The PID control algorithm is then implemented, where the proportional, integral, and derivative terms are appropriately tuned to achieve optimal performance.. Proportion-Integral-Derivat
MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS AUTOMATION AND CONTROL ENGINEERING POSITION CONTROL FOR FAN AND PLATE SYSTEM USING PID CONTROLLER ADVISOR : M.S LE THI THANH HOANG STUDENTS: NGUYEN NGOC PHU HOANG NAM KON SKL010864 Ho Chi Minh City, July 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRANDUATION PROJECT POSITION CONTROL FOR FAN AND PLATE SYSTEM USING PID CONTROLLER NGUYEN NGOC PHU Student ID: 18151028 HOANG NAM KON Student ID: 17151015 Major: AUTOMATIC AND CONTROL ENGINEERING TECHNOLOGY Advisor: M.S LE THI THANH HOANG Ho Chi Minh City, July 2023 THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness Ho Chi Minh City, July, 2023 GRADUATION PROJECT ASSIGNMENT Student name: Student ID: _ Student name: Student ID: _ Student name: Student ID: _ Major: _ Class: Advisor: _ Phone number: _ Date of assignment: Date of submission: _ Project title: _ Initial materials provided by the advisor: _ Content of the project: _ Final product: CHAIR OF THE PROGRAM ADVISOR (Sign with full name) (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness Ho Chi Minh City, July, 2023 ADVISOR’S EVALUATION SHEET EVALUATION Content of the project: Strengths: Weaknesses: Approval for oral defense? (Approved or denied) Overall evaluation: (Excellent, Good, Fair, Poor) Mark:………………………… Ho Chi Minh City, July 14th, 2023 ADVISOR (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness Ho Chi Minh City, July, 2023 PRE-DEFENSE EVALUATION SHEET EVALUATION Content of the project: Strengths: Weaknesses: Approval for oral defense? (Approved or denied) Overall evaluation: (Excellent, Good, Fair, Poor) Mark:………………………… Ho Chi Minh City, July 14th, 2023 REVIEWER (Sign with full name) Disclaimer The project titled "Position Control for Fan-Plate System," conducted under the guidance of Master Le Thi Thanh Hoang at Ho Chi Minh City University of Technology and Education, hereby declares that it is not associated with any intent or act of copyright infringement The project aims to explore and develop advancements in the field of position control for the FanPlate system All efforts have been made to ensure that any information, materials, or resources used in this project are appropriately credited to their respective sources and comply with copyright regulations Any unintentional misuse or infringement of copyright is purely accidental and will be promptly addressed upon notification Ho Chi Minh City, July 14th, 2023 STUDENTS i Acknowledgements During the implementation of the project, the group received the help of the teachers and friends, so the project was completed on time The group of students would like to express their sincere thanks to: The main lecturer Master.Le Thi Thanh Hoang is the one who enthusiastically guided, oriented research, with professional knowledge as well as supported the equipment for the group to complete the graduation project on time The team would also like to express their sincere thanks to the teachers of the Faculty of Electrical and Electronic Engineering, Faculty of High Quality Training, for providing me with the basic and fundamental knowledge for the team to complete the project The team would like to thank the family for creating favorable conditions for the team to soon complete this project ii TABLE OF CONTENTS Disclaimer i Acknowledgements ii TABLE OF CONTENTS iii AABBREVIATION v LIST OF FIGURES vi LIST OF TABLE x Abstract xi CHAPTER 1: INTRODUCTION 1.2 Overview 1.2.1 Description about the fan and plate system 1.2.2 Models and studies have been completed all over the world 1.3 Objectives of the topic 1.4 Approach method to the topic 1.5 Research method of the topic 1.6 Research subjects of the topic CHAPTER 2: THEORETICAL BASIC AND ALGORITHM 2.1 Fan and plate system 2.1.1 Detailed description of FPS system 2.1.2 Analyze system and build mathematical model 2.2 Algorithm 10 2.2.1 Proportion-Integral-Derivative (PID) controller 10 2.2.1.1 Proportional term 11 2.2.1.2 Integral term 13 2.2.1.3 Derivative term 14 2.2.2 Variations of PID controller 16 2.2.3 Calculated equations of algorithm 16 2.2.3.1 Discrete transfer function 16 2.2.3.2 Overshoot: 17 2.2.3.2 Steady-state error 18 iii 2.2.4 Advantages