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1.
This article presents a novel tuning design of Proportional-Integral-Derivative (PID) controller in the Automatic Voltage Regulator (AVR) system by using Cuckoo Search (CS) algorithm with a new time domain performance criterion. This performance criterion was chosen to minimize the maximum overshoot, rise time, settling time and steady state error of the terminal voltage. In order to compare CS with other evolutionary algorithms, the proposed objective function was used in Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) algorithms for PID design of the AVR system. The performance of the proposed CS based PID controller was compared to the PID controllers tuned by the different evolutionary algorithms using various objective functions proposed in the literature. Dynamic response and a frequency response of the proposed CS based PID controller were examined in detail. Moreover, the disturbance rejection and robustness performance of the tuned controller against parametric uncertainties were obtained, separately. Energy consumptions of the proposed PID controller and the PID controllers tuned by the PSO and ABC algorithms were analyzed thoroughly. Extensive simulation results demonstrate that the CS based PID controller has better control performance in comparison with other PID controllers tuned by the PSO and ABC algorithms. Furthermore, the proposed objective function remarkably improves the PID tuning optimization technique.  相似文献   

2.
This paper presents the design and performance analysis of Proportional Integral Derivate (PID) controller for an Automatic Voltage Regulator (AVR) system using recently proposed simplified Particle Swarm Optimization (PSO) also called Many Optimizing Liaisons (MOL) algorithm. MOL simplifies the original PSO by randomly choosing the particle to update, instead of iterating over the entire swarm thus eliminating the particles best known position and making it easier to tune the behavioral parameters. The design problem of the proposed PID controller is formulated as an optimization problem and MOL algorithm is employed to search for the optimal controller parameters. For the performance analysis, different analysis methods such as transient response analysis, root locus analysis and bode analysis are performed. The superiority of the proposed approach is shown by comparing the results with some recently published modern heuristic optimization algorithms such as Artificial Bee Colony (ABC) algorithm, Particle Swarm Optimization (PSO) algorithm and Differential Evolution (DE) algorithm. Further, robustness analysis of the AVR system tuned by MOL algorithm is performed by varying the time constants of amplifier, exciter, generator and sensor in the range of ?50% to +50% in steps of 25%. The analysis results reveal that the proposed MOL based PID controller for the AVR system performs better than the other similar recently reported population based optimization algorithms.  相似文献   

3.
针对PID控制器在不同的应用系统,需要动态调整PID控制参数的问题,提出了基于遗传算法的PID自适应参数优化方案。该方案通过将PID控制器产生的误差作为目标函数,利用遗传算法实现对PID控制器参数的自动调整。为了提高参数的优化效率,文章通过对交叉算子和变异算子的自适应处理,提高了PID控制器的性能。实验测试表明,文章设计的PID参数优化策略比普通的基于遗传算法优化策略效率平均高14.7%。  相似文献   

4.
This paper proposes to use a hybrid Stochastic Fractal Search (SFS) and Local Unimodal Sampling (LUS) based multistage Proportional Integral Derivative (PID) controller consisting of Proportional Derivative controller with derivative Filter (PDF) plus (1 + Proportional Integral) for Automatic Generation Control (AGC) of power systems. Initially, a single area multi-source power system consisting of thermal hydro and gas power plants is considered and parameters of Integral (I) controller is optimized by Stochastic Fractal Search (SFS) algorithm. The superiority of SFS algorithm over some recently proposed approaches such as optimal control, Differential Evolution (DE) and Teaching Learning Based Optimization (TLBO) is demonstrated. To improve the system performance further, LUS is subsequently employed. The study is further extended for different controllers like PID, and proposed multistage PID controller and the superiority of multistage PID controller over conventional PID controller structure is demonstrated. The study is further extended to a two-area six unit multi-source interconnected power system and the superiority of proposed approach over, TLBO and optimal control is demonstrated. Finally the study is extended to a three unequal area system power system with appropriate nonlinearities such as Generation Rate Constraint (GRC), Governor Dead Band (GDB) and time delay. From the analysis, it is found that hybrid SFS–LUS algorithm is superior to the original SFS algorithm and substantial improvement in system performance are realized with proposed multistage PID controller over conventional PID controller structure.  相似文献   

5.
经典PID控制应用广泛,但由于其参数的工程整定方法一般为试探法,这样对于设计人员的调试经验要求较高。随着工程技术的发展,被控对象也越来越复杂,经典PID参数整定也变得复杂,本文提出了一种基于遗传算法优化的PID控制器,PID的参数不仅可以自动整定而且支持在线整定。  相似文献   

