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

Sliding Mode Controller Design With Optimized PID Sliding Surface Using Particle Swarm Algorithm

This article deals with an evaluation on the designed controller named as sliding mode control (SMC) which sliding surface of the controller has been integrated with proportional-integral-derivative (PID) controller. The control scheme is established from the derived dynamic equation which stability is proven through Lyapunov theorem. In the performance assessment on the designed PID sliding surface, the controller parameter is first obtained through conventional tuning method known as Ziegler-Nichols (ZN), which is then compared with the particle swarm optimization (PSO) computational tuning algorithm. From the observation of the simulation results, the PSO tuning algorithm showing outperform performances compared to the conventional ZN tuning method in term of trajectory tracking on the electro-hydraulic actuator (EHA) system

Disturbance Rejection Experimental In 3D INTECO Gantry Crane System Via PID-VSC Tuned By PFPSO

Gantry Crane System (GCS) is a mechanism in heavy engineering that moves payload from one point to another. Commonly, an experienced operator is required to control the trolley position manually while minimizing the payload oscillation. The transferring process should be done with careful and concentration to ensure the safety environment. Thus, in order to ensure the safety condition, a control strategy of Proportional-Integral-Derivative and Variable Structure Control (PID-VSC) is implemented in the 3D INTECO GCS. The Proportional-Integral-Derivative (PID) controller is used to control the trolley position while the Variable Structure Control (VSC) is used to control the payload oscillation. The parameters of the controllers are defined by Priority-based Fitness Particle Swarm Optimization (PFPSO). The performances are compared to the Proportional-Integral-Derivative and Proportional-Derivative (PID-PD) controller tuned by PFPSO in terms of the precision of trolley position with the minimization of payload oscillation. The robustness of the controller is verified by the injection of internal disturbance in gantry crane system. With the proposed controller, the experimental of 3D INTECO GCS shows that the system is capable of minimizing the payload oscillation while achieving satisfactory trolley position tracking

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

PID Control Tuning via Particle Swarm Optimization for Coupled Tank System

This paper presents the use of meta-heuristic technique to obtain three parameters (KP, KI and KD) of PID controller for Coupled Tank System (CTS). Particle Swarm Optimization (PSO) is chosen and Sum Squared Error is selected as objective function. This PSO is implemented for controlling desired liquid level of CTS. Then, the performances of the system are compared to various conventional techniques which are Trial and Error, Auto-Tuning, Ziegler-Nichols (Z-N) and Cohen-Coon(C-C) method. Simulation is conducted within Matlab environment to verify the transient response specifications in terms of Rise Time (TR), Settling Time (TS), Steady State Error(SSE) and Overshoot (OS). Result obtained shows that performance of CTS can be improved via PSO as PID tuning methods

Analysis of Transient Response for Coupled Tank System via Conventional and Particle Swarm Optimization (PSO) Techniques

This paper investigates the implementation of conventional and Particle Swarm Optimization (PSO) techniques to obtain optimal parameters of controller. In this research, the transient responses of the Coupled Tank System (CTS) are analyzed with the various conventional and metaheuristic techniques which are Trial and Error, Auto-Tuning, Ziegler-Nichols (ZN), Cohen-Coon (CC), standard PSO and Priority-based Fitness PSO (PFPSO) to tune the PID controller parameters. The purpose of this research is to maintain the liquid at the specific or required height in the tank. Simulation is conducted within Matlab environment to verify the performance of the system in terms of Settling Time (Ts), Steady State Error (SSE) and Overshoot (OS). It has been demonstrated that implementation of meta-heuristic techniques are potential approach to control the desired liquid level and improve the system performances

Intelligent Controller Design For Multifunctional Prosthetics Hand

Prosthetics hand is replacement of original hands that lose or damage because of war, trauma, accident or congenital anomalies. However, problems often occur on a prosthetics hand when dealing with the control capabilities and devising functional. Thus, an advanced mechanical design with control approach is required to improve the performance in terms of quality control in prosthetics hand and also enhance existing capabilities to the optimum level. This paper aims to develop a functional prosthetics hand at upper limb, which will focus on position of human hand particularly using the movement of finger instructions. In this paper, an intelligent controller, Fuzzy with Proportional-Integral-Derivative (Fuzzy-PID) controller is proposed to realize accurate force control with high performance. The performance of prosthetics hand model controlled by Fuzzy-PID controller is outperform the conventional PID controller and Fuzzy controller, where the improvement of the transient response and steady state error is achieved. Performance comparison of three different controllers has been presented through these evaluation process

Development of PID Controller for Controlling Desired Level of Coupled Tank System

The industrial application of Coupled Tank System(CTS) are widely used especially in chemical process industries. The overall process need liquids to be pumped, stored in the tank and pumped again to another tank for certain desired level. Nevertheless, the level of liquid in tank need to be controlled and flow between two tanks must be regulated. This paper presents development of Proportional-Integral-Derivative (PID) controller for controlling the desired liquid level of the CTS. Various conventional techniques of PID tuning method will be tested in order to obtain the PID controller parameters. Simulation is conducted within MATLAB environment to verify the performances of the system in terms of Rise Time (Ts), Settling Time (Ts), Steady State Error (SSE) and Overshoot(OS). Four techniques which are trial and error method, auto-tuning method, Ziegler-Nichols (Z-N) method and Cohen-Coon (C-C) method will be implemented and all the performance results will be analyzed. It has been demonstrated that performances of CTS can be improved with appropriate technique of PID tuning methods

PID Controller Tuning Optimization Using Gradient Descent Technique For An Electro-Hydraulic Servo System

The prominent performance of electro-hydraulic servo (EHS) system has received a positive admission in the industrial field. EHS system is well known to be disclosed to the parameter variations, disturbances and uncertainties which are affects by the changes in the operating conditions such as friction, internal and external leakage. The complexity and nonlinear characteristic of the EHS system leads to a great challenge in controller development and system modelling. The performance of the utilized controller can be improved in order to achieve its best capability. In this paper, the basic knowledge in optimization of the proportional-integral-derivative (PID) controller through Gradient Descent (GD) method was discussed. The PID parameters obtained through Ziegler-Nichols (ZN) tuning method has been optimized using the GD method via MATLAB/Simulink software. The findings illustrate significant improvement in the positioning tracking performance by applying the developed optimization technique. Therefore,the issues that were degraded the EHS system performance have been reduced