Oleh : Muhammad Ruswandi Djalal 2213201008 Optimization of PID Control for DC Motor Based On Artificial Bee Colony Algorithm Wudai Liao, Yingyue Hu, Haiquan Wang Zhongyuan University of Technology, China IEEE, Proceedings of the 2014 International Conference on Advanced Mechatronic Systems, Kumamoto, Japan, August 10-12, 2014 Oleh : Muhammad Ruswandi Djalal 2213201008

Problems and Solutions... Tuning parameter PID Tuning parameter PID using ABC

Coba dibandingkan Firefly Algorithm Cuckoo Search Algorithm Bat Algorithm Flower Pollination Algorithm Differential Evolution Ant Colony Optimization Particle Swarm Optimization Imperialist Competitive Algorithm

I. INTRODUCTION PID : Simple structure, good Stability & strong Robustness PID Parameter Manual method, large overshoot and difficult to get ideal control effect. Artificial bee colony

II. ABC ALGORITHM

Artificial Bee Colony Select Best Food Foraging Sharing Information Konsep : Lebah mencari sumber makanan (madu) yang terbaik

FORAGING Source A Source B Sampling

SHARING INFORMATION Hive A,B,C Sample Source Hive A,B,C Sample waggle dance

Source A SELECT FOOD SOURCE

Compare current & new food Inisialisasi Movement of scout bee Compare current & new food fi is the fitness value of solution Zi. If the nectar amount of the new solution is higher than of the previous one(the fitness of Zi is better than Yi), the bee memories the new position and forgets the old one.

Artificial Bee Colony Inisialisasi Populasi lebah (Kp, Ki, Kd) Proses (Foraging) Select Best Food Kp “best” Ki “best” Kd “best” Konsep : Lebah mencari sumber makanan (madu) yang terbaik Objective Function

III. DESIGN OF PID CONTROLLER DC Motor Modeling PID controller Designing

DC Motor Modeling DC permanent magnet motor rated speed is 1400rpm speed measured 1250rpm In order to obtain the parameters of the first-order system, system identification theory[19] is adopted Mechanical gain Mechanical time constant.

PID controller Design how to configure the three parameters of PID (Kp, Ki, Kd) P element : to reduce the deviation I element : to eliminate static error and improve the stability of system D element : to reduce the setting time

Objective Function Objective Function

IV. Simulation & Analysis sampling time, T = 10 ms Kp [0,40] Ki [0,10] Kd [0,1] Maxcycle 100

V. Conclusions Optimization problem of PID parameters for DC motor can be effectively solved by ABC algorithm the validity of ABC algorithm which can be effectively applied to optimize the parameters of PID controller in DC motor system is proved.

Coba dibandingkan Firefly Algorithm Cuckoo Search Algorithm Bat Algorithm Flower Pollination Algorithm Differential Evolution Ant Colony Optimization Particle Swarm Optimization Imperialist Competitive Algorithm

Firefly Algorithm

Firefly Algorithm Best Firefly Inisialisasi Kunang-Kunang Perpindahan (Proses) Best Firefly Konsep : Kunang-Kunang akan tertarik pada yang lebih terang

Cuckoo Search Algorithm

Cuckoo Search Algorithm Inisialisasi Sarang Pencarian (Proses) Best Nest Konsep : Menempatkan telurnya di sarang burung lain

Bat Algorithm

Bat Algorithm Posisi Terbaik Inisialisasi Populasi Pencarian (Proses) Konsep : terbang di kegelapan malam mencari makanan tanpa menabrak sesuatu apapun (Kemampuan Ekolokasi)

Flower Pollination Algorithm

Flower Pollination Algorithm Inisialisasi Populasi Flowers Random (Proses) Best Solution Konsep : terinspirasi dari alam sekitar, yaitu proses pernyebukan bunga (Biotik & abiotik)

Differential Evolution

Differential Evolution Inisialisasi Populasi Mutasi Populasi Populasi Baru Konsep : Terinspirasi dari evolusi biologis berbasis populasi yang menggunakan siklus perulangan dari rekombinasi dan seleksi untuk mengarahkan populasi mencari nilai optimum

Ant Colony Optimization

Ant Colony Optimization Inisialisasi tour Best rute Konsep : Menemukan jalur terpendek antara sarang dan sumber makanan dengan mengikuti jejak feromon

Particle Swarm Optimization

Particle Swarm Optimization Inisialisasi Partikel Random (Proses) Best Position Konsep : meniru proses alam dalam berkomunikasi satu sama lain dalam berkumpul, migrasi, atau berburu

Imperialist Competitive Algorithm

Imperialist Competitive Algorithm Inisialisasi Empire Kompetisi (Proses) Best Empire konsep : kompetisi kerajaan untuk memperoleh kekuasaan terbesar

Ant Colony Optimization Imperialist Competitive Alg. Param. Firefly Algorithm Cuckoo Bat Flower Diff. Evolution Ant Colony Optimization Particle Swarm Opt. Imperialist Competitive Alg. Kp 40 4.36 25.2082  39.6776  39.7801 37.6829 34.7941 Ki 2.8170 9.1  7.2255  2.8930 9.9951 9.1684 1.4529 0.0953 Kd 1 0.59  0.0648  0.0052 0.9775 0.4777

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