Matching Items (5)
Description
Proportional-Integral-Derivative (PID) controllers are a versatile category of controllers that are commonly used in the industry as control systems due to the ease of their implementation and low cost. One problem that continues to intrigue control designers is the matter of finding a good combination of the three parameters - P, I and D of these controllers so that system stability and optimum performance is achieved. Also, a certain amount of robustness to the process is expected from the PID controllers. In the past, many different methods for tuning PID parameters have been developed. Some notable techniques are the Ziegler-Nichols, Cohen-Coon, Astrom methods etc. For all these techniques, a simple limitation remained with the fact that for a particular system, there can be only one set of tuned parameters; i.e. there are no degrees of freedom involved to readjust the parameters for a given system to achieve, for instance, higher bandwidth. Another limitation in most cases is where a controller is designed in continuous time then converted into discrete-time for computer implementation. The drawback of this method is that some robustness due to phase and gain margin is lost in the process. In this work a method of tuning PID controllers using a loop-shaping approach has been developed where the bandwidth of the system can be chosen within an acceptable range. The loop-shaping is done against a Glover-McFarlane type ℋ∞ controller which is widely accepted as a robust control design method. The numerical computations are carried out entirely in discrete-time so there is no loss of robustness due to conversion and approximations near Nyquist frequencies. Some extra degrees of freedom owing to choice of bandwidth and capability of choosing loop-shapes are also involved and are discussed in detail. Finally, comparisons of this method against existing techniques for tuning PID controllers both in continuous and in discrete-time are shown. The results tell us that our design performs well for loop-shapes that are achievable through a PID controller.
ContributorsShafique, Md. Ashfaque Bin (Author) / Tsakalis, Konstantinos S. (Thesis advisor) / Rodriguez, Armando A. (Committee member) / Si, Jennie (Committee member) / Arizona State University (Publisher)
Created2011
Description
Recent literature indicates potential benefits in microchannel cooling if an inlet orifice is used to suppress pressure oscillations that develop under two-phase conditions. This study investigates the costs and benefits of using an adjustable microchannel inlet orifice. The focus is on orifice effect during steady-state boiling and critical heat flux (CHF) in the channels using R134a in a pumped refrigerant loop (PRL). To change orifice size, a dam controlled with a micrometer was placed in front of 31 parallel microchannels. Each channel had a hydraulic diameter of 0.235 mm and a length of 1.33 cm. For steady state two-phase conditions, mass fluxes of 300 kg m-2 s-1 and 600 kg m-2 s-1were investigated. For orifice sizes with a hydraulic diameter to unrestricted hydraulic diameter (Dh:Dh,ur) ratio less than 35 percent, oscillations were reduced and wall temperatures fell up to 1.5 °C. Critical heat flux data were obtained for 7 orifice sizes with mass fluxes from 186 kg m-2 s-1 to 847 kg m-2 s-1. For all mass fluxes and inlet conditions tested, CHF values for a Dh:Dh,ur ratio of 1.8 percent became increasingly lower (up to 37 W cm-2 less) than those obtained with larger orifices. An optimum orifice size with Dh:Dh,ur of 35 percent emerged, offering up to 5 W cm-2 increase in CHF over unrestricted conditions at the highest mass flux tested, 847 kg m-2 s-1. These improvements in cooling ability with inlet orifices in place under both steady-state and impending CHF conditions are modest, leading to the conclusion that inlet orifices are only mildly effective at improving heat transfer coefficients. Stability of the PRL used for experimentation was also studied and improved. A vapor compression cycle's (VCC) proportional, integral, and derivative controller was found to adversely affect stability within the PRL and cause premature CHF. Replacing the VCC with an ice water heat sink maintained steady pumped loop system pressures and mass flow rates. The ice water heat sink was shown to have energy cost savings over the use of a directly coupled VCC for removing heat from the PRL.
