Fuzzy Fractional Order PID Tuned via PSO for a Pneumatic Actuator with Ball Beam (PABB) System
Abstract
:1. Introduction
- Developing a two-input-one-output fuzzy controller for the intelligent pneumatic actuator system and assessing its performance in the positioning system. This design incorporates FOPID, which is connected to the output terminal of the fuzzy controller to produce the proposed Fuzzy FOPID controller.
- Utilizing the Particle Swarm Optimization (PSO) technique to identify the optimal values for the suggested controller parameters. Seven parameters are adjusted to achieve the best dynamic behavior for the Fuzzy FOPID controller.
- Validating the superiority of the proposed design by comparing the results obtained from simulations and real-world environments with those of the Fuzzy FOPID.
- Developing a Pneumatic Actuated Ball and Beam System and implementing the Fuzzy FOPID controller on the system.
- Validating the performance of the position controller through both simulation and real-time experiments.
2. System Modelling
2.1. Intelligent Pneumatic Actuator (IPA) System
2.1.1. IPA Experimental Setup
2.1.2. System Identification of IPA
2.2. Pneumatic Actuated Ball and Beam (PABB) System
2.2.1. Mathematical Model of Pneumatic Actuated Ball and Beam (PABB) System
2.2.2. PABB Experimental Setup
3. Controller Design
3.1. Intelligent Pneumatic Actuator Controller Design—Inner Loop
3.1.1. The Fuzzy PID (Fuzzy PID) Controller
3.1.2. The Fuzzy Fractional Order PID (Fuzzy FOPID) Controller
3.2. PABBS Controller Design—Outer Loop
3.2.1. Fractional-Order PI–Fractional-Order PD (FOPI-FOPD) Controller Design
3.2.2. Cascade Fuzzy Fractional-Order PID (CFFOPID) Controller Design
4. Particle Swarm Optimization Algorithm
5. Results and Discussion
5.1. Position Control for IPA System
5.1.1. Simulation Performances of the IPA Positioning System
5.1.2. Experimental Validation Performances of the IPA Positioning System
5.2. PABB System Application Results
5.2.1. Simulation Performances of the PABB System
5.2.2. Experimental Validation Performances of the PABB System
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Quantity | Value |
---|---|
Beam Length (l) | 0.5 m |
Pneumatic Actuator Stroke Length (h) | 0–200 mm |
Angle (α) | Depends on h |
The Ball Mass (m) | 0.04012 kg |
The Ball Radius (R) | 0.0107 m |
Ball’s Moment of Inertia (J) | |
Gravitational Acceleration (g) |
Error rate, ∆e(t) | Error, e(t) | ||||
NB | NS | Z | PS | PB | |
NB | NB | NB | NB | PB | PB |
NB | NB | NS | NS | PS | PB |
NB | NB | NS | Z | PS | PB |
NB | NB | NS | PS | PS | PB |
NB | NB | NB | PB | PB | PB |
Parameter | No. Iteration | No. Particles | Social Coefficient | Cognitive Coefficient | Inertia Weight |
---|---|---|---|---|---|
Value | 30 | 10 | 1.42 | 1.42 | 0.9 |
Criteria | K1 | K2 | Kp | Ki | λ | Kd | µ |
