This paper presents different classical control approaches for planar cable-driven parallel robots. For the proposed robot, PD and PID controllers are designed based on the concept of pole placement method. In order t...
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ISBN:
(纸本)9781467372350
This paper presents different classical control approaches for planar cable-driven parallel robots. For the proposed robot, PD and PID controllers are designed based on the concept of pole placement method. In order to optimize and tune the controller parameters of planar cable-driven parallel robot, Differential Evaluation, Particle Swarm Optimization and Genetic algorithms are applied as optimization techniques. The simulation results of Genetic algorithm, Particle Swarm Optimization and Differential Evaluation algorithms reveal that the output results of tunes controllers with Particle Swarm Optimization and Differential Evaluation algorithms are more similar than Genetic algorithm and the processing time of Differential Evaluation is less than Genetic algorithm and Particle Swarm Optimization. Moreover, performance of the Particle Swarm Optimization and Differential Evaluation algorithms are better than Genetic algorithm for tuning the controllers parameters.
The Cuk converter can be employed for the control of dc voltage of a battery or it can be a component of a complex converter to control the intermediate or output voltages. Due to the switching property included in th...
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ISBN:
(纸本)9788995003886
The Cuk converter can be employed for the control of dc voltage of a battery or it can be a component of a complex converter to control the intermediate or output voltages. Due to the switching property included in their structure, dc-dc converters have a non-linear behavior and their controlling design is accompanied with complexities. But by employing the average method it is possible to approximate the system by a linear system and then linear control methods can be used. Dynamic performance of Cuk converters output voltage can be controlled by classic controllers, Linear Quadratic Regulator (LQR), pole placement and PID. In this article, matrixes coefficients and dominant poles of closed loop transfer function are selected based on genetic algorithm method. The results show an improvement in voltage control response in a short response time.
The Cuk converter can be employed for the control of dc voltage of a battery or it can be a component of a complex converter to control the intermediate or output voltages. Due to the switching property included in th...
详细信息
The Cuk converter can be employed for the control of dc voltage of a battery or it can be a component of a complex converter to control the intermediate or output voltages. Due to the switching property included in their structure, dc-dc converters have a non-linear behavior and their controlling design is accompanied with complexities. But by employing the average method it is possible to approximate the system by a linear system and then linear control methods can be used. Dynamic performance of Cuk converters output voltage can be controlled by classic controllers, Linear Quadratic Regulator (LQR), pole placement and PID. In this article, matrixes coefficients and dominant poles of closed loop transfer function are selected based on genetic algorithm method. The results show an improvement in voltage control response in a short response time.
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