A New Event-Based PI Controller Using Evolutionary Algorithms
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A New Event-Based PI Controller Using Evolutionary Algorithms Mohsen Hadian1 · Alireza Aarabi2 · Amin Biglary Makvand3
· Milad Mehrshadian3
Received: 23 November 2018 / Revised: 21 July 2019 / Accepted: 3 September 2019 © Brazilian Society for Automatics--SBA 2019
Abstract This paper firstly tries to address the issue of high computational load of a PI controller and secondly tries to find the best method among three existing methods for tuning the PI controller. The three existing methods are Ziegler–Nichols (Z–N), genetic algorithm (GA), and particle swarm optimization (PSO). To address the first issue, that is reducing the computational load of a PI controller, the event-based approach is proposed. To find the best tuning method of the three, three PI controllers, each using one of the methods, are simulated; the data is collected and comparison of results is made. The paper first introduces the event-based approach, PI controller tuning, GA, and PSO. Next, three different controllers, each tuned using one of the methods, are investigated. To assess each controller, two benchmarks are used. Furthermore, data for each controller is collected at first without implementing the event-based approach and then with the event-based approach implemented in the controllers. The controlled system in this experiment is the simulated model of a DC motor; therefore, all the data and figures generated are based on this model. Finally, the results are analyzed and discussed in all the event-based controllers; a significant reduction in computational effort is observed. Moreover, compared to the conventional Z–N method, a noticeable improvement in key performance areas, especially with the use of PSO, is observed and the data indicates the superiority of the PSO method over Z–N and GA. Keywords Event based · PI controller · Evolutionary algorithms · PSO · GA
1 Introduction Event-based control scheme presents a new methodology in which the communications between different interconnected components of a control loop are invoked when something significant occurs in the process. In recent years, the eventbased strategy has received great attention (Wu and Lu 2018; Lunze and Lehmann 2010; Grüne et al. 2014; Zhu et al. 2018;
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Mohsen Hadian [email protected] Alireza Aarabi [email protected] Amin Biglary Makvand [email protected] Milad Mehrshadian [email protected]
1
Department of Instrumentation and Automation, Petroleum University of Technology, Ahvaz, Iran
2
Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran
3
Engineering Department, National Iranian South Oil Company, Ahvaz, Iran
Durand and Marchand 2009; Salahshoor and Hadian 2014). This is in contrast with the common periodic or time-driven control systems, where control calculations are performed all the time at a fixed sampling rate. Energy saving in wireless networks, communication and computational load reduction, and CPU usage reduction are some advantages of this mechanism. PID controller has been widely
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