scholarly journals Review on Design of Control systems for ethered UUVs using PID controllers

2017 ◽  
Vol Volume-1 (Issue-4) ◽  
Author(s):  
Ms.Devjani Bhattacharya ◽  
Dr. H L Viswanath ◽  
Keyword(s):  
Control Systems ◽  
Pid Controllers

scholarly journals Synthesis of High-Precision Hydraulic Control Systems of an Excavator

2018 ◽  
Vol 196 ◽  
pp. 04033 ◽  
Author(s):  
Konstantin Galitskov ◽  
Stanislav Galitskov ◽  
Ivan Dudanov
Keyword(s):  
Control Systems ◽  
Hydraulic Drive ◽  
Loop System ◽  
Pid Controllers ◽  
Practical Implementation ◽  
Hydraulic Control ◽  
Structural Synthesis ◽  
Satellite Navigation System ◽  
Automatic Control Systems ◽  
Rotary Platform

Practical implementation of the program controlling the movement of the excavator’s working tool (including the use of satellite navigation system) imposes stringent requirements on the dynamic and static accuracy of automatic control systems for the hydraulic excavator’s operating mechanisms, in conditions of non-stationary parameters of these mechanisms as control objects. The authors describe the effective solution of this problem by implementing structural synthesis of each servo hydraulic drive as a multi-loop system with one measured coordinate (MLSOMC). The EO-4121 excavator with four hydraulic drives (rotary platform, boom, arm and ladle) was used as an example to demonstrate that the implementation of three circuits in the multi-loop system with one measured coordinate in each of these drives with typical PID-controllers allows to ensure the robustness of the ACS for known uncertainties, as well as the required rates of control quality in static and dynamic modes.

scholarly journals Implementation of Controller Structures in FPGA Platform

2019 ◽  
Vol 8 (5S3) ◽  
pp. 196-200
Keyword(s):  
Control Systems ◽  
Field Programmable Gate Array ◽  
Field Programmable Gate Arrays ◽  
General Purpose ◽  
Pid Controllers ◽  
Feedback Mechanisms ◽  
Gate Arrays ◽  
Digital Control Systems ◽  
Field Programmable ◽  
Programmable Gate Arrays

Field Programmable Gate Arrays are recently replacing general purpose microcontrollers in implementation of digital control systems. This paper includes the proposal of implementing complex controller structures in a Field Programmable Gate Array (FPGA). Till recent, PID controllers are implemented in FPGA Platform. PID controllers are simple, reliable, versatile feedback mechanisms used in most control systems. To reduce various undesirable effects on the output such as overshoot, some variants in the conventional PID controllers, such as the I-PD and IMC are also used. Here all these control controller structures are implemented in MATLAB, compared for best performance and run in the FPGA.

scholarly journals PID Controllers Design within the Context of Online Educational Activities

2021 ◽  
Vol 18 (1) ◽  
pp. 16-21
Author(s):  
Mircea Dulău ◽  
Delia Bianca Sasu
Keyword(s):  
Control Systems ◽  
Closed Loop ◽  
Pid Controllers ◽  
Closed Loop Control ◽  
Educational Activities ◽  
Loop Control

Abstract The problem of designing conventional controllers is a major concern in both academia and industry. The paper presents the implementation of a Matlab interface that facilitates the students’ understanding of the closed-loop control systems operation. There are four operating scenarios: with controllers for which the parameters are known; with controllers for which parameters are determined experimentally; with proportional controllers and additional poles/zeros introduction; with proportional controllers and serial compensator.

scholarly journals Sampling Rate Impact on the Tuning of PID Controller Parameters

2016 ◽  
Vol 62 (1) ◽  
pp. 43-48 ◽  
Author(s):  
Michal Laskawski ◽  
Miroslaw Wcislik
Keyword(s):  
Control System ◽  
Automatic Control ◽  
Control Systems ◽  
Automatic Control System ◽  
Pid Controller ◽  
Sampling Rate ◽  
Sampling Period ◽  
Pid Controllers ◽  
Optimal Parameters ◽  
The Impact

Abstract The paper deals with an analysis of automatic control system with continuous and discrete PID controllers. A method of tuning the parameters of the continuous controller is presented, which is optimal according to the ITAE criterion. The behavior of control systems with discrete controllers whose parameters were tuned using the mentioned method are described. The impact of changes in the sampling period of controlled signal on the control quality is shown. Changes of the values of optimal parameters of discrete PID controllers in relation to changes of the sampling rate of controlled signal are characterized.

scholarly journals A Comparison of Hazards and Efficiencies of Conventional and Adaptive Control Algorithms Using Systems-Theoretic Process Analysis

2019 ◽  
Vol 273 ◽  
pp. 02006
Author(s):  
Sveinung Johan Ohrem ◽  
HyungJu Kim ◽  
Mary Ann Lundteigen ◽  
Christian Holden
Keyword(s):  
Control System ◽  
Control Systems ◽  
Oil And Gas ◽  
Process Analysis ◽  
Hazard Analysis ◽  
Hazard Identification ◽  
Pid Controllers ◽  
Test Case ◽  
Operating Region ◽  
Mixed Oil

Control systems are an important and increasingly complex part of most industrial and non-industrial systems. As such, identifying and handling associated risks is increasingly important. Systems- Theoretic Process Analysis (STPA) is a relatively new hazard identification method developed to analyze modern, complex control systems. While traditional hazard analysis methods mainly focus on the failures of a system, STPA focuses on interactions among control commands and environmental conditions, so that potential non-failure problems, mainly caused by unsafe control actions, can be identified. Proportional-Integral-Derivative (PID) controllers are the most common conventional controllers (CCs) and are widely used in industry due to their simplicity. PID controllers are tuned for operation and based on the system behaviour, in a certain limited operating region. If the behavior and/or operating region of a system changes over time, the PID controller requires retuning to perform as desired and prevent loss of production, or accidents, due to inadequate control. Adaptive controllers (ACs) are able to self-adjust and adapt to changes in the system parameters and operating region, such that the overall control task is performed without the need for continuous re-tuning by an operator. The tuning of an AC is done once, at the time of implementation. This can be very helpful for both the efficiency and the safety of the control system. The interactions between the operator and the control system are reduced when the controller is able to self-adjust, potentially reducing the number of hazards. On the other hand, the complexity of ACs may introduce new kinds of hazards that do not exist when using CCs. In this paper, we compare CCs and ACs from both a control and a safety perspective using STPA. As a test case, we compare the efficiencies and hazards of a CC, and an AC applied to a pipeline-riser system subject to slug flow, a hazardous phenomenon occurring in mixed oil and gas pipes. This phenomenon is difficult to control since the behaviour changes drastically with different flow conditions.

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