Skip to main page content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Access keys NCBI Homepage MyNCBI Homepage Main Content Main Navigation
. 2019 Jun 18;19(12):2727.
doi: 10.3390/s19122727.

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

Yuqi Fan  1 , Junpeng Shao  2 , Guitao Sun  3
Affiliations

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

Yuqi Fan et al. Sensors (Basel). .

Abstract

To improve the controllability of an electro-hydraulic position servo control system while simultaneously enhancing the anti-jamming ability of a PID controller, a compound PID controller that combines the beetle antennae search algorithm with PID strategy was proposed, and used to drive the position servo control system of the electro-hydraulic servo system. A BAS-PID controller was designed, and the beetle antennae search algorithm was used to tune PID parameters so that the disturbance signal of the system was effectively restrained. Initially, the basic mathematical model of the electro-hydraulic position servo control system was established through theoretical analysis. The transfer function model was obtained by identifying system parameters. Then, the PID parameter-tuning problem was converted into a class of three-dimensional parameter optimization problem, and gains of PID controllers were adjusted using the beetle antennae search algorithm. Finally, by comparing the effectiveness of different algorithms, simulation and experimental results revealed that the BAS-PID controller can greatly enhance the performance of the electro-hydraulic position servo control system and inhibit external disturbances when different interference signals are used to test the system's robustness.

Keywords: PID controller; beetle antennae search algorithm; electro-hydraulic servo system.

PubMed Disclaimer

Conflict of interest statement

The authors declare no conflicts of interest.

Figures

Figure 1
Figure 1
Block diagram of the electro-hydraulic position servo control system.
Figure 2
Figure 2
Block diagram of the BAS-PID controller.
Figure 3
Figure 3
Parameters tuning flowchart of the BAS-PID controller.
Figure 4
Figure 4
Response curves of the step signal.
Figure 5
Figure 5
Average convergence curves of ITAE.
Figure 6
Figure 6
Boxplot of ITAE.
Figure 7
Figure 7
Response curves of the triangular wave signal. (a) Whole response curves. (b) Local amplification curves.
Figure 8
Figure 8
Response curves of the sawtooth wave signal. (a) Whole response curves. (b) Local amplification curves.
Figure 9
Figure 9
The electro-hydraulic semi-physical experiment platform. (a) Experiment platform. (b) Electro-hydraulic servo system.
Figure 10
Figure 10
Response curves of the sinusoidal signal whose amplitude is 2. (a) Whole response curves. (b) Local amplification curves.
Figure 11
Figure 11
Response curves of the sinusoidal signal whose amplitude is 4. (a) Whole response curves. (b) Local amplification curves.
Figure 12
Figure 12
Response curves of the sinusoidal signal whose amplitude is 6. (a) Whole response curves. (b) Local amplification curves.
Figure 13
Figure 13
Response curves of the sinusoidal signal whose amplitude is 8. (a) Whole response curves. (b) Local amplification curves.
Figure 14
Figure 14
Response curves of the sinusoidal signal whose amplitude is 10. (a) Whole response curves. (b) Local amplification curves.
Figure 15
Figure 15
Response curves of the random signal l. (a) Whole response curves. (b) Local amplification curves.
Figure 16
Figure 16
Response curves of the random signal 2. (a) Whole response curves. (b) Local amplification curves.
See this image and copyright information in PMC

Similar articles

See all similar articles

Cited by

See all "Cited by" articles

References

    1. Yao J., Jiao Z., Ma D., Yan L. High-Accuracy Tracking Control of Hydraulic Rotary Actuators with Modeling Uncertainties. IEEE ASME Trans. Mechatron. 2014;19:633–641. doi: 10.1109/TMECH.2013.2252360. - DOI
    1. Has Z., Rahmat M.F.A., Husain A.R., Ishaque K., Ghazali R., Ahmad M.N., Sam Y.M., Rozali S.M. Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage. Arab. J. Sci. Eng. 2013;39:2965–2978. doi: 10.1007/s13369-013-0888-3. - DOI
    1. Yang G., Yao J., Le G., Ma D. Adaptive integral robust control of hydraulic systems with asymptotic tracking. Mechatronics. 2016;40:78–86. doi: 10.1016/j.mechatronics.2016.10.007. - DOI
    1. Yuan H.B., Na H.C., Kim Y.-B. Robust MPC–PIC force control for an electro-hydraulic servo system with pure compressive elastic load. Control Eng. Pract. 2018;79:170–184. doi: 10.1016/j.conengprac.2018.07.009. - DOI
    1. Wang D., Zhao D., Gong M., Yang B. Research on Robust Model Predictive Control for Electro-Hydraulic Servo Active Suspension Systems. IEEE Access. 2018;6:3231–3240. doi: 10.1109/ACCESS.2017.2787663. - DOI

LinkOut - more resources