6.
In this study, Artificial Bee Colony (ABC) algorithm is applied to the Automatic Voltage Regulator (AVR) system for obtaining optimal control. The tuning performance of this algorithm and its contribution to the robustness of the control system are also extensively and comparatively investigated. In the performance analysis, Particle Swarm Optimization (PSO) algorithm and Differential Evolution (DE) algorithm are used for the purpose of comparison. These analyses are realized by benefiting from different analysis methods such as transient response analysis, root locus analysis, bode analysis and statistically Receiver Operating Characteristic (ROC) analysis. Afterwards, the robustness analysis is applied to the AVR system, which is tuned by ABC algorithm in order to determine its response to changes in the system parameters. At the end of the study, it is shown that the ABC algorithm is successfully applied to the AVR system for improving the performance of the controller and shows a better tuning capability than the other similar population based optimization algorithms for this control application.  相似文献   

7.
The problem of designing optimal process-specific rules for non-parametric tuning is undertaken in the paper. It is shown that producing non-parametric process-specific optimal tuning rules for PID controllers leads to the problem that can be characterized as optimization under uncertainty. This happens due to the fact that tuning rules, unlike tuning constants, are produced not for a particular process or plant model but for a set of models from a certain domain. The novelty of the proposed approach is that the problem of obtaining optimal tuning rules for a flow process is formulated and solved as a problem of optimization of an integral performance criterion parametrized through values that define the domain of available process models. The considered non-parametric tuning assumes the use of the modified relay feedback test (MRFT) recently proposed in the literature. It allows one to tune the PID controller satisfying the requirements to gain or phase margins that is achieved through coordinated selection of tuning rules and test parameters. This approach constitutes a holistic approach to tuning. In the present paper, optimal tuning rules coupled with MRFT, for flow loops, are proposed. Final results are presented in the form of tables containing coefficients of optimal tuning rules for the PI controller, obtained for a number of specified gain margins. The produced non-parametric tuning rules well agree with the practice of loop tuning.  相似文献   

8.
The interconnected large-scale power systems are liable to performance degradation under the presence of sudden small load demands, parameter ambiguity and structural changes. Due to this, to supply reliable electric power with good quality, robust and intelligent control strategies are extremely requisite in automatic generation control (AGC) of power systems. Hence, this paper presents an output scaling factor (SF) based fuzzy classical controller to enrich AGC conduct of two-area electrical power systems. An implementation of imperialist competitive algorithm (ICA) is made to optimize the output SF of fuzzy proportional integral (FPI) controller employing integral of squared error criterion. Initially the study is conducted on a well accepted two-area non-reheat thermal system with and without considering the appropriate generation rate constraint (GRC). The advantage of the proposed controller is illustrated by comparing the results with fuzzy controller and bacterial foraging optimization algorithm (BFOA)/genetic algorithm (GA)/particle swarm optimization (PSO)/hybrid BFOA-PSO algorithm/firefly algorithm (FA)/hybrid FA-pattern search (hFA-PS) optimized PI/PID controller prevalent in the literature. The proposed approach is further extended to a newly emerged two-area reheat thermal-PV system. The superiority of the method is depicted by contrasting the results of GA/FA tuned PI controller. The proposed control approach is also implemented on a multi-unit multi-source hydrothermal power system and its advantage is established by Correlating its results with GA/hFA-PS tuned PI, hFA-PS/grey wolf optimization (GWO) tuned PID and BFOA tuned FPI controllers. Finally, a sensitivity analysis is performed to demonstrate the robustness of the proposed method to broad changes in the system parameters and size and/or location of step load perturbation.  相似文献   

9.
This paper discusses PID controller tuning for integrating processes with varying time-delays. Most of the existing tuning rules for the first-order lag plus integrator plus delay (FOLIPD) processes that we mainly focus on have the same general structure, and the properties of these rules are discussed in conjunction with varying time-delays. The analysis leads to novel tuning rules, where the maximum amplitude of an arbitrarily varying time-delay can be given as a parameter, which makes the use of the rules attractive in several applications. We will also extend the analysis to integrating processes with second-order lag and apply the design guidelines for a networked control application. In addition, we propose a novel tuning method that optimizes the closed-loop performance with respect to certain robustness constraints while also providing robustness to delay variance via jitter margin maximization. Further, we develop new PID controller tuning rules for a wide range of processes based on the proposed method. The new tuning rules are discussed in detail and compared with some of the recently published results. The work was originally motivated by the need for robust but simultaneously well-performing PID parameters in an agricultural machine case process. We also demonstrate the superiority of the proposed tuning rules in the case process.  相似文献   

