PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems
Performance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its well-known beneficial features. In general, the whole system's performance strongly depends...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2013-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/56697 |
| _version_ | 1818304755457327104 |
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| author | Arturo Y. Jaen-Cuellar Rene de J. Romero-Troncoso Luis Morales-Velazquez Roque A. Osornio-Rios |
| author_facet | Arturo Y. Jaen-Cuellar Rene de J. Romero-Troncoso Luis Morales-Velazquez Roque A. Osornio-Rios |
| author_sort | Arturo Y. Jaen-Cuellar |
| collection | DOAJ |
| description | Performance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its well-known beneficial features. In general, the whole system's performance strongly depends on the controller's efficiency and hence the tuning process plays a key role in the system's behaviour. In this work, the servo systems will be analysed, specifically the positioning control systems. Among the existent tuning methods, the Gain-Phase Margin method based on Frequency Response analysis is the most adequate for controller tuning in positioning control systems. Nevertheless, this method can be improved by integrating an optimization technique. The novelty of this work is the development of a new methodology for PID control tuning by coupling the Gain-Phase Margin method with the Genetic Algorithms in which the micro-population concept and adaptive mutation probability are applied. Simulations using a positioning system model in MATLAB and experimental tests in two CNC machines and an industrial robot are carried out in order to show the effectiveness of the proposal. The obtained results are compared with both the classical Gain-Phase Margin tuning and with a recent PID controller optimization using Genetic Algorithms based on real codification. The three methodologies are implemented using software. |
| first_indexed | 2024-12-13T06:15:44Z |
| format | Article |
| id | doaj.art-4fa3a33b36ef46f3ba4ff572673d9f16 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T06:15:44Z |
| publishDate | 2013-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-4fa3a33b36ef46f3ba4ff572673d9f162022-12-21T23:56:58ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-09-011010.5772/5669710.5772_56697PID-Controller Tuning Optimization with Genetic Algorithms in Servo SystemsArturo Y. Jaen-Cuellar0Rene de J. Romero-Troncoso1Luis Morales-Velazquez2Roque A. Osornio-Rios3 Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio, Qro., Mexico DICIS, Universidad de Guanajuato, Salamanca, Gto., Mexico Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio, Qro., Mexico Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio, Qro., MexicoPerformance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its well-known beneficial features. In general, the whole system's performance strongly depends on the controller's efficiency and hence the tuning process plays a key role in the system's behaviour. In this work, the servo systems will be analysed, specifically the positioning control systems. Among the existent tuning methods, the Gain-Phase Margin method based on Frequency Response analysis is the most adequate for controller tuning in positioning control systems. Nevertheless, this method can be improved by integrating an optimization technique. The novelty of this work is the development of a new methodology for PID control tuning by coupling the Gain-Phase Margin method with the Genetic Algorithms in which the micro-population concept and adaptive mutation probability are applied. Simulations using a positioning system model in MATLAB and experimental tests in two CNC machines and an industrial robot are carried out in order to show the effectiveness of the proposal. The obtained results are compared with both the classical Gain-Phase Margin tuning and with a recent PID controller optimization using Genetic Algorithms based on real codification. The three methodologies are implemented using software.https://doi.org/10.5772/56697 |
| spellingShingle | Arturo Y. Jaen-Cuellar Rene de J. Romero-Troncoso Luis Morales-Velazquez Roque A. Osornio-Rios PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems International Journal of Advanced Robotic Systems |
| title | PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems |
| title_full | PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems |
| title_fullStr | PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems |
| title_full_unstemmed | PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems |
| title_short | PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems |
| title_sort | pid controller tuning optimization with genetic algorithms in servo systems |
| url | https://doi.org/10.5772/56697 |
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