Optimized PIDD2 controller for AVR systems regarding robustness

Veinović, Slavko; Stojić, Djordje; Ivanović, Luka

doi:10.1016/j.ijepes.2022.108646

Cited by 17 publications

(15 citation statements)

References 40 publications

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“…The estimation of the optimal parameters of the series PIDA controller can start with the modified parameter set (33). To simplify the notation, we introduce here dimensionless parameters…”

Section: Calculation Of the Series Pida Controller For The Ipdt Syste...mentioning

confidence: 99%

“…Many works deal with the optimal design of PIDA controllers, also known as PIDD2, PIDD 2 or PIDC controllers [19][20][21][22][23][24][25][26][27][28][29][30][31][32][33]. The growing use of these controllers is the result of ever-growing demands on the performance of transients typically occurring especially in connection with speed control in high-end robotic and mechatronic applications.…”

Section: Introductionmentioning

confidence: 99%

“…The integral performance measures IAE and ITAE, the total variation TV used to evaluate the control effort, and the sensitivity indices derived by simulations and calculations (maximum sensitivity M s , maximum complementary sensitivity M p and measurement noise sensitivity M n ) are analyzed in terms of these tuning parameters. The parallel PIDD2 controller combined with a second-order binomial filter [33] for the automatic voltage regulator (AVR) of a synchronous generator is designed by minimizing the load disturbance response while considering the constraints on the sensitivity functions: M s , M p and M n . The five controller parameters are obtained by iteratively solving the optimization problem for given sensitivities M s and M n and for a fixed value of controller zeros damping factor ξ.…”

Section: Introductionmentioning

confidence: 99%

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Series PIDA Controller Design for IPDT Processes

2023

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This paper discusses optimal design of the series proportional–integral–derivative–accelerative (PIDA) controller for integral-plus-dead-time (IPDT) plants. The article starts with the design of disturbance reconstruction and compensation based on proportional-derivative-accelerative (PDA) stabilizing controllers. It shows that by introducing positive feedback by a low-pass filter from the (limited) output of the stabilizing PDA controller, one gets disturbance observer (DOB) for the reconstruction and compensation of input disturbances. Thereby, the DOB functionality is based on evaluating steady-state controller output. This DOB interpretation is in full agreement with the results of the analysis of the optimal setting of the stabilizing PDA controller and of its expanded PIDA version with positive feedback from the controller output. By using the multiple real dominant pole (MRDP) method, it confirms that the low-pass filter time constant in positive feedback must be much longer than the dominant time constant of the stabilized loop. This paper also shows that the constrained PIDA controller with the MRDP setting leads to transient responses with input and output overshoots. Experimentally, such a constrained series PIDA controller can be shown as equivalent to a constrained MRDP tuned parallel PIDA controller in anti-windup connection using conditional integration. Next, the article explores the possibility of removing overshoots of the output and input of the process achieved for MRDP tuning by interchanging the parameters of the controller transfer function, which was proven as very effective in the case of the series PID controller. It shows that such a modification of the controller can only be implemented approximately, when the factorization of the controller numerator, which gives complex conjugate zeros, will be replaced by a double real zero. Neglecting the imaginary part and specifying the feedback time constant with a smaller approximative time constant results in the removal of overshoots, but the resulting dynamics will not be faster than for the previously mentioned solutions. A significant improvement in the closed-loop performance can finally be achieved by the optimal setting of the constrained series PIDA controller calculated using the performance portrait method. This article also points out the terminologically incorrect designation of the proposed structure as series PIDA controller, because it does not contain any explicit integral action. Instead, it proposes a more thorough revision of the interpretation of controllers based on automatic reset from the controller output, which do not contain any integrator, but at the same time represent the core of the most used industrial automation. In the end, constrained structures using automatic reset of the stabilizing controller output can ensure a higher performance of transient responses than the usually preferred solutions based on parallel controllers with integral action that, in order to respect the control signal limitation, must be supplemented with anti-windup circuitry. The excellent properties of the constrained series PIDA controller are demonstrated by an example of controlling a thermal process and proven by the circle criterion of absolute stability.

