Estratégia de escalonamento de controladores PID baseado em regras Fuzzy para redes industriais foundation fieldbus usando blocos padrões

The main objective of work is to show procedures to implement intelligent control strategies. This strategies are based on fuzzy scheduling of PID controllers, by using only standard function blocks of this technology. Then, the standardization of Foundation Fieldbus is kept. It was developed an environment to do the necessary tests, it validates the propose. This environment is hybrid, it has a real module (the fieldbus) and a simulated module (the process), although the control signals and measurement are real. Then, it is possible to develop controllers projects. In this work, a fuzzy supervisor was developed to schedule a network of PID controller for a non-linear plant. Analyzing its performance results to the control and regulation problem

Aplicação prática do método de sintonia de controladores PID utilizando o método do relé com histerese

The area of research and development involving the PID tune of controllers is an active area in the academic and industrial sectors yet. All this due to the wide use of PID controllers in the industry (96% of all controllers in the industry is still PID). Controllers well tuned and tools to monitor their performance over time with the possibility of selftuning, become an item almost obligatory to maintain processes with high productivity and low cost. In a globalized world, it is essential for their self survival. Although there are several new tools and techniques that make PID tune, in this paper will explore the PID tune using the relay method, due its good acceptance in the industrial environment. In addition, we will discuss some techniques for evaluation of control loops, as IAE, ISE, Goodhart, the variation of the control signal and index Harris, which are necessary to propose new tuning for control loops that have a low performance. Will be proposed in this paper a tool for tuning and self tuning PID. Will be proposed in this paper a PID auto-tuning software using a relay method. In particular, will be highlighted the relay method with hysteresis. This method has shown tunings with satisfactory performance when applied to the didactic, simulated and real plants

Design of microprogrammed controllers with address converter implemented on programmable systems with embedded memories

In the paper the improvement of a traditional structure of a microprogrammed controller with sharing codes is discussed. The idea is based on the modification of internal modules and connections of the device. Such a solution permits to reduce the number of embedded memories needed for implementation of the microprogrammed controller on programmable structures, especially FPGAs. © 2011 IEEE.

Projeto e concepção de um quadcopter utilizando o controle PID

The present work refers to the design, conception and development of a quadcopter based on PID controllers, a widespread microcontroller on the market was being implemented, the Arduino. Also made use of LabVIEW programming tool from National Instruments company for the quadcopter control and telemetry. For the control, LabVIEW software acquired the joystick commands, making the necessary adjustments to the perfect interpretation by microcontroller on the quadcopter and adjusts the parameters of PID controllers. For telemetry, data relating to quadcopter behavior are received, interpreted and presented in an intuitive user interface. In the first part of this graduate work presents the theoretical background on the subject, with a brief history about the quadcopters, followed by the main projects in the academic and commercial matters. Also are presented the theories of communications used in the design and PID control. Then an overview of the dynamic and mathematical model is demonstrated. Having done this, the physical and computer components required to complete the project are showed and the results are achieved consequently. Finally, a conclusion is made taking into account the results obtained. In this work will be presented the PID control of quadcopter translational movements only to roll and pitch movements

Coordination of actuated controllers on traffic control systems.

Texas Department of Transportation, Austin

Minutes of the Board of school controllers of the City of Reading.

Latest issue consulted: 1900-1901.

Towards probabilistic synchronization of local controllers

The traditional use of global and centralised control methods, fails for large, complex, noisy and highly connected systems, which typify many real world industrial and commercial systems. This paper provides an efficient bottom up design of distributed control in which many simple components communicate and cooperate to achieve a joint system goal. Each component acts individually so as to maximise personal utility whilst obtaining probabilistic information on the global system merely through local message-passing. This leads to an implied scalable and collective control strategy for complex dynamical systems, without the problems of global centralised control. Robustness is addressed by employing a fully probabilistic design, which can cope with inherent uncertainties, can be implemented adaptively and opens a systematic rich way to information sharing. This paper opens the foreseen direction and inspects the proposed design on a linearised version of coupled map lattice with spatiotemporal chaos. A version close to linear quadratic design gives an initial insight into possible behaviours of such networks.

