Sintonización de un controlador PID mediante PSO aplicado a un sistema ball and plate realimentado con visión artificial

Abstract

For the tuning of a PID controller, a particle optimization algorithm or PSO (Particle Swarm Optimization) was implemented, whose objective is to find the proportional, integral and derivative coefficients and introduce them autonomously in a closed-loop PID controller, allowing to control the movement of the ball to direct it to the desired position, known as set point, the ball and plate system has an artificial vision algorithm that allows to feedback the position of the ball on the plane through the capture, analysis and processing of the images obtained in the execution of the program. For the development of this project the python programming language was used in the visual studio program, a graphical interface was created where a 2D plane containing the movement of the ball is observed, the system simulation can be executed through a local host created in the program algorithm, error calculations were performed using the integral of the absolute error (IEA) of the graphs obtained in real time of the position vs time between the traditional method of Ziegler-Nichols and the method performed in this project using PSO.