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. 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.

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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.
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