Voimalaitoksen käytönaikaisen optimoinnin määrittely

Tässä diplomityössä määritellään biopolttoainetta käyttävän voimalaitoksen käytönaikainen tuotannon optimointimenetelmä. Määrittelytyö liittyy MW Powerin MultiPower CHP –voimalaitoskonseptin jatkokehitysprojektiin. Erilaisten olemassa olevien optimointitapojen joukosta valitaan tarkoitukseen sopiva, laitosmalliin ja kustannusfunktioon perustuva menetelmä, jonka tulokset viedään automaatiojärjestelmään PID-säätimien asetusarvojen muodossa. Prosessin mittaustulosten avulla lasketaan laitoksen energia- ja massataseet, joiden tuloksia käytetään seuraavan optimointihetken lähtötietoina. Optimoinnin kohdefunktio on kustannusfunktio, jonka termit ovat voimalaitoksen käytöstä aiheutuvia tuottoja ja kustannuksia. Prosessia optimoidaan säätimille annetut raja-arvot huomioiden niin, että kokonaiskate maksimoituu. Kun laitokselle kertyy käyttöikää ja historiadataa, voidaan prosessin optimointia nopeuttaa hakemalla tilastollisesti historiadatasta nykytilanteen olosuhteita vastaava hetki. Kyseisen historian hetken katetta verrataan kustannusfunktion optimoinnista saatuun katteeseen. Paremman katteen antavan menetelmän laskemat asetusarvot otetaan käyttöön prosessin ohjausta varten. Mikäli kustannusfunktion laskenta eikä historiadatan perusteella tehty haku anna paranevaa katetta, niiden laskemia asetusarvoja ei oteta käyttöön. Sen sijaan optimia aletaan hakea deterministisellä optimointialgoritmilla, joka hakee nykyhetken ympäristöstä paremman katteen antavia säätimien asetusarvoja. Säätöjärjestelmä on mahdollista toteuttaa myös tulevaisuutta ennustavana. Työn käytännön osuudessa voimalaitosmalli luodaan kahden eri mallinnusohjelman avulla, joista toisella kuvataan kattilan ja toisella voimalaitosprosessin toimintaa. Mallinnuksen tuloksena saatuja prosessiarvoja hyödynnetään lähtötietoina käyttökatteen laskennassa. Kate lasketaan kustannusfunktion perusteella. Tuotoista suurimmat liittyvät sähkön ja lämmön myyntiin sekä tuotantotukeen, ja suurimmat kustannukset liittyvät investoinnin takaisinmaksuun ja polttoaineen ostoon. Kustannusfunktiolle tehdään herkkyystarkastelu, jossa seurataan katteen muutosta prosessin teknisiä arvoja muutettaessa. Tuloksia vertaillaan referenssivoimalaitoksella suoritettujen verifiointimittausten tuloksiin, ja havaitaan, että tulokset eivät ole täysin yhteneviä. Erot johtuvat sekä mallinnuksen puutteista että mittausten lyhyehköistä tarkasteluajoista. Automatisoidun optimointijärjestelmän käytännön toteutusta alustetaan määrittelemällä käyttöön otettava optimointitapa, siihen liittyvät säätöpiirit ja tarvittavat lähtötiedot. Projektia tullaan jatkamaan järjestelmän ohjelmoinnilla, testauksella ja virityksellä todellisessa voimalaitosympäristössä ja myöhemmin ennustavan säädön toteuttamisella.

Realization of fractional-order controllers: analysis, synthesis and application to the velocity control of a servo system

The synthesis and application of fractional-order controllers is now an active research field. This article investigates the use of fractional-order PID controllers in the velocity control of an experimental modular servo system. The systern consists of a digital servomechanism and open-architecture software environment for real-time control experiments using MATLAB/Simulink. Different tuning methods will be employed, such as heuristics based on the well-known Ziegler Nichols rules, techniques based on Bode’s ideal transfer function and optimization tuning methods. Experimental responses obtained from the application of the several fractional-order controllers are presented and analyzed. The effectiveness and superior performance of the proposed algorithms are also compared with classical integer-order PID controllers.

Performance of fractional PID algorithms controlling nonlinear systems with saturation and backlash phenomena

The development of fractional-order controllers is currently one of the most promising fields of research. However, most of the work in this area addresses the case of linear systems. This paper reports on the analysis of fractional-order control of nonlinear systems. The performance of discrete fractional-order PID controllers in the presence of several nonlinearities is discussed. Some results are provided that indicate the superior robustness of such algorithms.

Limit Cycle Prediction of Systems with Fractional Controllers and Backlash

This article investigates the limit cycle (LC) prediction of systems with backlash by means of the describing function (DF) when using discrete fractional-order (FO) algorithms. The DF is an approximate method that gives good estimates of LCs. The implementation of FO controllers requires the use of rational approximations, but such realizations produce distinct dynamic types of behavior. This study analyzes the accuracy in the prediction of LCs, namely their amplitude and frequency, when using several different algorithms. To illustrate this problem we use FO-PID algorithms in the control of systems with backlash.

Application of a Pid+fuzzy controller on the motion control system in machine tools

This work deals with an hybrid PID+fuzzy logic controller applied to control the machine tool biaxial table motions. The non-linear model includes backlash and the axis elasticity. Two PID controllers do the primary table control. A third PID+fuzzy controller has a cross coupled structure whose function is to minimise the trajectory contour errors. Once with the three PID controllers tuned, the system is simulated with and without the third controller. The responses results are plotted and compared to analyse the effectiveness of this hybrid controller over the system. They show that the proposed methodology reduces the contour error in a proportion of 70:1.

Decentralized PID self-tuning control of industrial robots

A three degrees of freedom industrial robot is controlled by applying PID self-tuning (PID/ST) controllers. This control is considered as a corrective term to a nominal value, centrally computed from an inaccurate and/ or simplified dynamic model. An identification scheme on an assumed linear plant describing the deviation from the desired trajectory is employed in order to tune the controller coefficients and thus accomplish a behaviour prescribed through a desired pole placement. A salient feature of our approach is the decentralized nature of the controllers producing the corrective term for each joint. This opens the way to practical implementation, as recent computing requirement calculations for similar set-ups have shown in the literature. Numerical results are presented.