| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 99 === The proportional-integral-derivative (PID) controller based on ant colony optimization (ACO) is proposed in this thesis. The ACO-PID controller includes two components which are the PID controller and the ACO estimator. Firstly, the PID controller is used the error, integral of the error, and derivation of the error with the corresponding parameters to control systems. Secondly, the ACO estimator is used to tune the parameters of the PID controller. The searching pattern of ACO estimator is only three layers structure that is called the proportional parameter generator layer, the integral parameter generator layer, and the derivative parameter generator layer, respectively. Finally, the simulations of the inverted pendulum and the second-order chaotic system are compared with that of other algorithms to demonstrate the performance of the proposed algorithm. The experiment result of the inverted pendulum system is implemented to verify the effectiveness of the proposed algorithm.
|
|---|
