Design of PID Controller for Magnetic Levitation System using Harris Hawks Optimization

Journal of Robotics and Control

Márquez-Vera²,

Mahmoud³

et al. 2023

This paper presents a control system design for a magnetic levitation system (Maglev) or MLS using sliding mode control (SMC). The MLS problem of levitating the object in the air will be solved using the controller. Inductors used in MLS make the system have nonlinear characteristics. Thus, a nonlinear controller is the most suitable control design for MLS. SMC is one of the nonlinear controllers with good robustness and can handle any model mismatch. Based on simulation results with a step as input reference, MLS provided good system performances: 0.0991s rise time, 0.1712s settling time, and 0.0159 overshoot. Moreover, a prominent tracking control for sine wave reference was also shown. Although the augmented system had a chattering effect on the control signal, the chattering control signal did not affect MLS performances.

Section: Resultsmentioning

confidence: 90%

Sliding Mode Control Design for Magnetic Levitation System

Journal of Robotics and Control

Márquez-Vera²,

Mahmoud³

et al. 2023

“…Pengendali PID sangat luas penggunaannya di industri [16][17] maupun robotika [18]. Selain itu pengendali ini memiliki persamaan sederhana [19] [20] dan memiliki respon tanggapan yang cepat [21]. Salah satu permasalahan pada pengendali PID adalah penentuan parameter PID [22].…”

Section: Pendahuluanunclassified

Pengendali Kecepatan Sudut Motor DC Menggunakan Kontrol PID dan Tuning Ziegler Nichols

Putri

Puriyanto

2022

techno

Penelitian ini menerapkan pengendali Proporsional Integral Derivatif (PID) untuk mengendalikan kecepatan sudut motor DC dan tuning Ziegler Nichols. Penelitian tidak hanya terbatas simulasi menggunakan Matlab namun juga implementasi ke perangkat keras Arduino. Pengendali PID banyak digunakan karena pengendali ini sederhana dan mudah dalam pengaplikasiannya. Namun terdapat kekurangan dalam menentukan nilai parameter kontroler PID atau disebut dengan Tuning. Metode Tuning merupakan cara untuk mencari konstanta parameter PID, yaitu Proporsional Gain (Kp), Integral Gain (Ki), dan Derivatif Gain (Kd). Umumnya parameter-parameter konstanta tersebut masih ditentukan dengan cara manual yaitu trial and error (coba-coba). Berdasarkan hasil pengujian, metode Ziegler Nichols dapat memberikan respon yang lebih baik dibandingkan dengan metode trial and error. Respon pengendali PID dengan metode trial and error cenderung tidak stabil sementara dengan metode Ziegler Nichols respon sistem lebih stabil. Nilai pengendali PID terbaik yang didapatkan dari penelitian ini yaitu Kp=8,23712, Ki=1,65072, and Kd=0,41268. Hasil pengujian lain menunjukkan bahwa nilai Kp, Ki, dan Kd terbaik yang dihasilkan pada simulai Matlab tidak semuanya memberikan keluaran yang baik pada hardware. Sebaliknya nilai pengendali PID yang mungkin kurang bagus pada simulasi Matlab bisa memberikan keluaran yang baik pada hardware. Hal tersebut bisa terjadi karena model transfer function yang digunakan pada simulasi Matlab tidak sama persis motor DC pada hardware.

“…PLC has been used in many systems such as in battery management systems [17], Induction motor [18], Magnetic levitation systems [19], Biodiesel [20], Rubber Drying Machine [21], Smart Home systems [22], Liquid Level Control [23], Solar Power System [24]. PID has been used to control Magnetic levitation system [25], DC Motor [26][27], Hydraulic Transplanting Robot [28], Biomass Microwave [29], wind turbine [30], Hydroxy Generator [31], Mobile Robots [32], robot manipulators [33], UAV [34]. Some of these explanations are used to underlie in designing a Stirring System for Automatic Coffee Makers Using OMRON PLC and PID Control using PIDAT(191) instructions to control motor speed.…”

Section: Introductionmentioning

confidence: 99%

Stirring System Design for Automatic Coffee Maker Using OMRON PLC and PID Control

Setiawan

2021

IJRCS

The implementation of the use of PLC in this study was designed for a small scale in the process of stirring coffee drinks at a speed of 600 RPM. To get a stable speed so that the water does not overflow, a control system is needed. To get optimal results, a system design that can control the stirring speed is arranged automatically using a Programmable Logic Controller (PLC). This system is designed using a rotary encoder sensor C38S6G5-600B-G24N as a speed reader obtained from the movement of the motor, DC Motor JGA25-370 12V as an actuator or stirrer. PLC OMRON CP1E-NA20DR-A is used as a motor speed control device using the Proportional Integral Derivative (PID) algorithm to control the system according to the setpoint entered. The motor speed control system with the PID algorithm shows a system response that works well according to the researchers' expectations. The response of the system obtained is fast enough to achieve a stable speed with a small overshoot value. Thus this system was successfully designed to control the stirring process of coffee drinks automatically and produce stable stirring by giving a set point of 600 RPM at the parameter constant Proportional band is 720%; Integral time is 1.6s; and Derivative time is 0.2s with a rise time value is 1.3s; settling time is 11s; overshoot is 1.1%; and steady-state error is 0.5%.