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Optimization of Control Parameters Based on Genetic Algorithm Technique

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 Journal of Mechatronics and Automation
ISSN: 2455-1988
Volume 6, Issue 3
www.stmjournals.com

Optimization of Control Parameters Based on Genetic

Algorithm Technique for Integrated Electrohydraulic
Servo Actuator System
Mohamed Z. Fadel1,*, Mahmoud G. Rabie2, Ahmed M. Youssef3
1
Associate Lecturer, Aerospace Engineering Department, Military Technical College, Cairo, Egypt.
2
Professor of Mechanical Engineering, Modern Academy for Engineering and Technology, Maadi,
Egypt.
3
Associate professor, Aircraft Armament Department, Military Technical College, Cairo, Egypt.

Abstract
Electrohydraulic servo systems have been used in industry in a wide number of applications. Its
dynamics are complex and highly nonlinear, these features significantly add uncertainty to the
controller design procedure. Therefore, it is a demanding task to obtain a precise mathematical
model of controlled servo systems. The present paper presents the development of a detailed
non-linear mathematical model of the ISA and a computer simulation program using
MATLAB/SIMULINK package. The model is divided into three modules; pre-servo valve
module, electro-hydraulic servo-valve module, and actuating hydraulic cylinder module. The
transient response of the ISA system and the simulation results are obtained and discussed in
this paper. The genetic algorithm Technique is used for non-linear electrohydraulic servo
actuator to determine the optimal parameters of the PID controller to improve the transient
response of the system. The designed parameters which were optimized are rise time, settling
time and maximum overshoot. The Genetic Algorithm applied in PID controller improves the
transient response, however the average percent overshoot reduction is about 83%, settling time
reduction is about 50 %, and rise time reduction is about 51 %.

Keywords: Integrated Servo Actuator (ISA), Electrohydraulic, Genetic Algorithm (GA), PID
Controller, Optimization.

*Author for Correspondence E-Mail: m_zakifadel@mtc.edu.eg

INTRODUCTION control. This concept is used in the electro-

Electro-hydraulic servo systems have been used
in a wide number of industrial applications due
to their small size-to-power ratio and the ability
to apply very large force and torque. However, it
is well known that controlled hydraulic systems
exhibit a significant non-linear behavior.
Nonlinear valve flow pressure characteristics,
variations in control fluid volume due to piston
motion and associated stiffness, control input
saturation and valve overlap, besides there may be
other unknown factors such as the parameters
uncertainty, the un modelled dynamics, the
external disturbance and leakage that cannot be
modelled exactly etc.
Consequently, this fact must be seriously
considered when we design the controller
which can achieve the requirements of process
hydraulic servo systems, which have the
functions of electric and hydraulic systems [1].
The electro-hydraulic servo systems play an
important role in industrial applications,
especially in flight simulators and actuating
systems of the aircraft. The main reason of
using hydraulic systems in many applications is
that, they can provide a high torque and high
force. Transmitting the signal by use of
electronic and electric parts, driving the load
with hydraulic transmission in the
electrohydraulic servo control system. So it can
use an electrical system for its efficiency and
suitability, and use of hydraulic system for its
rapid response speed, big load stiffness and
accurate positioning characteristics to make the
whole system more adaptable [2].

