The reduction coefficient of PID controller by using PSO algorithm method for Flexible single-arm robot system

journal of Artificial Intelligence in Electrical Engineering

مقاله 5، دوره 3، شماره 12، خرداد 2015، صفحه 44-54   

نویسنده

Mohammad Mehdi Moradi

چکیده

This study on the design of PID controllers for flexible single-arm robot system optimization
PSO 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, PID
control was simulated. Then by PSO algorithm, attempts to reduce the PID coefficients are given
by simulation. Finally PID coefficients' values were compared with and without the PSO
algorithm. The results showed that by using the number of birds and birds number steps, both
equal to 30 (the sixth), the lowest values of the coefficients p K , d K , i K are 0.741, 0.1491and
0, respectively.

کلیدواژه‌ها

PID؛ PSO؛ single-arm robot؛ reduction of coefficients

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