• Title, Summary, Keyword: PID 제어기

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Formation Control of Mobile Robots using Adaptive PID Controller (적응 PID 제어기를 이용한 이동로봇의 군집제어)

  • Park, Jin-Hyun;Choi, Young-Kiu
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.19 no.11
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    • pp.2554-2561
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    • 2015
  • In this paper, we strengthen the advantages of a simple PID controller as a study on the formation control of mobile robots and propose an adaptive PID controller with robust performance at the dynamics characteristics of following robot. Simulation studies show that the adaptive PID controller has better keeping constant distance and angle such as tracking performance of following robot for the formation control than a conventional PID controller. This is the proposed adaptive PID controller to change the gains is found to represent the best performance. This is able to verify that the performance of the proposed adaptive PID controller is excellent.

Optimum Tuning of PID-PD Controller considering Robust Stability and Sensor Noise Insensitivity (센서 잡음 저감도 및 안정-강인성을 고려한 PID-PD 제어기의 최적 동조)

  • Kim, Chang-Hyun;Lim, Dong-Kyun;Suh, Byung-Suhl
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.44 no.1
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    • pp.19-24
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    • 2007
  • In this paper, we propose a tuning method of PID-PD controller to satisfy design specifications in frequency domain as well as time domain. The proposed tuning method of PID-PD controller consists of the convex set of PID and PI-PD controller. PID-PD controller controls the closed-loop response to be located between the step responses, and Bode magnitudes of closed-loop transfer functions controlled by PID and PI-PD controller. The controller is designed by the optimum tuning method to minimize the proposed specific cost function subject to sensor noise insensitivity and robust stability. Its effectiveness is examined by the case study and analysis.

Design of Fuzzy PID Controllers using TSK Fuzzy Systems (TSK 퍼지 시스템을 이용한 퍼지 PID 제어기 설계)

  • Kang, Geuntaek;Oh, Kabsuk
    • Journal of Korean Institute of Intelligent Systems
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    • v.24 no.1
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    • pp.102-109
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    • 2014
  • In this paper, an algorithm to design fuzzy PID controllers is proposed. The proposed controllers are composed of fuzzy rules of which consequences are linear PID controllers and are designed with help of TSK fuzzy controllers. TSK fuzzy controllers are designed from TSK fuzzy model using pole assignment and have outstanding ability making the output response of nonlinear systems similar to the desired one. However, because of its structure complexity the TSK fuzzy controller is difficult to be used in industry. The proposed controllers have PID controller structure which can be easily realized, and are designed by using the data obtained from control simulations with TSK fuzzy controllers. To verify the proposed algorithm, two example simulations are performed.

Nonlinear PID Controller with Simple Neural Network Structure (간단한 신경회로망 구조를 갖는 비선형 PID 제어기)

  • 정경권;김주웅;정성부;김한웅;엄기환
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • pp.96-101
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    • 1998
  • 많은 분야에서 널리 사용되고 있는 PID 제어기의 형태는 오차를 갖는 폐루프 시스템으로 구성되며, PID 제어기는 비례, 적분, 미분 제어기로 나누어진다. PID 제어기의 형태가 여러 가지로 제안되고 있지만 보다 중요한 것은 PID 제어기의 파라미터들을 어떻게 적절히 정하느냐 하는 파라미터 조정 문제이다. 실제로 산업 현장에 설치되어 있는 PID 제어기는 대부분 숙련된 기술자에 의해 수동 조작에 의한 시행 착오(trial and error) 법으로 동조되고 있다. 이 경우는 많은 노력과 시간이 소비되고, 외란(disturbance)이 첨가될 경우 적절히 동조된다는 보장도 없다. 본 논문에서는 이러한 문제를 해결하고자 신경회로망을 이용하여 PID 제어기의 파라미터를 동조하는 제어 방법을 제안하였다. 단일 뉴런으로 구성하여 구조가 간단하고, 학습에 의한 성능 개선이 가능하다. 오차 역전파(Error Back-Propagation) 알고리즘에 의하여 PID 파라미터가 되는 가중치를 자동 동조하는 방법이다. 제안한 방식의 유용성을 보이기 위해 DC 서보 모터와 비선형 시스템인 단일 관절 매니퓰레이터를 대상으로 시뮬레이션을 하였다.

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Optimum Tuning of Modified PID Controller using Properties of the Affine Set (아핀 집합의 특성을 이용한 변형된 PID 제어기의 최적 동조)

  • Kim Chang-Hyun;Lim Dong-Kyun;Suh Byung-Sulh
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.42 no.6
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    • pp.15-22
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    • 2005
  • In this paper, we propose a PID-PD controller and its tuning method to be modified form of PID controller that consist of the affine set of PID and PI-PD controller by analyzing relation between these controllers. The proposed tuning method controls the closed-loop system to locate between the step responses of system controlled by PID and PI-PD controller. The controller is designed by the optimum tuning method to minimize the proposed specific cost functions. Its effectiveness is examined by the case studies and their analysis.