---|---|---|---|---|---|---|---|
Fuzzy FOPID | 0.0001 | 0.0495 | 25 | 1 | 0.1 | 10 | 0.1 |
Fuzzy PID | 0.0002 | 0.05 | 25 | 0.1 | - | 1 | - |
Distance (mm) | Transient Performance | Fuzzy FOPID | Fuzzy PID |
---|---|---|---|
100 | Tr (s) | 0.5616 | 0.6953 |
Ts (s) | 0.7188 | 1.0349 | |
OS (%) | 0 | 0.00022 | |
ess | 0 | 0 | |
150 | Tr (s) | 0.8400 | 0.9510 |
Ts (s) | 1.0602 | 1.2002 | |
OS (%) | 0 | 0.00031 | |
ess | 0 | 0 |
Distance (mm) | Transient Performance | Fuzzy FOPID | Fuzzy PID |
---|---|---|---|
100 | Tr (s) | 0.6577 | 0.7418 |
Ts (s) | 0.9544 | 1.0337 | |
OS (%) | 0 | 0.00022 | |
ess | 0 | 0 | |
150 | Tr (s) | 1.0468 | 1.0301 |
Ts (s) | 1.3497 | 1.3741 | |
OS (%) | 0 | 0.00031 | |
ess | 0 | 0 |
Distance (mm) | Transient Performance | Fuzzy FOPID | Fuzzy PID |
---|---|---|---|
100 | Tr (s) | 0.6372 | 0.7306 |
Ts (s) | 0.8381 | 1.1076 | |
OS (%) | 0 | 0.00022 | |
ess | 0 | 0 | |
150 | Tr (s) | 0.9874 | 1.0196 |
Ts (s) | 1.2726 | 1.5662 | |
OS (%) | 0 | 0.00031 | |
ess | 0 | 0 |
Loads (kg) | Fixed Position at 100 mm | Fixed Position at 150 mm | ||
---|---|---|---|---|
Rise Time Tr (s) | Settling Time Ts (s) | Rise Time Tr (s) | Settling Time Ts (s) | |
1 | 0.7199 | 0.9763 | 1.1513 | 1.4590 |
3 | 0.8290 | 1.0781 | 1.2435 | 1.6047 |
6 | 1.1002 | 1.4944 | 1.6076 | 2.2613 |
8 | 1.6912 | 3.0097 | 2.0625 | 4.7827 |
Criteria | K1 | K2 | Kp | Kpi | Kpd | Ki | λ | Kd | µ |
Fuzzy FOPID | 0.0495 | 0.0001 | 0.1 | - | - | 0.15 | 1 | 1 | 0.1 |
FOPI-FOPD | - | - | - | 1 | 1 | 0.01 | 0.1 | 1 | 1 |
Controllers | Performance Index | |||
---|---|---|---|---|
Rise Time Tr (s) | Settling Time Ts (s) | Overshoot OS (%) | Steady-State Error ess (%) | |
FOPI-FOPD | 2.091 | 3.910 | 0.0055 | 0 |
Cascade Fuzzy FOPID | 0.6682 | 1.1359 | 0.2768 | 0 |
Controllers | Performance Index | |||
---|---|---|---|---|
Rise Time Tr (s) | Settling Time Ts (s) | Overshoot OS (%) | Steady-State Error ess (%) | |
FOPI-FOPD Fuzzy FOPID | 0.3710 | 10.7986 | 35.5380 | 1.3520 |
Cascade Fuzzy FOPID | 0.8235 | 4.9381 | 9.8500 | 0 |
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Muftah, M.N.; Faudzi, A.A.M.; Sahlan, S.; Mohamaddan, S. Fuzzy Fractional Order PID Tuned via PSO for a Pneumatic Actuator with Ball Beam (PABB) System. Fractal Fract. 2023, 7, 416. https://doi.org/10.3390/fractalfract7060416
Muftah MN, Faudzi AAM, Sahlan S, Mohamaddan S. Fuzzy Fractional Order PID Tuned via PSO for a Pneumatic Actuator with Ball Beam (PABB) System. Fractal and Fractional. 2023; 7(6):416. https://doi.org/10.3390/fractalfract7060416
Chicago/Turabian StyleMuftah, Mohamed Naji, Ahmad Athif Mohd Faudzi, Shafishuhaza Sahlan, and Shahrol Mohamaddan. 2023. "Fuzzy Fractional Order PID Tuned via PSO for a Pneumatic Actuator with Ball Beam (PABB) System" Fractal and Fractional 7, no. 6: 416. https://doi.org/10.3390/fractalfract7060416