of PID Controller: 18 CHAPTER 3: HARDWARE DESIGN AND SOFTWARE USED 20 3.1 Hardware selection 20 3.1.1 Microprocessor 20 3.1.2 Sensor 21 3.1.3 H-Bridge 24 3.1.4 The Fan 27 3.1.5 The plate 30 3.1.6 Power Block 30 3.1.7 Modeling off-axis Fan-Plate system and mechanical processing 31 3.2 Software 34 3.2.1 Arduino IDE version 1.8.12 34 3.2.2 Visual Studio 35 CHAPTER 4: VERIFY THE CONTROLLER ON SIMULATION 37 4.1 Controller 37 4.1.1 Building the PID controller 37 4.1.2 PID rule results and comments when setpoint =15 40 CHAPTER 5: BUILDING EXPERIMENTAL MODEL 69 5.1 Experimental model with PID controller 69 5.2 Interface 76 5.3 Flowchart of the program 77 CHAPTER 6: CONCLUSION 78 6.1 Conclusion 78 6.2 Improvement 78 REFERENCES 79 iv AABBREVIATION Symbol Meaning FPS Fan-Plate system PID Proportional Integral Derivative v CHAPTER 4: VERIFY THE CONTROLLER ON SIMULATION Run simulation with test change Kd parameters to get simulation results Table 4.11 Changing Kd when setpoint at 20 20 Kp Ki Kd Case 37 0.5 10 0.0001 Case 38 0.5 10 0.0002 Case 39 0.5 10 0.01 Figure 4.49 Result of simulation case 37 Steady-State time and error, respectively: Steady-State error: (degree) Steady-State time: 2.22 (s) Undershoot: 0% 66 CHAPTER 4: VERIFY THE CONTROLLER ON SIMULATION Figure 4.50 Result of simulation case 38 Steady-State time and error, respectively: Steady-State error: (degree) Steady-State time: 2.14 (s) Undershoot: 0% Figure 4.51 Result of simulation case 39 Steady-State time and error, respectively: Steady-State error: (degree) Steady-State time: 2.05 (s) Undershoot: 0% 67 CHAPTER 4: VERIFY THE CONTROLLER ON SIMULATION Figure 4.52 System response when changing Kd and setpoint increase 68 CHAPTER 5: BUILDING EXPERIMENTAL MODEL CHAPTER 5: BUILDING EXPERIMENTAL MODEL 5.1 Experimental model with PID controller Figure 5.1 The result of stable control of FPS with desired setting angle is 10 degree Steady-State time and error, respectively: Steady-State error: 0.02027 (degree) Steady-State time: 56.72 (s) Undershoot: 0% 69 CHAPTER 5: BUILDING EXPERIMENTAL MODEL Figure 5.2 Survey results to increase Kp of FPS Steady-State time and error, respectively: Steady-State error: 0.10392 (degree) Steady-State time: 55.65 (s) Undershoot: 0% Figure 5.3 Survey results to reduce Kp of FPS Steady-State time and error, respectively: Steady-State error: 0.11333 (degree) Steady-State time: 55.58 (s) Undershoot: 0% 70 CHAPTER 5: BUILDING EXPERIMENTAL MODEL Figure 5.4 Survey results to increase Ki of FPS Steady-State time and error, respectively: Steady-State error: 0.01342 (degree) Steady-State time: 3.488 (s) Undershoot: 0% Figure 5.5 Survey results to reduce Ki of FPS Steady-State time and error, respectively: Steady-State error: 9.305 (degree) Steady-State time: 119.46 (s) Undershoot: 0% 71 CHAPTER 5: BUILDING EXPERIMENTAL MODEL Figure 5.6 Survey results to increase Kd of FPS Steady-State time and error, respectively: Steady-State error: 0.01563 (degree) Steady-State time: 65.81 (s) Undershoot: 0% Figure 5.7 Survey results to reduce Kd of FPS Steady-State time and error, respectively: Steady-State error: 0.009 (degree) Steady-State time: 64.32 (s) Undershoot: 0% 72 CHAPTER 5: BUILDING EXPERIMENTAL MODEL Figure 5.8 Comparison of scaling factor correction Kp When the scaling factor Kp is increased, the system has the following responses: + Faster boot time + Overshoot increased + The setting time is little changed + Reduced setting error When reducing the scaling factor Kp, the system has the following responses: + Longer boot time + Overshoot reduced + The setting time is little changed + Reduced setting error 73 CHAPTER 5: BUILDING EXPERIMENTAL MODEL Figure 5.9 Comparison of scaling factor correction Ki When increasing the integral Ki, the system has the following responses: + Faster boot time + Overshoot increased + Faster setup time + Increased setting error When the integral coefficient Ki is reduced, the system has the following responses: + Longer boot time + Overshoot reduced + Time to set up many times longer + Increased setting error 74 CHAPTER 5: BUILDING EXPERIMENTAL MODEL Figure 5.10 Comparison of scaling factor correction Kd When the differential coefficient Kd is increased, the system has the following responses: + The boot time is little changed + Overshoot reduced + Longer setup time + The error of setting is little changed When the