This study aimed to develop and evaluate a method to obtain a proportional-integral-derivative (PID) controller. The controller is for a control surface that controls pitch motion, by using data from flight tests with an unmanned aerial vehicle (UAV). Finding a suitable method to develop the controllers is essential to make the UAV autonomous, whilst being stable and controllable. Before developing the PID, data from test flights were used to model a transfer function for the control surface with MATLAB's toolbox for system identification. Thereafter, using the transfer function, the PID was developed by using MATLAB’s toolbox for control systems. The whole method was evaluated by studying the rise time, settling time, and overshoot for the PID, and studying how well the transfer function fits with the flight data. The method of modeling the pitch motion with system identification and finding the PID gains has good potential to simplify the process of finding a PID controller. However, to acquire an accurate model for the pitch motion, which in turn can give a well-performing PID, an improved data sampling was suggested. Additionally, flight tests conducted before and after PID tuning, and in different conditions are recommended to be done in future studies. The flight test would work as a validation for the model to acquire a robust PID that performs as expected. / Syftet med denna studie var att utveckla och utvärdera en metod för att hitta en proportionerlig integrerande deriverande (PID) regulator. Regulatorn är för en kontrollyta som kontrollerar tipprörelsen genom att använda data från flygtester med en drönare. Att hitta en lämplig metod för att utveckla regulatorer är nödvändigt för att göra drönaren autonom, samtidigt som den är stabil och kontrollerbar. Innan PID:n utvecklades användes data från flygtester för att modellera överföringsfunktionen för kontrollytan med MATLAB:s programvara för systemidentifiering. Därefter, genom att använda överföringsfunktionen, utvecklades PID:n med MATLAB:s programvara för reglersystem. Hela metoden utvärderades genom att studera stigtid, insvängningstid och översläng för PID regulatorn, samt studera hur väl överföringsfunktionen modellerar flygdata. Metoden för att modellera tipprörelsen och att hitta PID förstärkningarna har en god potential att förenkla processen av att hitta en PID regulator. Däremot för att få en precis modell för tipprörelsen, vilket i sin tur kan ge en välpresterande PID, föreslogs det att förbättra datainsamlingen. Dessutom rekommenderades det i framtida studier att flygtester genomförs i olika förhållande, både före och efter att PID regulatorn har hittats. Flygtesterna skulle fungera som en bekräftelse för modellen för att få en robust PID som presterar som väntat. / Kandidatexjobb i elektroteknik 2022, KTH, Stockholm

No description available.

In this project a cube was constructed with the intent for it to balance on one of its edges by regulating the speed of a reaction wheel. To be able to do this, a research was done to understand the mechanics of the system and to know what components were required for the project. A brushed DC motor was used with one reaction wheel on each end of its shaft, using the moment of inertia to convert the torque from the motor to an angular acceleration of the cube. A control system was implemented to regulate the speed of the motor depending on the angular offset of the cube. This control system was chosen to be a proportional–integral–derivative (PID) controller, and a number of different tuning methods were used to determine the parameters of said controller to create a stable system. Despite the different methods used, the cube did not successfully balance for a longer period of time. / Under detta projekt har en kub konstruerats med syfte att balansera på en av sina kanter genom att reglera hastigheten på ett reaktionshjul. En undersökning genomfördes för att få en bra förståelse för det mekaniska systemet samt för att ta reda på vilka komponenter som var väsentliga för projektet. En borstad likströmsmotor användes tillsammans med ett reaktionshjul på varsin sida av motorns drivande axel vars tröghetsmoment utnyttjades för att överföra momentet från motorn till en vinkelacceleration på kuben. En regulator implementerades för att styra hastigheten på reaktionshjulen beroende på vinkelavvikelsen från jämviktsläget. Regulatorn som valdes var en proportionell, integrerande och deriverande (PID) regulator och flera olika metoder användes för att bestämma regulatorns parametervärden som avgör dess egenskaper. Trots att olika metoder prövades lyckades inte kuben balansera under en längre period.

The digitization of classical control systems presents a number of challenges and opportunities with respect to the miniaturization, distribution, reliability verification and obsolescence of both the controller and the underlying system under control. A method for the design of proportional-integral-derivative (PID) compensators realized in the form of all-digital components is presented. All-digital refers to a system implementation that is realizable with a wide range of digital logic components including discrete digital logic elements and programmable logic devices (PLDs) such as field-programmable gate arrays. The proportional, integral and derivative components of the classical PID control law were re-envisioned in terms of frequency of occurrences or counts for adaptation to combinatorial and sequential digital logic. Modification of the control scheme around this newly formed representation of system error enables the development of a PID-like FPGA-based or PLD-based controller. Details of the design of an all-digital PID-like controller including abstract, causal block diagrams and a MATLAB® and Simulink® based implementation are presented. The compensator was simulated in a velocity tracking DC motor control application and was found to perform comparably to that of a classical PID based control. Methods for assessing the resultant stability of an all-digital PID compensated system under control are discussed.

