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ARTICLE
Comparison of Z-N and PSO based tuning methods in the control strategy of prosthetic limbs application
| 1 | Electrical and Electronics Department, Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology,
Chennai, Tamilnadu, India |
| 2 | Electronics and Instrumentation Department, Federal Institute of Science And Technology, Ernakulam, Kerala, India |
| 3 | Biomedical Engineering Department, Manipal Institute of Technology, Karnataka, India |
| 4 | Mechanical Engineering Department, National Institute of Technology Calicut, Kerala, India |
Submission date: 2018-10-25
Acceptance date: 2020-01-15
Online publication date: 2020-10-15
Publication date: 2020-10-15
Journal of Theoretical and Applied Mechanics 2020;58(4):841–851
KEYWORDS
ABSTRACT
The aim of the study is to compare Ziegler-Nichols (Z-N) and Particle Swarm Optimization
(PSO) based tuning methods for controller tuning in the driving mechanism of prosthetic
limbs. By adopting suitable control strategies like P, PI and PID in the driving system, the
positioning of knee and hip joints can be attained in the ideal time of 1.4s for completing
one locomotion cycle. The gain constants (KP , KI , and KD) of the controllers were tuned
manually and also using Z-N and PSO; thereby appropriate constants were determined so
that the joints could be moved to the desired position. The performance of P, PI, and
PID controllers were compared and PID was identified as the ideal control strategy which
exhibited least error and good stability. It was observed that the conventional Z-N method
produced a big overshoot, and so a modern approach called PSO was employed to enhance
its capability. The PSO based PID controller optimization resulted in less overshoot as well
as it helped in optimizing the gain constants so as to improve the stability of the system
when compared to the classical method.
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