10.
In this work, tuning rules of the PID controller have been developed by categorizing a system's response into distinct classes. The classes are formed using the shapes of the test oscillations induced by the system under the Modified Relay Feedback Test (MRFT) produced by specific system models. It is proposed that a physical system can be categorized into one of the proposed classes and thus the tuning rules for a particular class can apply to any kind of system from this class. The idea of producing tuning rules that are based on the shape of the oscillations induced in the loop containing the process comes from the observations that oscillatory responses of physical systems reveal just a few different shapes depending on system dynamics. For applying the developed optimal tuning rules for an arbitrary system, first, certain system characteristics are determined using a priori knowledge of the class model. Then the system's response with the application of the MRFT is examined to classify the oscillation waveform/shape. In this work, such classification is carried out using a cross-correlation algorithm. Finally, a class tuning rules are applied.  相似文献   

11.
The integrating characteristics are commonly found in composition control and level control of a distillation column in chemical processes. This paper presents a simple and intuitive robust tuning method of two-degree-of-freedom (2DoF) proportional-integral (PI) controller for integrating processes with dead time. The frequency response model matching approach is utilized with performance and robustness considerations for both regulatory and servo control issues. The regulatory control issue aims at matching the frequency response of the closed-loop system with that of the reference model for disturbance rejection, where the feedback controller parameters are calculated by solving a group of overdetermined algebraic equations subject to a robustness constraint evaluated by the maximum sensitivity. The target of the servo response is to follow a prescribed set-point reference trajectory, with the set-point weighting factor tuned to satisfy a defined tracking performance metric. A curve fitting procedure is utilized to generate analytical tuning rules in terms of the process model parameters and the desired robustness specification. It is shown that, apart from giving more exact achievement of the control system robustness, the tuning rules presented work well for a wider range of process dynamics than the existing methods. Illustrative examples are given to show the effectiveness of the proposed method.  相似文献   

12.
In proportional-integral-derivative (PID) controller design, obtaining high stability and desired closed-loop response are of great importance for system engineers. Most existing methodologies, which have validated their excellent control performance on the accurate mathematical model, face significant difficulties in the unavoidable model mismatches and disturbance. To overcome these drawbacks, this paper proposes a self-adaptive state-space predictive functional control (APFC) based on extremal optimization method to design PID controller called EO-APFC-PID, wherein, the self-adaptive means, i.e., a forgetting factor recursive least squares (FFRLS) mechanism is embedded into state-space predictive functional control (PFC), and the proposed EO is exploited to alleviate the challenging problem that the elements in weighting factors of APFC technique are lacking analytical knowledge. The performance of the proposed EO-APFC-PID control scheme is demonstrated and compared with one classic PID tuning method and two state-of-the-art control strategies on the chamber pressure control for a coke furnace. The experimental results fully illustrate that the proposed method is more effective and efficient than other existing control strategies for achieving a desired behavior on the most test cases considered in this paper in terms of set point tracking, input disturbance rejection and output disturbance rejection.  相似文献   

13.
Designing high performance controllers for multirotors is a rigorous task that is often solved by trial and error approach. Trial and error tuning usually results in non-optimal controller parameters. Tuning controllers based on the existing quadrotor models would result in poor performance of quadrotors due to simplifications and inaccuracies in the underlying models. In this paper optimal tuning rules for quadrotor attitude dynamics are designed, which guarantees near-optimal performance and robustness. A single in-flight run of the Modified Relay Feedback Test that takes only few seconds with guaranteed stability is enough to have near-optimal tuning of the controller. The designed tuning rule is tested experimentally in-flight on a custom-built quadrotor. The results showed significant advantages in performance and robustness due to the proposed approach.  相似文献   

14.
通过对广义预测控制性能指标函数中控制加权序列Qj（z-1）的配置给定,导出了具有PID算法结构的广义预测控制律,借助广义预测控制算法参数的递推关系链,自动优化整定PID调节参数,并在冶金实验炉温控制中实现了广义预测PID控制。  相似文献   

15.
This paper is concerned with stability analysis and stabilization of time-varying delay discrete-time systems in Lyapunov-Krasovskii stability analysis framework. In this regard, a less conservative approach is introduced based on non-monotonic Lyapunov-Krasovskii (NMLK) technique. The proposed method derives time-varying delay dependent stability conditions based on Lyapunov-Krasovskii functional (LKF), which are in the form of linear matrix inequalities (LMI). Also, a PID controller designing algorithm is extracted based on obtained NMLK stability condition. The stability of the closed loop system is guaranteed using the designed controller. Another property that is important along with the stability, is the optimality of the controller. Thus, an optimal PID designing technique is introduced in this article. The proposed method can be used to design optimal PID controller for unstable multi-input multi-output time-varying delay discrete-time systems. The proposed stability and stabilization conditions are less conservative due to the use of non-monotonic decreasing technique. The novelty of the paper comes from the consideration of non-monotonic approach for stability analysis of time-varying delay discrete-time systems and using obtained stability conditions for designing PID controller. Numerical examples and simulations are given to evaluate the theoretical results and illustrate its effectiveness compared to the existing methods.  相似文献   

