Print ISSN: 1681-6900

Online ISSN: 2412-0758

Keywords : PID controller

Optimal H-infinity PID Model Reference Controller Design for Roll Control of a Tail-Sitter VTOL UAV

Ali H. Mhmood; Hazem I. Ali

Engineering and Technology Journal, 2021, Volume 39, Issue 4A, Pages 552-564
DOI: 10.30684/etj.v39i4A.1861

In this work, an optimal and robust controller based on consolidating the PID controller and H-infinity approach with the model reference control is proposed. The proposed controller is intended to accomplish a satisfactory transient response by including the reference model. A Tail-Sitter VTOL UAV system is used to show the effectiveness of the proposed controller. A dynamic model of the system is formulated using Euler method. To optimize the design procedure, the Black Hole Optimization (BHO) method is used as a new Calibration method. The deviation between the reference model output and system output will be minimized to obtain the required specifications. The results indicate that the proposed controller is very powerful in compensating the system parameters variations and in forcing the system output to asymptotically track the output of the reference model.

A Comparative Study of Various Intelligent Controllers’ Performance for Systems Based on Bat Optimization Algorithm

Luay T. Rasheed

Engineering and Technology Journal, 2020, Volume 38, Issue 6, Pages 938-950
DOI: 10.30684/etj.v38i6A.622

The aim of this paper is to demonstrate the performance of two intelligent controllers; the proportional-integral-derivative (PID) controller, and the proportional-integral-derivative-acceleration (PIDA) controller, based on optimization algorithm for higher order systems. In this work, bat control algorithm has been utilized to find and tune the optimal weight parameters of the controllers as simple and fast tuning technique to find the best unsaturated state and smooth control action for the systems based on the intelligent controllers. The simulation results using (Matlab Package) show that both controllers with the bat control algorithm can give excellent performance but the performance of the PIDA controller is better than that of the PID controller in terms of reducing the rising time (Tr), peak time (Tp), settling time (Ts), maximum overshoot (Mp), and steady-state error (Ess). Furthermore, the fitness evaluation value is reduced.

Performance Improvement of a Conventional Hydraulic Elevator by Using Electro-Hydraulic Servo Mechanism

Jamal AK. Mohammed; Walaa M. Hashim; Bahaa S. Beram

Engineering and Technology Journal, 2020, Volume 38, Issue 5, Pages 748-760
DOI: 10.30684/etj.v38i5A.367

An electro-hydraulic elevator is a new type of enhanced elevators that are used in low-rise buildings that do not exceed more than three floors. In this paper, an electro-hydraulic servo system for controlling the speed of a hydraulic elevator prototype by using a proportional valve and PID controller was investigated theoretically and experimentally. A three floors elevator prototype model with 76cm height was built including hydraulics components and electrical components. The elevator system is fully automated using the Arduino UNO board based Data Acquisition (DAQ) system. LabVIEW software is used to control the hydraulic elevator system through L298 DC drive via the DAQ board. The best PID gains was obtained experimentally. The elevator system prototype could be emplimented for educational purposes; such as learning the undergraduate students in the Electromechanical Engineering Department in the University of Technology how to structuring the electro-hydraulic elevator as well as the appropriate control strategy.

Design of Speed-Controller for Brushless DC-Motor Based on Grey Predictor-PID Controller

Mohammed Moanes Ezzaldean

Engineering and Technology Journal, 2018, Volume 36, Issue 8A, Pages 900-905
DOI: 10.30684/etj.36.8A.9

Brushless direct current (BLDC) motor is a permanent-magnet synchronous motor but the commutator and the brushes are replaced by electronic commutation system. This motor is characterized by many advantages compared with other motors and it being used in a wide range of applications. In BLDC motor, speed control plays an essential role; the speed-controller has to respond rapidly to command changes and to offer enough robustness against the variations of the mechanical load. In this paper, the design of Grey-PID controller is proposed as speed controller of BLDC motor where a new adaptation algorithm is suggested to update the parameters of the adaptive PID controller. The proposed algorithm takes advantages of both of Grey model GM(1,1) and gradient-descent method. The Grey-PID speed control system is simulated by using Matlab\Simulink environment. The simulation results confirm that the proposed controller performs better than the traditional PID controller. By using Grey-PID controller, starting the motor or sudden change of speed can be performed with short rise and settling times, no overshoot and no steady-state error. The proposed controller, also, has a great ability to restrain the fluctuation of speed caused by load disturbance.

