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JOURNAL OF TELECOMMUNICATIONS, VOLUME 20, ISSUE 2, JUNE 2013 22

Optimisation of Settling Time for PID Position Control in Mobile Satellite Dish Network within Nigeria
A. T. Ajiboye, T. S. Ibiyemi, and J. A. Falade
Abstract The Proportional-Integral-Derivative (PID) position controller parameters that yields optimum settling time for mobile satellite
dish network within Nigeria when the central control office (CCO) was at Abuja were determined. For the determined value of proportional gain value, Kp, the system acceptable stability region was graphically determined in the integral gain value, Ki - derivative gain value, Kd plane. Using Linear Programming, values for Ki and Kd that yielded optimal settling time, ts were determined within the region of acceptable stability. The determined values of Kp , Ki, and Kd were used in compensating the system and the composite transfer function of the compensated system was subjected to a unit step forcing function to test the designed system for robustness by varying the time delay from minimum to maximum values. The test was done using MATLAB as a simulation tool. The result analysis confirmed remarkable improvement in the settling-time of the system with optimal settling-time over the uncompensated system. Index Terms Nigeria, optimal settling-time, PID position controller, satellite dish network, stability region.

1 INTRODUCTION

HIS work is concerned with determination of controller parameters for centrally commanding and controlling network of satellite dishes mounted on mobile vehicles cruising within Nigeria at a maximum speed of 240 km/h to point and lock onto satellite of interest quickly and precisely with optimum settling-time. The satellite of interest is the Nigerians geostationary communication satellite named NigComSat-1R located at 42.5oE in ITUs region1 and the central control office, CCO is at Abuja (7.18E, 9.2N).. Quite a number of civil and military systems such as telemedicine, military intelligent systems rely on effective real-time communication via global area network such as geostationary satellite. To obtain best results from these systems, it is necessary that the satellite dishes in the network, either mobile or in fixed position, remain pointed and locked to a desired geostationary satellite at all time. This condition can only be met by incorporation of position controller into the system. For the purpose of this work the command and control is based on Proportional-Integral-Derivative, PID, controller algorithm because of its popularity and simple structure [1], [2], [3], [4], [5], [6]. The determination of the region of stability in the integral gain, Ki and derivative gain Kd plane for a given Kp value that yielded robust and effective PID position controller in a supervisory control configuration of network of mobile satellite dishes incurring large and varia

A. T. Ajiboye is with theEngineering and Scientific Services Department, National Centre for Agricultural Mechanization, km 20 Ilorin-Lokoja highway, Idofian, PMB 1525, Ilorin, Kwara State. Nigeria T. S. Ibiyemi is with the Department of Electrical and Electronics Engineering, University of Ilorin, Ilorin, Nigeria. J. A. Falade is with the Department of Electrical and Electronics Engineering, University of Ilorin, Ilorin, Nigeria.

ble time delays within Nigeria was presented in [7]. It was established by Ibiyemi and Ajiboye in [7] that any combined values of the controller gains in this stability region gives robust and effective controller performance when the time delay is between the minimum and maximum possible values obtainable within Nigeria, but optimization of the settling-time was not considered. As explained in [8], the effectiveness of PID, controller is largely determined by the amount of delay between formulation of PID control law and its delivery to the controllers actuator. Also the performance of PID controller degrades with increase in time delay because the formulated corrective action is based on the past output and not the current output being corrected [7]. The two major sources of time delay are the position within Nigeria of a vehicle with a satellite dish mounted on it and the vehicle speed of up to 240 km/h. The parameters needed to formulate the control law are the round trip delay, and the plants transfer function. This round trip time delay is the sum total of delays from the plant to the satellite, the satellite to the control office in Abuja, to the satellite, and the satellite back to the node; or vice versa. Therefore, a model for predicting the end-to-end delays was developed and the plant transfer function was empirically determined. The equations for determining the stability boundary in the Ki - Kd plane for a given value of Kp was obtained from the system and controller transfer functions using the method due to [1]. Since the resulting closed loop transfer function for the uncompensated system is of order four, there is the need for approximating it with the lower order by determine the system dominant pole(s). From the approximated system transfer function and controller transfer function the equation that relates the settling time to the controller parameters was obtained. The settling time equation and equations for determining the stability

