Design of Self-Tuning PID Control in a Mechanisms System

Abstract: In this paper, a novel design method for self-tuning PID controller of in mechanisms system using the particle swarm optimization (PSO) algorithm is presented. This paper demonstrated in detail how to employ the PSO to search efficiently the optimal PID controller parameters of in mechanisms system. The proposed approach had superior features, including easy implementation, stable convergence characteristic, and good computational efficiency. Fast tuning of optimum PID controller parameters yields high-quality solution. Using the PSO approach, the initial PID parameters under normal operating condition can be found out. By the same way, the best parameters of PID controller under full-load condition can be found, too. The proposed self-tuning PID controller will automatically tune its parameters under these ranges. Moreover, the PC-based controller is implemented to control the position of the motor mechanism coupling system. The simulation and experimental results will show the potential of the proposed controller. Indexing terms: mechanisms system, self-tuning PID controller, particle swarm optimization, optimal control. I