the reduction coefficient of pid controller by using pso algorithm method for flexible single-arm robot system
نویسندگان
چکیده
this study on the design of pid controllers for flexible single-arm robot system optimizationpso method is focused so that the coefficients of the pid controller are reduced. in this study,pid controller and pso algorithm have been described and then by using matlab, pidcontrol was simulated. then by pso algorithm, attempts to reduce the pid coefficients are givenby simulation. finally pid coefficients' values were compared with and without the psoalgorithm. the results showed that by using the number of birds and birds number steps, bothequal to 30 (the sixth), the lowest values of the coefficients p k , d k , i k are 0.741, 0.1491and0, respectively.
منابع مشابه
The reduction coefficient of PID controller by using PSO algorithm method for Flexible single-arm robot system
This study on the design of PID controllers for flexible single-arm robot system optimizationPSO method is focused so that the coefficients of the PID controller are reduced. In this study,PID controller and PSO algorithm have been described and then by using MATLAB, PIDcontrol was simulated. Then by PSO algorithm, attempts to reduce the PID coefficients are givenby simulation. Finally PID coef...
متن کاملDesign of PID Controller for Teleopration System with Genetic Algorithm
This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the pas...
متن کاملIntelligent PID Controller Tuning Using PSO for Linear System
In chemical industries in mid 90’s, process engineers were using the classical controller tuning methods to find the controller parameter values like Kp, Ki ,and Kd. The classical controller tuning methods may require complex computations to identify the controller parameters. With the evolution of soft computing methods these classical control methods were eliminated. This paper focus on desig...
متن کاملOptimizing control motion of a human arm With PSO-PID controller
Functional electrical stimulation (FES) is the most commonly used system for restoring function after spinal cord injury (SCI). In this study, we used a model consists of a joint, two links with one degree of freedom, and two muscles as flexor and extensor of the joint, which simulated in MATLAB using SimMechanics and Simulink Toolboxes. The muscle model is based on Zajac musculotendon actuator...
متن کاملIntelligence Method for PID Controller Design in AVR System
Designing of a PID controller is a very common method for industrial process control and due to its very simple and efficient function; it is used in a wide variety of industrial applications. PID controller to reduce the steady state error and dynamic response of the system is used. PID controller design is an inevitable problem in setting the coefficients need to try a lot of trial and error,...
متن کاملA New Propulsion System for Microswimmer Robot and Optimizing Geometrical Parameters Using PSO Algorithm
Mini and micro robots, which can swim in an underwater environment, have drawn widespread research interests because of their potential applications to the clinical drug delivery, biotechnology, manufacturing, mobile sensor networks, etc. In this paper, a prototype of microrobot based on the motion principle of living microorganisms such as E. Coli Bacteria is presented. The properties of this ...
متن کاملمنابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
journal of artificial intelligence in electrical engineeringناشر: ahar branch,islamic azad university, ahar,iran
ISSN 2345-4652
دوره 3
شماره 12 2015
کلمات کلیدی
میزبانی شده توسط پلتفرم ابری doprax.com
copyright © 2015-2023