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Integration of PSO and GA for optimum design of fuzzy PID controllers in a pendubot system 总被引:1,自引:0,他引:1
In this paper, a novel auto-tuning method is proposed to design fuzzy PID controllers for asymptotical stabilization of a
pendubot system. In the proposed method, a fuzzy PID controller is expressed in terms of fuzzy rules, in which the input variables
are the error signals and their derivatives, while the output variables are the PID gains. In this manner, the PID gains are
adaptive and the fuzzy PID controller has more flexibility and capability than the conventional ones with fixed gains. To
tune the fuzzy PID controller simultaneously, an evolutionary learning algorithm integrating particle swarm optimization (PSO)
and genetic algorithm (GA) methods is proposed. The simulation results illustrate that the proposed method is indeed more
efficient in improving the asymptotical stability of the pendubot system.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
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With reference to a real industrial application of process control, some considerations are discussed concerning the accuracy of methods for auto-tuning of proportional, integral and derivative factor (PID). In particular, a theoretical–experimental approach is described, that allows to evaluate the adequateness of new methods for auto-tuning of PID, able to significantly reduce the time duration for auto-tuning with respect to traditional ones. This result has been achieved by using suitable techniques of experimental data processing, based on neural-networks algorithms, set for this specific application. The effect on described methodology of environmental and operating disturbances is also described. 相似文献
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W.K. Ho Author Vitae Y. Hong Author Vitae Author Vitae H. Hjalmarsson Author Vitae Author Vitae 《Automatica》2003,39(1):149-157
In this paper, ideas from iterative feedback tuning (IFT) are incorporated into relay auto-tuning of the proportional-plus-integral-plus-derivative (PID) controller. The PID controller is auto-tuned to give specified phase margin and bandwidth. Good tuning performance according to the specified bandwidth and phase margin can be obtained and the limitation of the standard relay auto-tuning technique using a version of Ziegler-Nichols formula can be eliminated. Furthermore, by using common modelling assumptions for the relay system, some of the required derivatives in the IFT algorithm can be derived analytically. The algorithm was tested in the laboratory on a coupled tank and good tuning result was demonstrated. 相似文献
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结合传统PID的控制原理,介绍一种参数自调整的PID模糊控制器。开发了一套能在线调整PID参数的模糊控制方法的软件,并分别将它和传统的PID控制器作用到数字随动系统中。对二者的控制结果进行了比较。实验结果表明,参数自调整PID模糊控制器使系统稳态性能优良,并能提高控制精度。 相似文献
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Ubaid M. Al-Saggaf 《Computers & Electrical Engineering》1991,17(4):313-320
Advanced controller synthesis techniques often result in high order controllers whose order exceeds the order of the plant and it is impractical to implement. The main use of the advanced synthesis techniques is to find the possible optimal performance of the system and thus to check how a practical simpler controller comes close to achieving that optimum. PID controllers are the most found in industry and here we describe a novel technique, based on approximation, to tune the parameters of PID controllers. 相似文献
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Karray F. Gueaieb W. Al-Sharhan S. 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2002,32(1):77-90
We present soft computing-based results pertaining to the hierarchical tuning process of PID controllers located within the control loop of a class of nonlinear systems. The results are compared with PID controllers implemented either in a stand alone scheme or as a part of conventional gain scheduling structure. This work is motivated by the increasing need in the industry to design highly reliable and efficient controllers for dealing with regulation and tracking capabilities of complex processes characterized by nonlinearities and possibly time varying parameters. The soft computing-based controllers proposed are hybrid in nature in that they integrate within a well-defined hierarchical structure the benefits of hard algorithmic controllers with those having supervisory capabilities. The controllers proposed also have the distinct features of learning and auto-tuning without the need for tedious and computationally extensive online systems identification schemes. 相似文献
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Jin-Su Kim Jeonguk Byeon Su Whan Sung Jietae Lee Won Ryoo Thomas F. Edgar 《International Journal of Control, Automation and Systems》2011,9(2):294-300
Sustained oscillations are obtained by putting relays in the feedback loop, which provide ultimate periods and gains of processes
that can be used to tune PID controllers. The ultimate periods obtained by conventional relay autotuning have relative errors
up to 5% for first order plus time delay processes. To improve the estimation of ultimate periods, modified relays such as
a saturation relay and a relay with preload have been available. However, these modifications lose the binary (on-off) property
of the conventional relay. Here relays with multiple switching which produce pulse-widthmodulation (PWM) signals are proposed.
