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Optimization of the PID-PD parameters of the overhead crane control system by using PSO algorithm

机译：基于PSO算法的高架起重机控制系统PID-PD参数优化

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摘要

The development of combination of proportional-integral-derivative and proportional- derivative (PID-PD) controller for overhead crane is presented. Due to the pendulum-like settings, the swinging of load has caused many difficulties while operating the overhead crane. Swinging of the load causes unnecessary tension to the cable and structure of the overhead crane, which will compromise the safety of operator and other workers. Overhead cranes should have the ability to move the load to desired point as fast as possible while minimizing the load swing and maintaining the accuracy. Proportional-integral-derivative (PID) controller is used for overhead crane positioning and proportional-derivative (PD) controller for load oscillation. New time-domain performance criterion function is used in particle swarm optimization (PSO) algorithm for the tuning of the PID-PD controller rather than the general performance criteria using error of the system. This performance criterion function monitors the performance in terms of rise time, overshoot, settling time and steady state error of the overhead crane system. The performance of the optimised PID-PD controller is verified with simulation in MATLAB. The PSO optimized PID-PD controllers with new performance criterion are shown effective in improving the step response of the overhead crane position as well as controlled the load oscillation.
机译：提出了比例-积分-微分和比例-微分（PID-PD）组合式桥式起重机控制器的开发。由于摆式设置，负载的摆动在操作桥式起重机时造成了许多困难。负载的摆动会给桥式起重机的电缆和结构造成不必要的拉力，从而危及操作人员和其他工人的安全。高架起重机应具有将负载尽可能快地移动到所需点的能力，同时最大程度地减小了负载摆动并保持了精度。比例积分微分（PID）控制器用于桥式起重机的定位，比例微分（PD）控制器用于负载的振荡。在粒子群优化（PSO）算法中使用了新的时域性能标准函数来调节PID-PD控制器，而不是使用系统误差来调节通用性能标准。该性能标准功能根据高架起重机系统的上升时间，超调，稳定时间和稳态误差来监视性能。在MATLAB中通过仿真验证了优化的PID-PD控制器的性能。 PSO优化的PID-PD控制器具有新的性能标准，可有效改善桥式起重机位置的阶跃响应并控制负载波动。

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