tailieunhanh - PID Control Implementation and Tuning Part 12

Tham khảo tài liệu 'pid control implementation and tuning part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Pre-compensation for a Hybrid Fuzzy PID Control of a Proportional Hydraulic System 213 Fig. 16. The experimental setup. Elements Descriptions Cylinder piston diameter 16 mm piston rod diameter 10 mm stroke 200 mm Proportional valve 4 3 closed-center spool overlapped directly actuated spool valve grade of filtration 10 gm nominal flow rate min at ApN 5 bar control edge leakage oil flow l min at 60 bar nominal current 680 mA resolution 1 mA setting time of signal jump 0. 100 60 ms repetition accuracy 1 Pump supply pressure 60 bar Linear potentiometer output voltage measuring stroke 200 mm linearity tolerance Amplifier card set point values 10 VDC solenoid outputs PWM signal 24 V dither frequency 200 Hz max current 800 mA DAQ Card NI 6221 PCI analog input resolutions 16 bits input range 10V output resolutions 16 bits output range 10V 833 kS s 6 Lis full-scale settling Operating systems Program Windows XP and LabVIEW Table 3. Specifications of a PHS. 5. The Experimental Results The control algorithms described in section and were hybridized and applied to the PHS using by LabVIEW Nation Instruments as the development platform and shown in figure 17. 214 PID Control Implementation and Tuning Fig. 17. The control algorithm are used and developed by LabVIEW program. In our experiments we compare the performance of conventional hybrid fuzzy PID controller to the proposed pre-compensation of a hybrid fuzzy PID controller. A testing of response of the system was performed using a square wave input. The parameter values of the pre-compensation of a hybrid fuzzy PID controller were experimentally determined to be K1 KP e0 . Figures. 18 and 19 shows the output response of a conventional hybrid fuzzy PID system compared to the pre-compensation of a hybrid fuzzy PID system. It is found that the pre-compensation of a hybrid fuzzy PID controller gives the most satisfying results of rise time overshoot and steady state error. Fig. 18.