They retain the binary property and show improved identification accuracies of ultimate parameters. 相似文献
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In this paper, a systematic approach for auto-tune of PI/PID controller is proposed. A single run of the relay feedback experiment is carried out to characterize the dynamics including the type of damping behavior, the ultimate gain, and ultimate frequency. Then, according to the estimated damping behavior, the process is classified into two groups. For each group of processes, model-based rules for controller tuning are derived in terms of ultimate gains and ultimate frequencies. To classify the processes, the estimation of an apparent deadtime is required. Two artificial neural networks (ANNs) that characterize this apparent deadtime using the ATV data are thus included to facilitate this estimation of this apparent deadtime. The model-based design for this auto-tuning makes uses of parametric models of FOPDT (i.e. first-order-plus-dead-time) and of SOPDT (i.e. second-order-plus-dead-time) dynamics. The results from simulations show that the controllers thus tuned have satisfactory results compared with those from other methods. 相似文献
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Feedback controllers with specific structure arise frequently in applications because they are easily apprehended by design engineers and facilitate on‐board implementations and re‐tuning. This work is dedicated to H∞ synthesis with structured controllers. In this context, straightforward application of traditional synthesis techniques fails, which explains why only a few ad hoc methods have been developed over the years. In response, we propose a more systematic way to design H∞ optimal controllers with fixed structure using local optimization techniques. Our approach addresses in principle all those controller structures which can be built into mathematical programming constraints. We apply non‐smooth optimization techniques to compute locally optimal solutions, and provide practical tests for descent and optimality. In the experimental part we apply our technique to H∞ loop‐shaping proportional integral derivative (PID) controllers for MIMO systems and demonstrate its use for PID control of a chemical process. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献
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参数自整定模糊PID控制器在转矩流变仪系统的应用研究 总被引:2,自引:0,他引:2
在参数自整定模糊PID控制器的基础上,利用模糊推理的方法实现了对PID参数的在线自动整定,并且将该控制软件在转矩流变仪中的应用进行了研究,实验结果表明,参数自整定模糊PID控制能使系统达到满意的控制效果,对进一步应用研究具有较大的参考价值. 相似文献
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多变量PID控制器的在线自整定 总被引:6,自引:0,他引:6
本文研究具有PID结构反馈控制器的多变量控制系统的参数自整定,提出了具有校正因子的多变换PID控制算法及在线自动调整校正因子的专家自整定方法,将该方法用于火电单元机组负荷控制系统自整定仿真研究,结果表明系统具有好的完整性和鲁棒性。 相似文献
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Chun Ho Jeon Yu Jin Cheon Jin-Su Kim Jietae Lee Su Whan Sung 《Journal of Process Control》2010,20(2):228-234
The relay feedback method is considered to be one of the easiest identification methods available for obtaining the ultimate information of the process. It has been widely used in industry to automatically tune the PID controller. Many applications of the method have been developed. In this research, a new framework has been proposed to reduce the harmonics of the relay feedback signal. It linearly combined several sub-relay signals, which had different frequencies and gains and resulted in a significant reduction of harmonic terms. Improved versions of several previous relay feedback methods have been successfully developed on the basis of the proposed framework. 相似文献
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An alternative structure for next generation regulatory controllers: Part I: Basic theory for design, development and implementation 总被引:1,自引:0,他引:1
Even though employed widely in industrial practice, the popular PID controller has weaknesses that limit its achievable performance, and an intrinsic structure that makes tuning not only more complex than necessary, but also less transparent with respect to the key attributes of the overall controller performance, namely: robustness, set-point tracking, and disturbance rejection. In this paper, we propose an alternative control scheme that combines the simplicity of the PID controller with the versatility of model predictive control (MPC) while avoiding the tuning problems associated with both. The tuning parameters of the proposed control scheme are related directly to the controller performance attributes; they are normalized to lie between 0 and 1; and they arise naturally from the formulation in a manner that makes it possible to tune the controller directly for each performance attribute independently. The result is a controller that can be designed and implemented much more directly and transparently, and one that outperforms the classical PID controller both in set-point tracking and disturbance rejection while using precisely the same process reaction curve information required to tune PID controllers. The design, implementation and performance of the controller are demonstrated via simulation on a nonlinear polymerization process. 相似文献
