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Results for “optimization PID control”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Application of step-response lambda tuning to proportional-integral controllers in water resource recovery facilities

Proportional-integral-derivative (PID) controllers in water resource recovery facilities (WRRFs) feedback control loops are commonplace. While simple to implement, such control loops are rarely tuned optimally or systematically. Heuristic tuning approaches are commonly applied with varying degrees of success using trial-and-error, ad hoc tuning rules, or duplication of tuning values from a similar system. However, there are effective methods, such as lambda tuning, produce acceptable tuning with limited effort. These are based on the step-response method, where a manual process perturbation is used to define the relationship between the manipulated and controlled variables. Based on such an experiment, a simple process model is constructed and used to determine the controller tuning values. In this work, we used the step-response method and lambda tuning for two control systems in full-scale WRRFs. This led to responsive and stable behavior of the controlled system as defined by the absolute average error of the controlled variable to setpoint and standard deviation of the manipulated variable. Tuning of feedback control loops can be completed successfully through a systematic approach, and this work suggests that tuning tools, like lambda, should be part of all wastewater treatment control engineers' toolbox.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2022

Machine Learning for Slow Spill Regulation in the Fermilab Delivery Ring for Mu2e

A third-integer resonant slow extraction system is being developed for the Fermilab’s Delivery Ring to deliver protons to the Mu2e experiment. During a slow extraction process, the beam on target is liable to experience small intensity variations due to many factors. Owing to the experiment’s strict requirements in the quality of the spill, a Spill Regulation System (SRS) is currently under design. The SRS primarily consists of three components - slow regulation, fast regulation, and harmonic content tracker. In this presentation, we shall present the investigations of using Machine Learning (ML) in the fast regulation system, including further optimizations of PID controller gains for the fast regulation, prospects of an ML agent completely replacing the PID controller using supervised learning schemes such as Long Short-Term Memory (LSTM) and Gated Recurrent Unit (GRU) ML models, the simulated impact and limitation of machine response characteristics on the effectiveness of both PID and ML regulation of the spill. We also present here nascent results of Reinforcement Learning efforts, including continuous-action soft actor-critic methods, to regulate the spill rate.

43 PARTICLE ACCELERATORS↗
DOE OSTI2026

Control Co-Design Framework for Joint Optimization of PID Governor and Hydraulic Dynamics for a Hydropower Plant

This paper presents a control co-design (CCD) framework tailored to the hydraulic and mechanical subsystems of hydropower systems, aimed at enhancing their dynamic performance and responsiveness to grid demands. Conventional sequential design approaches often fall short in capturing the coupled interactions between plant dynamics and control objectives. The proposed CCD methodology enables simultaneous optimization of key hydro plant parameters - such as governor settings, penstock characteristics, and valve control - with the control system architecture. Results indicate that both CCD and sequential design approaches achieve comparable transient and steady-state performance, with minor discrepancies arising from differences in their optimized parameters. However, CCD demonstrates a distinct advantage by tripling the water time constant (Tw) while maintaining similar dynamic performance to the sequential approach. This increase in Tw enables optimization of penstock dimensions, as it is directly influenced by penstock design, thereby contributing to overall cost optimization.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2025

Adaptive PID Gain Scheduling Control for Hydropower Turbine Using Neural CDE and Stochastic Distribution Shaping

This paper introduces a gain-scheduling PID controller design strategy for hydroturbine frequency control mode. This scheme first uses real data to learn the nonlinear dynamics of the hydroturbine using neural controlled differential equations and then perturbs the obtained nonlinear system at different equilibrium points, based on which a static output feedback adaptive dynamic programming algorithm is then used to optimize the PID gains for each equilibrium point. Moreover, a continuous-time version of stochastic distribution control is proposed to further fine-tune the optimized PID gains. Finally, the controller is obtained by implementing linear interpolation between the optimized PID control gains. The simulation results show that the proposed gain-scheduling PID controller can control a larger range of operation points compared with the given fixed PID controller and the baseline method. Compared with the given fixed PID controller, the proposed gain-scheduling PID controller can regulate hydroturbine frequency against disturbances induced by power-load variation with over 50% less overshoot for some operation points.

