scholarly journals Multiobjective Optimization of PID Controller of PMSM

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Qingyang Xu ◽  
Chengjin Zhang ◽  
Li Zhang ◽  
Chaoyang Wang
Keyword(s):  
Pid Controller ◽  
Pareto Front ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Optimal Parameters ◽  
Objective Functions ◽  
Permanent Magnet Synchronous Motors ◽  
Nsga Ii ◽  
Loop Control ◽  
Synchronous Motors

PID controller is used in most of the current-speed closed-loop control of permanent magnet synchronous motors (PMSM) servo system. However,Kp,Ki, andKdof PID are difficult to tune due to the multiple objectives. In order to obtain the optimal PID parameters, we adopt a NSGA-II to optimize the PID parameters in this paper. According to the practical requirement, several objective functions are defined. NSGA-II can search the optimal parameters according to the objective functions with better robustness. This approach provides a more theoretical basis for the optimization of PID parameters than the aggregation function method. The simulation results indicate that the system is valid, and the NSGA-II can obtain the Pareto front of PID parameters.

scholarly journals Sensorless Energy Conservation Control for Permanent Magnet Synchronous Motors Based on a Novel Hybrid Observer Applied in Coal Conveyer Systems

Energies ◽  
2018 ◽  
Vol 11 (10) ◽  
pp. 2554 ◽  
Author(s):  
Shun Li ◽  
Xinxiu Zhou
Keyword(s):  
Energy Conservation ◽  
Closed Loop ◽  
Current Model ◽  
Estimation Algorithm ◽  
Closed Loop Control ◽  
Rotor Speed ◽  
Permanent Magnet Synchronous Motors ◽  
Loop Control ◽  
Synchronous Motors ◽  
Stator Current

A large number of permanent magnet synchronous motors (PMSMs) are used to drive coal conveyer belts in coal enterprises. Sensorless energy conservation control has important economic value for these enterprises. The key problem of sensorless energy conservation control for PMSMs is how to decompose the stator current through estimating the rotor position and speed accurately. Then a double closed loop control for stator current and speed is formed to make the stator current drive the motor as an entire torque current. In this paper, the proposed startup estimation algorithm can utilize the current model of PMSM as reference model to estimate the rotor speed and position in the startup stages. It is not dependent on the back electromotive force (EMF) which is used by the general estimation algorithm. However, the resistance will change with the temperature shift of stator windings, and these changes will cause the reference current model to be inaccurate and influence the rotor speed and position estimation precision. Thus, startup estimation algorithm switches to the proposed operation estimation algorithm which is based on the robust sliding mode theory and is not dependent on the motor parameters. The advantages of startup estimation algorithm and operation estimation algorithm are combined to form a hybrid observer. This hybrid observer realizes the accurate estimation of the rotor speed and position from start-up to operation. The stator current is precisely decomposed. The excitation current is controlled to 0. Meanwhile, the double closed-loop control of current and speed is achieved. The stator current is as entire torque current to drive motor. The closed-loop control, which is based on the proposed rotor position and speed estimation algorithm, achieve the most efficient conversion of electrical energy.

A Control Strategy for Intelligent Stamp Forming Tooling

2011 ◽  
Vol 133 (6) ◽  
Author(s):  
William J. Emblom ◽  
Klaus J. Weinmann
Keyword(s):  
Fuzzy Logic ◽  
Control Systems ◽  
Control Strategy ◽  
Pid Controller ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Linear Quadratic ◽  
Blank Holder ◽  
Loop Control ◽  
Stamp Forming

This paper describes the development and implementation of closed-loop control for oval stamp forming tooling using MATLAB®’s SIMULINK® and the dSPACE®CONTROLDESK®. A traditional PID controller was used for the blank holder pressure and an advanced controller utilizing fuzzy logic combining a linear quadratic gauss controller and a bang–bang controller was used to control draw bead position. The draw beads were used to control local forces near the draw beads. The blank holder pressures were used to control both wrinkling and local forces during forming. It was shown that a complex, advanced controller could be modeled using MATLAB’s SIMULINK and implemented in DSPACE CONTROLDESK. The resulting control systems for blank holder pressures and draw beads were used to control simultaneously local punch forces and wrinkling during the forming operation thereby resulting in a complex control strategy that could be used to improve the robustness of the stamp forming processes.

scholarly journals Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force

Micromachines ◽  
2020 ◽  
Vol 11 (2) ◽  
pp. 121 ◽  
Author(s):  
Yanru Zhao ◽  
Xiaojie Huang ◽  
Yong Liu ◽  
Geng Wang ◽  
Kunpeng Hong
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Tracking Error ◽  
Closed Loop Control ◽  
Structure Parameters ◽  
Loop Control ◽  
Amplification Ratio ◽  
Gripping Force ◽  
And Control ◽  
Tip Displacement

A piezoelectric-driven microgripper with three-stage amplification was designed, which is able to perceive the tip displacement and gripping force. The key structure parameters of the microgripper were determined by finite element optimization and its theoretical amplification ratio was derived. The tracking experiments of the tip displacement and gripping force were conducted with a PID controller. It is shown that the standard deviation of tracking error of the tip displacement is less than 0.2 μm and the gripping force is 0.35 mN under a closed-loop control. It would provide some references for realizing high-precision microassembly tasks with the designed microgripper which can control the displacement and gripping force accurately.

