Abstract—Ultrasonic motor (USM) exhibits non-linearity that relates the input and output. It also causes serious characteristic changes during operation. PID controller has been widely used as the control scheme for USM. However, it is difficult for the fixed-gain type PID controller to compensate such characteristic changes and non-linearity of USM. The present paper proposes a modified PSO with nonlinear decreasing inertia weight (PSO-NDW) for optimal self tuning of PID controller in positioning control of USM. A modified PSO employs the strategy that nonlinearly decreases the value of inertia weight from a large value to a small value. This strategy is to improve the performance of the standard PSO algorithm in global search and fine-tuning of the solutions. The performance of PSO-NDW based PID controller has been evaluated on the USM servo system. The results demonstrate that the proposed modified PSO can improve the accuracy of USM.
Index Terms—PID controller, PSO, ultrasonic motor, inertia weight
A. Djoewahir is with the Department of Electronic Engineering, Electronic Engineering Polytechnic Institute of Surabaya – ITS, Surabaya, Indonesia.).
T. Kanya and M, Shenglin Graduate School of Engineering, Yamaguchi University, Ube-Yamaguchi, Japan
Cite: Alrijadjis Djoewahir, Tanaka Kanya, and Mu Shenglin "A Modified Particle Swarm Optimization with Nonlinear Decreasing Inertia Weight Based PID Controller for Ultrasonic Motor," International Journal of Innovation, Management and Technology vol. 3, no. 3, pp. 198-201, 2012.