| Summary: | 碩士 === 國立高雄第一科技大學 === 電機工程研究所碩士班 === 104 === The PID controller is the most widely, but the parameters are not easy adjustment. It is also difficult to achieve the best control for high nonlinear system. Hence new technologies such as intelligent controls are used to solve many control engineering problems.
In this study the PSO algorithm combined with controllers for the stewart platform is proposed. These approaches based on the inertia weight, linear decreasing weight method and random inertia weight method to find the best tuning rate. In the simulation case, the linearly decreasing weights of PSO algorithm is the best method. Hence that is used to expect to Online PSO-PID controller. And from the experimental results that really obtain better performance.
Finally, the overall system are combined with racing car physical simulation, washout filter and motion platform that have good performance checked by 3 axies accelerometers and 3 axies Gyro sensors mounted on the motion platform.
|
|---|
