Parameter Solving of DC Servo Motor PID Controller Based on Improved Firefly Algorithm

摘要

As the main actuator of the robot, DC servo motor plays an important role in the development of the robotics. In this paper, PID controller is used to control the DC servo motor, and the firefly algorithm (FA) is used to self-tune the parameters of PID. Enhancing the control ability of PID. This paper focuses on the problem that the general FA converges too slowly and the precision is not high. Inertia weight and adjustment factor are introduced to form an improved FA. The inertia weight enhances the influence of the current position of the firefly on the next position. The adjustment factor accelerates the convergence speed in the early iteration and improves the precision of the later optimization. experimental result at MATLAB shows that the improved FA has a significant improvement on the PID parameter tuning problem compared with the traditional ZN method and the original FA.