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Designing PI/PID Controllers for a Motion Control System Based on Genetic Algorithms

Designing PI/PID Controllers for a Motion Control System Based on Genetic Algorithms. 學生 : 詹嘉峻. Abstract. obtain optimal PI/PID parameters by minimization of the integral of time multiplied-squared error (ITSE) in the frequerxy domain real-coded GAS with appropriate operators is described.

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Designing PI/PID Controllers for a Motion Control System Based on Genetic Algorithms

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  1. Designing PI/PID Controllers for a Motion Control System Based on Genetic Algorithms 學生:詹嘉峻

  2. Abstract • obtain optimal PI/PID parameters by minimization of the integral of time multiplied-squared error (ITSE) in the frequerxy domain • real-coded GAS with appropriate operators is described

  3. Controllers AC Servo Drive Controlled with PI/PID

  4. transfer function its simplified model is described by the transfer function The PID controller is described by the tranfer function

  5. The error signal E(s) for a control system

  6. Let W be the ITSE performance criterion given by equation (4) By the product form of the Parseval theorem and Laplace

  7. n is the degree of the polynomial A(s) • Let E(s) = D(s) / A(s) with

  8. The minimization of this criterion to obtain optimal PID controller parameters

  9. Genetic Algorithms • Selection • Crossove • Mutation • Fitness Function

  10. Crossove • Mutation Let the individual K (t ) = k1(t), ... , kj( t ) , ... , km (t), and the gene kjto be selected for mutation.

  11. Fitness Function

  12. Proposed Method • Step 1: Speclfy the lower and upper bounds of the controller parameters • Step 2: To each individual of the population apply the Routh-Hurwitz criterion to test closed-loop system stability and calculate the value of integral performance criterion Wn(K)

  13. Step 3: Calculate the fitness value using the evaluation function given by equation (10) • Step 4: Apply the evolutionary process (selection,crossover and mutation) and return to step 2 until the specified number of generations is reached

  14. Simulation Results • Two PID Controllers

  15. Two PI Controllers

  16. Conclusions • Determines suitable parameters of the PI/PID controllers • Analytical evaluation of integral of time-squared-error(TTSE) Performance criterion in the frequency domain • Real-code Gas to solve the minimization of the ITSE criterion

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