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Fractional PID controller in an active image stabilization system for mitigating vibration effects in agricultural tractors
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Advisor(s)
Abstract(s)
Recent demands in sophisticated agricultural machinery require passive or active image sensors to be
mounted on vehicle frames. The impact produced by vertical displacements due to tire-soil interaction
and mechanical engine vibration causes oscillations that reduce the data quality of any activity performed
by equipment such as a camera, spectroradiometer, or scanner laser. This paper presents the
modeling and simulation of an active system for stabilization of oscillations using a fractional order
PID (Proportional-Integral-Derivative) controller. A method for tuning the fractional order PID is presented
for a closed-loop dynamic system. Experiments based on simulations are carried out to compare
the performance of the active stabilization system with fractional and integer order PID controllers.
Common excitation functions are used to assess the performance of the active stabilization system, along
with some common vibration disturbances acquired by a field experiment with a tractor-implement set.
The results show that the active stabilization system presents better performance, mitigating vibration
displacements and accelerations through a closed-loop system with a fractional PID controller.
Additionally, numerical results confirm the superior capacity of the fractional controller based system
for attenuating the vibration disturbance compared to the classical PID system for different machinery
operational conditions such as forward speed and load.
Description
Keywords
Fractional calculus Fractional order control PID controller Active suspension system Image stabilization
Pedagogical Context
Citation
Publisher
Elsevier