The 21st SICE Kyushu Chapter Annual Conference Abstract [103C]

Last update: Fri Mar 28 21:23:56 2003

103C1
An Approach to Determine Control Parameters of 2 Inrtia by using ITAE based GA
AUTHORS
Naohisa Fukuda, Yasuhiro Torigoe, Nobuhiro Kyura (Kinki University)
ABSTRACT
In many mechatronic servo systems which are used in industrial mechanical machine, such as machine control tools and industrial robot-arm, it is important to guaranty stability, quick response and a limited value of response-overshoot. An ordinary criterion of control performance could not satisfy its response-overshoot within a limited value. Traditional control strategies of 2nd order system do not satisfy the overshoot-limited of response. Because traditional control strategy only guaranty stability and quick response, so an arm tip response of robotic-arm has an overshoot. In this paper, we propose a new control criterion function which is a combination of ITAE (Integral of Time-multiplied by Absolute Error) and a criterion to measure an osilatoriness of response. Here, in this complex criterion function, it is difficult to determine optimal values of control system parameters. So we use a GA (Genetic Algorithm) to determine optimal values. We apply the combined criterion function as a fitness function of GA and determine the optimal values of control system of 2nd order mechatronic servo system.