Performance and Configuration Analysis of Tracking Time Anti-Windup PID Controllers

Okelola, Muniru Olajide; Aborisade, David O.; Adewuyi, Philip A.

doi:10.26555/jiteki.v6i2.18867

Cited by 4 publications

(3 citation statements)

References 26 publications

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“…So, we use Integral Anti-Windup to overcome the saturation as the Integral Anti-Windup control is designed with three steps, which are to stop the accumulation of integral when saturated, limit the minimum and maximum value of integral, and then reduce the input of integral when signal control the saturation [10]. This paper focuses on an early and fundamental anti-windup technique known as backcalculation [16].…”

Section: 𝑢(𝑡mentioning

confidence: 99%

A Method of Anti-Windup PID Controller for a BLDC-Drive System

Argaloka,

Aptadarya,

Arentaka

et al. 2023

JMECS

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This research aims to enhance control systems for Brushless DC (BLDC) motors by introducing Proportional-Integral-Derivative (PID) control as a straightforward yet reliable solution, known for its precision, quick responsiveness, and stability. Emphasizing its suitability for BLDC motor speed control, the study addresses PID controller windup challenges, highlighting anti-windup techniques crucial for maintaining system stability. The primary focus is on improving the performance of an anti-windup PID controller for BLDC motor speed control in electric vehicles. Through simulations and analyses, the research aims to minimize steady-state error and overshooting, contributing to overall operational efficiency. Practical implementation involves optimizing the PID anti-windup controller's gain using the MATLAB PID Tuner and implementing it in the Arduino IDE. Experimental tests, which cover constant and varying step function scenarios, are conducted on the designed hardware. Results show the PID anti-windup controller's superiority, exhibiting significantly lower overshoot values of 5.42% and 3.35% compared to 13.26% and 23.76%, respectively. Despite its higher control action, the traditional PID controller displays a more pronounced overshoot. This research is a significant step toward advancing control systems for electric vehicles and optimizing BLDC motor performance in practical applications.

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Section: 𝑢(𝑡mentioning

confidence: 99%

A Method of Anti-Windup PID Controller for a BLDC-Drive System

Argaloka,

Aptadarya,

Arentaka

et al. 2023

JMECS

View full text Add to dashboard Cite

show abstract

“…The PID control characteristics were strongly influenced by combining each control action Proportional 𝐾 𝑝 , Integral 𝐾 𝑖 And Derivative (𝐾 𝑑 ) [83]. The regulation of the 𝐾 𝑝 , 𝐾 𝑖 , and 𝐾 𝑑 constant values showed the prominent nature of each control action [84]. When one or two of the control actions were more prominently set out, they would significantly contribute to the overall system.…”

Section: -Pid Control Designmentioning

confidence: 99%

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

et al. 2022

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COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PDF

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“…Three main parameters in the controller are Proportional, Integral, and Derivative [42]. Equation 15is the general control equation used in PID Control [43].…”

Section: -5-pid Controlmentioning

confidence: 99%

PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot

et al. 2021

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Inhalation therapy is one of the most popular treatments for many pulmonary conditions. The proposed Covid-19 aromatherapy robot is a type of Unmanned Ground Vehicle (UGV) mobile robot that delivers therapeutic vaporized essential oils or drugs needed to prevent or treat Covid-19 infections. It uses four omnidirectional wheels with a controlled speed to possibly move in all directions according to its trajectory. All motors for straight, left, or right directions need to be controlled, or the robot will be off-target. The paper presents omnidirectional four-wheeled robot trajectory tracking control based on PID and odometry. The odometry was used to obtain the robot's position and orientation, creating the global map. PID-based controls are used for three purposes: motor speed control, heading control, and position control. The omnidirectional robot had successfully controlled the movement of its four wheels at low speed on the trajectory tracking with a performance criterion value of 0.1 for the IAEH, 4.0 for MAEH, 0.01 for RMSEH, 0.00 for RMSEXY, and 0.06 for REBS. According to the experiment results, the robot's linear velocity error rate is 2%, with an average test value of 1.3 percent. The robot heading effective error value on all trajectories is 0.6%. The robot's direction can be monitored and be maintained at the planned trajectory. Doi: 10.28991/esj-2021-SPER-13 Full Text: PDF

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Performance and Configuration Analysis of Tracking Time Anti-Windup PID Controllers

Cited by 4 publications

References 26 publications

A Method of Anti-Windup PID Controller for a BLDC-Drive System

A Method of Anti-Windup PID Controller for a BLDC-Drive System

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot

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