Title :
Control of direct current motor using Ant Colony optimization
Author :
Diego Sandoval;Ismael Soto;Pablo Adasme
Author_Institution :
Electrical Engineering Department, University of Santiago of Chile, Santiago, Chile
Abstract :
In this paper an Ant Colony optimization (ACO) algorithm is proposed as tuning mechanism for Proportional-Integral-Derivative(PID) controller of a direct current (DC) motor from a robotic arm. Firstly, the model of the DC motor, PID and ACO algorithm are described. Secondly, it is performed the PID tuning using Ziegler-Nichols (ZN), manual tuning and the ACO algorithm. Finally, the experimental results of PID and tuning methods are compared and discussed.
Keywords :
"DC motors","Tuning","Manuals","Mathematical model","Robot kinematics","Ant colony optimization"
Conference_Titel :
Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON), 2015 CHILEAN Conference on
DOI :
10.1109/Chilecon.2015.7400356
