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PERFORMANCE ANALYSIS OF PSO-PD CONTROLLER IN CONTROLING THE RIGID GANTRY CRANE SYSTEM | Rahmayanti | Widyariset

PERFORMANCE ANALYSIS OF PSO-PD CONTROLLER IN CONTROLING THE RIGID GANTRY CRANE SYSTEM

Rifa Rahmayanti, Qidun Maulana Binu Soesanto, Edwar Yazid

Abstract


Karya tulis ini membahas tentang algoritma particle swarm optimization (PSO) untuk mengoptimalkan penguat pengendali PD yang dinamakan pengendali PSO-PD. Efektivitas algoritma pengendali yang diusulkan diuji dengan menggunakan fungsi step dan dibandingkan dengan pengendali PD berbasis Zigler-Nichols (ZN-PD). Hasil simulasi yang didapatkan menunjukkan bahwa pengendali PSO-PD menghasilkan waktu naik dan waktu puncak yang lebih lambat dibandingkan dengan pengendali ZN-PD, tetapi memiliki waktu tunak yang lebih cepat dan nilai overshoot yang kecil di bawah trayektori yang didefinisikan.

Kata kunci: Sistem gantry crane, PSO, Gain PD, Sudut ayunan

 

Abstract

This paper presents the particle swarm optimization (PSO) algorithm to optimize the gains of the PD controller to form what so-called the particle swarm optimization (PSO-PD) controller. The effectiveness of the proposed control algorithm is tested under constant step function and compared with Ziegler-Nichols (ZN-PD) controller. Simulation results show that proposed controller has slower rise time and peak time than ZN-PD controller as well as small overshoot under the predefined trajectories.


Keywords


gantry crane system; PSO; PD gain; Swing angle

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DOI: http://dx.doi.org/10.14203/widyariset.4.2.2018.133-142

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