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 24
Optimization of Control Parameters Based on Genetic Algorithm Technique
PID controller is the most common controller
class of feedback systems. The design
algorithm and control structure involved in PID
controller are simple, and are suitable for
engineering application background. Also, PID
control scheme does not require accurate
mathematical model of controlled object, and
the control effect of PID control is commonly
satisfactory. According to statistics, PID
controller applied to more than 90% in the
industrial control of the controller [3].
Genetic algorithms are search algorithms based
on the mechanics of natural selection and
natural genetics. They combine survival of the
fittest among string structures with a structured
yet randomized information exchange to form a
search algorithm with some of the innovative
flair of human search. Genetic algorithms have
been developed by John Holland, his
colleagues, and his students at the University of
Michigan. A GA is one such direct search
optimization technique which is based on the
mechanics of natural genetics. An advantage of
the GA for auto tuning is that it does not need
gradient information and therefore can operate
to minimize naturally defined cost functions
without complex mathematical operations [4].
The evolution process guides the genetic
algorithm through more promising regions in
the search space [5].
In the present article, the output linear motion
of the ISA is presented and controlled by
obtaining the transient response of the ISA.
This article describes the application of GA
Technique based on new fitness function to
optimally tune the three terms of the classical
PID controller to regulate the electrohydraulic
servo actuator system as a nonlinear process.
The major work of this paper contains two
aspects. First, a non-linear mathematical model
and a computer simulation program are
developed for an integrated electro-hydraulic
servo actuator. Second, an optimization method
of PID control parameters for the nonlinear
electrohydraulic servo actuator system by
Genetic Algorithm as a search technique with
minimum information specific to the system
such as the defined fitness function.
MATHEMATICAL MODELING
The studied system is an Integrated Servo
Actuator (ISA) of an aircraft which
JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved
Fadel et. al.
incorporates two electro-hydraulic servo-
valves (EHSV) and a smart design of four built-
in direct operated directional control valves
(DCV) controlled by four electrical solenoids
and a switching DCV works as ON-OFF switch
of the EHSV and a twin-symmetrical-hydraulic
actuating cylinder with a feedback system as
shown in Figure 1. The definitions and the
numerical values of the overall model equations
are collected and tabulated in Appendix-A.
The dynamic behavior of the ISA system is
described by a set of mathematical relations.
Due to this complicated system, there are some
assumptions are taken into consideration in the
model [6]:
• The pressure losses of the transmission
lines are neglected.
• The jet reaction forces are neglected.
• The pressure supply in the system is
considered to be constant.
• The effect of flow forces and armature
hysteresis are neglected.
• The hydraulic cylinder is ideal; no friction
and no leakage.
The ISA is divided into three modules; first, the
pre-servo valve (SV) module, electro-hydraulic
servo valve module, and the actuating hydraulic
cylinder module. The mathematical relations
that describe the system are deduced as follow
[7-9]:
Pre-servo valve Module
This part of the ISA is consists generally of a
smart design of built-in direct operated
directional control valves (DCV), controlled by
electrical solenoids.
Equation of motion
By energizing the electric solenoid, the
solenoid force (Fs1 ) acts on the moving parts
against the pressure forces, spring forces, seat
reaction forces, viscous friction forces and
inertia forces as shown in Figure 2. The motion
during this mode is described by the following
relations:
FS1 = mÿ 1 + fv ẏ 1 + K sp (yo + y1 )
+ PS1 Apv1 − P1 Ap11 (1)
+ P1 Ap13 − FSR1
Page 25
Journal of Mechatronics and Automation
Volume 6, Issue 3
ISSN: 2455-1988

Fig. 1: ISA Scheme

Fig. 2: Single DCV Operational Scheme

Seat reaction force 2(PS1 − P1 )

The poppet’s displacement in the closure Q11 = Cd At11√ (5)
ρ
direction is limited mechanically. When
reaching its seat, a seat reaction force takes 2(P1 − Pt )
place due to the action of the structural damping Q13 = Cd At13√ (6)
ρ
of the seat material.
FSR1 = F1L − F1R (2)
0 y1 > 0 Combined Direct Operated DCV
F1L = { (3) The first and second DCV’s is the same
−K sm y1 − fsm ẏ 1 y1 ≤ 0 structure and will form the combined direct
0 y1 < yi operated DCV. This configuration is
F1R = { (4) considered to be in the main and secondary ISA
K sm (y1 − yi ) + fsm ẏ 1 y1 ≥ yi system, Figure 1.
Flow rates through the throttling areas Equation of motion
There are two flow rates through the two The motion of this combined DCV, Figure 3 is
throttling areas At11 and At 13 . These flow described by the following relation:
rates are given by the following expressions: FS2 = mÿ 2 + fv ẏ 2 + K sp (yo + y2 )
(7)
+P1 Apv2 − P2 Ap21 + P2 Ap23 − FSR2

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 26
Optimization of Control Parameters Based on Genetic Algorithm Technique Fadel et. al.

