Optimization of PID for industrial electro-hydraulic actuator using PSOGSA

Mohammed Maged Abdullah Alqadasi, Siti Marhainis Othman, M. F. Rahmat, Fahisal Abdullah
2019 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
The Electro-hydraulic actuator (EHA) systems known to be extremely nonlinear due to its dynamic characteristics and these existing nonlinearities and uncertainties yield to the constraint in the control of EHA system, which influences the position tracking accuracy and affect the occurrences of leakage and friction in the system. The purpose of this work is to develop the mathematical model for the industrial electrohydraulic actuator, then to design a controller by
more » ... nal-integral-derivative (PID) and optimize the parameters using Particle Swarm Optimization-Gravitational Search Algorithm (PSOGSA). A few controllers such as conventional PID (CPID) and model reference adaptive control (MRAC) designed for comparison. The performance of PID, PID-PSOGSA and modern controller MRAC will be compared in order to determine the most efficient controller. Despite all controllers are capable to provide good performance, PID-PSOGSA control methods generate good response compared to PID and MRAC in term of positioning. Introduction EHA systems are important actuators in modern industries, principally because it offers many preferences such as high-power thickness, quick and smooth reaction attributes, and great ability in positioning. Because of its ability in positioning, it has been used in many applications for position control in modern equipment's such as aerospace, production assembly lines, industrial robots, aircrafts equipment's, machine tools, and submarine operations [1], and it has given a critical effect in the results. These applications required the highest performance of the electro-hydraulic actuator in term of positioning. The system inherently suffers from uncertainties and nonlinearities due to that many studies have been conducted recently, related to the EHA system problems to surmount thefise issues such as [2, 3]. One of the ways was optimizing the system controller performance. As optimization technique becomes popular nowadays, it can be utilized to optimize various types of controllers such as PID controller [4], MRAC and many more. However, position tracking performance of an EHA can be assured when its robustness and tracking accuracy are guaranteed. Therefore, the development of a suitable controller, which could reflect robustness and tracking accuracy, is very significant [5] . Currently, there are various controllers that can be used. Anyhow, one of the controllers that are very simple and effective is PID controller. The advantages of a PID controller is that it can provide robust performance for a wide range of operating conditions [6] . It can also reduce the dynamic range error, eliminate the steady-state error and improve in the transient response of the loopback functions system. In the literature, there are some studies have been done regarding the optimization for the PID controller using PSO algorithm [7, 8] . In the latest study, the PID controller that has been optimized by PSO algorithms shown some improvements. However, it could not surmount the nonlinearity issues of EHA, efficiently. In order to overcome the time consuming of the piston in order to stabilize, PSOGSA algorithm has been chosen in this study as the optimisation method to improve the response efficiency of the piston positioning of the EHA system. Moreover, as a comparison, an adaptive controller MRAC has been used since it has the ability to adjust itself to any parameter
doi:10.12928/telkomnika.v17i5.12808 fatcat:hj2s5gpu5belnlvjubqbzcsnny