Implementation of Fractional Order PID Controller for Three Interacting Tank Process Optimally Tuned Using Bee Colony Optimization

摘要

The proposed work demonstrates the application of Bee Colony Optimization (BCO) technique for the tuning of Fractional Order Proportional-Integral-Derivative (FOPID) controller for Three Interacting Tank system. FOPID controller parameters are composed of proportionality constant, integral constant, integral order, derivative constant and derivative order. Grunwald-Letnikov definition is used for the defining the derivative controller and Oustaloup's filter technique is used for the approximation of the function. Tuning FOPID controller parameters is more complicated as it involves a five dimensional search. Tuning is effected using an evolutionary optimization technique, the bee colony optimization so as to minimize the Integral Time Absolute Error (ITAE). The proposed technique is used to control three interacting tank process. The proposed FOPID controller tuned using Bee colony optimization technique may serve as an alternative for the tuning of the fractional order controllers.