Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot
Industrial robot speed control remains a critical aspect for efficient operations, especially given the challenges of nonlinearity and multivariable characteristics inherent to servo motor control systems, as well as energy inefficiencies due to a lack of automatic speed control. This study refines...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/11/19/4066 |
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| author | Tian Ji Haoran Wei Jun Wang Shaoqing Tian Yi Yao Shukai Hu |
| author_facet | Tian Ji Haoran Wei Jun Wang Shaoqing Tian Yi Yao Shukai Hu |
| author_sort | Tian Ji |
| collection | DOAJ |
| description | Industrial robot speed control remains a critical aspect for efficient operations, especially given the challenges of nonlinearity and multivariable characteristics inherent to servo motor control systems, as well as energy inefficiencies due to a lack of automatic speed control. This study refines an existing control algorithm, beetle antennae optimization (BAO), by integrating elements of particle swarm optimization (PSO) and a beetle antennae search algorithm (BAS), further enhanced by chaos mapping and an adaptive weighting factor. These modifications aim to improve the algorithm’s search capabilities and mitigate the risks of settling into local optima. Unlike previous iterations, this study includes rigorous dynamic and stability analyses focusing on key performance metrics such as settling time, overshoot, and steady-state error. Comparative Simulink/MATLAB modeling demonstrates that the enhanced BAO algorithm significantly outperforms traditional PID control, BAS, and adaptive weighted-PSO in reducing static error, overshoot, and adjustment time under various conditions, including scenarios with external disturbances. Our results indicate a 60% improvement in the optimization performance of speed curve metrics, confirming the enhanced efficacy and robustness of the robotic control system. This research offers valuable insights into the advantages of the refined BAO algorithm, providing a comprehensive basis for its practical application in industrial robotic control systems. |
| first_indexed | 2024-03-10T21:40:51Z |
| format | Article |
| id | doaj.art-826899c2c3964bbaa4378de65ab7f370 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T21:40:51Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-826899c2c3964bbaa4378de65ab7f3702023-11-19T14:42:54ZengMDPI AGMathematics2227-73902023-09-011119406610.3390/math11194066Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial RobotTian Ji0Haoran Wei1Jun Wang2Shaoqing Tian3Yi Yao4Shukai Hu5School of Applied Science and Technology, Hainan University, Danzhou 571737, ChinaSchool of Applied Science and Technology, Hainan University, Danzhou 571737, ChinaSchool of Applied Science and Technology, Hainan University, Danzhou 571737, ChinaSchool of Applied Science and Technology, Hainan University, Danzhou 571737, ChinaSchool of Applied Science and Technology, Hainan University, Danzhou 571737, ChinaSchool of Applied Science and Technology, Hainan University, Danzhou 571737, ChinaIndustrial robot speed control remains a critical aspect for efficient operations, especially given the challenges of nonlinearity and multivariable characteristics inherent to servo motor control systems, as well as energy inefficiencies due to a lack of automatic speed control. This study refines an existing control algorithm, beetle antennae optimization (BAO), by integrating elements of particle swarm optimization (PSO) and a beetle antennae search algorithm (BAS), further enhanced by chaos mapping and an adaptive weighting factor. These modifications aim to improve the algorithm’s search capabilities and mitigate the risks of settling into local optima. Unlike previous iterations, this study includes rigorous dynamic and stability analyses focusing on key performance metrics such as settling time, overshoot, and steady-state error. Comparative Simulink/MATLAB modeling demonstrates that the enhanced BAO algorithm significantly outperforms traditional PID control, BAS, and adaptive weighted-PSO in reducing static error, overshoot, and adjustment time under various conditions, including scenarios with external disturbances. Our results indicate a 60% improvement in the optimization performance of speed curve metrics, confirming the enhanced efficacy and robustness of the robotic control system. This research offers valuable insights into the advantages of the refined BAO algorithm, providing a comprehensive basis for its practical application in industrial robotic control systems.https://www.mdpi.com/2227-7390/11/19/4066robot servo systemspeed ring controlSimulink simulationBAOpermanent magnet synchronous motor |
| spellingShingle | Tian Ji Haoran Wei Jun Wang Shaoqing Tian Yi Yao Shukai Hu Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot Mathematics robot servo system speed ring control Simulink simulation BAO permanent magnet synchronous motor |
| title | Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot |
| title_full | Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot |
| title_fullStr | Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot |
| title_full_unstemmed | Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot |
| title_short | Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot |
| title_sort | research into the beetle antennae optimization based pid servo system control of an industrial robot |
| topic | robot servo system speed ring control Simulink simulation BAO permanent magnet synchronous motor |
| url | https://www.mdpi.com/2227-7390/11/19/4066 |
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