2013 JOT www.journaloftelecommunications.co.uk

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boundary serve as the objective function and constraints respectively. The three PID parameters required are the proportional gain value, Kp which was obtained using root locus method; integral gain value, Ki; and the derivative gain value, Kd that guarantee optimum settling time in spite the control action. Then for the determined value of Kp the values for Ki and Kd were determined for an optimum settling time, ts using linear programming as a novel method. Since the principal performance index for the formulated control action is based on the settling time, ts, of the composite system dynamics time response. After putting together the composite system transfer function, it was then subjected to a step input forcing function which yielded an output with a settling time value for the uncompensated system assume to be the worse case settling time. This worse case settling time, form the basis for the determination of PID controller performance. The obtained values of Kp , Ki, and Kd for optimum settling time were used for the system compensation. The designed system composite transfer function was subjected to a step input forcing function to test for robustness by varying the time delay from minimum to maximum values. The testing was done using MATLAB as a simulation tool. The performance indices are the settling time, time to peak overshoot, percentage overshoot and rise time. The result analysis confirmed remarkable improvement in the settling-time of the system with optimized settling-time over the other systems particularly the uncompensated system.

E(s) r(s) + - m(s)

Gpid(s)

Gd1(s)

Gp(s)

A(s)

Gd2(s)

Fig. 1. System block diagram (5) (6) (7) Where and are PID, plant, forward path time delay and feedback time delay transfer function re- spectively and is the dish reference position. From the closed loop characteristic equation using the graphical method explained in [1] (8) to (11) for the generation of the four lines that define the sides of the stability polygon in Ki - Kd plane were obtained. (8)

2 SYSTEM MODELLING AND DESIGN

2.1 System Transfer Functions The transfer functions of (1), (2), (3) and (4) are that of satellite dish dynamic, drive unit, gear train and round trip time-delay (9) [7], [8]. Where and are dish actual position, geared rotor actual position, motor shaft angular position and motor applied voltage. (1)

(10)

(11)

The stability polygon of Fig.2 in the Ki and Kd plane was ob- (2) tained for a fixed value of Kp in this case 20 by plotting the graph of (8) to (11) on the same coordinate. The system will be stable for appropriate combination of Ki and Kd in the stability (3) polygon with the Kp=20 but the response may not necessarily meet the acceptable and optimal system performance. Deter- N is the gear ratio and was empirically determined to be 30. mination of the controller gain values that results in optimal (4) settling time are considered in the section that follows. is the round-trip delay and was determined to be between 0.4938 seconds and 0.4982 seconds [9].

2.2 Determination of stability region in the Ki - Kd plane The networked control system is represented with the block diagram of Fig.1, assuming unit negative feedback. The PID controller open loop transfer function is as given in (5) while the plant transfer function was obtained by combining the transfer functions of (1), (2) and (3) in cascade and is as ex- pressed in equation (6). The system closed loop transfer func- tion was obtained From Fig. 1 and is as given in (7).

Fig. 2. Stability region in the (Ki, Kd) plain for Kp = 20.

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OPTIMISATION OF SETTLING TIME


(16) Comparing the closed-loop characteristic equation of (16) with that of standard second-order system we have;

Since the system we are considering in this research work is of fourth order there is the need for approximating it with lower order. This will simplify the analysis involved in the determina- tion of system time domain performance specifications because formulas have been established for lower order system particu- larly the second-order systems. The minimum possible settling time and the values of controller gains at which it occurs were determined in this section using Linear Programming.

(17) where and are system damping ratio and natural frequency respectfully. If the settling time , is taking to be the time required for the system to settle within 2% of the input amplitude, then; (18) Substitute (17) in (18) gives (19)

3.1 Determination of System Dominant Roots The original system closed-loop transfer function is given in (12). (12) The dominance of a pole or a pair of complex conjugate poles of the closed-loop transfer function of (12) depends on two ma- jor factors [10]: (i) the relative magnitude of the residue at the pole which determine the percentage of the total response due to that particular pole and
(ii) the size of real part of the pole which determine the relative rate of decay of the transient term due to the pole. The values of residues r, poles p and direct term k obtained for the system using MATLAB are: r = 0.0000, 0.0050 + 0.0074i, 0.0050 - 0.0074i, -1.0101, 1.0000 p = -66.6583, -0.4382 + 1.4294i, -0.4382 - 1.4294i, -0.0252, 0 k = [0] From equation (12) the closed-loop poles are at s = -66.6583, - 0.4382 + 1.4294i, -0.4382 - 1.4294i, -0.0252 and the correspond- ing residue are 0.0000, 0.0050 + 0.0074i, 0.0050 - 0.0074i, -1.0101. It can be seen that the root at -0.0252 is the dominant pole be- cause is less than 1/10 of the real part of any of the other poles and it has the highest residue magnitude. Therefore, the system can be approximated by the first-order closed-loop transfer function of (13). (13)