13 HYDRO ENERGY↗
DOE OSTI2024

Model-predictive optimal control of ferrofluidic microrobots in three-dimensional space

Ferrofluid microrobots have emerged as promising tools for minimally invasive medical procedures. Their unique properties to navigate complex fluids and reach otherwise inaccessible regions of the human body have enabled new applications in targeted drug delivery, tissue engineering, and diagnostics. Here, this paper proposes a model-predictive controller for the external magnetic manipulation of ferrofluid microrobots in three dimensions (3D). The internal optimization routine of the controller determines appropriate changes in the applied electromagnetic field to minimize the deviation between the actual and desired trajectories of the microrobot. A linear system governing locomotion is derived and used as the equality constraints of the optimization problems associated with the feedback index. In addition to ferrofluid droplets, the controller presented in this work may be applied to other magnetically-pulled microrobots. Several experiments are performed to validate the controller and showcase its ability to adapt to changes in system parameters such as the desired tracking trajectory and the size, orientation, deformation, and velocity of the microrobot. The accuracy of the controller is analyzed for each experiment, and the average error is found to be within 0.25 mm for small velocities. An additional experiment is performed to demonstrate significant improvement over a PID controller that is optimally tuned using Bayesian optimization. The results presented in this paper suggest that the proposed control algorithm could enable new microrobotic capabilities in minimally invasive medical procedures, lab-on-a-chip applications, and microfluidics.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2024

Third-integer Resonant Extraction Regulation System for Mu2e

A third-integer resonant slow extraction system is being developed for Fermilab's Delivery Ring to deliver protons to the upcoming Mu2e experiment. The timescale of the extraction (or spill) duration is 43 milliseconds, which is extremely short and unprecedented. Additionally, the experiment's strict and challenging requirements on the quality of the spill at this time scale has led to the development of a new Spill Regulation System (SRS) design. The SRS primarily consists of three components - slow regulation, fast regulation, and harmonic content suppressor. Contributions to the first two components of the SRS, i.e., Slow Regulation and Fast Regulation subsystems, will be presented in which new adaptive learning algorithm schemes for the slow regulation of the spill -- validated using particle tracking simulations -- shall be described. In addition to these novel methods for the enhancement of the spill regulation system, results of employing Machine Learning in enhancing the performance of the resonant extraction are also presented. At the forefront of applying ML techniques to solve non-linear accelerator control problems, this work includes optimizing the PID gains as well as the replacement of the traditional PID controller using Recurrent Neural Networks and Gated Recurrent Unit (GRU) ML models to achieve efficiencies greater than a PID controller. Cutting-edge on-going Reinforcement Learning efforts, including an actor-critic family of learning algorithms, to regulate the spill rate will be reviewed, as well as present analytical calculations pertaining the transit time of particles in a third-integer resonant extraction. Detailed numerical investigations and validations of such calculations, the model of which could be exported and reliably used in future analytical modeling of any resonant extraction, are discussed.

43 PARTICLE ACCELERATORS↗
DOE OSTI2026

CTRL-STEER: Closed-Loop Neuron Activation Control in Vision-Language-Action Models

Vision-Language-Action (VLA) models enable test-time behavioral steering via neuron-level interventions, but existing methods use fixed strengths and operate in open loop. This static modulation fails under evolving task dynamics, leading to overcorrection, oscillations, and reduced task success—especially for temporal attributes like speed. We propose CTRL-STEER, a control-theoretic framework that casts activation steering as closed-loop feedback with adaptive, time-varying interventions. Instead of assuming neurons encode temporal concepts, we steer along motion-aligned residual directions and regulate intervention magnitude via feedback. We instantiate this with both PID and reinforcement learning controllers that jointly optimize concept adherence and task success. Experiments on fine-tuned OpenVLA policies across four LIBERO suites show improved stability and a better steering–success trade-off over fixed-coefficient baselines, without retraining the base model.

Babu, Abhijith [Florida International University, ↗
DOE OSTI2023

Beyond PID Controllers: PPO with Neuralized PID Policy for Proton Beam Intensity Control in Mu2e

We introduce a novel Proximal Policy Optimization (PPO) algorithm aimed at addressing the challenge of maintaining a uniform proton beam intensity delivery in the Muon to Electron Conversion Experiment (Mu2e) at Fermi National Accelerator Laboratory (Fermilab). Our primary objective is to regulate the spill process to ensure a consistent intensity profile, with the ultimate goal of creating an automated controller capable of providing real-time feedback and calibration of the Spill Regulation System (SRS) parameters on a millisecond timescale. We treat the Mu2e accelerator system as a Markov Decision Process suitable for Reinforcement Learning (RL), utilizing PPO to reduce bias and enhance training stability. A key innovation in our approach is the integration of a neuralized Proportional-Integral-Derivative (PID) controller into the policy function, resulting in a significant improvement in the Spill Duty Factor (SDF) by 13.6%, surpassing the performance of the current PID controller baseline by an additional 1.6%. This paper presents the preliminary offline results based on a differentiable simulator of the Mu2e accelerator. It paves the groundwork for real-time implementations and applications, representing a crucial step towards automated proton beam intensity control for the Mu2e experiment.

