Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Motion Control of Inchworm using Input Shaping and Genetic Algorithm

입력 성형과 유전 알고리즘에 의한 자벌레 운동제어

  • Kim, In-Soo (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Kim, Ki-Bum (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Park, Seung-Min (Department of Mechanical System Engineering, Kumoh National Institute of Technology)
  • Received : 2017.03.09
  • Accepted : 2017.05.02
  • Published : 2017.06.15
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Abstract

This study presents a genetic algorithm (GA) to design a PID controller systematically for an inchworm operated by piezoelectric actuators. The performance index considering overshoot and settling time is adopted to search an optimal PID gain using GA. The piezoelectric actuator shows nonlinear characteristics including hysteresis and residual displacement. The PID feedback system combined with an integrator is used to improve the ability of tracking the complex input signals and suppressing the steady state error. The PID controller tuned by GA can track the various motion contours effectively. However, the PID controller shows an improper residual vibration under the application of high-frequency square input. The input shaper combined with the feedback system can overcome this limitation of the PID controller.

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References

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