Optimal PID controller tuning of automatic gantry crane using PSO algorithm

In this paper, a novel method for tuning PID controller of automatic gantry crane control using particle swarm optimization (PSO) is proposed. PSO is one of the most recent optimization techniques based on evolutionary algorithm. PSO is also known as computationally efficient method. This work presents in detail how to apply PSO method in finding the optimal PID gains of gantry crane system in the fashion of min-max optimization. The simulation results show that with proper tuning a satisfactory PID control performance can be achieved to drive nonlinear plant. The controller is able to effectively move the trolley of the crane in short time while canceling the swing angle of the payload hanging on the trolley at the end position. The robustness of the controller is also tested.

[1]  R. Eberhart,et al.  Comparing inertia weights and constriction factors in particle swarm optimization , 2000, Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512).

[2]  R. Eberhart,et al.  Fuzzy adaptive particle swarm optimization , 2001, Proceedings of the 2001 Congress on Evolutionary Computation (IEEE Cat. No.01TH8546).

[3]  Weixing Lin,et al.  Comparison between PSO and GA for Parameters Optimization of PID Controller , 2006, 2006 International Conference on Mechatronics and Automation.

[4]  James Kennedy,et al.  Particle swarm optimization , 2002, Proceedings of ICNN'95 - International Conference on Neural Networks.

[5]  Dehong Xu,et al.  Optimal PID controller design in PMSM servo system via particle swarm optimization , 2005, 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005..

[6]  Jun Zhao,et al.  Application of Particle Swarm Optimization Algorithm on Robust PID Controller Tuning , 2005, ICNC.

[7]  Zwe-Lee Gaing A particle swarm optimization approach for optimum design of PID controller in AVR system , 2004, IEEE Transactions on Energy Conversion.

[8]  R. Eberhart,et al.  Empirical study of particle swarm optimization , 1999, Proceedings of the 1999 Congress on Evolutionary Computation-CEC99 (Cat. No. 99TH8406).

[9]  Naresh K. Sinha,et al.  Modern Control Systems , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[10]  Thomas R. Kurfess,et al.  Design of a robust controller for a grinding system , 1996, IEEE Trans. Control. Syst. Technol..

[11]  Yue Shi,et al.  A modified particle swarm optimizer , 1998, 1998 IEEE International Conference on Evolutionary Computation Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98TH8360).