Fractional PID controller in an active image stabilization system for mitigating vibration effects in agricultural tractors

• Published in: Computers and electronics in agriculture 2016-12, Vol.131, p.1-9
• Main Authors: David, Sergio Adriani, de Sousa, Rafael Vieira, Valentim, Carlos Alberto, Tabile, Rubens Andre, Machado, José António Tenreiro
• Format: Article
• Language: English
• Subjects: Active suspension system; Agricultural equipment; Calculus; Computer simulation; Farm machinery; Fractional calculus; Fractional order control; Image stabilization; Image stabilizers; Impact strength; Machinery and equipment; Mathematical models; Oscillations; PID controller; Proportional integral derivative; Sensors; Soil mechanics; Stabilization; Tractors; Vibration; Vibration effects
• ISSN: 0168-1699; 1872-7107
• DOI: 10.1016/j.compag.2016.11.001

•An active image stabilization system was modeled for an agricultural machine.•A method for tuning a fractional PID is presented for a closed-loop dynamic system.•The fractional PID controller shows better performance than a classical PID.•The model was evaluated using typical vibration data that was collected from a field experiment.•Typical vibration components of agricultural machine were efficiently attenuated. 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.