Algoritmos PSO y ACO aplicados a la sintonización de un controlador PID para el control de posición de un cilindro hidráulico de 200 mm

Marcelo Quispe Ccachuco, Cesar Castillo Cáceres

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

The linear positioning of hydraulic cylinders is used in industrial applications, such as the positioning of flight fins on airplanes, injection molding processes, rock drilling, etc. One of the most used control techniques is the PID (Proportional Integral Derivative) control, the problem with this technique is the tuning of its three parameters. In this work, the experimental identification of the transfer function of the system to be controlled was first done, using the MATLAB toolbox ident. Then the PSO (Particle Swarm Optimization) algorithm was implemented in MATLAB codes. Like any optimization algorithm it requires a performance index or cost function, in this research ITAE (Integral Time Absolute Error) was used. The codes were tested with research papers found in the literature, polished until they were ready for any transfer function. These algorithms were then tested in the transfer function previously identified, achieving satisfactory results in the simulations. Finally, those values of the PID parameters found were tested in the linear positioning module of the Oleohydraulics and Pneumatics Laboratory at the Universidad Católica de Santa María. Also achieving satisfactory results in the performance of the controlled system: minimum establishment time, minimum rise time and minimum overshoot, which matched with the values obtained by data acquisition. Finally, the Ant Colony algorithm (ACO) was tested, looking for better results. The best results were obtained with the ant colony algorithm, for 20 ants, with 1000 nodes, and 100 tours. For the system with load the best solution was Kp = 11.01, Ki = 5.51 and Kd = 3.71. The results were improved by making a better experimental identification of the system. The solution was also improved by increasing the number of tours and the number of nodes, increasing the computational cost. With the controller implemented, the set-up time was reduced from 2.5 to 0.6 seconds without overshoot and with an error of less than 2 mm.

Título traducido de la contribuciónPSO and ACO algorithms applied to the tuning of a PID controller for position control of a 200 mm hydraulic cylinder
Idioma originalEspañol
Título de la publicación alojada18th LACCEI International Multi-Conference for Engineering, Education Caribbean Conference for Engineering and Technology
Subtítulo de la publicación alojada"Engineering, Integration, and Alliances for a Sustainable Development" "Hemispheric Cooperation for Competitiveness and Prosperity on a Knowledge-Based Economy", LACCEI 2020
EditorialLatin American and Caribbean Consortium of Engineering Institutions
ISBN (versión digital)9789585207141
DOI
EstadoPublicada - 2020
Evento18th LACCEI International Multi-Conference for Engineering, Education Caribbean Conference for Engineering and Technology: "Engineering, Integration, and Alliances for a Sustainable Development" "Hemispheric Cooperation for Competitiveness and Prosperity on a Knowledge-Based Economy", LACCEI 2020 - Virtual, Online
Duración: 27 jul. 202031 jul. 2020

Serie de la publicación

NombreProceedings of the LACCEI international Multi-conference for Engineering, Education and Technology
ISSN (versión digital)2414-6390

Conferencia

Conferencia18th LACCEI International Multi-Conference for Engineering, Education Caribbean Conference for Engineering and Technology: "Engineering, Integration, and Alliances for a Sustainable Development" "Hemispheric Cooperation for Competitiveness and Prosperity on a Knowledge-Based Economy", LACCEI 2020
CiudadVirtual, Online
Período27/07/2031/07/20

Palabras clave

  • Ant Colony
  • Optimization (ACO)
  • PID control
  • Particle Swarm Optimization (PSO)
  • Positioning
  • Tuning

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Profundice en los temas de investigación de 'Algoritmos PSO y ACO aplicados a la sintonización de un controlador PID para el control de posición de un cilindro hidráulico de 200 mm'. En conjunto forman una huella única.

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