Search for: pid-controllers
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    Neural network-PID controller for roll fin stabilizer

    , Article Polish Maritime Research ; Volume 17, Issue 2 , 2010 , Pages 23-28 ; 12332585 (ISSN) Ghassemi, H ; Dadmarzi, F ; Ghadimi, P ; Ommani, B ; Sharif University of Technology
    Fin stabilizers are very effective devices for controlling the ship roll motion against external wave-generated moments. Lift forces due to flow around fin with an angle of attack produce anti - roll moment. Therefore control of attack angle plays important role in reducing roll of ships. This paper presents results of using a combined neural network and PID for roll control of ship with small draught. Numerical results are given of around-fin flow analysis with considering free surface effect modelled by neural network and imposed to controlling loop. Hydraulic machinery constraints are also considered in the modelling. The obtained results show good performance of the controller in... 

    Comment on “Design of PID controllers for interval plants with time delay”

    , Article Journal of Process Control ; Volume 44 , 2016 , Pages 160-161 ; 09591524 (ISSN) Firouzbahrami, M ; Nobakhti, A ; Sharif University of Technology
    Elsevier Ltd  2016
    In [1] three theorems are presented which relate to the problem of stabilizing PID controller design for interval time-delay plants. We present a counterexample for these results  

    PID controller design for micro gas turbines using experimental frequency-response data and a linear identification technique

    , Article International Journal of Advanced Mechatronic Systems ; Volume 5, Issue 6 , 2013 , Pages 353-364 ; 17568412 (ISSN) Banazadeh, A ; Gol, H. A ; Ramazani, H ; Sharif University of Technology
    E-flow Inderscience  2013
    This paper discusses the identification process of engine dynamics and presents derived transfer function models including; thrust, shaft speed, compressor exit pressure and turbine exit temperature in relation to the fuel flow. Model identification approach, presented in this paper, is the first to consider frequency-sweep signals to excite dynamics, as well as to utilise windowing and smoothing techniques to reduce random errors in the spectral estimates. Here, frequency sweep provides a fairly uniform spectral excitation and chirp-z transform warrants the exact determination of the frequency responses that are robust to the uncertainties. The identified models are also validated with the... 

    Control of a fluidized bed polyethylene reactor

    , Article Iranian Journal of Chemistry and Chemical Engineering ; Volume 27, Issue 3 , September and October , 2008 , Pages 87-101 ; 10219986 (ISSN) Vahidi, O ; Shahrokhi, M ; Mirzaei, A ; Sharif University of Technology
    In present paper, dynamic behavior and control of a fluidized bed reactor for polyethylene production has been considered. A double active sites model for Ziegler-Natta catalysts is used for simulation of polymerization reaction. Hydrodynamic behavior of the bed is modeled using a two phase model including bubble and emulsion phases in which bubble phase has plug flow pattern with differentially variable velocity and size through the bed and emulsion phase has the CSTR flow pattern. The reactor model is validated using industrial data. Conventional PID controllers with anti-windup are considered for control purposes. It has been shown that the control system has satisfactory performances... 

    Genetic multivariable PID controller based on IMC

    , Article NAFIPS 2007: 2007 Annual Meeting of the North American Fuzzy Information Processing Society, San Diego, CA, 24 June 2007 through 27 June 2007 ; 2007 , Pages 174-177 ; 1424412145 (ISBN); 9781424412143 (ISBN) Kermanshachi, Sh ; Sadati, N ; Institute of Electrical and Electronics Engineers (IEEE) ; Sharif University of Technology
    A new approach for PID tuning, based on GA (Genetic algorithm) and Internal Model Control (IMC) technique, is presented in this paper. PID tuning is based on using Method. The IMC technique reduces the number of parameters that must be tuned for a multivariable system using PID controller. The algorithm uses GA for optimal determination of IMC variables. Simulation results present the good performance of the proposed method. © 2007 IEEE  

