Optimiranje parametara PID regulatora primjenom genetskih algoritama

Ciković, Zoran (2014) Optimiranje parametara PID regulatora primjenom genetskih algoritama. = Optimisation of PID controller parameters using genetic algorithms. Undergraduate thesis , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Šitum, Željko.

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Abstract (Croatian)

Ovaj rad bavi se optimizacijom parametara PID regulatora primjenom genetskog algoritma. U prvom dijelu rada objašnjavaju se osnovni pojmovi i općeniti način rada genetskog algoritma. Nakon osnovne definicije, genetski algoritam se raščlanjuje na dijelove i svaki dio se zasebno objašnjava. Kod opisa genetskog algoritma i načina njegovog rada naglašene su metode i postavke koje koristi programsko okruženje MATLAB budući da se upravo to programsko okruženje kasnije koristi za provođenje potrebnih simulacija i testova na realnom sustavu. U drugom dijelu rada prvo se provodi optimiranje parametara PID regulatora na simulaciji procesa u SIMULINK-u. Parametri se prvo optimiraju na simulacijskom modelu sustava i zatim se definirana funkcija dobrote se zatim koristi da bi se optimirali parametri PID regulatora na elektrohidrauličkom servosustavu na kojem se regulira pomak hidrauličkog cilindra. Na samom kraju priloženi su eksperimentalni rezultati optimizacije.

Abstract

This paper deals with optimization of PID controller parameters using the genetic algortihms. In the first part it deals with the basic terminology and general operation of the genetic algorithms. After basic definitions, genetic algorithm is broken down into parts and each part is separately explained. When describing the genetic algorithms and the way they work, methods and settings used in the programming environment MATLAB are highlited because later on in the paper MATLAB is used to carry out the necessary simulations and tests. In the second part of the paper parameters of PID controller are optimized using already existing methods in MATLAB and user defined functions and SIMULINK models. First parameters are optimized on a simulated model and then the defined fitness function is used to optimize the PID controller parameters on a electrohydraulic servo control system by regulating the position of the hydraulic cylinder. And at the end experimental results of the optimisation are provided and explained.

Item Type: Thesis (Undergraduate thesis)
Uncontrolled Keywords: elektrohidraulički; servosustav; hidraulički; cilindar; genetski; algoritam
Keywords (Croatian): electrohydraulic servosystem; hydraulic cylinder; genetic algorithm optimization; PID controller ; position control
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 22 Sep 2014 18:00
Last Modified: 16 Oct 2015 12:46
URI: http://repozitorij.fsb.hr/id/eprint/2685

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