RCGA에 의한 선박용 디젤주기관의 PID 제어기 설계

Abstract

The Proportional Integral Derivative(PID) controller has conducted and developed as it has been used widely all over the industrial sites based on lots of researches. There is no exception in shipbuilding industry, most of the ship diesel main engines and engine room machineries are currently operated by the PID control mechanism.

As our industry has developed and increased the level of high-technology, many suggestions have appeared to upgrade the PID controller. Most of them are mainly based on experiences and experimentations. As a result, tuning of PID controller depends on designer's experience and intuition. Closed loop tuning method of Ziegler and Nichols(Z-N), Open loop tuning method, Cohen-Coon(C-C) tuning method and IMC tuning method are well known to us.

A different approach is in progress in tuning the PID controller with optimal conditions using Genetic Algorithm(GA) in this work. It adopts on evaluative function. This scheme deals with tuning PID controller in accordance with changing set up speed of diesel main engine for ships.

This controller can not use directly Ziegler-Nichols's open loop tuning method because it is expressed in a 4th differential equation. In accordance with the terraced change of setting up, we have the same model as original system. Because models have similar property of reply. From the modeling point of view, we can get parameters of the model in the reply of process.

The proposed method can help solving the problem of tuning PID controller. Simulation results showed the effectiveness of the proposed scheme.