Robotic force control for deburring using an active end effector

Robotica ◽  
1989 ◽  
Vol 7 (4) ◽  
pp. 303-308 ◽  
Author(s):  
G. M. Bone ◽  
M. A. Elbestawi
Keyword(s):  
Control System ◽  
Force Control ◽  
Pid Controller ◽  
Closed Loop ◽  
Least Squares Method ◽  
Closed Loop Control ◽  
End Effector ◽  
Loop Control ◽  
Positioning Errors ◽  
Force Control System

SUMMARYAn active force control system for robotic deburring based on an active end effector is developed. The system utilizes a PUMA-560 six axis robot. The robot's structural dynamics, positioning errors, and the deburring cutting process are examined in detail. Based on ARMAX plant models identified using the least squares method, a discrete PID controller is designed and tested in real-time. The control system is shown to maintain the force within l N of the reference, and reduce chamfer depth errors to 0.12 mm from the 1 mm possible without closed-loop control.

Constant Palstance Control of Combine Cylinder Based On Nonlinear PID

2012 ◽  
Vol 241-244 ◽  
pp. 1164-1167
Author(s):  
Ming Biao Yu ◽  
De An Zhao ◽  
Jun Zhang
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Control Environment ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Nonlinear Pid Controller ◽  
Simulation Results

Considering that the threshing cylinder palstance system has characteristics of nonlinear, time-delay, what’s more the control environment is very complex and multi-disturbance; this paper presented the method of nonlinear PID to control the cylinder palstance. Firstly, The paper analyzes characteristics of the model of the threshing cylinder palstance system .Then the nonlinear PID controller is designed, and with the threshing cylinder palstance system constitute a closed-loop control system. Finally, simulation results show the effectiveness and feasibility of the proposed method.

Stabilization of Load’s Position in Offshore Cranes

2011 ◽  
Vol 134 (2) ◽  
Author(s):  
A. Maczyński ◽  
S. Wojciech
Keyword(s):  
Fixed Point ◽  
Control Systems ◽  
Pid Controller ◽  
Closed Loop ◽  
Auxiliary System ◽  
Simplified Model ◽  
Closed Loop Control ◽  
Loop Control ◽  
Sophisticated Model ◽  
Offshore Crane

It is often desirable to keep the load of an offshore crane in a fixed point in space despite the movement of its base. To solve the problem of stabilizing the load’s position, the authors have proposed application of the hoisting winch drum’s drive and an auxiliary system. The auxiliary system enables independent moving of a selected point of the hoisting rope in two perpendicular planes. In this paper, two methods for determining the drive functions of the auxiliary system and the hoisting winch’s drum ensuring stabilization of an offshore crane’s load are presented. Both methods are based on a simplified model of a crane and allow compensation for a pseudo-harmonic base motion. In order to take into account the deviations of base motion from the assumed and avoid over simplifications, the second, more sophisticated model is developed. This model is proposed to be applied in closed-loop control systems with a PID controller. Results of sample numerical simulations are included that proved useful information about the developed methods and models for stabilization of an offshore crane’s load.

scholarly journals Adaptive Tracking PID and FOPID Speed Control of an Elastically Attached Load Driven by a DC Motor at Almost Step Disturbance of Loading Torque and Parametric Excitation

2021 ◽  
Vol 11 (2) ◽  
pp. 679
Author(s):  
Paweł Olejnik ◽  
Paweł Adamski ◽  
Damian Batory ◽  
Jan Awrejcewicz
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Control Method ◽  
Control Strategies ◽  
Absolute Error ◽  
System Response ◽  
Closed Loop Control ◽  
Loop Control ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

Adaptive tracking control of the speed of a very elastically attached circular load driven by a direct current motor accompanied with an adaptive conventional and a fractional-order Proportional Integral Derivative (PID) controller is studied. It refers to improving the closed-loop control system response of elastically coupled components of drivelines. The motor and the load mechatronic models and the block diagrams are constructed. Parameters of the PID controller in the model reference control are both constant, as well as vary in time. The adaptive control method is improved by the application of a new closed-loop control structure canceling error dynamics. A few competing control strategies are tested based on the application of two types low and high frequency stepwise increasing variations of loading torque and damping coefficient of motion. Moreover, the performance of the control strategies is verified by Integral Time-Weighted Absolute Error (ITAE) index, since their robustness is evaluated by applying a sine modulated triangle waves of selected electric parameters. Therefore, a dynamic forcing and parameter uncertainty is applied. Simulation results are compared for checking the proposed methods.

Type-III closed loop control systems-Digital PID controller design

2013 ◽  
Vol 23 (10) ◽  
pp. 1401-1414 ◽  
Author(s):  
Konstantinos G. Papadopoulos ◽  
Nikolaos D. Tselepis ◽  
Nikolaos I. Margaris
Keyword(s):  
Control Systems ◽  
Pid Controller ◽  
Closed Loop ◽  
Controller Design ◽  
Closed Loop Control ◽  
Loop Control ◽  
Type Iii ◽  
Digital Pid ◽  
Pid Controller Design
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