43 PARTICLE ACCELERATORS↗
DOE OSTI2025

Reinforcement Learning Control for Buildings Co-Optimizing Energy, Comfort, and Indoor Air Quality: An Annual Assessment

Efficient control of Heating, Ventilation, and Air Conditioning (HVAC) systems is crucial for optimizing energy use and maintaining indoor comfort in buildings. Traditional control methods, such as PID control, cannot handle energy use trade-offs among multiple components in the building energy system at a supervisory level. Reinforcement learning (RL) presents a promising solution, offering adaptive and data-driven control strategies that optimize performance over time. However, RL also faces several challenges, including the conflicts encountered in co-optimizing energy savings, occupant comfort, and indoor air quality, and the requirement for extensive interactions with the environment in training. We proposed a flexible simulation platform that integrates a hybrid model for RL training and designed an RL agent to control the entire central HVAC system, focusing on co-optimizing energy consumption, thermal comfort, and indoor air quality ($\text{CO}_{2}$ and PM2.5 concentrations). Finally, we evaluated the RL agent's performance over an annual cycle. Our findings indicate that the RL agent can effectively manage the HVAC system with 14.7 % energy savings annually and balance multiple objectives, which demonstrates significant potential for improving HVAC system control and sustainability in buildings.

Guo, Fangzhou↗
DOE OSTI2025

Flexible Resource Scheduler for FAST-DERMS (FRS-FASTDERMS) v0.9

The Flexible Resource Scheduler is a hierarchical controller that manages the distributed energy resources in a distribution substation or distribution feeder to provide a firm commitment of power flow at the substation or feeder head to be scheduled in transmission-level markets as an aggregated demand resource. It is the reference controller for the FAST-DERMS Architecture, developed in tandem with the architecture under the DOE FAST-DERMS project. It is comprised of a day-ahead stochastic optimization, which schedules substation power flow and reserves, a intra-hour MPC, which generates dispatch base points for DER, and a real-time PID controller maintaining that dispatches DER to maintain the substation power around the base points. The repository also includes a representative aggregator controller, and all of the necessary components to run a simulation using PNNL's GridAPPS-D software with the controller.

MacDonald, Jason [Lawrence Berkeley National Labor↗
DOE OSTI2021

Model based co-simulation platform for integrated building system control and design optimization

Both steady-state and dynamic simulations have been widely used by HVAC&R industry to support product/equipment development for decades. Steady-state simulation focuses on the system mass, energy and momentum balance of an equilibrium state. It is based on high-fidelity components models, and thus is suitable for system and component design optimization. Dynamic simulation studies the system transient response and is generally used for controls development and verification. It usually does not require rigorous component models of high accuracy because 1) the commonly used PID control is feedback control whose control performance evaluation doesn’t require high fidelity system/plant model; 2) high-fidelity dynamic model significantly increases the number of equations and variables and creates tremendous challenge for math solver. For supervisory control, transactive control or optimization of an integrated building system, the HVAC&R equipment is often one of the sub-components to be controlled. High-fidelity equipment models are required for accurately evaluating control strategies. In addition, building equipment manufacturers have developed a lot of high-fidelity steady-state equipment/component models per their expertise. Thus, a platform that can integrate OEM high-fidelity steady-state model with dynamic building simulation and/or electric power system & grid simulation to support the development and verification of supervisory control for integrated building systems is necessary. In this study, ORNL’s heat pump design tool (HPDM) is utilized to develop a co-simulation platform for supervisory control and optimization in integrated building systems. It is based on a model that integrates high-fidelity steady-state simulation equipment models with dynamic building simulation. A practical case of using the proposed co-simulation platform to develop and evaluate the supervisory control and optimization is presented and discussed.