Seat reaction force V1 dP1

The poppet’s displacement in the closure Q11 − Q13 − Q21 = (13)
B dt
direction is limited mechanically. When
reaching its seat, a seat reaction force takes Switching DCV
place due to the action of the structural damping The switching DCV is displaced by the pressure
of the seat material.
forces, controlled by the direct operated DCV.
FSR2 = F2L − F2R (8) The switching DCV is treated as (ON-OFF)
0 y2 > 0 switch for the main and secondary systems of
F2L = { (9) the EHSV as shown in Figure 4.
−fsm ẏ 2 − K sm y2 y2 ≤ 0
0 y2 < yi
F2R = { (10) Equation of motion
fsm ẏ 2 + K sm (y2 − yi ) y2 ≥ yi Its motion is described by this relation:
P2 ApL − Ps1 ArL + Ps2 ArR − P4 ApR
Flow rates through the throttling areas (14)
− FSR5 = m5 y5̈ + f5 y5̇
There are two flow rates through the two
throttling areas At 21 and At 23, Figure 3. These Seat reaction force
flow rates are given by the following
There are four seat reaction forces effect on the
expressions:
SDCV (F5L1 , F5R1 , F5L2 and F5R2 ) as shown
2(P1 − P2 ) if Figure 4
Q21 = Cd At 21 √ (11)
ρ
(12) FSR5 = F5R1 + F5R2 − F5L1 − F5L2 (15)
2(P2 − Pt ) F5R1 = F5R2
Q23 = Cd At 23 √
ρ fsm y5̇ + K sm (y5 − y5iR ) y5 ≥ y5iR
(16)
={
Continuity equation of the valve chamber
0 y5 < y5iR
There are two chambers (a) and (b) as shown in
F5L1 = F5L2
Figure 3. The first chamber (a) is connecting the
−fsm y5̇ − K sm (y5 − y5iL ) y5 ≤ y5iL
first and second valve together. The inlet flow (17)
rates of chamber (a) are Q11 and Q21, while the ={
output is Q13. The continuity equation of the 0 y5 > y5iL
valve chamber (a) is:

Fig. 3: Combined DCV Operational Scheme

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 27
Journal of Mechatronics and Automation
Volume 6, Issue 3
ISSN: 2455-1988

Continuity equation of the switching DCV T = K i ie + K θ θ (20)

chambers
The switching DCV has two chambers in the
right and left sides. The left chamber is Armature Model
connected to the second DCV (room b) that has The motion of the rotating armature and
exit pressure P2, but the right chamber is attached elements is governed by the following
connected to the fourth DCV that has exit equations:
pressure P4. Neglecting the internal leakage
and the external leakage, the continuity Armature equation of motion
equations of the valve chambers will be: T = Jθ̈ + fθ θ̇ + K T θ + TL
(21)
V2 + APL y5 dP2 + TP + TF
Q21 − Q23 − A PL y5̇ = π
B dt (18) TP = d2f (P2L − P1L )Lf (22)
4
V4 − APR y5 dP4
Q41 − Q43 + A PR y5̇ = (19) Feedback Torque
B dt
The feedback torque depends on the spool
Electro-Hydraulic Servovalve Module displacement and the flapper rotational angle as
This module contains mainly main and given by the following equations:
secondary two-stage EHSV’s which control the TF = Fs Ls (23)
motion of the main driven spool valve. The
mathematical model of the main EHSV is Fs = K s (Ls θ + x) (24)
deduced completely. This model is describing TF = K s Ls (Ls θ + x) (25)
the dynamic performance of a two-stage EHSV.
The schematic two-stage EHSV is shown in
Figure 5. Flapper Position Limiter
The flapper displacement is limited
Electromagnetic Torque Motor mechanically by the jet nozzles. When reaching
Electrohydraulic systems are controlled by any of the side nozzles, the seat reaction
means of electronic or digital controllers. In develops a counter torque, given by the
these systems, the electronic and hydraulic following equation:
0 |xf | < xi
subsystems should be interconnected by means TL = { (26)
of an element transforming the low-power R s θ̇ − (|xf | − xi )K Lf Lf |xf | > xi
electric control signal (within 10 mA) into a
proportional mechanical signal that actuates the Restriction Areas
hydraulic power elements. This element is The restriction areas in the switching DCV and
usually an electromagnetic motor. Neglecting in the flapper valve are shown in Figure 6 and
the effect of the magnetic hysteresis, the given by the following relations:
following expression for the torque can be
deduced:

Fig. 4: Single DCV Operational Scheme

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 28
Optimization of Control Parameters Based on Genetic Algorithm Technique Fadel et. al.

