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As popular as the application of Proportional Integral Derivative (PID) controller is, issues relating to saturation effects are still being addressed using different techniques. Saturation occurs when a system is experiencing integrator windup, that is, as the input saturates, integral error would be increasing. If the error decreases, the increas...
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... The PID control characteristics were strongly influenced by combining each control action Proportional , Integral And Derivative ( ) [83]. The regulation of the , , and constant values showed the prominent nature of each control action [84]. When one or two of the control actions were more prominently set out, they would significantly contribute to the overall system. ...
COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it.
Doi: 10.28991/esj-2021-SP1-016
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Thermal vacuum test is an important procedure in the development of spacecraft and load. Due to the various layouts of heaters and temperature sensors for kinds of devices under test(DUTs), the temperature responses during heating process are not same. The thermal vacuum test is the universal experiment aimed at different devices, that the temperature control algorithm of test cannot be optimized for each test. These factors would cause temperature overshoot and multiple oscillations near the preset value during test, that may damage DUTs. This article proposes an anti-windup Smith fuzzy proportional-integral-derivative(PID) temperature controller based on residual error integral predictor. The Smith fuzzy PID controller could automatically tune the controller’s coefficients and reduce the impact of time delay. On this basis, two steps are taken to suppress the overshoot in temperature control. Firstly, the fuzzy rules are optimized to refine the tuning process of fuzzy logic at different error stages. Then, by predicting the error integral in the remaining heating time, the original integral term of the controller is replaced to resist the integral saturation. In addition, a miniaturized multi-channel temperature acquisition device has been designed, which could be installed at the front end of the signal link, closer to the sensors, thereby reducing interference during signal transmission. Through extensive simulations, the proposed method outperforms traditional temperature control methods in the stages of heating and cooling. After verification by real thermal vacuum test, the proposal can effectively suppress overshoot in temperature control under vacuum conditions, and also quickly stabilize the temperature near the set value, further reducing the impact of overshoot on the load.