differential coefficient Kd is reduced, the system has the following responses: + Faster boot time + Overshoot increased + Longer setup time + Increased setting error 75 CHAPTER 5: BUILDING EXPERIMENTAL MODEL 5.2 Interface Figure 5.11 Graphic user interface of system Figure 5.12 Graphic user interface of system 76 CHAPTER 5: BUILDING EXPERIMENTAL MODEL Table 5.1 Interface annotations (1) COM: Select port connection (2) Connect/Disconnect: Connect and disconnect the COM port from the Arduino (3) Setpoint: Select the desired setting angle (4) deg/10 deg/15deg/20dg: Desired reach angle is available (5) Up/Down: Increase or decrease the desired setting angle by degree (6) Real value: Angle set in real time (7) Setpoint: The desired setting angle (8) PWM (0-255): Real-time pulse 5.3 Flowchart of the program Figure 5.13 Flowchart 77 CHAPTER 6: CONCLUSION CHAPTER 6: CONCLUSION 6.1 Conclusion Summarizing the project, we find that the PID algorithm can design a suitable controller for FPS When the fan blows at the desired set angle, the actual angle has been achieved compared to the desired one and there is a very small deviation that does not affect the desired result The time to reach the desired angle is not too long and suitable The stability of FPS is very good, although this is a system strongly influenced by noise, but when there is noise affecting the PID controller, it still controls the actual deviation angle to the desired deviation angle with the fastest time while keeping the system stable system The results between the actual model and the simulation results are different due to the limitations in identifying the parameters in the real model for simulation and the influence of environmental factors such as friction and noise However, this does not affect the controller design and FPS model building, simulation to verify that the PID controller can be applied on FPS in practice is necessary And the results between simulation and reality are different, but the rules of the PID controller on simulation and real model are the same For example, increasing Kp increases the overshoot, or decreasing Kd increases the settling time Besides the positive results achieved, the project also has many limitations such as the desired angle of the plate is small, this is dependent on the fan The fan power is reduced due to the voltage drop when driven by the H-bridge 6.2 Improvement After completing this project, we realized that this is a project that is still new and has a lot to study We can improve both the hardware and the controller for better results In hardware, the plate and fan can be changed to achieve larger angles, thereby providing diversity in the survey In controller, we can design new controllers for FPS like SMC or LQR or combine controllers to achieve better results Besides, we can apply neural networks to optimize the system 78 REFERENCES [1] C.-C F a R.-W S Huann-Keng Chiang1, “The fuzzy sliding mode controller design of a fan-plate system,” IEEE , tập 3, pp 829-834, 2014 [2] C.-C F a R.-W S Huann-Keng Chiang, “The sliding mode angle control of a fanplate system,” IEEE International, tập III, pp 383-388, 2014 [3] Y Y S K Emre Dincel, “A New Approach on Angular Position Control of,” IEEE, pp 545-550, 2014 [4] N T D L V D Nguyen Huu Cong, “DESIGN OF PID CONTROLLER, FLCSUGENO FOR FAN AND PLATE SYSTEM USING PSO OPTIMIZATION ALGORITHM,” TNU Journal of Science and Technology, pp 132-139, 2022 [5] N T P H ( b - H T Hoàng, LÝ THUYẾT ĐIỀU KHIỂN TỰ ĐỘNG, Thành Phố Hồ Chí Minh: Nhà xuất Đại Học Quốc Gia, 2005 [6] A A M A H A O A T N A A Taifour Ali, “Design and Implementation of Ball and Beam using PID controller,” MAYFEB Journal of Electrical and Computer Engineering, tập 1, pp 1-9, 2017 [7] Y G B Kada, “Robust PID Controller Design for an UAV Flight Control System,” World Congress on Engineering and Computer Science , tập II, 2011 [8] J.-W A H o Y a J.-M L Hyun-Woo KIm, “Balancing Control of Bicycle Robot Using PID Control,” International Conference on Control,Automation and Systems, pp 145-147, 2013 [9] B M K.Kalpana, “Modelling and Control of Ball and Beam System using Coefficient Diagram,” IFAC, tập 47, số 1, pp 620-626, 2014 [10] Y T A O L Wai Wai Shein, “PID Controller for Temperature Control with Multiple Actuators,” International Conference on Network-Based Information Systems, pp 423-428, 2012 79 S K L 0