct TEC, for keeping the cooling temperature on the window to about 26 °C which is equivalent to an air conditioning setting temperature of 26 °C set during the experiment. This work includes experimental and modelling studies conducted on cooling systems integrated with TEC. The main target of this study is to develop a dynamic model of a cooling system integrated with TEC. The black box modelling approach in producing a mathematical model was selected based on the ARX model that corresponds to the actual dynamic state of the cooling system. The best model was finalized based on the best match on curve patterns when comparing the real and estimated models using the system identification tools in MATLAB, and also had the least error. The accuracy of the models was compared and analysed. The results showed that the 4th order of the ARX model produced a higher best fitting and standard deviation values of 78.14% and 0.030769. This system accuracy is almost within the acceptable range for most error calculations in the validation method. In addition, the ARX model is found incapable of achieving the highest fitting due to the losses from the dynamic environment and losses from the TEC itself. Still, the use of this black box model used in this study is a significant variation where system parameters can be identified even offline

Fuzzy logic control for non linear car air conditioning

A practical application of a fuzzy control system for a non-linear air conditioning system in the automobile climate control system was carried out and the simulation results are presented. Temperature control in an automobile passenger environment is more complex than that of a static room in a building. With regards to both driver and passenger comfort and safety, a lot of factors must be taken in account. Therefore, the objective of this paper is to study the implementation of fuzzy logic control in automobile climate control system compared to the existing state flow controller