PID Controller Tuning Based on Particle Swarm Optimization (PSO) for Stewart Platform

• Main Authors: Ming-Tung Liu, 劉銘統
• Other Authors: Chin-I Huang
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/40033895948135769173

碩士 === 國立高雄第一科技大學 === 系統資訊與控制研究所 === 98 === In this study, we used Particle Swarm Optimization (PSO) to tune the parameters of PID controller. Some error-criteria are the fitness function, the performance index, are used to judge the performances. The performance index have three functions: (1) The integral square error criterion (ISE) (2) The integral absolute error criterion (IAE) (3) The integral time absolute error criterion (ITAE). Otherwise, the “open loop testing method” and “trial and error method” are employed to obtain the transfer function of Stewart platform. In order to take optimum parameters of PID controller, the PSO algorithm be used and results are compared with traditional Z-N tuning rule. Finally, the experimental results verify the PID parameters based on PSO algorithm not only keep system stable, but also decrease overshoot.