Sun, Jian↗
DOE OSTI2023

Optimization of nutrient utilization efficiency and productivity for algal cultures under light and dark cycles using genome-scale model process control

Abstract Algal cultivations are strongly influenced by light and dark cycles. In this study, genome-scale metabolic models were applied to optimize nutrient supply during alternating light and dark cycles of Chlorella vulgaris . This approach lowered the glucose requirement by 75% and nitrate requirement by 23%, respectively, while maintaining high final biomass densities that were more than 80% of glucose-fed heterotrophic culture. Furthermore, by strictly controlling glucose feeding during the alternating cycles based on model-input, yields of biomass, lutein, and fatty acids per gram of glucose were more than threefold higher with cycling compared to heterotrophic cultivation. Next, the model was incorporated into open-loop and closed-loop control systems and compared with traditional fed-batch systems. Closed-loop systems which incorporated a feed-optimizing algorithm increased biomass yield on glucose more than twofold compared to standard fed-batch cultures for cycling cultures. Finally, the performance was compared to conventional proportional-integral-derivative (PID) controllers. Both simulation and experimental results exhibited superior performance for genome-scale model process control (GMPC) compared to traditional PID systems, reducing the overall measured value and setpoint error by 80% over 8 h. Overall, this approach provides researchers with the capability to enhance nutrient utilization and productivity of cell factories systematically by combining genome-scale models and controllers into an integrated platform with superior performance to conventional fed-batch and PID methodologies.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2024

Implementing a Laser Stabilization System for Trapping Ca+ Ions: an Internship Reflection

At Lawrence Livermore National Laboratory, I contributed to a project developing 3D printed micro ion traps for quantum computing. I designed, implemented, and assessed a laser stabilization system that locked lasers to the frequencies required for calibrating our High Finesse WS8-10 wavelength meter and for laser cooling and trapping of Ca+ ions. I also programmed a Python interface for hardware communication, data collection, and statistical analysis. Additionally, I optimized and aligned laser beam paths, and I implemented a closed digital feedback loop using Proportional, Integral, and Derivative (PID) control parameters. I analyzed both the long-term and short-term behavior of our locked lasers and adjusted PID parameters to enhance performance. Furthermore, I used COMSOL to simulate the capacitance of a linear Paul trap design and predict our trap’s performance. The procedures I developed for the interface, analysis, and simulations will continue to support the ion trapping experiment after my appointment. I strengthened my skills in data analysis, Python coding, and optical alignment for laser systems. My confidence as a researcher grew, particularly in communicating my research. This experience taught me the importance of careful planning and consideration in research and solidified my desire to continue exploring novel quantum technology as an undergraduate

42 ENGINEERING↗
DOE OSTI2023

Integrate FARM with PID controllers: IES Simulation Ecosystem Control System Development

The FARM (Feasible Actuator Range Modifier) software module is a component of the RAVEN-based FORCE framework for analysis of Integrated Energy Systems (IES). FARM was designed to support the HERON software module in the solution of the optimal dispatch problem for IES units. As the result of HERON-FARM dispatch simulation, the set-point trajectories are optimized to meet constraints on both the production variables (i.e., the variables to be optimized such as the electrical power, the hydrogen production rate, etc.) and the process variables tied to the service life of equipment (e.g., steam flowrate, vessel pressure, turbine firing temperature, etc.) at a coarse time resolution (every 10 or 100 seconds) over long time horizons (several days or weeks). In case the operational constraints need to be met at finer time resolution, the computational burden of HERON-FARM would linearly increase with the sampling rate, and sub-optimal solutions might be obtained. System responses characterized by overshoots and damped oscillations temporarily violating the imposed constraints might occur during abrupt power transients. In this report, a hierarchical control system architecture for the operation of the Dynamic Energy Technology and Integration Laboratory (DETAIL) facility constructed at INL was proposed. First, the preliminary studies on the proposed control strategy for operating the facility and the designed PI controllers were reviewed. In particular, the current approach for generating the set-point trajectories was studied, and its limits were identified. To this aim, the inclusion of a Supervisory Control layer embedding a modified version of the FARM algorithm for preserving the system safe operation over both long and real-time horizons was proposed. In this way, FARM would be applied twice, i.e., the original version (“FARM Validator”) aiding the solution of the power dispatch problem, and the modified version (“FARM Supervisory” coordinating the PI controllers to address the real-time control tasks. Despite the kernel of the two modules is the same algorithm, their roles, tasks, and capabilities are quite different. A detailed description of the role of FARM at addressing low-level control tasks is provided, along with tentative operational procedures for training the models embedded into the algorithm by using the collected experimental data.

