PSO-Tuned PID Controller for a Nonlinear Gantry Crane System

被引：0

作者：

Jaafar, Hazriq Izzuan ^{[1
]}

Mohamed, Z. ^{[1
]}

Abidin, Amar Faiz Zainal ^{[1
]}

Ab Ghani, Z. ^{[1
]}

机构：

[1] Univ Tekn Malaysia Melaka, Fac Elect Engn, Melaka, Malaysia

来源：

2012 IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (ICCSCE 2012) | 2012年

关键词：

Computational Intelligence; Gantry crane; Particle Swarm Optimization; PID; Swarm Intelligence;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents development of an optimal PID controller for control of a nonlinear gantry crane system. An improved PSO algorithm based on a priority-based fitness approach is implemented for finding optimal PID parameters. The system dynamic model is derived using Lagrange equation. A combination of PID and PD controllers are utilized for position and oscillation control of the system. System responses including trolley displacement and payload oscillation are observed and analyzed. Simulation is conducted within Matlab environment to verify the performance of the controller. It is demonstrated that the controller is effective to move the trolley as fast as possible to the desired position with low payload oscillation technique.

引用

页码：515 / 519

页数：5

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