Uma das técnicas de controle avançado que vem ganhando destaque no cenário econômico e ecológico, focando maior sustentabilidade e a otimização dos processos, é o controle preditivo, o qual já vem sendo aplicado em indústrias químicas e petroquímicas. Esta dissertação trata do desenvolvimento de um controle preditivo aplicado a uma planta piloto de neutralização de pH, presente no Laboratório de Controle de Processos Industriais da Escola Politécnica da Universidade de São Paulo. O desenvolvimento do projeto pode ser dividido em quatro etapas: implementação das malhas de controle regulatório, identificação dos sistemas, construção do controlador preditivo, aplicações e análises experimentais. Na primeira etapa foi necessário estudar o sistema em questão e implementar algumas malhas internas usando controladores PID. Na segunda etapa foi realizada a identificação do modelo da planta, ressaltando que pontos de operação e ajuste de parâmetros internos são determinantes para a modelagem. Já na terceira etapa desenvolveu-se um controlador preditivo, através de softwares auxiliares como o MATLAB e o IIT 800xA da ABB, que foram utilizados para o desenvolvimento e implementação do algoritmo de controle. Por fim, na última etapa, foi feita a análise e comparação dos resultados, quando se submete à planta a um controlador PID, quando aplicado um controlador preditivo em cascata com controladores PID e quando se utiliza apenas o controlador preditivo com ação direta nos atuadores. / The predictive control is an advanced control technique which has gained evidence in the economic and ecological context because the search for sustainability and process optimization. This control has already been applied by the chemical and petrochemical industries. The purpose of this project is to develop a predictive controller which will be applied in a pH neutralization plant located in the Industrial Processes Control Laboratory at Polytechnic School of the University of São Paulo. The development of this project can be divided into four stages: implementation of regulatory control loops, identification of the system, construction of the predictive controller, applications and experimental analysis. The first step is necessary in order to study the plant and to implement some internal loops using PID controllers. In the second step, the identification process of the plant model will be done. It is important to note that operating points and internal parameter settings are very important for modeling. In the third stage, using the model obtained from the identification process, a predictive controller is built from auxiliary software such as MATLAB and IIT 800xA (by ABB), which will be used for the development and implementation of the control algorithm. Finally, the last step consists in collecting and analyzing the results of the pH neutralization plant. At this stage the responses of each controller will be compared: PID controller, MPC controller in cascade mode with PID and MPC controller acting directly on actuators.

<div>Pressure compensated vane pump systems are an attractive solution in many automotive applications to supply hydraulic power required for cooling, lubrication, and actuation of control elements such as transmission clutches. These systems feature variable displacement vane pumps which offer reductions in parasitic loads on the engine and in wasted hydraulic energy at high engine speeds when compared to traditional fixed displacement supply pumps. However, oscillations in a currently available pressure compensation system limits the achievable performance and therefore the application of this solution.</div><div>This dissertation presents the development and experimental validation of a lumped parameter model in MATLAB/Simulink of a current pressure compensated vane pump system for an automatic transmission oil supply application. An analysis of the performance of this system using the validated pump model and a developed black box control system model reveals that the low cost solenoid valve present in the control circuit to set the regulation pressure limits the achievable bandwidth to 1.84Hz and causes a significant time delay in the response. To address this limitation, as well as eliminate a non-minimum phase zero introduced by the case study’s control circuit architecture, an actively controlled electrohydraulic pressure compensation system is proposed. This proposed system is explored both experimentally and in simulation making use of the accuracy of the presented variable displacement vane pump model. Significant improvements in the achievable system performance are shown with both a simple PI control law (47% reduction in the pressure response time) and an advanced cascaded model following controller based on feedback linearization (58% reduction in the pressure response time). An analysis of these results reveals that implementing the proposed control system with a 5(L/min)/bar proportional valve with a 20Hz at ±100% (60Hz at ±50%) amplitude bandwidth and a PI control law is an economical path to achieving the best performance improvements for this automotive application.</div>

