Abstract
Numerous applications have been developed, primarily focusing on achieving platform equilibrium. The system may employ electric motors or hydraulic cylinders, conventional valves, or a control mechanism that utilizes pressure sensors. The majority of these sources exhibit inaccuracies, demonstrate a sluggish response time, and may require periodic reorganization. Before implementing actual systems, it is imperative to develop a virtual system through the utilization of simulation techniques. This research aims to develop and evaluate a platform comprising two hydraulic cylinders and two proportional valves. The design of a hypothetical hydraulic system involves an analysis of the system and the derivation of its transfer function. Subsequently, the performance of the system is assessed by identifying the optimal approach for acquiring the parameters kp, ki, and kd, an examination is conducted to optimize the existing genetic algorithm (GA) PID controller and the particle swarm optimization (PSO) algorithm through the utilization of MATLAB simulation. The results indicate that the genetic algorithm (GA) PID algorithm outperforms the particle swarm optimization (PSO) PID controller in enhancing system performance. The chosen error standard for the self-balance platform control system is the Integral Time Absolute Error (ITAE) type. The system exhibits an improved rate of convergence.
References
Graphisoft, “ArchiCAD 22.” Budapest, Hungary. [Online]. Available: http://www.graphisoft.com/archicad/
W. H. Bangyal et al., “An Improved Particle Swarm Optimization Algorithm for Data Classification,” Applied Sciences (Switzerland), vol. 13, no. 1, 2023, doi: 10.3390/app13010283.
W. P. Hunek et al., “A Measurement-Aided Control System for Stabilization of the Real-Life Stewart Platform,” Sensors, vol. 22, no. 19, pp. 1–12, 2022, doi: 10.3390/s22197271.
S. Kumar, S. Pazhanivel, K. A. Kumar, and N. M. Athawale, “Design and Development of Pedestal Assembly for Medium Power Active Array Transportable Radar,” vol. 2015, no. December, pp. 2–5, 2015.
W. Wang, “Analysis of Vibration Characteristics of Electro- hydraulic 3-UPS / S Parallel Stabilized Platform,” pp. 0–13, 2023.
L. Pugi et al., “Development of a Multifunctional Amphibious Platform for near Shore Geognostic Activities,” Chem Eng Trans, vol. 91, no. April, pp. 163–168, 2022, doi: 10.3303/CET2291028.
M. Taghizadeh and M. Javad Yarmohammadi, “Development of a Self-tuning PID Controller on Hydraulically Actuated Stewart Platform Stabilizer with Base Excitation,” Int J Control Autom Syst, vol. 16, no. 6, pp. 2990–2999, 2018, doi: 10.1007/s12555-016-0559-8.
H. Qiang, S. Jin, X. Feng, D. Xue, and L. Zhang, “Model predictive control of a shipborne hydraulic parallel stabilized platform based on ship motion prediction,” IEEE Access, vol. 8, pp. 181880–181892, 2020, doi: 10.1109/ACCESS.2020.2992458.
M. Becerra-Vargas and E. M. Belo, “Application of H1 theory to a 6 DOF flight simulator motion base,” Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol. 34, no. 2, pp. 193–204, 2012, doi: 10.1590/S1678-58782012000200011.
VARIOS, “Modern Control Engineering by K.OGATA (Solucionario).pdf.”
J. W. Kim, D. J. Xuan, and Y. B. Kim, “Robust control application for a three-axis road simulator,” Journal of Mechanical Science and Technology, vol. 25, no. 1, pp. 221–231, 2011, doi: 10.1007/s12206-010-1104-y.
P. I. I. Data, “Valves , Direct Operated , Without Electrical Position Feedback,” pp. 1–12.
Jain, Meetu, et al. "An overview of variants and advancements of PSO algorithm." Applied Sciences 12.17 (2022): 8392.
P. Karpagavalli and A. Ebenezer Jeyakumar, “Simulation analysis on proportional integral and derivative control of closed loop DC motor drive with bipolar voltage switching,” Am J Appl Sci, vol. 10, no. 7, pp. 714–723, 2013, doi: 10.3844/ajassp.2013.714.723.
H. S. Dakheel, Z. B. Abdullah, and S. W. Shneen, “Advanced optimal GA-PID controller for BLDC motor,” Bulletin of Electrical Engineering and Informatics, vol. 12, no. 4, pp. 2077–2086, 2023, doi: 10.11591/eei.v12i4.4649.
![Creative Commons License](http://i.creativecommons.org/l/by/4.0/88x31.png)
This work is licensed under a Creative Commons Attribution 4.0 International License.
Copyright (c) 2024 Al-Khwarizmi Engineering Journal
(Received 30 October 2023; Accepted 31 March 2024; Published 1 June 2024)