16.
In the realm of flight control, proportional–integral–derivative (PID) control is still widely used in practice due to its simple structure and efficiency. The robustness and dynamic performance of PID controller can be evaluated by stability margins. Based on the empirical knowledge about the unstable flight dynamics, the analytical tuning formulas of the PID pitch attitude control with actuator delay are derived with the help of several proper approximations. These tuning formulas can meet the increasing gain and phase margins (iGPM) requirement and avoid time-consuming trial-and-error tuning process. The feasible iGPM area is established in 2-D plane subject to several conditions, especially taking the decreasing gain margin into account, wherein the numerical polynomial solving approaches are employed. The relationship between an existing PD tuning scheme and the proposed PID tuning method is also revealed. The applicable area of the tuning rule is then investigated on the basis of a crucial assumption. Furthermore, the achievable decreasing gain and phase margins (dGPM) area is obtained when the decreasing gain margin is critical; and another tuning rule is derived according to the dGPM specifications. The effect of the actuator delay on the achievable GPM area is demonstrated in a straightforward manner such that the reasonable criteria can be specified. Finally two numerical paradigms are presented to validate the proposed method; and the robustness and dynamic performance of the PID control are also reexamined for unstable flight dynamics.  相似文献   

17.
刘喆  李杰  刘俊  赵诣 《科技通报》2012,(2):101-103
针对经典PID参数整定方法复杂的问题,提出了一种改进型的Z-N参数整定方法。该方法提出系统特征参数的硬件解算方法,实现了电机运行过程中PID参数的自整定。在直流无刷电机伺服系统上验证了该算法能够对控制参数的自整定。电机调速过程响应迅速,无超调,运行平稳。  相似文献   

18.
The incessant swell in size, complexity, nonlinearity and structural variations in modern electric power systems, as well as rise in power demand has entailed the use of intelligent control strategies for the real-time satisfactory operation of power system. Hence, in this paper, a novel fuzzy PID with filter plus double integral (FPIDF-II) controller is proposed for automatic generation control (AGC) of two-area interconnected power systems. Initially, a well accepted two-area non-reheat thermal system is considered and the output scaling factors (SF) of FPIDF-II controller are optimized using imperialist competitive algorithm (ICA) employing an integral squared error (ISE) criterion. The supremacy of the proposed approach is demonstrated by contrasting the results with recently published optimal and various modern heuristic optimization techniques based controllers. To demonstrate the efficacy and scalability of the approach over other prevalent intelligent control techniques, the study is further extended to two-area non-reheat thermal system with governor deadband nonlinearity, two-area reheat thermal system, recently appeared two-area photovoltaic (PV)-reheat thermal system and two-area multi-source hydrothermal system. Finally, a sensitivity analysis is carried out to demonstrate the robustness of the proposed controller under broad variations in the system parameters from their nominal values.  相似文献   

19.
The method of identifying first order plus time delay transfer function model proposed for unstable systems by Ananth and Chidambaram [Closed loop identification to transfer function model for unstable systems, J. Franklin Inst. 336 (1999) 1055-1061] is modified to avoid the stability problems [Cheres, Parameter estimation of an unstable system with a PID controller in a closed loop configuration, J. Franklin Inst., 2005, accepted for publication] of the method. Two modifications are proposed. In the first modification of the method, the under-determined algebraic equations problem is converted into an optimization problem for calculation of the three parameters of the first order plus time delay (FOPTD) model. A simple method is given for the initial guess values of the model parameters. In the second approach, from the definition of Laplace transform of the output response, a third equation is formulated. The resulted three equations, in terms of the three parameters of the transfer function model, are then numerically solved. Simulation results are given for the second order plus time delay transfer function considered by Cheres 2005 [Parameter estimation of an unstable system with a PID controller in a closed loop configuration, J. Franklin Inst., 2005, accepted for publication]. The responses of the identified models with the same PID controllers are compared with that of the actual system. PID controllers are designed based on the identified models. The closed loop responses of the controllers on the original system are evaluated and compared. The present methods give better control performances.  相似文献   

20.
This paper is concerned with the problem of adaptive event-triggered (AET) based optimal fuzzy controller design for nonlinear networked control systems (NCSs) characterized by Takagi–Sugeno (T–S) fuzzy models. An improved AET communication scheme with a memory adaptive rule is proposed to enhance the utilization of the state response vertex data. Different from the existing ET based results, the improved AET scheme can save more communication resources and acquire better system performance. The sufficient criteria of performance analysis and controller design are presented for the closed-loop control system subject to mismatched membership functions (MFs) and AET scheme. And then, a new MFs online learning algorithm on the basis of the gradient descent approach is employed to optimize the MFs of fuzzy controller and obtain optimal fuzzy controller for further improving system performance. Finally, two simulation examples are presented to verify the advantage and effectiveness of the provided controller design technique.  相似文献   

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