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Abstract—In the industrial field, the need has arisen to use constants obtained, improving conditions such as overshoot
more efficient and robust controllers using artificial intelligence and establishment time [2].
techniques that optimize the operation of processes within the
industry. In this way, the need arises to use adaptive controllers
such as the BFOA and implement it in real systems in which In the literature, the BFOA algorithm was implemented
its functionality can be analyzed. This article presents the with the aim of designing an adaptive PID controller for
implementation and analysis in a functional prototype fully a third-order system, which was compared to a genetic
instrumented with industrial sensors. The working methodology algorithm and a fuzzy neural network to analyze the
has been documented since the acquisition of physical variables constants obtained by each of them. It was observed that
through OPC client-server communication; the excitation timing
of the input variable (speed inverter) and obtaining the evolution the performance index of the algorithms corresponds to 0.26
of the flow over time; experimental data used the relative for the neural network, 0.23 for the genetic algorithm and
least squares identification methodology to obtain the transfer 0.017 for BFOA, which showed a better result for the latter;
function. Subsequently, the BFOA algorithm was implemented to showing that this algorithm can be used in different control
adjust the constants of a PI controller (Kp and Ki ) and analyze systems by varying the initialization parameters [3].
the response through simulation using Matlab software, in which
satisfactory results were observed based on the disturbance
response analysis and as an end the controller and BFOA A PID controller was also designed using the Bacterial
algorithm a PLC-S7-1500 controller was implemented in an Foraging algorithm for a stable system (RLC circuit) and
SCL language , validation of the functionality was performed an unstable system (inverted pendulum). The results showed
with the functional prototype changing the flow consignments at that the algorithm significantly improves absolute error
certain times, observing a behavior according to the simulations
performed with a minimum overstep of approximately 5 % and (2,5087e-04), establishment time (5,9554e-04s) and overshoot
an establishment time of 20s. (0.0 0061) for the RLC system and an absolute error (0.0856),
Index Terms—Bacterial foraging, OPC, AI, adaptive control, set-up time (0.8102s) and overshoot (0.0270) for the inverted
optimization, SCL, identification, experimental validation. pendulum [2].
−1 T
θ = φT φ
φ Y (3)
Bacteria with the highest value of Jh ealth dies and the lowest
is divided into two
6: end if
if k < N re then
Continued reproduction of bacteria
8: end if
for i=1,2,....,S do
Elimination and dispersal of bacteria
10: end for
if l < N ed then
Return to step 1 Fig. 6 Initial location of bacteria in the search space (above). Final
12: end if=0 location of bacteria around nutrients (below).
The flow control’s response to a set point input of 200 L/h
is presented in figure 7. By implementing the closed loop PI
controller, a stable system is obtained, with a low overshoot
percentage and a set time of less than 20s.
Since the Tia Portal software does not have the same
functions as the Matlab software, it took a more structured
programming to obtain the expected result, where libraries
specific to the TIA Portal software were used, such as the
library LGFRandomReal that allows random numbers to be
generated to indicate the initial positions of the constants. All
codes corresponding to the algorithm of Bacterial Foraging
were implemented in a cyclic interrupt block (OB30) with a
time of 0.1s. When the algorithm is executed on the PLC,
the bacteria move around the space to find the optimal values
of the constants Kp and Ki in the PI controller; this is done
Fig. 8 Response of flow control to system disturbances. by the block FB Bacterial.