Fig. 5: Two Stage EHSV Scheme

Fig. 6: Throttling Areas and Flow Rates

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 29
Journal of Mechatronics and Automation
Volume 6, Issue 3
ISSN: 2455-1988

π 2 Equation of motion of the spool

Ao = d (27)
4 f The motion of the spool valve is produced from
A3 = πdf (xi + xf ) (28) the difference in pressure forces which act
A4 = πdf (xi − xf ) (29) against seat reaction forces, viscous friction
π
A5 = d25 (30) forces and inertia forces in the main and
4 secondary EHSV’s. The equation of motion of
Ath = ω ∗ |y5 | (31) the main driven spool valve is described by:
ABp = ω ∗ |di − y5 | (32) (𝑃2𝐿 − 𝑃1𝐿 )𝐴𝑠 + (𝑃2𝑅 − 𝑃1𝑅 )𝐴𝑠
x f = Lf θ (33) = 𝑚𝑠 𝑥̈ + 𝑓𝑠 𝑥̇ + 𝐾𝑠 𝐿𝑠 𝜃𝐿 (45)
+ 𝐾𝑠 𝐿𝑠 𝜃𝑅 + 2𝐾𝑠 𝑥
Flow rates through switching DCV and flapper
valve restrictions Actuating Hydraulic Cylinder Module
The flow rates through the switching DCV and This module consists of two typical
the flapper valve restrictions are shown in interconnection valves and a twin-symmetrical-
Figure 6 and given by the following equations: hydraulic actuating cylinder with a feedback
2(Ps − P1 ) system as shown in Figure 8. The detailed
Q1 = Cd A0√ (34)
ρ mathematical modelling of this module is
deduced as follow
2(Ps − P2 )
Q 2 = Cd A 0 √ (35)
ρ Interconnection valve model
Equation of motion
2(P1 − P3 ) The motion of this valve is described by this
Q 3 = Cd A 3 √ (36)
ρ equation of motion. This valve works as a by-
pass valve.
2(P2 − P3 )
Q 4 = Cd A 4 √ (37) Ps1 APz = mz z̈ + fz ż + K sp (z − z0 )
ρ (46)
− FsR
2(P3 − Pt )
Q 5 = Cd A 5 √ (38) Seat reaction forces
ρ
0 z>0
2(Ps1 − Ps )
Qth = Cd Ath √ (39)
ρ FSR = (47)
−fsm ∗ ż − K sm ∗ z z≤0
2(P2 − P1 ) {
QBp = Cd ABp √ (40)
ρ
Actuating cylinder model
Continuity equations applied to flapper valve The actuating cylinder is a cylinder of twin
chambers symmetrical type as shown in Figure 9. Its
Applying the continuity equation to the flapper motion is performed against the pressure,
valve chambers (a, b, c, and d) respectively (see inertia, viscous, and the seat reaction forces
Figure 7) and neglecting the internal leakage which described by the following relations:
and the external leakage, the following
equations have been obtained: The restriction areas through the spool valve are
Q1 + QBp − Q3 + As ẋ described as follow (Figure 10):
V0 − As x dP1 (41)
= 𝐴𝑎 = 𝐴𝑐 = 𝜔 𝑐
B dt
Q2 − QBp − Q4 − As ẋ } 𝑓𝑜𝑟 𝑥 ≥ 0 (48)
V0 + As x dP2 (42) 𝐴𝑏 = 𝐴𝑑 = 𝜔√𝑥 2 + 𝑐2
= 𝐴𝑎 = 𝐴𝑐 = 𝜔√𝑥 2 + 𝑐2
B dt
V3 dP3 } 𝑓𝑜𝑟 𝑥 ≥ 0 (49)
Q3 + Q4 − Q5 = (43)
B dt 𝐴𝑏 = 𝐴𝑑 = 𝜔 𝑐
VL dPsL 𝐴𝐵𝑃 = 𝜔 ∗ |𝑑𝑖 − 𝑧| (50)
Qth − Q1 − Q2 = (44)
B dt

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 30
Optimization of Control Parameters Based on Genetic Algorithm Technique Fadel et. al.

Fig. 7: Flapper Valve Chambers

Fig. 8: Actuating Cylinder Module

Fig. 9: Actuating Cylinder Scheme

Fig. 10: Restriction Areas

Flow rates through the spool valve 2(𝑃𝑠1 − 𝑃𝐵 )

The rates through the restriction areas of the 𝑄𝑐 = 𝐶𝑑 𝐴𝑐 √ (53)
𝜌
spool valve are described as follow:
2(𝑃𝐴 − 𝑃𝑡 ) 2(𝑃𝐵 − 𝑃𝑡 )
𝑄𝑎 = 𝐶𝑑 𝐴𝑎 √ (51) 𝑄𝑑 = 𝐶𝑑 𝐴𝑑 √ (54)
𝜌 𝜌