    A hybrid fuzzy logic and PID controller for control of nonlinear HVAC systems

    , Article System Security and Assurance, Washington, DC, 5 October 2003 through 8 October 2003 ; Volume 3 , 2003 , Pages 2249-2254 ; 08843627 (ISSN) Rahmati, A ; Rashidi, F ; Rashidi, M ; Sharif University of Technology
    Heating, Ventilating and Air Conditioning (HVAC) plant is a multivariable, nonlinear and non minimum phase system, which control of this plant, is very difficult. This paper presents a new approach to control of HVAC system. The proposed method is a hybrid of fuzzy logic and PID controller. Simulation results show that this control strategy is very robust, flexible and alternative performance. To evaluate the usefulness of the proposed method, we compare the response of this method with PID controller. The simulation results show that our method has the better control performance than PID controller  

    Robust stability check for fractional PID-based control systems

    , Article Transactions of the Institute of Measurement and Control ; Volume 35, Issue 2 , 2013 , Pages 236-246 ; 01423312 (ISSN) Akbari Moornani, K ; Haeri, M ; Sharif University of Technology
    This paper considers a closed-loop system consisting of a fractional/integer order system and a fractional PID controller. Assuming that the uncertain coefficients of the fractional PID controller lie in some known intervals independently (i.e. that controller is a member of an interval family), the paper presents some easy to use theorems to investigate the robust bounded-input bounded-output stability of the resultant closed-loop system. Moreover, a finite frequency bound required in drawing the related graphs has also been provided. Finally, some numerical examples are presented to illustrate the results  

    Design of PID and FOPID Controllers Via Geometric Programming

    , M.Sc. Thesis Sharif University of Technology Rezagholipour, Mehdi (Author) ; Sadati, Nasser (Supervisor)
    PID controllers are very famous and widely used in industry due to their simplicity, effectiveness,robustness and readily tunable parameters. They have been known since 1890 and various methods for its design have been introduced until now. Among them, we can name Ziegler-ichols and CHR that are widely used. Fractional order PID (FIPID) controllers are a more generel case of classic PID controllers and have a better capability to control dynamic systems beacause they have more free parameters. The present project demonestrates application of geometric programming (GP) to design PI, PID and FOPID controllers. GP is a kind of optimization problem in which the objective and constraint functions... 

    Adaptive neural network tracking control of a hybrid stepper motor in microstep operation, RBF compared to MLP

    , Article IEEE International Conference on Mechatronics and Automation, ICMA 2005, Niagara Falls, ON, 29 July 2005 through 1 August 2005 ; 2005 , Pages 1334-1339 ; 0780390458 (ISBN) Bastani, Y ; Vossoughi, G ; Sharif University of Technology
    In this paper, a radial basis function neural network-based (RBFNN) adaptive inverse controller for real-time position tracking control of a two phase hybrid stepper motor in microstep mode is presented and compared with a conventional fixed gain stand-alone PID controller. Also it is compared to the same neuro-controller using feed forward backpropagation neural networks (FFBP) presented by the same author showing superior performance of RBFNN to FFBP neural networks. A radial basis neural network is used as a controller in the adaptive inverse control method combining with a closed loop PID controller to ensure system's initial robustness and closed loop stability and improves the... 

    Design of fractional order proportional-integral-derivative controller based on moment matching and characteristic ratio assignment method

    , Article Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering ; Volume 225, Issue 8 , December , 2011 , Pages 1040-1053 ; 09596518 (ISSN) Tabatabaei, M ; Haeri, M ; Sharif University of Technology
    This paper presents a new analytical method to design fractional-order proportional- integral-derivative (PID) controllers. The control parameters are calculated so that the closedloop system approximates a desired transfer function with transient response requirements. This function is determined based on the characteristic ratio assignment method. The control parameters are calculated by matching the first three moments of the closed-loop transfer function with the corresponding values of the desired system. Furthermore, to ensure closed-loop stability the proposed method is improved by using the shifted moments around the crossover frequency. Illustrative examples are given to show the... 

