PID CONTROLLER PARAMETER ESTIMATION USING ANT COLONY ALGORITHM
| Autor: | Kuang-Ping Peng, 彭光平 |
|---|---|
| Rok vydání: | 2012 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 100 In this thesis, we propose an ant colony algorithm (ACA) estimator to obtain the parameters of (Proportional-Integral-Derivative) PID controller. Because the ACA is a cooperative agent algorithm, its characteristic is the positive feedback, distributed computation, and the use of a constructive greedy heuristic. Therefore, the structure of the ACA estimator is the three ACA sets in which are parallel structure. And, each ACA set is expressed as the parameters of the PID controller, KP, KI, and KD, respectively. The searching pattern of each ACA set is five layers in which each layer is ten nodes. These searching patterns are expressed as each PID parameter is five-bit decimal real number. In addition, integral of time and absolute error (ITAE) and the tracking error are cited into the cost function of ACA set to update the pheromones of ACA set. Finally, the effectiveness of the proposed controller has been verified by simulations using the inverted pendulum system. It can be improved the accuracy to estimate PID parameters. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|