Automatic PID Tuning Based on Genetic Algorithm for Botnia Soccer Robots
Gong, Pengju (2012)
Vaasan ammattikorkeakoulu
2012
All rights reserved
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-201205188794
https://urn.fi/URN:NBN:fi:amk-201205188794
Tiivistelmä
Current PID parameters of botnia soccer robot are experiential predefined. Those PID parameters are fixed on different field surface, which make the PID controller cannot perform very well. To get appropriate PID parameters based on the specific field, the genetic algorithm was used to tune the PID parameters automatically.
In this thesis, a genetic algorithm program used to tune botnia soccer robot PID parameters has been designed. Meanwhile, this design has been simulated with Matlab and implemented with C language in ARM platform. Furthermore, an im-proved PID controller was designed and simulated to overcome current PID con-troller’s disadvantages.
The simulation results are satisfactory, and the testing results are acceptable for practical environment. Several problems were found in the testing and the perfor-mance of this program can be improved in the future.
In this thesis, a genetic algorithm program used to tune botnia soccer robot PID parameters has been designed. Meanwhile, this design has been simulated with Matlab and implemented with C language in ARM platform. Furthermore, an im-proved PID controller was designed and simulated to overcome current PID con-troller’s disadvantages.
The simulation results are satisfactory, and the testing results are acceptable for practical environment. Several problems were found in the testing and the perfor-mance of this program can be improved in the future.