Vol.8, No 1, 2009 pp. 1 - 12
UDC 004.41.421 004.942 681.53
DESIGN ASPECTS OF OPTIMAL PI CONTROLLERS WITH REDUCED SENSITIVITY FOR A CLASS OF SERVO SYSTEMS USING PSO ALGORITHMS
Radu-Emil Precup1*, Radu-Codruţ David1, Stefan Preitl1, Emil M. Petriu2
1"Politehnica" University of Timisoara, Department of Automation and Applied Informatics, Bd. V. Parvan 2, 300223 Timisoara, Romania
2University of Ottawa, School of Information Technology and Engineering, 800 King Edward, Ottawa, ON, K1N 6N5 Canada
*E-mail: radu.precup@aut.upt.ro
Abstract. The paper investigates some implementation aspects concerning the design of optimal PI controllers with reduced sensitivity by means of Particle Swarm Optimization (PSO) algorithms. Second order controlled processes with an integral component are considered. The reduced sensitivity results from solving the optimization problems supported by the definition of four integral objective functions. The objective functions are based on the sum of the squared control error, the squared output sensitivity functions with respect to the parametric variations of the controlled process and eventually the squared derivatives of the control error. The effects of the modifications of some parameters specific to the PSO algorithms are analyzed and highlighted by digital simulation results considering several weighting parameters and dynamical regimes of the optimal control systems.
Key Words: digital simulation, PI controllers, PSO algorithms, sensitivity.
ASPEKTI PROJEKTOVANJA OPTIMALNIH PI REGULATORA SMANJENE OSETLJIVOSTI ZA KLASU SERVO SISTEMA POMOĆU PSO ALGORITAMA
Ovaj rad istra žuje neke aspekte implementacije u vezi sa projektovanjem optimalnih PI regulatora smanjene osetljivosti pomoću PSO algoritama. Razmatrani su regulisani procesi drugog reda sa integralnom komponentom. Smanjena osetljivost se javlja kao rezultat rešavanja problema optimizacije na osnovu definicije četiri integralne objektivne funkcije. Objektivne funkcije su zasnovane na zbiru kvadrata greške upravljanja, kvadrata funkcija osetljivosti izlaza na promene parametara regulisanog procesa i, na kraju, kvadrata izvoda greške upravljanja. Efekti modifikacije nekih parametara specifičnih za PSO algoritme su analizirani i potvrđeni rezultatima digitalne simulacije u vezi sa nekoliko težinskih parametara i dinamičkih režima optimalnih sistema upravljanja.
Ključne reči: digitalna simulacija, PI regulatori, PSO algoritmi, osetljivost