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Ship motion predictive PID control based on variable structure radial basis function network
基于变结构径向基函数网络的船舶运动预测PID控制

YIN Jian-chuan,DONG Fang,LI Tie-shan,HU Jiang-qiang,
尹建川
,东昉,李铁山,胡江强

控制理论与应用 , 2010,
Abstract: To deal with the long time-delay and time-varying dynamics of the ship motion in sea, we present a predictive PID controller based on variable structure radial basis function (RBF) network. This network performs sequential learning through a sliding data window reflecting system dynamic changes, and adjusts online the hidden layer nodes and their weighting values in the connection to output layers. We thus obtain an adaptive variable structure RBF network. This variable structure RBF network is employed as a multi-step online predictor for a predictive PID controller. Parameters of the controller are online tuned based on the sensitivity information obtained from the variable RBF network predictor. The proposed predictive PID controller is applied to ship course tracking control. Simulation results demonstrate satisfactory adaptation and robustness of the controllers.
Real time DSP-based adaptive controller implementation for 6/4 pole switched reluctance motor drive
S. Paramasivam,R. Arumugam
Songklanakarin Journal of Science and Technology , 2005,
Abstract: This paper presents the design and implementation of an adaptive PID control system for a high performance Switched Reluctance Motor (SRM) drive. The concept behind the proposed control system is to use an adaptive PID controller in steady state as well as transient state, which implements the control excellently in most cases. The modality of the control for the adaptive PID controller is such that the coefficients of the controller are adaptable during the running conditions. Thus, the PID controller along with adaptable coefficients is implemented to take the advantage of its positive attributes. The adaptive PID controller for SRM drive is implemented through a TMS320F2812 DSP to evaluate the performance. The implementation is based on discrete time PID controller, whose coefficients are derived from practical experiments at different operating conditions with disturbances. Experimental results have shown excellent tracking performance of the proposed control system, and have convincingly demonstrated the usefulness of the adaptive PID controller in high performance SRM drives with uncertainties.
Genetic Algorithm and Fuzzy Tuning PID Controller Applied on Speed Control System for Marine Diesel Engines  [cached]
Naeim Farouk
Research Journal of Applied Sciences, Engineering and Technology , 2012,
Abstract: The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. The main focus of this study is to apply and comparative between two specific soft-computing techniques. Fuzzy logic controller and genetic algorithm to design and tuning of PID controller for applied on speed control system of marine diesel engine to get an output with better dynamic and static performance. Simulation results show that the response of system when using genetic algorithm is better and faster than when using fuzzy tuning PID controller.
Modeling, Design and Control of a Ship Carried 3 DOF Stabilized Platform  [cached]
Leghmizi Said,Liu Sheng,Naeim Farouk,Boumediene Latifa
Research Journal of Applied Sciences, Engineering and Technology , 2012,
Abstract: The system for stabilizing platform of a ship carried antenna a nd its core component are discussed in this study. Relevant mathematics model of these components are established. Thus, the dynamic model of the system is deduced including the effects of friction, inertia and torque motors. Using Solid Works, we built the mechanical structure, including the servo machine of each part of the system. The system under consideration is a system with strong interactions between three channels. By using the concept of decentralized control, a control structure is developed that is composed of three control loops, each of which is associated with a single-variable controller. First, PID controller was applied; then, Takagi-Sugeno (TS) fuzzy controller was used for controlling the platform. Simulation tests were established using Simulink of Matlab. The obtained results have demonstrated the feasibility and effectiveness of the proposed fuzzy approach comparing to the PID controller. Simulation results are represented in this study.
Multiobjective Optimization of PID Controller of PMSM  [PDF]
Qingyang Xu,Chengjin Zhang,Li Zhang,Chaoyang Wang
Journal of Control Science and Engineering , 2014, DOI: 10.1155/2014/471609
Abstract: PID controller is used in most of the current-speed closed-loop control of permanent magnet synchronous motors (PMSM) servo system. However, , , and of PID are difficult to tune due to the multiple objectives. In order to obtain the optimal PID parameters, we adopt a NSGA-II to optimize the PID parameters in this paper. According to the practical requirement, several objective functions are defined. NSGA-II can search the optimal parameters according to the objective functions with better robustness. This approach provides a more theoretical basis for the optimization of PID parameters than the aggregation function method. The simulation results indicate that the system is valid, and the NSGA-II can obtain the Pareto front of PID parameters. 1. Introduction The high-field-strength neodymium-iron-boron (NdFeB) magnets have become commercially available with affordable prices, so the permanent magnet synchronous motors (PMSM) servo system is receiving increasing attention due to its high speed, power density, and efficiency. It is suitable for some applications of high-performance requirement, for example, robotics, aerospace, electric ship propulsion systems, and wind power generation systems [1–3]. PMSM can provide significant performance improvement in many variable speed applications [4]. PMSM is a multivariable, nonlinear, time-varying, and strongly coupled system. With the development of control theory, various alternative control methods, including feedback linearization, feedback-feedforward, sliding mode variable structure, neural network control, adaptive control, fuzzy control, H∞, and antistep control, have been proposed [5–12]. However, some advanced control techniques are too complex to implement in practical control due to the problem of instantaneity or memory size. Therefore, PID is the most popular controller in the motor control. It provides proportional, integral, and derivative actions for the feedback control system. PID controller has the advantage of simple structure, good stability, and high reliability [13, 14]. In the process industry, more than 90% of the controllers are PID controllers [15]. Although the number of parameters to adjust in a PID is very small, there are many tuning rules [1]. It has been experimentally checked that more than 30% of controllers are operating in manual mode and 65% of the loops operating in automatic mode are poorly tuned because of the inappropriate parameters [16]. Currently, most of the current-speed closed-loop control in the PMSM servo system adopts PID controller [17]. Nevertheless, the PID
Robust adaptive fuzzy design for ships track-keeping control
船舶航迹控制鲁棒自适应模糊设计