(19) Let Then (20) Equation (20) is the objective function required to be minimized. The objective function is subjected to the constraints obtained from the equations of the lines that form the stability polygon and are as given by (8) to (11) [1]. This is not a standard maximization problem because the constraints are not less-than-or-equal-to inequalities. Therefore, in order to apply simplex method the objective function were modified and the constraints were converted to equations by introducing slack variables as follows; (21) (21) (21) (21)

3.2 Minimization of Settling Time The minimum possible value for the settling time was deter- mined using Linear Programming with application of simplex method. The objective function was obtained as follows: From the approximated closed-loop transfer function of (13) the open-loop transfer function, is giv- en by (14)
(14) The system closed-loop transfer function with PID controller can be express as; (15) Substituting and in (15) gives;

(21) Using (21), (22), (23), (24) and (25) linear programming method was used to optimise P and the maximum value of P was obtained when P = 0, which occurred when Kd = 0 and Ki = 4. But, Therefore, and Therefore, the minimum possible settling time is 15.81 seconds and it occur when Kd = 0 and Ki = 4. The point at which the minimum settling time occurred inside the stability polygon is as indicated in Fig. 3.

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Fig. 3. Point of minimum settling time inside the stability polygon

4 SIMULATION AND DISCUSSION OF RESULTS


The principal performance index for the formulated control action is based on the settling time, ts, of the composite system dynamic time response. After putting together the composite system transfer function, it was then subjected to a step input forcing function which yielded an output with a settling time value for the uncompensated system assume to be the worst case settling time. This worse case settling time, form the basis for the determination of PID controller performance. The determined values of Kp, Ki, and Kd that yielded opti- mum settling time were used to compensate the system, the compensated system composite transfer function was then sub- jected to a unit step forcing function to evaluate the perfor- mance of the controller. The compensated system was tested for robustness through simulation by varying the time delay from minimum to maximum value. The simulations were car- ried out using MATLAB as a simulation tool. The performance indices are the settling time, time to peak overshoot, percentage overshoot and rise time. The simulation results for the uncompensated system obtained from the unit step response of Fig. 4 gives settling time of 158 seconds. On the other hand, the unit step response of Fig.5 shows the simu- lation results for the compensated system from where the set- tling time was determined to be 19.1seconds.

tested for robustness by varying the time delay from 0.2469 seconds to 0.2491 seconds. The corresponding performance indices obtained from Fig. 6 were 19.1 seconds settling time, 4.38 seconds time to peak overshoot, 69% percentage overshoot and 2.82 seconds rise time. These performance indices remain constant over the entire time delay range, thus confirming the robustness of the developed system. The system settling time of 19.1 seconds and 158 seconds obtained for the compensated and uncompensated systems respectively show an improve- ment in the steady state performance of the system with PID controller due to reduction in settling time value. Fig. 5. Step response of compensated system to unit step forcing function

CONCLUSION

The system stability region in the Ki and Kd plane was graph- ically determined. PID position controller algorithm that yield- ed optimum settling time for controlling centrally the position of network of mobile satellite dishes within Nigeria to point and lock onto NigComSat-1R satellite quickly and precisely with central control office at Abuja has been determined. The values of Kp , Ki and Kd were determined for an optimum set- tling time, ts using linear programming. When the compen- sated and uncompensated system composite transfer functions were subjected to a unit step function, the obtained result shows remarkable improvement in the settling-time of the sys- tem with optimized settling-time over the uncompensated sys- tem.

