Proportional–integral–derivative controller

Summary

A proportional–integral–derivative controller (PID controller or three-term controller) is a control loop mechanism employing feedback that is widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value e(t) as the difference between a desired setpoint (SP) and a measured process variable (PV) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively), hence the name. PID systems automatically apply accurate and responsive correction to a control function. An everyday example is the cruise control on a car, where ascending a hill would lower speed if constant engine power were applied. The controller's PID algorithm restores the measured speed to the desired speed with minimal delay and overshoot by increasing the power output of the engine in a controlled manner. The first theoretical analysis and pr

Official source

https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller

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This report is intended to summarize the work of a semester project conducted on a gPROMS model (developed in LENI) of an existing stand-alone 1kW solid oxide fuel cell (SOFC) system. Different means of controlling the cathode gas temperature with single-input-single-output PID controllers were investigated. Particular attention was directed to the issue of erroneous thermocouple readings due to radiation and how this error can be minimized. It was shown that the discrepancy between thermocouple reading and real temperature depends strongly on the method used to control the temperature. In some cases, the incorrect thermocouple reading can be fatal for the system even in regular operation. With this basic type of PID controller, lambda control was shown to be the scenario with the smallest discrepancy. However, it is still non-negligible and a more advanced control approach should be investigated before an implementation on the physical system.

2011

Digital control of a piezoelectric motor

Stefan Rigert

A digital controller for piezoelectric motors was developed. The controller tunes the driving frequency in order to maximize the power transmitted to the motor. A maximum of power is absorbed when the resonant frequency of the mechanical and electrical part of the piezoelectric motor are equal. This frequency varies in the first place because of the applied force. The control method consists of comparing two values of the transmitted power, measured at different moments, and deciding as a function of the result whether the frequency should be increased or lowered. An analysis of the developed regulator is performed and suggestions for further development are given.

2008

A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting

Song Liu, Boxing Wang, Zeya Yin, Haoyu Zhang

With the emergence of more and more torque-controlled robots, the agility of leg locomotion has been promoted to a new level, which, however, seems also to imply that only torque-controlled robots are appropriate for leg locomotion. This paper demonstrates that a position-control-based robot could also achieve dynamically stable and robust locomotion. With the help of offline dynamic-model-based trajectory optimization algorithms and online simplified-model-based reactive controller, the tested quadruped robot Pupper achieved dynamically stable trot gait both on flat grounds and high slopes of at most 20 degrees. It also gained the ability to trot on and off a 10 mm plank blindly, proving the control framework's effectiveness as well as the potential of a position-control-based robot for indoor or structural environments.

IEEE2021