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“…The estimation of the optimal parameters of the series PIDA controller can start with the modified parameter set (33). To simplify the notation, we introduce here dimensionless parameters…”

Section: Calculation Of the Series Pida Controller For The Ipdt Syste...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Series PIDA Controller Design for IPDT Processes

2023

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“…PIDD2, as a variant of PID, has a new degree of freedom (differential action) in comparison to PID, which can accelerate the transient and closed-loop performance of the control system [42], and contributes to promoting the phase margin, steady-state accuracy and stability of the controlled plant [43]. As such, in this section, we adopt the PIDD2 controller for the control of the underdamped oscillatory systems with time delays.…”

Section: Parameter Tuning Of Pidd2 Controllersmentioning

confidence: 99%

Tuning of PID/PIDD2 Controllers for Second-Order Oscillatory Systems with Time Delays

2023

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PID control is the longest history and the most vital basic control mode that has been widely applied in the production process. The oscillatory dynamics of the process have various features, and parameter tuning is complicated. To reduce the complexity of the parameter tuning process and improve the performance of the system, in this research, we propose a new tuning method for the PID/PIDD2 controllers for second-order oscillatory systems with time delays under the constraint of certain robustness. In comparison to existing PID for second-order oscillatory systems with time delays, simulation findings demonstrate that the tuning method of the proposed PID/PIDD2 controllers trades off robustness and disturbance rejection performance.

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“…Some of the approaches use optimization methods and/or artificial intelligence to tune the increased number of coefficients of the controller [4][5][6][7]. Other approaches use controller optimization considering sensitivity constraints [8][9][10][11] or controller design by internal model control (IMC) [12][13][14][15][16][17]. Using a significantly different approach, it is also possible to design higher-order controllers using fractional calculus [18][19][20][21][22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Parametrization and Optimal Tuning of Constrained Series PIDA Controller for IPDT Models

Huba,

Bistak,

Vrancic

2023

Mathematics

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The new modular approach to constrained control of higher-order processes with dominant first-order dynamics using generalized controllers with automatic resets (ARCs) is addressed. The controller design is based on the multiple real dominant pole (MRDP) method for the integrator plus dead time (IPDT) process models. The controller output constraints are taken into account by inserting the smallest numerator time constant of the controller transfer function into the positive feedback loop representing the automatic reset (integral) term. In the series realization of the proportional–integral–derivative–acceleration (PIDA) controller (and other controllers with even derivative degree), the time constant mentioned is complex, so only the real part of the time constant has been used so far. Other possible conversions of a complex number to a real number, such as the absolute value (modulus), can be covered by introducing a tuning parameter that modifies the calculated real time constant and generalizes the mentioned conversion when designing controllers with constraints. In this article, the impact of the tuning parameter on the overall dynamics of the control loop is studied by simulation. In addition, an evaluation of the stability of the closed-loop control system is performed using the circle criterion in the frequency domain. The analysis has shown that the approximation of the complex zero by its real part and modulus leads to a near optimal response to the set point tracking. The disturbance rejection can be significantly improved by increasing the tuning parameter by nearly 50%. In general, the tuning parameter can be used to find a compromise between servo and regulatory control. The robustness and applicability of the proposed controller is evaluated using a time-delayed process with first-order dominant dynamics when the actual transfer function is much more complicated than the IPDT model. A comparison of the proposed MRDP-PIDA controller with series PI, PID and PIDA controllers based on a modified SIMC method has shown that the MRDP-PIDA controller performs better than the SIMC method, although the SIMC uses a more complex process model.

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Optimized PIDD2 controller for AVR systems regarding robustness

Cited by 17 publications

References 40 publications

Series PIDA Controller Design for IPDT Processes

Series PIDA Controller Design for IPDT Processes

Tuning of PID/PIDD2 Controllers for Second-Order Oscillatory Systems with Time Delays

Parametrization and Optimal Tuning of Constrained Series PIDA Controller for IPDT Models

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