A study on the optimal tuning of the hydraulic motion driver parameter by using RCGA

Shin, Suk-Shin; Noh, Jong-Ho; Park, Jong-Ho

doi:10.5916/jkosme.2014.38.1.39

Journal of the Korean Society of Marine Engineering

2014

DOI: 10.5916/jkosme.2014.38.1.39

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A study on the optimal tuning of the hydraulic motion driver parameter by using RCGA

Suk-Shin Shin¹,

Jong-Ho Noh²,

Jong-Ho Park³

Abstract: In this study, 2 degree of freedom PID controller is added to the conventional feed-forward controller for the purpose of improving its limitations such as set-point of tracking performance and disturbance suppression performance in the conventional PID controller. And the controller parameters optimization as a Real Coded Genetic Algorithm (RCGA) is used. Simulation and experiments verify the performance of the controller.

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Cited by 2 publications

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Tuning of PID Controller for Hydraulic Positioning System Using Genetic Algorithm

Kim¹,

Park²,

Kim³

2016

Journal of the Korean Society of Manufacturing Process Engineer

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This study presents a simple genetic algorithm to systematically design a PID controller for a hydraulic positioning system operated by a proportional solenoid valve. The inverse dead-zone compensator with nonlinear characteristics is used to cancel out the dead-zone phenomenon in the hydraulic system. The object function considering overshoot, settling time, and control input is adopted to search for optimal PID gains. The designed PID controller is compared with the LQG/LTR controller to check the performance of the hydraulic positioning system in the time and frequency domains. The experimental results show that the hydraulic servo system with the proposed PID controller responds effectively to the various types of reference input.

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Tuning of PID Controller for Hydraulic Positioning System Using Genetic Algorithm

Kim¹,

Park²,

Kim³

2016

Journal of the Korean Society of Manufacturing Process Engineer

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A study on the modeling of a hexacopter

Le¹,

Nam²

2015

Journal of the Korean Society of Marine Engineering

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Abstract:The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

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A study on the optimal tuning of the hydraulic motion driver parameter by using RCGA

Cited by 2 publications

References 3 publications

Tuning of PID Controller for Hydraulic Positioning System Using Genetic Algorithm

Tuning of PID Controller for Hydraulic Positioning System Using Genetic Algorithm

A study on the modeling of a hexacopter

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