Submitted by Maicon Juliano Schmidt (maicons) on 2015-07-15T14:25:14Z No. of bitstreams: 1 João Olegário de Oliveira de Souza.pdf: 4255697 bytes, checksum: 53d282b67d9c0e2f0b8d76e886a38a6f (MD5) / Made available in DSpace on 2015-07-15T14:25:14Z (GMT). No. of bitstreams: 1 João Olegário de Oliveira de Souza.pdf: 4255697 bytes, checksum: 53d282b67d9c0e2f0b8d76e886a38a6f (MD5) Previous issue date: 2013-01-31 / Nenhuma / Os controladores do tipo Proporcional, Integral e Derivativo, comumente denominados de PID, são largamente utilizados no controle de processos industriais, tanto em sistemas monovariáveis quanto em sistemas multivariáveis. Hoje, cerca de 95% dos controladores utilizam este tipo de estrutura na indústria. O grande problema é que grande parte deles estão mal sintonizados, comprometendo em muitos casos o desempenho de malhas industriais. Neste trabalho é apresentada uma revisão geral sobre os algoritmos inspirados na natureza, Simulated Annealing e Algoritmos Genéticos (fundamentos, características, parâmetros, operadores) e sua aplicação ao problema da sintonia de controladores PID monovariáveis e multivariáveis. É estabelecida, através de estudo de casos, uma análise comparativa entre estas sintonizações com metaheurísticas e os métodos consagrados na literatura em aplicações industriais convencionais, utilizando como função de avaliação o índice Integral do Erro Absoluto ponderado pelo Tempo (ITAE). O trabalho também propõe o estudo de controladores PID através de Algoritmos Genéticos Multiobjetivos, que satisfaçam dois critérios de desempenho: overshoot e o índice de desempenho Integral do Erro Quadrático ponderado pelo Tempo (ITSE). Conforme demonstrado pelos resultados obtidos, pode-se afirmar que a metaheurística Algoritmos Genéticos é um método eficiente e confiável para a otimização de problemas de sintonia de controladores PID. / The Proportional, Integral and Derivative controllers, commonly called PID controllers, are widely used in industrial process control, in both SISO and multivariable systems. Today about 95% of controllers use this type of structure in the industry. The big problem is that most of them are poorly tuned, in many cases compromising the performance of industrial loops. This work presents a general review on nature-inspired algorithms, Simulated Annealing and Genetic Algorithms (basement, characteristics, parameters, operators) and its application in the problem of tuning PID controllers in both single variable and multivariable systems. There will be through case studies, a comparative analysis of these metaheuristics with established methods in the literature in conventional industrial applications using as evaluation function the Integral of time multiplied by the Absolute Error (ITAE) index. The work also proposes the study of PID controllers using multiobjective genetic algorithms which meet two performance criteria: overshoot and the Integral Time Square Error (ITSE) index. The results obtained confirm that Genetic Algorithms are an effective and reliable method to optimize complex problems.

In recent years, research in the field of automation has been advancing quickly in the direction of wireless networks of sensors and actuators. This development has introduced a need to reduce the amount of communication. A number of different alternative schemes have been proposed. They are usually divided into event-triggered schemes and self-triggered ones. The main purpose of this Master's thesis was to further develop and evaluate the sesampling schemes, focusing on their needed communication. The effect on control performance by the different schemes was also taken into account. Because of the difficulty in performing a theoretical comparison, the thesis focused on evaluating the schemes in simulations and in experiments on real industrial processes. The results indicate that simply using a slower periodic scheme may reduce as much communication without losing much performance as the more flexible schemes. This would imply that investing further into the other schemes may be of waste. However, using an event-triggered scheme with improvements introduced in this report may offer some advantages when it comes to performance and simplicity in setup. Maybe more importantly, it is safer during rapidly changing conditions, which also makes it very unlikely that a slow periodic sampler would ever be implemented on a real system. The results in general are very positive with communication reductions of over 90% when using a well tuned base sampling interval and over 99% when the comparison is made to current implementations in the industry, all without significant loss of performance.

Nowadays, high portion of tactical missiles use gimbaled seeker. For accurate target tracking, the platform where the gimbal is mounted must be stabilized with respect to the motion of the missile body. Line of sight stabilization is critical for fast and precise tracking and alignment. Although, conventional PID framework solves many stabilization problems, it is reported that many PID feedback loops are poorly tuned. In this thesis, recently introduced robot control method, proxy based sliding mode control, is adopted for the line of sight (LOS) stabilization. Before selecting the proposed method, adaptive neural network sliding mode control and fuzzy control are also implemented for comparative purposes. Experimental and simulation results show a satisfactory response of the proxy based sliding mode controller.

