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Title:
Optimized PID position control of a nonlinear system based on correlating the velocity with position error
Authors:
ID
Muškinja, Nenad
(
Author
)
ID
Rižnar, Matej
(
Author
)
Files:
Mathematical_Problems_in_Engineering_2015_Muskinja,_Riznar_Optimized_PID_Position_Control_of_a_Nonlinear_System_Based_on_Correlating_the.pdf
(3,23 MB)
MD5: 15FDF0F9F5D68EA30EBA726579C062C4
http://www.hindawi.com/journals/mpe/2015/796057/
Language:
English
Work type:
Scientific work
Typology:
1.01 - Original Scientific Article
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel-based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real-time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.
Keywords:
position control
,
nonlinear system
,
position error
Publication status:
Published
Publication version:
Version of Record
Year of publishing:
2015
Number of pages:
str. 1-11
Numbering:
Letn. 2015
PID:
20.500.12556/DKUM-66212
ISSN:
1024-123X
UDC:
681.5
ISSN on article:
1024-123X
COBISS.SI-ID:
18501398
DOI:
10.1155/2015/796057
NUK URN:
URN:SI:UM:DK:Z7IAJOJJ
Publication date in DKUM:
15.06.2017
Views:
1327
Downloads:
463
Metadata:
Categories:
Misc.
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Record is a part of a journal
Title:
Mathematical Problems in Engineering
Shortened title:
Math. Probl. Eng.
Publisher:
Hindawi Publishing Corporation
ISSN:
1024-123X
COBISS.SI-ID:
12769113
Licences
License:
CC BY 4.0, Creative Commons Attribution 4.0 International
Link:
http://creativecommons.org/licenses/by/4.0/
Description:
This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Licensing start date:
15.06.2017
Secondary language
Language:
Slovenian
Keywords:
krmiljenje pozicije
,
nelinearni sistem
,
napaka v pozicioniranju
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