A practical iterative PID tuning method for mechanical systems using parameter chart

Kang, Mi Ae; Cheong, Joono; Do, Hyunmin; Son, Yung-Deug; Niculescu, Silviu–Iulian

doi:10.1080/00207721.2017.1357769

Cited by 4 publications

(2 citation statements)

References 28 publications

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“…Control parameter was turned based on the attenuation curve procedure, 16 according to the 4:1 attenuation method. The step response under different control parameters is shown in Figure 7 .…”

Section: Methodsmentioning

confidence: 99%

Cutting speed follow-up adjusting system of bidirectional electric drive side cutter for rape combine harvester

Guan

et al. 2020

Science Progress

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In rape combine harvester, side cutter must be equipped to cut off tangled rapeseed twigs. Inappropriate cutting speed would increase the repeated cutting and missing cutting of side cutter, which lead to serious header loss. In allusion to the problems mentioned above, bidirectional electric drive side cutter and a cutting speed follow-up adjusting system were proposed. The kinematic law of side cutter blades was analyzed. The trajectory, velocity, and acceleration of the two blades were the same, but the phase difference is π. Numerical simulation of cutting areas at different cutting speed ratios was carried out and the best cutting speed ratio was determined to be 1.1. Cutting speed follow-up adjusting system was designed based on matching relationship between combine harvester forward speed and side cutter cutting speed. Cutting speed follow-up adjusting system was designed with proportional–integral–derivative (PID) algorithm. The control parameters were determined to be Kp = 1.3, Ki = 4.3, Kd = 0.007. Simulation showed that the maximum overshoot of the system was 4.3%, steady-state error was 0.24%, and the rise time was 0.036 s. The cutting speed follow-up adjusting system was applied to the 4LZ-6T-type rape combine harvester. Experimental results showed that the side cutter cutting speed error was within 1.5%. When forward speed changed, the cutting speed response delay time was 1.5 s. The rape combine harvester header average loss was 2.96% and side cutter average loss was 0.81%. Compared to the fixed speed cutting, header loss was reduced by 14.05% and side cutter loss was reduced by 34.76%. The research can reduce the loss of rapeseed combine harvester and provide theoretical basis for the design of rapeseed combine harvester.

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Section: Methodsmentioning

confidence: 99%

Cutting speed follow-up adjusting system of bidirectional electric drive side cutter for rape combine harvester

Guan

et al. 2020

Science Progress

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“…Interactive tool for frequency domain tuning of PID controllers was put forward by Garrido [28]. A practical interactive PID tuning method for mechanical systems using parameter chart was proposed by Kang [29]. In summary, the intelligent optimization algorithms were utilized to tuning PID parameters.…”

Section: Introductionmentioning

confidence: 99%

Global Asymptotic Nonlinear PID Control With a New Generalized Saturation Function

Niu

Qu²

2020

IEEE Access

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In order to solve the problem of the strict condition of traditional saturation function, a new generalized saturation function was proposed and applied in nonlinear PID (Proportion-Integration-Differentiation) control laws, which consisted of linear D + nonlinear PI and linear PD + nonlinear PI. The new generalized saturation function has powerful reaction near the equilibrium point, and has the capability to make the control converge to the equilibrium point swiftly. The global asymptotic stability condition of nonlinear PID control laws were derived by employing Lyapunov's method and LaSalle's invariance principle. In order to improve the accuracy of nonlinear PID control laws, time integration of the absolute value of position tracking error and time integration of the absolute value of torque error were chosen as the objective functions. Global asymptotic stability conditions and rated driving torque of each motor were set as the constraint conditions. Nonlinear PID controller parameters were tuned by employing multi-objective genetic algorithm, non-dominated sorted genetic algorithm-II (NSGA-II). Compared with the optimization results of nonlinear PID with traditional saturation function, the accuracy of position tracking using the proposed method was improved by nearly one order of magnitude. The new generalized saturation functions with minimum time integration of position tracking error were selected to study the robustness of the nonlinear PID controller in modeling uncertainty, input torque disturbance, and noise. The position tracking accuracy of the proposed method compared to those of the traditional PID controller and nonlinear PID controller with traditional saturation function was improved by nearly two orders of magnitude and one order of magnitude, respectively. The introduced saturation function significantly improves position tracking accuracy and robustness of the nonlinear PID controller.

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Improvement and Evaluation for the Stability of Mobile Spherical Underwater Robots (SUR III)

Guo

et al. 2019

2019 IEEE International Conference on Mechatronics and Automation (ICMA)

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A practical iterative PID tuning method for mechanical systems using parameter chart

Cited by 4 publications

References 28 publications

Cutting speed follow-up adjusting system of bidirectional electric drive side cutter for rape combine harvester

Cutting speed follow-up adjusting system of bidirectional electric drive side cutter for rape combine harvester

Global Asymptotic Nonlinear PID Control With a New Generalized Saturation Function

Improvement and Evaluation for the Stability of Mobile Spherical Underwater Robots (SUR III)

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