scholarly journals Design and Implementation of Fuzzy PID Controller for Single Link Flexible Joint Robotic System using FPGA

2014 ◽  
Vol 97 (7) ◽  
pp. 26-33 ◽  
Author(s):  
Eqbal HusseinAli ◽  
Ekhlas Hameed Karam ◽  
Hussein Adheem Abbas
Keyword(s):  
Pid Controller ◽  
Robotic System ◽  
Fuzzy Pid ◽  
Flexible Joint ◽  
Fuzzy Pid Controller ◽  
Design And Implementation ◽  
Single Link

scholarly journals Design and implementation of Fuzzy-PID Controller with Derivative Filter for AGC of two-area interconnected Hybrid Power System

2019 ◽  
Vol 8 (10) ◽  
pp. 4198-4212
Keyword(s):  
Power System ◽  
Pid Controller ◽  
Thermal Power ◽  
Automatic Generation ◽  
Fuzzy Pid ◽  
Hybrid Power System ◽  
Fuzzy Pid Controller ◽  
Hybrid Power ◽  
Design And Implementation ◽  
Derivative Filter

The huge band variation in wind speed causes unpredictable swing in power generation and hence large divergence in system frequency leading to unpredictable situation for standalone applications. To overcome the above difficulties, WTG (wind turbine generator) is integrated with conventional thermal power system along with other distributed generation units such as FC (fuel cell), DEG (diesel engine generator), AE (aqua-electrolyser) and BESS (battery energy storage system) which form a hybrid power system. This paper concerns with automatic generation control (AGC) of an interconnected two area hybrid power system as mentioned above. Design and implementation of suitable controllers for AGC of above hybrid power system is a challenging job for operational and design engineers. Various control schemes proposed in this paper are conventional PID & PID controller with derivative filter (PIDF) and fuzzy-PID controller without (fuzzy-PID) and with derivative filter (fuzzy-PIDF) to achieve improved performance of AGC system in terms of frequency profile. The values of gain parameters of proposed controllers are designed using hybrid LUS-TLBO (Local Unimodal Sampling-Teaching Learning Based Optimization) algorithm. Superiority of fuzzy-PIDF controller over other proposed controllers are addressed. Robustness study of proposed fuzzy-PIDF controller is thoroughly demonstrated with change in system parameters and loading pattern. The work is further extended to analyze the transient phenomena of the AGC for a 3-area interconnected system having nonlinearities such as reheat turbine, governor dead band along with generation rate constraint for the thermal generating units.

scholarly journals Vibration Suppression of a Flexible-Joint Robot Based on Parameter Identification and Fuzzy PID Control

Algorithms ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 189 ◽  
Author(s):  
Jinyong Ju ◽  
Yongrui Zhao ◽  
Chunrui Zhang ◽  
Yufei Liu
Keyword(s):  
Parameter Identification ◽  
Vibration Control ◽  
Torsional Vibration ◽  
Pid Controller ◽  
Vibration Suppression ◽  
Driving Voltage ◽  
Fuzzy Pid ◽  
Robot System ◽  
Flexible Joint ◽  
Fuzzy Pid Controller

In order to eliminate the influence of the joint torsional vibration on the system operation accuracy, the parameter identification and the elastic torsional vibration control of a flexible-joint robot are studied. Firstly, the flexible-joint robot system is equivalent to a rotor dynamic system, in which the mass block and the torsion spring are used to simulate the system inertia link and elasticity link, for establishing the system dynamic model, and the experimental prototype is constructed. Then, based on the mechanism method, the global electromechanical-coupling dynamic model of the flexible-joint robot system is constructed to clear and define the mapping relationship between the driving voltage of the DC motor and the rotational speed of joint I and joint II. Furthermore, in view of the contradiction between the system response speed and the system overshoot in the vibration suppression effect of the conventional PID controller, a fuzzy PID controller, whose parameters are determined by the different requirements in the vibration control process, is designed to adjust the driving voltage of the DC motor for attenuating the system torsional vibration. Finally, simulation and control experiments are carried out and the results show that the designed fuzzy PID controller can effectively suppress the elastic torsional vibration of the flexible-joint robot system with synchronization optimization of control accuracy and dynamic quality.

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