LI Tie-shan,YANG Yan-sheng,HONG Bi-guang,QIN Yong-xiang,
李铁山
,杨盐生,洪碧光,秦永祥

控制理论与应用 , 2007,
Abstract: The problem of ship linear path-keeping control is discussed.With the help of Lyapunov stability theory,Combined Nussbaum gain with the backstepping techniques,a novel algorithm is then proposed by employing fuzzy systems as approximator of those unknown nonlinearities in the system.It is also proved that the proposed algorithm could guarantee the closed-loop system to be uniformly ultimately bounded and the output converges to a small neighborhood of zero,so that ship linear path-keeping control can be implemented.Finally,simulation results are presented to validate the effectiveness.
Model Predictive Control using Laguerre Functions for Ship Heading Control with I/O  [PDF]
Mange Sudhakara,Abraham T Mathew
International Journal on Theoretical and Applied Research in Mechanical Engineering , 2013,
Abstract: This paper presents the model predictive control (MPC) for ship heading control. The methods like PID and Fuzzy control have been investigated by some researchers earlier. These three term controllers have disadvantages and do not satisfy the requirements on input and output constraints. The proposed model predictive technique satisfies the constraints associated with input state and output. The simulation results show good performance of the proposed controller in terms of reducing heading error and satisfying the input and output constraints. The MPC allows somewhat robust performance, but needs to be augmented to handle the uncertainty in the ship model for a larger region of operations.
Comparative Study of Conventional, Fuzzy Logic and Neural PID Speed Controllers with Torque Ripple Minimization for an Axial Magnetic Flux Switched Reluctance Motor  [PDF]
Eric S. Sanches, José A. Santisteban
Engineering (ENG) , 2014, DOI: 10.4236/eng.2014.611065
Abstract: Three speed controllers for an axial magnetic flux switched reluctance motor with only one stator, are described and experimentally tested. As it is known, when current pulses are imposed in their windings, high ripple torque is obtained. In order to reduce this ripple, a control strategy with modified current shapes is proposed. A workbench consisting of a machine prototype and the control system based on a microcontroller was built. These controllers were: a conventional PID, a fuzzy logic PID and a neural PID type. From experimental results, the effective reduction of the torque ripple was confirmed and the performance of the controllers was compared.
Backstepping adaptive fuzzy control for track-keeping of underactuated surface vessels
欠驱动船舶航迹Backstepping自适应模糊控制

PAN Yong-ping,HUANG Dao-ping,SUN Zong-hai,
潘永平
,黄道平,孙宗海

控制理论与应用 , 2011,
Abstract: A backstepping adaptive fuzzy controller is proposed for the linear track-keeping problem of underactuated surface vessels. Under the assumption that the fuzzy approximation error is unknown but bounded, it is proved that the closed-loop system is mean-square stable in the sense that all variables are uniformly ultimately bounded by the Lyapunov theorem. The proposed controller has the characteristics of intuitive design and simple structure with strong robustness under the parameter perturbation and external disturbance. Simulation experiments are carried out under the constraint conditions of the state variable and control input. The results demonstrate the effectiveness of the proposed approach.
Speed Control System on Marine Diesel Engine Based on a Self-Tuning Fuzzy PID Controller  [cached]
Naeim Farouk,Liu Sheng,Leghmizi Said
Research Journal of Applied Sciences, Engineering and Technology , 2012,
Abstract: The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. This study presents a self-tuning fuzzy PID control system for speed control system of marine diesel engine. The system under consideration is a fourth-order plant with highly dynamic and uncertain environments. The current speed controllers for marine/traction diesel engines based on PID Controller cannot fully handle the uncertainties associated with such dynamic environments. A fuzzy logic control algorithm is used to estimate the PID coefficients in order to handle such uncertainties to produce a better control performance. Simulation tests were established using Simulink of MATLAB. The obtained results have demonstrated the feasibility and effectiveness of the proposed approach. Simulation results are represented in this study.
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