Design and Implementation of Fuzzy PID Controller (Fuzzy PID 제어기 설계 및 구현)

  • Shin Wee-Jae
    • Journal of the Institute of Convergence Signal Processing
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    • v.6 no.2
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    • pp.89-94
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    • 2005
  • In this paper, we propose a fuzzy PID controller of new method. There are two problems in absolute digital PID controller. First, much calculation time need for obtain the sum of data at each period. Second, this is problem need much memory because to storage every data at the before period. We use the speed type PID digital controller to improvement such problems. In the propose controller doesn't use without adjustment the crisp output error and we doesn't use nile tables in the fuzzy inference process at the forward stage fuzzifier. We inference output member ship function by using the relation and range of two variable of PID gain parameters. We can obtained desired results through the simulation and a experiment of the hydraulic servo motor control system.

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Position Control of Servo Motor using Hybrid Controller (하이브리드 제어기를 이용한 서보 전동기의 위치제어)

  • Kwon, Se-Hyun
    • Journal of the Institute of Convergence Signal Processing
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    • v.10 no.3
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    • pp.186-192
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    • 2009
  • PID controllers are simple in structure and easy for implementation. However, they may produce large overshoots and over-oscillatory responses. Combining PID control with other control techniques often results in advanced hybrid schemes that are able to improve pure PID controllers. This paper proposes hybrid controller for position control system of servo motor. The proposed controller is composed of a subcontroller and a parallel PID controller. The subcontroller improves the transient system performance while the PID controller is mainly responsible for the steady-state system performance. A very promising advantage of this hybrid scheme, in terms of controller synthesis, is that the subcontrollers and controller components can be designed separately. Systematic design methods for various controller components are developed. The proposed hybrid scheme is applied to a DC motor position servo system. The effectiveness of the proposed controller is verified through the computer simulation results.

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Design of PID Controller with Adaptive Neural Network Compensator for Formation Control of Mobile Robots (이동 로봇의 군집 제어를 위한 PID 제어기의 적응 신경 회로망 보상기 설계)

  • Kim, Yong-Baek;Park, Jin-Hyun;Choi, Young-Kiu
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.18 no.3
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    • pp.503-509
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    • 2014
  • In this paper, a PID controller with adaptive neural network compensator is proposed to control the formations of mobile robot. The control system is composed of a kinematic controller based on the leader-following robot and dynamic controller for considering the dynamics of the mobile robot. The dynamic controller is constituted by a PID controller and the adaptive neural network compensator for improving the performance and compensating the change in dynamic characteristics. Simulation results show the performance of the PID controller and the neural network compensator for the circular trajectory and linear trajectory. And it is verified that by improving the performance of a PID controller via the adaptive neural network compensator, the following robot's tracking performance is improved.

A Study on the Nonlinear Fuzzy PID Controller with Variable Parameters (가변 파라미터를 갖는 비선형 퍼지 PID 제어기에 관한 연구)

  • Lee, Byung-Kyul;Kim, In-Hwan;Kim, Jong-Hwa
    • Journal of Korean Institute of Intelligent Systems
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    • v.15 no.2
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    • pp.127-134
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    • 2005
  • This paper proposes a nonlinear fuzzy PID controller with variable parameters to improve slow rising time and divergence occurred by limited input spaces and a resultant limited control input during fuzzification in a fuzzy PID controller with fixed parameters, and describes the design principle and tracking performance of a proposed fuzzy PID controller. The parameters of a proposed controller are adjusted by the stability conditions derived from 'small gain theorem' and satisfy the BIBO stability of overall control system.

Controller Design of Two Wheeled Inverted Pendulum Type Mobile Robot Using Neural Network (신경회로망을 이용한 이륜 역진자형 이동로봇의 제어기 설계)

  • An, Tae-Hee;Kim, Yong-Baek;Kim, Young-Doo;Choi, Young-Kiu
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.15 no.3
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    • pp.536-544
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    • 2011
  • In this paper, a controller for two wheeled inverted pendulum type robot is designed to have more stable balancing capability than conventional controllers. Traditional PID control structure is chosen for the two wheeled inverted pendulum type robot, and proper gains for the controller are obtained for specified user's weights using trial-and-error methods. Next a neural network is employed to generate PID controller gains for more stable control performance when the user's weight is arbitrarily selected. Through simulation studies we find that the designed controller using the neural network is superior to the conventional PID controller.