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《Journal of Process Control》2014,24(11):1761-1777
This paper presents the use of nonlinear auto regressive moving average (NARMA) neuro controller for temperature control and two degree of freedom PID (2DOF-PID) for pH and dissolved oxygen (DO) of a biochemical reactor in comparison with the industry standard anti-windup PID (AWU-PID) controllers. The process model of yeast fermentation described in terms of temperature, pH and dissolved oxygen has been used in this study. Nonlinear auto regressive moving average (NARMA) neuro controller used for temperature control has been trained by Levenberg–Marquardt training algorithm. The 2DOF-PID controllers used for pH and dissolved oxygen have been tuned by MATLAB's auto tune feature along with manual tuning. Random training data with input varying from 0 to 100 l/h have been obtained by using NARMA graphical interface. The data samples used for training, validation and testing are 20,000, 10,000 and 10,000 respectively. Random profiles have been used for simulation. The NARMA neuro controller and the 2DOF-PID controllers have shown improvement in rise time, residual error and overshoot. The proposed controllers have been implemented on TMS320 Digital Signal Processing board using code composure studio. Arduino Mega board has been used for input/output interface. 相似文献
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In the tuning of phase lead/lag compensators, knowledge of specific points on the frequency response of the plant are required. Such points are specified by their frequency, gain and phase and are not readily available without an accurate model of the plant. Yet such information is important for any auto-tuning procedure to succeed. In this paper, relays with hysterisis are tuned to determine points on the frequency response of a plant with a user-specified gain, g0 or phase, φ0. On-line algorithms are developed to tune the operating point of the relay feedback system so that the resulting oscillations correspond to the frequency response of the plant with either gain, g0 or phase, φ0. Tuning involves setting either the amplitude of the relay or its hysterisis width. Improvement over the simple application of the describing function is also shown. The results are applied to the auto-tuning of phase lead and lag compensators. Simulations are presented to illustrate the auto-tuning procedures. 相似文献
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Computational intelligence approach to PID controller design using the universal model 总被引:1,自引:0,他引:1
Rodrigo Rodrigues Sumar 《Information Sciences》2010,180(20):3980-3991
Despite the popularity of PID (Proportional-Integral-Derivative) controllers, their tuning aspect continues to present challenges for researches and plant operators. Various control design methodologies have been proposed in the literature, such as auto-tuning, self-tuning, and pattern recognition. The main drawback of these methodologies in the industrial environment is the number of tuning parameters to be selected. In this paper, the design of a PID controller, based on the universal model of the plant, is derived, in which there is only one parameter to be tuned. This is an attractive feature from the viewpoint of plant operators. Fuzzy and neural approaches - bio-inspired methods in the field of computational intelligence - are used to design and assess the efficiency of the PID controller design based on differential evolution optimization in nonlinear plants. The numerical results presented herein indicate that the proposed bio-inspired design is effective for the nonlinear control of nonlinear plants. 相似文献
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Ali Fadaei Karim Salahshoor 《International Journal of Control, Automation and Systems》2011,9(5):823-833
This paper presents a novel fuzzy auto-tuning methodology to continuously adapt PID control actions without interrupting the
normal process operation. New auto-tuning rules are introduced to schedule a gradual and guided activation of each individual
P, I and D control mode in three adjustable functional control zones. An auto-scaling procedure has been incorporated to generalize
the autotuning scheme to efficiently respond to any set-point change outside a pre-defined operating span. In contrast to
existing auto-tuning algorithms, the proposed scheme is not an on-demand auto-tuning methodology and hence does not require
alertness of an experienced engineer to initiate and supervise its initial operation in a separate commissioning identification
pre-test. This interesting feature provides a new perspective on PID auto-tuning approaches. Performance of the proposed auto-tuning
scheme is practically evaluated in a real pilot plant within a networked control system (NCS) configuration, realized by industrial
Ethernet and Foundation Fieldbus technologies. An extensive series of test scenarios has been conducted to explore efficiency
of the proposed auto-tuning methodology to cope with fixed and varying operating set-points under uncertain and variable network
transmission time delays and external disturbance. 相似文献