ContributorsOdom, Brent A (Author) / Phelan, Patrick E (Thesis advisor) / Herrmann, Marcus (Committee member) / Trimble, Steve (Committee member) / Tasooji, Amaneh (Committee member) / Holcomb, Don (Committee member) / Arizona State University (Publisher)
Created2012
Description
Vertical taking off and landing (VTOL) drones started to emerge at the beginning of this century, and finds applications in the vast areas of mapping, rescuing, logistics, etc. Usually a VTOL drone control system design starts from a first principles model. Most of the VTOL drones are in the shape of a quad-rotor which is convenient for dynamic analysis.
In this project, a VTOL drone with shape similar to a Convair XFY-1 is studied and the primary focus is developing and examining an alternative method to identify a system model from the input and output data, with which it is possible to estimate system parameters and compute model uncertainties on discontinuous data sets. We verify the models by designing controllers that stabilize the yaw, pitch, and roll angles for the VTOL drone in the hovering state.
This project comprises of three stages: an open-loop identification to identify the yaw and pitch dynamics, an intermediate closed-loop identification to identify the roll action dynamic and a closed-loop identification to refine the identification of yaw and pitch action. In open and closed loop identifications, the reference signals sent to the servos were recorded as inputs to the system and the angles and angular velocities in yaw and pitch directions read by inertial measurement unit were recorded as outputs of the system. In the intermediate closed loop identification, the difference between the reference signals sent to the motors on the contra-rotators was recorded as input and the roll angular velocity is recorded as output. Next, regressors were formed by using a coprime factor structure and then parameters of the system were estimated using the least square method. Multiplicative and divisive uncertainties were calculated from the data set and were used to guide PID loop-shaping controller design.
In this project, a VTOL drone with shape similar to a Convair XFY-1 is studied and the primary focus is developing and examining an alternative method to identify a system model from the input and output data, with which it is possible to estimate system parameters and compute model uncertainties on discontinuous data sets. We verify the models by designing controllers that stabilize the yaw, pitch, and roll angles for the VTOL drone in the hovering state.
This project comprises of three stages: an open-loop identification to identify the yaw and pitch dynamics, an intermediate closed-loop identification to identify the roll action dynamic and a closed-loop identification to refine the identification of yaw and pitch action. In open and closed loop identifications, the reference signals sent to the servos were recorded as inputs to the system and the angles and angular velocities in yaw and pitch directions read by inertial measurement unit were recorded as outputs of the system. In the intermediate closed loop identification, the difference between the reference signals sent to the motors on the contra-rotators was recorded as input and the roll angular velocity is recorded as output. Next, regressors were formed by using a coprime factor structure and then parameters of the system were estimated using the least square method. Multiplicative and divisive uncertainties were calculated from the data set and were used to guide PID loop-shaping controller design.
ContributorsLiu, Yiqiu (Author) / Tsakalis, Konstantinos (Thesis advisor) / Rodriguez, Armando (Thesis advisor) / Rivera, Daniel (Committee member) / Arizona State University (Publisher)
Created2015
Description
Buck converters are electronic devices that changes a voltage from one level to a lower one and are present in many everyday applications. However, due to factors like aging, degradation or failures, these devices require a system identification process to track and diagnose their parameters. The system identification process should be performed on-line to not affect the normal operation of the device. Identifying the parameters of the system is essential to design and tune an adaptive proportional-integral-derivative (PID) controller.
Three techniques were used to design the PID controller. Phase and gain margin still prevails as one of the easiest methods to design controllers. Pole-zero cancellation is another technique which is based on pole-placement. However, although these controllers can be easily designed, they did not provide the best response compared to the Frequency Loop Shaping (FLS) technique. Therefore, since FLS showed to have a better frequency and time responses compared to the other two controllers, it was selected to perform the adaptation of the system.
