Comparative Evaluation of PID Controller Tuning through Conventional and Genetic Algorithm

摘要

Robotic arms, also referred to as manipulators, are mechanical devices that are powered by electric motors or actuators. They play a crucial role in a wide range of industrial processes. Therefore, it is essential to have effective control over these manipulators as the primary objective in various fields is to enhance production and reliability. In this study, two types of controllers, namely the Genetic PID Controller and the classical PID controller, were utilized. Each controller was examined separately to assess its performance. The goal of the controller is to provide precise torque control, enabling the manipulator to track the optimal angle value within a significant timeframe. To evaluate the system's performance, the nonlinear model dynamics of the robot arm under investigation were simulated using MATLAB Simulink. The simulation aimed to test two scenarios: one where the classical PID controller was tuned using a trial-and-error method, and the other where the Genetic PID controller was employed to tune the PID parameters. The study's main objective was to understand how the system behaved under various input types and different values. Additionally, a comparison between the two control design approaches was presented. The control design methods employed in this study hold the promise of achieving optimal control over the robotic arm while improving response and stability. Finally, simulations were conducted, and the results were compared for both cases. A comprehensive conclusion was drawn based on the findings of the study.