    Decentralized multivariable PID controller with pre compensator for gas turbine system

    , Article 2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017 ; Volume 2018-January , 2018 , Pages 0074-0082 ; 9781538626405 (ISBN) Mousavi, H ; Azizi, A ; Nourisola, H ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2018
    In this paper, a restricted structure of PID controller is proposed for automobile gas turbine by considering a LQG cost function. So PID Controller coefficients are calculated by minimizing this cost function. One of the most important characteristics of this approach, its ability to design various structure PID controllers by solving optimization problem only for one time, moreover it can approximate main optimization problem by a repetitive Quadratic optimization Problem (QP). This approach is convex optimization and has an analytic solution; therefore its calculations are not complicated. In defined cost function, there are two weighting functions, control error and control action; they... 

    A supervisory fuzzy-PID controller for a MIMO biped robot balance in frontal plane

    , Article 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 2 , 2009 , Pages 307-314 ; 9780791848630 (ISBN) Zomorodi Moghadam, H ; Haghshenas Jaryani, M ; Farahmand, F ; Sharif University of Technology
    In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID's gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its... 

    Dynamic Analysis and Intelligent Control of an Offshore Marine Crane for Safe Load Carrying

    , M.Sc. Thesis Sharif University of Technology Balouti, Sadra (Author) ; Selk Ghafari , Ali (Supervisor) ; Zabihollah, Abolghasem (Co-Advisor)
    Marine cranes are installed on vessels to transfer or transport payloads between ships or between ships and decks. One of the most critical issues in this case is the safety during load transferring. Marine cranes move or sway in unexpected direction, when they are influenced by wave, wind and storm. Theprocess of controlling them became difficult without using automatic control methods. Ingeneral, the movement of cranes has no prescribed path.This master thesis is about dynamic modeling and control of fixed crane placed on an offshore vessel. The main challenging problem in this work will be developing an accurate mathematical model of the crane. Therefore, bond graph method which is known... 

    Experimental Study on Interceptor Effect on HighSpeed Craft Manoeuvering

    , M.Sc. Thesis Sharif University of Technology Mosallanejad, Ali (Author) ; Seif, Mohammad Saeed (Supervisor) ; Mehdigholi, Hamid (Co-Advisor)
    One of the reducing and controlling tools of high speed crafts is intelligent interceptor. Interceptor is a small blade that is originally installed vertically in stern. This blade creates a high pressure area under hull of the craft and produces lift force and a moment to the bow. The amount of lift force and moment can be changed by controlling the height of the blade. The intelligent interceptor (with automatic change in height of the blade) does the same thing. In this study, structural and software design of intelligent interceptor is done. In software field, optimal and PID controller are designed for interceptor system and the performances are studied in MATLAB SimuLink. The results... 

    Design, Manufacturing and Testing a Micro Hydro Turbine Governor Using Commercial Controller

    , M.Sc. Thesis Sharif University of Technology Karbasi Zadeh, Morteza (Author) ; Durali, Mohammad (Supervisor)
    Lots of micro hydropower potentials are spread all around Iran country. They have the capability to produce electricity for workhouses, residential areas, agricultural and animal husbandries and recreational tourism centers. Hence, Sharif University of Technology and Iran Water and Power Resources Development Corporation decided to design and produce three types of hydro micro turbines to cover all range of micro hydropower potentials available in Iran. These three types of micro turbines are Pelton, Banki and Axial and they are designed in order to cover high, middle and low heads in sequence. Frequency control of micro hydropower plants is so vital due to plant off-grid. The most prevalent... 

    Impedance Force Control of a Robot Manipulator Using a Neuro-Fuzzy Controller

    , M.Sc. Thesis Sharif University of Technology Kharmandar, Negar (Author) ; Khayyat, Amir Ali Akbar (Supervisor)
    The present study discusses the problem of enabling a PUMA 560 electrical robot manipulator to interact with the environment using impedance control concept. The impedance control strategy maintains a pre-specified desired second order dynamic relation between the end-effector position and force and enables a stable transmission between unconstrained and constrained motion. In this study Position-Based Impedance Control (PBIC) is used which is more suitable for industrial manipulators. PBIC requires a position controller with high accuracy. Therefore, a nonlinear PID controller is used in the position loop which is capable of both tracking and regulating of the input signals and shows better... 

