Trajectory control of electro-hydraulic position servo system using improved PSO-PID controller: Fid-Bau Portal

Trajectory control of electro-hydraulic position servo system using improved PSO-PID controller

Feng, Hao / Ma, Wei / Yin, Chenbo / Cao, Donghui

Abstract This paper presents an improved particle swarm optimization (PSO) algorithm to optimize the coefficients of the proportional integral derivative (PID) controller for trajectory tracking accuracy problems. Nonlinear adaptive methods are adopted on the inertia weight to built a balance between the local and global search areas, asynchronous change strategies are introduced into the learning coefficients to rationally use individual and group experience, an elite mutation method is designed to mutate the global best position in each iteration. Basic PSO (BPSO-PID) and Ziegler-Nichols PID controller (ZN-PID) are implemented with step, sinusoidal and slope references on a co-simulation platform. The simulation results illustrate that high accuracy and fast convergence can be obtained based on the improved PSO algorithm PID controller (IPSO-PID). Experimental results demonstrated that the IPSO-PID method can achieve the highest tracking accuracy, compared with the BPSO-PID method, this method can improve the tracking accuracy by 37.14% and 50.32%, respectively.

Highlights • An improved PSO algorithm based PID is proposed for improving trajectory tracking accuracy. • Three aspects are presented to avoid the shortcomings of the basic PSO algorithm. • Effectiveness of the improved PSO algorithm is validated by simulations and experiments. • High accuracy and fast convergence can be obtained based on the improved PSO algorithm. • The highest tracking accuracy can be obtained based on the improved PSO algorithm.