AUTOTUNING OF PID CONTROLLER FOR ROBOT ARM AND MAGNET LEVITATION PLANT

Abstract

One of the most essential work of the control engineer is tuning of controller. Majority of the controller used in industry are of the PID type. An auto tuning is one of the method of controller tuning in which tuning of the parameters of controller is done automatically and possibly, without any user interaction expect from initiating the operation. Present study emphasis on the relay based auto tuning of PID controller. An auto-tuning method is implemented based on a relay experiment to determine the ultimate gain and the ultimate period, with which the PID parameters are obtained using the Ziegler-Nichols tuning rules. An auto tuning of robot arm model and magnet levitation model are carried out. Performance of relay based auto tuning on the basis of integral square error is better than artificial neural network.