    Sliding mode control of electromagnetic system based on fuzzy clustering estimation (an experimental study)

    , Article Proceedings of the 7th Biennial Conference on Engineering Systems Design and Analysis ; Volume 1 , 2004 , Pages 843-850 ; ISBN: 0791841731 ; ISBN: 9780791841730 Alasti, A ; Salarieh, H ; Shabani, R ; Sharif University of Technology
    Using the combination of fuzzy clustering estimation and sliding mode control, a technique for controlling the magnetic levitation (ML) systems is introduced. This technique is applied to an experimental setup of an ML system for investigating the method derived. The system considered, is a symmetric rotor supported by a cantilever load cell beam and excited by only one electromagnet of a 4-pole magnetic bearing setup. After demonstrating the experimental setup instruction and the specifications of its parts, the clustering, and the sliding mode control methods are explained briefly, then the quality of implementing the techniques to the setup is described step by step. Finally, the results... 

    Modeling and control of dissolved oxygen concentration in the fermentation of glucose to gluconic acid

    , Article Periodica Polytechnica: Chemical Engineering ; Volume 57, Issue 1-2 , 2013 , Pages 63-70 ; 03245853 (ISSN) Kazemi, M. A ; Bamdad, H ; Papari, S ; Yaghmaei, S ; Sharif University of Technology
    Fermentation systems are often highly nonlinear, with poorly understood dynamic behaviour of the reactor. In this work, mathematical modeling of the fermentation process based on aeration rate control was performed in a semi-batch airlift loop bioreactor. The bioconversion of glucose to gluconic acid by the Aspergillus niger strain was considered in an oxygen consuming system in the liquid phase. The proper kinetic model for the bioconversion of glucose to gluconic acid was investigated using experimental data from a 40 dm3reactor. Kinetic parameter estimation was used from the literature. The model was validated by experimental data and was compared with the Monod kinetic model. The... 

    Design of pid controller for control of speed of the robotic fish modeled by Lighthill's large amplitude elongated body theory in linear path

    , Article ASME International Mechanical Engineering Congress and Exposition, Proceedings, 13 November 2009 through 19 November 2009, Lake Buena Vista, FL ; Volume 10, Issue PART A , 2010 , Pages 117-124 ; 9780791843833 (ISBN) Shahi, M ; Meghdari, A ; Sharif University of Technology
    American Society of Mechanical Engineers (ASME)  2010
    Design of robotic fish based on hydrodynamics is presented and Lighthill's Large Amplitude Elongated Body Theory (LAEBT) is used for modeling of the robotic fish in linear path. A PID controller for control of speed in linear path is designed and simulations are presented which shows its effectiveness for speed control of the robotic fish. It has been shown that in perspective of used approximate LAEBT model, the used control law maintains kinematic parameters and therefore, the associated efficiency will be maintained  

    Modeling and active control of chatter vibrations of piezoelectric stacked machining arm in micro-turning process

    , Article Meccanica ; Volume 55, Issue 9 , 18 July , 2020 , Pages 1707-1731 Hesabi Hesari, A ; Moradi, H ; Movahhedy, M. R ; Sharif University of Technology
    Springer  2020
    Self-excited vibrations known as chatter are considered as the most detrimental issue in micro-turning processes. Occurring unpredictably, they adversely affect the tool life, productivity rate and surface quality of the machining processes. In this paper, a novel machining arm is modeled as a piezoelectric stacked rod which is subjected to a chatter force in the orthogonal micro-turning process. Due to the fact that machining processes are affected by various sources of uncertainties, H∞ robust control approach is used to suppress the chatter vibrations of the machining arm in the presence of tool wear and dynamic model parameter variations. Also, input control force of the system is...