Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, Keelung, Taiwan.
ISA Trans. 2011 Oct;50(4):609-19. doi: 10.1016/j.isatra.2011.06.006. Epub 2011 Jul 28.
This paper presents a fuzzy PID control scheme with a real-valued genetic algorithm (RGA) to a setpoint control problem. The objective of this paper is to control a twin rotor MIMO system (TRMS) to move quickly and accurately to the desired attitudes, both the pitch angle and the azimuth angle in a cross-coupled condition. A fuzzy compensator is applied to the PID controller. The proposed control structure includes four PID controllers with independent inputs in 2-DOF. In order to reduce total error and control energy, all parameters of the controller are obtained by a RGA with the system performance index as a fitness function. The system performance index utilized the integral of time multiplied by the square error criterion (ITSE) to build a suitable fitness function in the RGA. A new method for RGA to solve more than 10 parameters in the control scheme is investigated. For real-time control, Xilinx Spartan II SP200 FPGA (Field Programmable Gate Array) is employed to construct a hardware-in-the-loop system through writing VHDL on this FPGA.
本文提出了一种基于实数遗传算法（RGA）的模糊 PID 控制方案，用于设定点控制问题。本文的目的是控制双转子 MIMO 系统（TRMS）在交叉耦合条件下快速、准确地移动到期望的姿态，包括俯仰角和方位角。模糊补偿器应用于 PID 控制器。所提出的控制结构包括四个具有独立输入的 2-DOF PID 控制器。为了减少总误差和控制能量，控制器的所有参数都通过具有系统性能指标作为适应度函数的 RGA 获得。系统性能指标利用时间乘平方误差准则（ITSE）来构建 RGA 中的合适适应度函数。研究了 RGA 解决控制方案中 10 多个参数的新方法。为了实时控制，Xilinx Spartan II SP200 FPGA（现场可编程门阵列）通过在该 FPGA 上编写 VHDL 来构建硬件在环系统。