Effect of Friction on the Dynamical Analysis of Three-Link Planar Robot Arm by Using Lagrange Approach

R.M. Hussein

Engineering and Technology Journal, 2017, Volume 35, Issue 6, Pages 587-592
DOI: 10.30684/etj.35.6A.5

The dynamic analysis of Three-Link planar robot arm and control system with (PID) are presented and investigated. The dynamic analysis is very important in the design and control of the robot. The difference between the actual dynamic analysis and ideal dynamic analysis is the presence of friction in the robot joints. In this work, the frictional effect in the joints of three-link planar robot is inserting in the dynamic equations and that makes the dynamic analysis is more reality and difficult. The mathematical model that represent the friction consist of two types of friction (Coulomb and viscous friction). A Lagrange method is used and applied to evaluate the generalized forces in the two cases (without and with the effect of friction). Control system with (PID) controller is presented with Simulink block set to evaluate and show the dynamic response of each link in two cases (without and with friction). MATLAB software is used for programing and simulation the equations. In addition, with that, error signals are presented and analyzed for each link. It is concluded from the results that the values of generalized forces in case of presence of friction are more about (12%) than the values of the forces in case of without friction and the behaviors of the dynamic response is linear in case of without friction while the behavior become (non-linear) by inserting the frictional effect in the robot joints. The results indicate that the effect of friction is very important and must be not neglected.

Robust PID Tuning Rules for General Plant Model

Basil H. Jasim; Adel M. Dakhil

Engineering and Technology Journal, 2014, Volume 32, Issue 12, Pages 2999-3008

In this paper, a proposed PID tuning rules for general known or unknown plant models are presented. The design procedure used to obtain the tuning rules has been previously used in literature to obtain tuning rules, but for dedicated plant models. Our contribution in this article is that the proposed tuning rules are applicable for general plant models. These rules are designed to be robust for plant gain variations. The design procedure is based on some specification or constraints of frequency response, namely phase margin, gain crossover and robustness condition. The designed rules are given in terms of frequency response parameters of the plant model ‘which can be found experimentally’ instead of the plant model transfer function (T.F.) parameters. So, these rules do not need the model of controlled process to be known. Simulation study showed clearly the generality, ease of use, good performance and robustness of the obtained tuning rules. Simulation study has included comparison study with other known tuning rules.

Designing a Nonlinear PID Neural Controller of Differential Braking System for Vehicle Model Based on Particle Swarm Optimization

Ahmed Sabah Al-Araji

Engineering and Technology Journal, 2014, Volume 32, Issue 1, Pages 197-214

This paper presents a nonlinear PID neural controller for the 2-DOF vehicle model in order to improve stability and performances of vehicle lateral dynamics by achieving required yaw rate and reducing lateral velocity in a short period of time to prevent vehicle from sliding out the curvature. The scheme of the discrete-time PID control structure is based on neural network and tuned the parameters of the nonlinear
PID neural controller by using a particle swarm optimization PSO technique as a simple and fast training algorithm. The differential braking system and front wheel steering angle are the outputs of the nonlinear PID neural controller that has automatically controlled the vehicle lateral motion when the vehicle rotates the curvatures. Simulation results show the effectiveness of the proposed control
algorithm in terms of the best transient state outputs of the system and minimum tracking errors as well as smoothness control signals obtained with bounded external disturbances.

Particle Swarm Optimization and Genetic Algorithm for Tuning PID Controller of Synchronous Generator AVR System

Fadhil A. Hassan; Lina J. Rashad

Engineering and Technology Journal, 2011, Volume 29, Issue 16, Pages 3256-3270

Proportional Integral Derivative (PID) controllers are widely used in
many fields because they are simple and effective. Tuning of the PID
controller parameters is not easy and does not give the optimal required
response, especially with non-liner system. In the last two decades many
intelligent optimization techniques were took attention of researchers like:Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) techniques. This paper represented the non-linear mathematical model and simulation of the synchronous generator with closed loop PID controller of AVR system. The traditional PID tuning technique is proposed as a point of comparison. Two of intelligent optimization techniques: PSO and GA are proposed in this paper to tune the PID controller parameters. The obtained results of the closed loop PSO-PID and GA-PID controller response to the unit step input signal shows excellent performance with respect to the traditional trial and
error tuning of the PID controller.

