- All Journals
- Al-Qadisiyah University
- Basrah University
- Kirkuk University
- Mosul University
- The Iraqi Borad for Medical Specialization
- University of Anbar
- University of Technology
- Al Mustafa University
- Al-Zahraa University for Women
- Alnoor University
- Kunooz University
- Misan University
- Ninevah University
- Tikrit University
- University of Al-Hamdaniya
- University of Kerbala
Position ControlOf Robot ArmUsing Genetic Algorithm Based PID Controller | ||
| Al-Rafidain Engineering Journal (AREJ) | ||
| Article 4, Volume 21, Issue 6, 2013, Pages 19-30 PDF (0 K) | ||
| DOI: 10.33899/rengj.2013.82374 | ||
| Authors | ||
| Majed D. Youns; Salih M. Attya; Abdulla I. Abdulla | ||
| Abstract | ||
| Abstract It is known that PID controller is used in every facet of industrial automation. The application of PID controller span from small industry to high technology industry.The aim of this paper is to design a position controller of arobot armby selection of a PID parameters using genetic algorithm. The model of a robot armis considered a third ordersystem. And this paper compares two kinds of tuning methods of parameter for PID controller. One is the controller design by the genetic algorithm, second is the controller design by the Ziegler and Nichols method. It was found that the proposed PID parameters adjustment by the genetic algorithm is better than the Ziegler & Nichols’ method. The proposed method could be applied to the higher order system also. Keywords:Robot arm, Genetic algorithm(GA), PID controller, Ziegler-Nichols (ZN)Method. | ||
| Keywords | ||
| KEYWORDS; genetic algorithm; PID controller; Ziegler; Nichols | ||
|
Statistics Article View: 527 PDF Download: 1,451 |
||