An on-line system identification process was performed for the buck converter using indirect adaptation and the least square algorithm. The estimation error and the parameter error were computed to determine the rate of convergence of the system. The indirect adaptation required about 2000 points to converge to the true parameters prior designing the controller. These results were compared to the adaptation executed using robust stability condition (RSC) and a switching controller. Two different scenarios were studied consisting of five plants that defined the percentage of deterioration of the capacitor and inductor within the buck converter. The switching logic did not always select the optimal controller for the first scenario because the frequency response of the different plants was not significantly different. However, the second scenario consisted of plants with more noticeable different frequency responses and the switching logic selected the optimal controller all the time in about 500 points. Additionally, a disturbance was introduced at the plant input to observe its effect in the switching controller. However, for reasonable low disturbances no change was detected in the proper selection of controllers.
Three techniques were used to design the PID controller. Phase and gain margin still prevails as one of the easiest methods to design controllers. Pole-zero cancellation is another technique which is based on pole-placement. However, although these controllers can be easily designed, they did not provide the best response compared to the Frequency Loop Shaping (FLS) technique. Therefore, since FLS showed to have a better frequency and time responses compared to the other two controllers, it was selected to perform the adaptation of the system.
An on-line system identification process was performed for the buck converter using indirect adaptation and the least square algorithm. The estimation error and the parameter error were computed to determine the rate of convergence of the system. The indirect adaptation required about 2000 points to converge to the true parameters prior designing the controller. These results were compared to the adaptation executed using robust stability condition (RSC) and a switching controller. Two different scenarios were studied consisting of five plants that defined the percentage of deterioration of the capacitor and inductor within the buck converter. The switching logic did not always select the optimal controller for the first scenario because the frequency response of the different plants was not significantly different. However, the second scenario consisted of plants with more noticeable different frequency responses and the switching logic selected the optimal controller all the time in about 500 points. Additionally, a disturbance was introduced at the plant input to observe its effect in the switching controller. However, for reasonable low disturbances no change was detected in the proper selection of controllers.
ContributorsSerrano Rodriguez, Victoria Melissa (Author) / Tsakalis, Konstantinos (Thesis advisor) / Bakkaloglu, Bertan (Thesis advisor) / Rodriguez, Armando (Committee member) / Spanias, Andreas (Committee member) / Arizona State University (Publisher)
Created2016
Description
There has been exciting progress in the area of Unmanned Aerial Vehicles (UAV) in the last decade, especially for quadrotors due to their nature of easy manipulation and simple structure. A lot of research has been done on achieving autonomous and robust control for quadrotors. Recently researchers have been utilizing linear temporal logic as mission specification language for robot motion planning due to its expressiveness and scalability. Several algorithms have been proposed to achieve autonomous temporal logic planning. Also, several frameworks are designed to compose those discrete planners and continuous controllers to make sure the actual trajectory also satisfies the mission specification. However, most of these works use first-order kinematic models which are not accurate when quadrotors fly at high speed and cannot fully utilize the potential of quadrotors.
This thesis work describes a new design for a hierarchical hybrid controller that is based on a dynamic model and seeks to achieve better performance in terms of speed and accuracy compared with some previous works. Furthermore, the proposed hierarchical controller is making progress towards guaranteed satisfaction of mission specification expressed in Linear Temporal Logic for dynamic systems. An event-driven receding horizon planner is also utilized that aims at distributed and decentralized planning for large-scale navigation scenarios. The benefits of this approach will be demonstrated using simulations results.
This thesis work describes a new design for a hierarchical hybrid controller that is based on a dynamic model and seeks to achieve better performance in terms of speed and accuracy compared with some previous works. Furthermore, the proposed hierarchical controller is making progress towards guaranteed satisfaction of mission specification expressed in Linear Temporal Logic for dynamic systems. An event-driven receding horizon planner is also utilized that aims at distributed and decentralized planning for large-scale navigation scenarios. The benefits of this approach will be demonstrated using simulations results.
ContributorsZhang, Xiaotong (Author) / Fainekos, Georgios (Thesis advisor) / Ben Amor, Heni (Committee member) / Shrivastava, Aviral (Committee member) / Arizona State University (Publisher)
Created2016