A Particle Swarm Optimization (PSO) Based Optimum of Tuning PID Controller for a Separately Excited DC Motor (SEDM)

Alia J. Mohammed

Engineering and Technology Journal, 2011, Volume 29, Issue 16, Pages 3331-3344

The PID algorithm is the most popular feedback controller used within the process industries. It is robust easily understood algorithm that can provide excellent control performance despite the varied dynamic characteristics of process plant. But the tuning of the PID controller parameters is not easy and does not give the optimal required response, especially with non-liner systems. In the last years emerged
several new intelligent optimization techniques like, Particle Swarm Optimization (PSO) techniques. This paper deals the non-liner mathematical model and simulation for speed control of separately excited D.C. motor with closed loop PID controller. The conventional PID tuning technique is represented as a point of comparison. The
intelligent optimization technique: PSO is proposed to tune the PID controller parameters. The obtained results of the closed loop PSO-PID Controller response shows the excellent response with comparing to the conventional PID, a good results gives in PSO-PID Controller. The simulation results presented in this paper show the effectiveness of the proposed method, which has got a wide number of advantages.

Speed Control of Wind Turbine by Using PID Controller

Fathi R. Abusief; Mohammed Abdulla Abdulsada; Furat A. Abbas

Engineering and Technology Journal, 2011, Volume 29, Issue 1, Pages 65-71

In this paper, the output frequency of a self excited induction generator (SEIG)
driven by wind turbine and supplies static load are controlled. The principle connections
of wind energy conversion are presented. The dynamic modeling of the wind turbine
and its linearization are derived. The PID controller which employed for turbine rotor
speed control and hence the frequency regulation is proposed. The block diagram of the
proposed speed control system which consists of speed controller, actuator model and
the turbine linearized model is simulated by Matlab-Simulink software package

Effect of Dual Reinforcement on Wear Resistance by Aluminum Compacts Reinforce by SiC, Al2O3

Mohammed Moanes Ezzaldean Ali; Hanan A. R. Akkar; A. K. M. AL-Shaikhli; Ali K. Shayyish; Muhsin J. Jweeg; Wisam Auday Hussain; Mohammed T. Hussein; Mohammad A. Al-Neami; Farah S. Al-Jabary; Jafar M. Hassan; Ali H. Tarrad; Mohammed N. Abdullah; Ahmed T. Mahdi; Eyad K. Sayhood; Husain M. Husain; Nidaa F. Hassan; Rehab F. Hassan; Akbas E. Ali; Assim H Yousif; Kassim K Abbas; Aqeel M Jary; Shakir A. Salih; Ali T. Jasim; Ammar A. Ali; Hosham Salim; JafarM. Daif; Ali H. Al Aboodi; Ammar S. Dawood; Sarmad A. Abbas; Salah Mahdi Saleh; Roshen T. Ahmed; Aseel B. Al-Zubaidi; Mohammed Y. Hassan; Majid A. Oleiwi; Shaimaa Mahmood Mahdy; Husain M. Husain; Mohammed J. Hamood; Shaima; a Tariq Sakin

Engineering and Technology Journal, 2009, Volume 27, Issue 13, Pages 423-429

The producing composite materials of dual reinforcement in which the matrix material is aluminum reinforced with two types of ceramic particles : which are Alumina (50μm


composite materials; wear test ; Al2O3; SiC: Al

Improvement of Output Displacement of Servo Pneumatic System using Fuzzy PI Controller

Mohammed Y. Hassan; Majid A. Oleiwi; Shaimaa Mahmood Mahdy

Engineering and Technology Journal, 2009, Volume 27, Issue 13, Pages 2496-2508

Pneumatic systems are widely used in industrial automation for their
advantages such as speed of motion, low cost of maintenance, safe operation and high power/ weight ratio, cleanliness, simplicity of operation as compared with other systems such as hydraulic and electro - mechanical technologies. In this work, a fuzzy PI controller is designed for improving the output displacement of the servo pneumatic system, in order to improve the position transient response. The aim of tuning is to reach minimum steady state error in the output displacement and also to compensate the effect of applying
different types of external load forces. The parameters of the controller are tuned using a trial and error method. A comparison between the results of using Fuzzy PI controller and the PID controller showed that the Fuzzy PI controller has improved the maximum error ratio in position up to 45 % by adding a fixed external load force and up to 19 % by adding variable external load force with high
compensation for the effects of any external load force.