Optimization Design of PID Controller Parameters Based on Nelder Mead Algorithm for Stepper Motors

Wudhichai Assawinchaichote, Vunlop Sinlapakun

Abstract


This paper presents a design of optimized PID controller for stepper motor system used in robotics. Currently, PID controller has been used to operate in stepper motor system because its structure is simpler compared to others. However, the issue of tuning and designing PID controller adaptively and efficiently is still open. This paper presents an improved PID controller efficiency from tuning by Nelder Mead method. The parameters of PID controller shall be obtained from the Nelder Mead optimization procedure. Errors between desired magnitude response and actual magnitude response are calculated by using the Integral of Absolute Error (IAE). The proposed Nelder Mead based PID design method is simpler, more efficient and effective than the existing traditional methods included Ziegler Nichols, PSOGSA and Genetic algorithm (GA). Simulation result shows that the performance of PID controller using this proposed method is better than traditional methods and resistant to disturbance.


Keywords


Stepper motor, Disturbance, PID Controller, PID parameters, Nelder Mead optimization

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References


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