REFERENCES
[1] A. T. Ajiboye, Development of Automatic Position Controller for Mobile Satellite Dish Network within Nigeria. Ph.D Thesis, De- partment of Electrical Engineering, Faculty of Engineering, Univer- sity of Ilorin, Ilorin-Nigeria, 2012, Pp 14,63-65, 83. F. Kiani and M. Bozorg. "Design of digital PID controllers using the parameter space approach.", International Journal of Control, vol. 79, no. 6, Pp. 624-629, 2006. Z. Weidong, Y. Xi, G. Yang, and X. Xu. Design PID controllers for desired time-domain or frequency-domain response. ISA Transac- tions 41, 2002. Pp.511 D. Xue, Y. Chen and D. P. Atherton, Linear Feedback Control. The Society for Industrial and Applied Mathematics, Pp183, 187 188, 2007. H. Takaaki, K. Yamada, I. Murakami, Y. Ando and T. Sakanushi. A Design Method for Robust Stabilizing Modified PID Controllers for Time-Delay Plants with Uncertainty, International Journal of In- novative Computing, Information and Control ICIC International, 2009.

[2]

[3]

Fig. 4. Step response of uncompensated system to unit step forcing function The difference between the value of settling time obtained from system simulation, 19.1 seconds and that of optimised value, 15.9 seconds is due to the error of approximation of higher or- der system with lower order. The compensated system was

[4]

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[6]

[7]

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[9]

[10]

vol.5, no.10(B), pp.3553. October 2009, Available at: www.ijicic.org/isii08-152-1.pdf. E. A. Ala and R. B. Mamat. New PID Tuning Rule Using ITAE Criteria, International Journal of Engineering (IJE), vol.3, Issue (6 ). 2010. Available at: www.cscjournals.org/csc/manuscript/Journals/IJE/.../IJE-121.pdf. [31/05/2012]. T. S. Ibiyemi and A. T. Ajiboye. On PID Controller Design for Mobile Node Network with Variable Delays, International Journal of Science and Advanced Technology, vol.2, No.4, pp. 176-179, 2012.Available at url: http://www.ijsat.com/view.php?id=2012:April:Volume%202%20Iss ue%204 T. S. Ibiyemi and A. T. Ajiboye. Robust PID Control of Mobile Satellite Dish Network within Nigeria, International Journal of Computer Application, vol. 41, no. 21, pp. 32 and 35, 2012. Available at url: T. S. Ibiyemi and A. T. Ajiboye. Automatic Tracking of NigCom- Sat-1R Satellite by Dish Network Mounted on Mobile Tele- Medicine Vehicles, International Journal of Engineering Research and Technology (IJERT), vol.1, Issue 4, June 2012,Pp2. J. J. Distefano, A. R. Stubberud, I. V. Williams and K. A. Rao. Feed- back and Control Systems. Second Edition. Tata McGraw Hill Pub- lishing Company Limited, New Delhi, India, 2007, Pp. 14.8.

A. T. Ajiboye received the B.sc. degree in electrical engineering from University of Ibadan, Ibadan, Nigeria, in 1989. He obtained M.Eng. and Ph.D degrees, all in electrical engineering from University of Ilorin, Ilorin, Nigeria, in 2005, and 2012, respectively. He was with the Department of Electrical and Electronics Engineering, Kwara state polytechnic, Ilorin as a lecturer between 1992 and 2002. He has been with the National Centre for Agricultural Mechanisation, Ilorin, Kwara state as research electrical engineer since 2002 till date and he is currently an Assistant Director Electrical Engineering in the Centre. His research interests have been in empirical modelling of control systems, PID controller design, control systems simulation and control system applications. He has applied control technologies, in corporation with agricultural engineers, to solve agricultural problems. He is also currently working on optimisation of controller parameters in distributed control systems particularly satellite systems. Dr. Ajiboye has numbers of publications in reputable journals and conferences,both local and international. He is a coporate member of Nigeria Society of Engineers (NSE)and registered with the Council for Regulation of Engineering in Nigeria (COREN). T. S. Ibiyemi obtained PhD control engineering from university of Bradford, Bradford, UK in 1982. He is presently a full professor of electrical engineering (computer & control) at department of electrical and electronics engineering, university of Ilorin, Ilorin, Nigeria. His research interest is in biometric signal processing and satellite system development. J. A. Falade obtained Ph.D in electronics and instrumentation from the University of Ibadan, Ibadan, Nigeria in 2005. He is member of Nigerian Society of Engineer (NSE) and the Institute of Electrical and Electronic Engineering (IEEE).

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