Η παρούσα διδακτορική διατριβή αναφέρεται σε έδρανα ολίσθησης. Συγκεκριμένα, αναφέρεται στο σχεδιασμό και την κατασκευή ενός νέου, πρωτότυπου υβριδικού εδράνου ολίσθησης, το οποίο έχει τη δυνατότητα να λειτουργεί είτε ως υδροδυναμικό, είτε ως ενεργό ηλεκτρομαγνητικό, είτε ως υβριδικό, δηλαδή υδροδυναμικό και ενεργό ηλεκτρομαγνητικό ταυτόχρονα. Προκειμένου να πραγματοποιηθεί ο σχεδιασμός και η κατασκευή του συγκεκριμένου υβριδικού εδράνου ολίσθησης, έγιναν υπολογισμοί και προσομοίωση του υδροδυναμικού πεδίου για τα υδροδυναμικά έδρανα ολίσθησης και του ηλεκτρομαγνητικού πεδίου για τα ηλεκτρομαγνητικά έδρανα στο πρόγραμμα ANSYS. Η προσομοίωση των υβριδικών εδράνων ολίσθησης έγινε με επαναληπτική διαδικασία μεταξύ του υδροδυναμικού και του ηλεκτρομαγνητικού πεδίου προκειμένου να υπολογίζεται το κάθε επιθυμητό μέγεθος. Για το σχεδιασμό του υβριδικού εδράνου ολίσθησης χρησιμοποιήθηκε το σχεδιαστικό πρόγραμμα CATIA. Για την προσομοίωση του ελέγχου του υβριδικού εδράνου ολίσθησης, χρησιμοποιήθηκε το πρόγραμμα Matlab, το οποίο ενεργοποιεί το πρόγραμμα Ansys για τον υπολογισμό των χαρακτηριστικών του υδροδυναμικού και του ηλεκτρομαγνητικού πεδίου του εδράνου και το Simulink module του Matlab για τον υπολογισμό των χαρακτηριστικών του ελέγχου, ώστε να γίνονται όλοι οι απαραίτητοι υπολογισμοί αυτοματοποιημένα. Τέλος, έγιναν υπολογισμοί και προσομοίωση δυναμικής περιστρεφόμενων αξόνων, με στήριξη του ρότορα σε δύο έδρανα και δίσκο προσαρμοσμένο στον ρότορα, στο πρόγραμμα Matlab, με σύνδεση με το Ansys για τον υπολογισμό των συντελεστών ελαστικότητας και απόσβεσης και το Simulink module του Matlab για τον υπολογισμό των χαρακτηριστικών του ελέγχου, με σκοπό την ολοκληρωμένη ανάλυση του συστήματος. Συμπερασματικά, μέσω της συγκεκριμένης διδακτορικής διατριβής αποδεικνύεται πως ο σχεδιασμός, η λειτουργία και η κατασκευή του συγκεκριμένου πρωτότυπου υβριδικού εδράνου ολίσθησης είναι εφικτά, και από τα αποτελέσματα προκύπτει πως η λειτουργία ενός τέτοιου υβριδικού εδράνου ολίσθησης, έχει πολλά πλεονεκτήματα σε σχέση με άλλα έδρανα στήριξης περιστρεφόμενων αξόνων, είτε αυτά είναι απλά είτε υβριδικά και μπορεί να εφαρμοστεί είτε σε εργαστηριακό επίπεδο είτε σε βιομηχανικές εφαρμογές. / The present doctoral thesis refers to hydrodynamic journal bearings. Specifically, it refers to the design and construction of a new, innovative hybrid journal bearing, which has the ability to function either as hydrodynamic or active magnetic or hybrid, i.e. both hydrodynamic and active magnetic, at the same time. In order to be performed the design and construction of the specific hybrid journal bearing, calculations and simulation of the hydrodynamic field for the hydrodynamic journal bearings in the program ANSYS, have been made. The simulation of the hybrid journal bearings has been made with iterative process, between the hydrodynamic and active magnetic field, so that every desired magnitude can be calculated. For the design of the hybrid journal bearing, the designing program CATIA has been used. For the simulation of the control of the hybrid journal bearing, the program Maltab has been used, which activates the program Ansys, for the calculation of the features of the hydrodynamic and active magnetic field of the bearing and the Simulink module of Maltab, for the calculation of the features of control, so that all necessary calculations can be made automated. Finally, calculations and simulation of rotor dynamics, with support of the rotor in two bearings and disc adjusted to the rotor, in Maltab, in connection to Ansys, for the calculation of the elastic and damping coefficients and the Simulink module of Maltab, for the calculation of the features of control, have been made, having as a purpose the complete analysis of the system. In conclusion, through the specific doctoral thesis, it is proved that the design, function and construction of the specific, new hybrid journal bearing, can be achieved and the results show that the function of such a hybrid journal bearing, has many advantages compared to other bearings of support of rotors, either they are simple or hybrid and it can be applied either to laboratory level or industrial applications.