Real Time Implementation for Tuning PID Controller Based on Advanced Optimization Techniques for Micro Robotics System

摘要

The process of tuning the PID controller’s parameters is considered to be a difficult task. Several approaches were developed in the past known as conventional methods. One of these methods is the Ziegler and Nichols that relies on accurate mathematical model of the linear system, but if the system is complex the former method fails to compute the parameters of PID controller. To overcome this problem, recently there exist several techniques based on artificial intelligence such as optimization techniques. The optimization techniques does not require any mathematical model and they are considered to be easy to implement on any system even if it complex, can reach optimal solutions on the parameters. In this study, a new approach to control the position of the micro-robotics system proportional - integral - derivative (PID) controller is designed and a recently developed algorithm based on optimization is known as the sparrow search algorithm (SSA). By using the sparrow search algorithm (SSA), the optimal PID controller parameters were obtained by minimizing a new objective function, which consists of the integral square Time multiplied square Error (ISTES) performance index. The effectiveness of the proposed SSA-based controller was verified by comparisons made with the Sine Cosine algorithm (SCA), and Flower pollination algorithm (FPA) controllers in terms of time and frequency response. Each control technique will be applied to the identified model (simulation results) using MATLAB Simulink and the laboratory setup (experimental results) using LABVIEW software. Finally, the SSA showed the highest performance in time and frequency responses.