Experimental approach for selecting an optimal PID control gain using genetic algorithm for stewart platform

유전 알고리즘을 이용한 스튜어트 플랫폼의 최적 PID 제어 게인 선정을 위한 실험적 접근

  • Park, Min-Kyu (Dept.of Intelligent Mechanical Engineering, Graduate School of Busan National University) ;
  • Hong, Sung-Jin (Dept.of Mechanical Design Engineering, Graduate School of Busan National University) ;
  • Lee, Min-Cheol (Dept.of Mechanical Engineering, Busan National University)
  • 박민규 (부산대학교 대학원 지능기계공학과) ;
  • 홍성진 (부산대학교 대학원 기계설계공학과) ;
  • 이민철 (부산대학교 기계공학과)
  • Published : 2000.01.01

Abstract

The stewart platform manipulator proposed by stewart is the parallel manipulator which is composed of several independent actuators connecting the upper plate with the base plate and capable of executing a six degree of freedom motion. The manipulator has a structure of a closed loop form, and provides better load-to-weight ratio and ratio and rigidity than a serial manipulator with an open loop form. Moreover, the manipulator has high positional accuracy because position errors of actuators are not additive. Because of these advantages, this manipulator is widely used in many engineering applications such as a driving simulator, a tool of machining center, a force/torque sensor and so on. When this Stewart platform manipulator is controlled in joint space, it is difficult to design a controller using an analytic method due to nonhnearity and unknown parameters of actuators. Therefore, a PID controller is often used because of easiness in applications. To find the PID control gain, a trial-and-error method is generally used. This method is time-consuming, and does not guarantee a optimal gain. Thus, this paper proposes a GA-PID controller which selects an optimal PID control gain using genetic algorithms. And this proposed controller is evaluated experimentally and shows acceptable performance.

Keywords

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