Cohen-Coon PID Tuning Method for Self-Balancing Robot

Utami, Amalia Rizqi; Yuniar, R.J.; Giyantara, Andhika; Saputra, A.D.

doi:10.1109/isesd56103.2022.9980830

Cited by 5 publications

(3 citation statements)

References 4 publications

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“…There are several conventional methods for tuning PID controllers, each with its unique advantages and applicability. These methods encompass the Ziegler-Nichols (ZN) method [21], the Cohen-Coon Technique [22], manual tuning [23], optimization techniques [24], and the utilization of PID tuning software [25], among others [26]. Additionally, PID controllers can be tuned using various intelligent methods such as fuzzy logic, artificial neural networks (ANN), adaptive neuro-fuzzy inference systems (ANFIS), genetic algorithms (GA), and more [27,28].…”

Section: Simulation Resultsmentioning

confidence: 99%

Fault detection in robots based on discrete wavelet transformation and eigenvalue of energy

Ouarhlent,

Terki,

Hamiane

et al. 2023

Diagnostyka

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This article addresses the problem of fault detection in robot manipulator systems. In the production field, online detection and prevention of unexpected robot stops avoids disruption to the entire manufacturing line. A number of researchers have proposed fault diagnosis architectures for electrical systems such as induction motor, DC motor, etc..., utilising the technique of discrete wavelet transform. The results obtained from the use of this technique in the field of diagnosis are very encouraging. Inspired by previous work, The objective of this paper is to present a methodology that enables accurate fault detection in the actuator of a two-degree of freedom robot arm to avoid system performance degradation. A partial reduction in joint torque constitutes the actuator fault, resulting in a deviation from the desired end-effector motion. The actuator fault detection is carried out by analysing the torques signals using the wavelet transform. The stored energy at each level of the transform contains information which can be used as a fault indicator. A Matlab/Simulink simulation of the manipulator robot demonstrates the effectiveness of the proposed technique.

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Section: Simulation Resultsmentioning

confidence: 99%

Fault detection in robots based on discrete wavelet transformation and eigenvalue of energy

Ouarhlent,

Terki,

Hamiane

et al. 2023

Diagnostyka

View full text Add to dashboard Cite

show abstract

“…However, the adjusted gains value with this approach gives significant overshoot with step input and tracking error with sinus input [9] [10]. Cohen Coon is another classical method found in the literature for adjusting PID gains [11] [12]. These two conventional techniques lead to limited performances, especially with nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Optimal Tuning PID Controller Gains from Ziegler-Nichols Approach for an Electrohydraulic Servo System

Mintsa,

Eny,

Senouveau

et al. 2023

JERR

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The Proportional-Integral-Derivative (PID) controller is widely used to control industrial systems due to its ease of implementation, flexibility and well-known theory. The Ziegler-Nichols method is the primary method of adjusting this gains controller. Unfortunately, this method generates limited performances, especially on nonlinear systems. This paper shows the optimization of the gains of the PID controller from the values of the gains obtained by the ZN method. To do this, the Matlab Response Optimization tool is used to control the angular position of an electrohydraulic servo system. The initial conditions of this optimization process are the gain values adjusted by the ZN method. The numerical results obtained after a few iterations show a reduction of approximately in the tracking error for a sinusoidal input. Unfortunately, the performance improvement is not achieved for the step signal input because only the sine wave was used as the signal reference requirement for the optimization procedure.

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“…However, determining the optimal gain settings for the PID controller can be challenging due to the nonlinearity of the buck converter [22]. Various methods have been employed to identify the optimal PID gain settings, including the Ziegler-Nichols method [23]- [25], Cohen-Coon method [26]- [28], trial and error method [25], [29], and auto-tuning method [30]. While the Ziegler-Nichols and Cohen-Coon methods are more suitable for linear systems as they rely on mathematical formulas developed for such systems.…”

mentioning

confidence: 99%

Optimized PID Controller of DC-DC Buck Converter based on Archimedes Optimization Algorithm

Fong,

Islam,

Ahmad

2023

IJRCS

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This research assesses the suitability of the Archimedes Optimization Algorithm (AOA) as a metaheuristic technique to fine-tune a PID controller in a closed-loop DC-DC buck converter. The converter's core function is to regulate output voltage, ensuring stability despite load fluctuations and input voltage changes. The operational effectiveness of the converter hinges significantly on the gain settings of the PID controller and determining the optimal gain setting for the PID controller is a non-trivial task. For robust performance, the PID controller necessitates optimal gain settings, attainable through metaheuristic optimization. The algorithm aids in identifying ideal proportional, integral, and derivative gains based on varying load conditions. Leveraging the metaheuristic algorithm, the PID controller is optimized to minimize voltage errors, reduce overshoot, and enhance response time. The proposed PID controller, optimized using AOA, is contrasted with PID controllers tuned via alternative algorithms including the hybrid Nelder-Mead method (AEONM), artificial ecosystem-based optimization (AEO), differential evolution (DE), and particle swarm optimizer (PSO). Performance evaluation involves injecting a voltage disturbance into the buck converter with load changes of up to 20%. Results demonstrate the superiority of the AOA-optimized PID controller in voltage recovery. It demonstrates a faster response time and outstanding voltage regulation performance, while also exhibiting minimal performance degradation during load changes. This study concludes that the AOA optimization algorithm surpasses other methods in tuning the PID controller for closed-loop DC-DC buck converters.

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Cohen-Coon PID Tuning Method for Self-Balancing Robot

Cited by 5 publications

References 4 publications

Fault detection in robots based on discrete wavelet transformation and eigenvalue of energy

Fault detection in robots based on discrete wavelet transformation and eigenvalue of energy

Optimal Tuning PID Controller Gains from Ziegler-Nichols Approach for an Electrohydraulic Servo System

Optimized PID Controller of DC-DC Buck Converter based on Archimedes Optimization Algorithm

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