42 ENGINEERING↗
DOE OSTI2024

Control And Optimization Modular Modeling Application For Nuclear Deployment

The purpose of the COMMAND code is to provide a flexible, scalable tool for use in developing, integrating, and testing the technologies necessary for achieving autonomous operations of advanced nuclear reactors. The code enables users to efficiently implement custom simulations and experiments by combining key methods from different software modules. These modules are focused on: modeling and simulation tools, such as nuclear simulation tools used for high-fidelity modeling (e.g., Reactor Excursion and Leak Analysis Program [RELAP5-3D] and Monte Carlo N-Particle [MCNP]); machine learning and optimization tools (e.g., anomaly detection and data-driven modeling techniques); advanced control in its digital, high-performance, and supervisory control forms (e.g., proportional integral derivative (PID) control and model predictive control (MPC); and integration with hardware through industrial communication protocols. To ensure flexibility and scalability, COMMAND was designed to be both modular—the software “pieces” all inherit from generic building blocks and can be combined and connected to create complicated simulations—and high performing—designed for parallel processing, enabling simulations and experiments to take advantage of multi-core computers, servers, and nodes. The code is written in the Python programming language due to the language's popularity, active community, and open-source and cross-platform nature. Maintaining consistency with other simulation tools used within the nuclear energy community, users implement simulations and experiments through text input files, which define components, parameters, connections, etc., through lines of text. Given that COMMAND is written in Python, these input files are native Python scripts, and so use the standard Python structure and formatting. This also enables users to take advantage of Python's extensive package library to develop custom capabilities for their specific use cases.

Faber, Jacob [Idaho National Laboratory (INL), Ida↗
DOE OSTI2023

High-bandwidth image-based predictive laser stabilization via optimized Fourier filters

Controlling the delivery of kHz-class pulsed lasers is of interest in a variety of industrial and scientific applications, from next-generation laser-plasma acceleration to laser-based x-ray emission and high-precision manufacturing. The transverse position of the laser pulse train on the application target is often subject to fluctuations by external drivers (e.g., room cooling and heating systems, motorized optics stages and mounts, vacuum systems, chillers, and/or ground vibrations). For typical situations where the disturbance spectrum exhibits discrete peaks on top of a broad-bandwidth lower-frequency background, traditional PID (proportional-integral-derivative) controllers may struggle, since as a general rule PID controllers can be used to suppress vibrations up to only about 5%–10% of the sampling frequency. Here, a predictive feed-forward algorithm is presented that significantly enhances the stabilization bandwidth in such laser systems (up to the Nyquist limit at half the sampling frequency) by online identification and filtering of one or a few discrete frequencies using optimized Fourier filters. Furthermore, the system architecture demonstrated here uses off-the-shelf CMOS cameras and piezo-electric actuated mirrors connected to a standard PC to process the alignment images and implement the algorithm. To avoid high-end, high-cost components, a machine-learning-based model of the piezo mirror’s dynamics was integrated into the system, which enables high-precision positioning by compensating for hysteresis and other hardware-induced effects. A successful demonstration of the method was performed on a 1 kHz laser pulse train, where externally-induced vibrations of up to 400 Hz were attenuated by a factor of five, far exceeding what could be done with a standard PID scheme.

Natal, Joseph↗
DOE OSTI2022

A Method of Optimal Control for Class 8 Vehicle Platoons Over Hilly Terrain

This work develops and implements an NMPC control system to facilitate fuel-optimal platooning of Class 8 vehicles over challenging terrain. Prior research has shown that Cooperative Adaptive Cruise Control (CACC), which allows multiple Class 8 vehicles to follow in close succession, can save between 3 and 8% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g. rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of Nonlinear Model Predictive Control (NMPC) with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle's GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. Furthermore, this comparison yields the comparative fuel savings and energy efficiency benefit of NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2022

Signal-Compensation-Based Adaptive PID Control for Fused Magnesia Smelting Processes

For fused magnesia smelting processes, the proportional-integral-derivative (PID) controller is difficult to regulate the smelting currents within desired ranges due to unexpected variations of the dynamics caused by material feeding operations. To solve this problem, we first proposed its dynamic model composed of a linear model and an uncertain nonlinear dynamic system that describes the unknown time-varying dynamics of nonlinearity and strong couplings among controlled variables. Then, using the accurately calculated value of the uncertain part at the previous sampling time instant and the tracking error that reflects the influence of its change rate, we developed a feedforward and a one-step optimal control to obtain two signal compensators to eliminate the impact of frequent variations of the uncertainties. For the compensators, we proposed a weight selection method to minimize the sum of the squared tracking error with ensured closed-loop stability. Based on the abovementioned modeling and control structure, we finally developed a novel adaptive PID controller augmented with signal compensators to control the whole process. Industrial applications have shown that the proposed method can always keep the tracking error and the control input within their targeted ranges, leading to a significantly reduced energy consumption per ton and increased fused magnesia production.

Wang, Weizhou↗