Algorithm for optimizing a PID controller model based on a digital filter using a genetic algorithm

Abstract

The widespread use of digital signal processing distinguishes the current stage of development of science and technology. However, there are many developments for continuous signal processing. Such developments include methods for tuning the PID controller, so improving the digital PID controller model remains relevant. The problem of constructing a model of a digital PID controller, which can be used in robotic systems based on microcontrollers and programmable logic integrated circuits, is considered. It is proposed to use digital filtering methods as the basis for the regulator. The digital filter coefficients are calculated using a genetic algorithm. This approach makes it possible to improve the accuracy of the model, to ensure the calculation of the PID controller coefficients using classical methods for an analog PID controller. The software has been developed in the Python programming language that implements the proposed method. The modeling demonstrated the effectiveness of the developed model.