Tuning PID Controller Using Genetic Algorithms for Electro-Hydraulic System with Tracking Force Control

Abstract:

The aim of this paper is design a controller for force control of an Electro-Hydraulic System and selection of a PID gains are using genetic algorithm. The mathematical model is considered as the Newton second law and compressible fluid flow theory. This paper compares two kinds of tuning methods for PID controller. One is the controller design by the genetic algorithm, second is the controller design by the Ziegler and Nichols method. Each PID gains are tested with step input function, square signal, half-sine signal and half-saw signal. And results show performance index with rise time, settling time and Maximum %OS. It was found that the proposed PID gains tuning by the genetic algorithm is better than the Ziegler & Nichols method.

• Periodical: Advanced Materials Research (Volumes 931-932)
• Pages: 1318-1322
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.931-932.1318
• Online since: May 2014
• Authors: Pisan Moonumca*, Nattawoot Depaiwa, Yoshio Yamamoto
• Keywords: Electro-Hydraulic Servo System, Genetic Algorithm (GA), Proportional-Integral-Derivative

References

[1] Hang, C.C., K.J. Astrom and W.K. Ho (1991), Refinements of the Ziegler-Nichols tuning formula. IEE Proceedings-D, vol. 138, no. 2, pp.111-118.

DOI: 10.1049/ip-d.1991.0015

[2] Radke, F. and R. Isermann (1987). A parameter adaptive PID controller with stepwise parameter optimisation. Automatica, vol. 23, pp.449-457.

DOI: 10.1016/0005-1098(87)90074-4

[3] McCormack, A.S. and K. Godfrey (1998). Rule- based auto tuning based on frequency domain identification. IEEE Transactions on Control Systems Technology, vol. 6, no. 1, pp.43-61.

DOI: 10.1109/87.654876

[4] Goldberg, D.E. (1989). Genetic Algorithms in search, optimization and machine learning, Addison- Wesley.

[5] Holland, J.H. (1975). Adaptation in natural and artificial systems. Ann Arbor: The University of Michigan Press.

[6] Ian Griffin, On-line PID Controller Tuning using Genetic Algorithms, Dublin City University, (2003).

[7] J. S. Kim, J. H. Kim, J. M. Park, S. M. Park, M. Y. Choe and H. Heo, Auto tuning PID controller based on improved genetic algorithm for reverse osmosis plant, International Journal of Intelligent Systems and Technologies, vol. 3, no. 4, pp.232-237, (2008).

[8] Merritt, H. E. (1967). Hydraulic control system. New york: wiley.

[9] Robert Bosch GmbH. Electro-hydraulic proportional and control system, Ditzingen: Omegon.

[10] P. Nakkarat, S. Kuntanapreeda, Observer-based backstepping force control of an electrohydraulic actuator, Control Engineering Practice 17 (2009), p.895–902.

DOI: 10.1016/j.conengprac.2009.02.011