tailieunhanh - PID Control Implementation and Tuning Part 13

Tham khảo tài liệu 'pid control implementation and tuning part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A New Approach of the Online Tuning Gain Scheduling Nonlinear PID Controller Using Neural Network 233 Fig. online tuning convergence of DNN-PID controller parameters with sinusoidal reference. Fig. voltage control applied to the 2nd joint of the 2-axes PAM robot arm with sinusoidal reference. Finally the experiments were carried out with critical sinusoidal reference input Hz . shows the experimental results in comparison between the two proposed DNN-PID-SIG and DNN-PID-HYP controllers in 2 cases of Load kg and Load 2 kg respectively. The online tuning of each control parameter G Kp Ki and Kd in 2 cases of Load kg and Load 2 kg was shown in Fig. 11b. It s important to note that PID controller is impossible to 234 PID Control Implementation and Tuning apply with critical sinusoidal reference input Hz because it caused uncontrollable and unstable as well to the operation of PAM manipulator. These figures show that thanks to the refined online tuning of G Kp Ki and Kd the error between desired reference yREF and actual joint angle response y of the PAM manipulator continually optimized. Consequently the minimized error decreases spectacularly in the range i 1 deg with proposed DNN-PID-HYP in case of Load 2 kg and in the range i deg with proposed DNN-PID-SIG in case of Load kg . In critical sinusoidal reference input Hz proposed online tuning DNN-PID controller continues to keep robust control as to maintain PAM manipulator response stable and accurate tracking. 0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 t sec t sec Fig. 11a Sinusoidal Hz response of the PAM manipulator - Load kg and Load 2 kg . In comparison between proposed DNN-PID-SIG and DNN-PID-HYP in this case of critical sinusoidal reference input Hz proposed DNN-PID-HYP once more obtains the excellent robustness and accuracy in comparison with proposed DNN-PID-SIG and thus the proposed DNN-PID-HYP controller is considered to possess the best