2(𝑃𝑠1 − 𝑃𝐴 ) 2(𝑃𝐴 − 𝑃𝐵 )
𝑄𝑏 = 𝐶𝑑 𝐴𝑏 √ (52) 𝑄𝐵𝑃 = 𝐶𝑑 𝐴𝐵𝑃 √ (55)
𝜌 𝜌

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 31
Journal of Mechatronics and Automation
Volume 6, Issue 3
ISSN: 2455-1988

Continuity equations applied to the cylinder implemented in many forms. Although many
chambers advanced control techniques have been devised
The actuating cylinder has two chambers, (A to handle more complicated systems and
and B). Neglecting the internal and external achieve better performance, the great majority
leakage. The continuity equations of each of applicable processes are still controlled by
chamber are described as follows: means of simple PID controllers. The main
reason of using the PID controllers until now is
𝑉𝑐 + 𝐴𝑝 𝑦 𝑑𝑃𝐴 their simple structure and robust performance.
𝑄𝑏 − 𝑄𝑎 − 𝑄𝐵𝑃 − 𝐴𝑝 𝑦̇ =
𝐵 𝑑𝑡 (56) The utilized PID controller is characterized by
three parameters Kp, Ki and Kd and the main
𝑉𝑐 − 𝐴𝑝 𝑦 𝑑𝑃𝐵 task is to find the optimal values for these
𝑄𝑑 − 𝑄𝑐 + 𝑄𝐵𝑃 + 𝐴𝑝 𝑦̇ = (57)
𝐵 𝑑𝑡 parameters, Figure 11.

Seat reaction forces

The piston displacement in the closure direction
is limited mechanically. When reaching its seat,
a seat reaction force takes place due to the
action of the structural damping of the seat Fig. 11: PID Controller
material. There are four components of seat
reaction force effects on the cylinder piston: PID Controller Design
𝐹𝑆𝑅𝐶 = 𝐹𝑐𝑅1 + 𝐹𝑐𝑅2 − 𝐹𝑐𝐿1 − 𝐹𝑐𝐿2 (58) The PID controller parameters are the
fsm ẏ + Ksm (y − yciR ) y ≥ yciR proportional gain Kp, the integral gain Ki and
FcR1 = FcR2 = { (59) the derivative gain Kd. The most well-known
0 y < yciR methods for estimating the PID parameters are
FcL1 = FcL2 those developed by Ziegler and Nichols method
−fsm ẏ − Ksm (y + yciL) ( y + yciL ) ≤ 0 according to Table 1. They have had a major
(60) influence on the practice of the PID control for
={
more than half a century. The general transfer
0 (y + yciL) > 0
function of the PID controller is:
𝐾𝑖
Equation of motion 𝐺𝐶 = 𝐾𝑃 + + 𝐾𝑑 𝑆 (64)
The motion of the piston under the action of 𝑆
pressure, viscous friction, inertia, and external 𝐾
Where 𝐾𝑃 = 𝐾 , 𝐾𝑖 = 𝑇 , 𝐾𝑑 = 𝐾 ∗ 𝑇𝑑
forces is described by the following equation, 𝑖
assuming unloaded piston:
(PAL − PBL + PAR − PBR )AP Table 1: Ziegler-Nichols First Method Rules
= mP ÿ + fP ẏ + K p y (61) for Estimating the PID Controller Parameters
[11]
+ FSRC Controller Symbols Gain Ti[s] Td[s]
K
Feedback system Proportional P T/L - -
The piston displacement is picked up by a Proportional integral PI 0.9T/L L/0.3 -
displacement transducer and feedback to the Proportional integral PID 1.2T/L 2L 0.5L
derivative
electronic controller, which generates the
corresponding error signal. The feedback loop Genetic Algorithm Technique
can be described by the following equations: Genetic programming (Koza, et al. [11]; Koza,
𝑖𝑒 = 𝑖𝑐 − 𝑖𝑓 (62) et al. [12] and Reeves [13] is an automated
𝑖𝑓 = 𝐾𝐹𝐵 𝑦 (63) method for solving problems. Genetic
algorithm technique (GA) is a method of
USE OF PID CONTROLLER optimization involving iterative search
PID controller consists of Proportional, Integral procedures based on an analogy with the
and Derivative action. PID controller algorithm process of natural selection (Darwinism) and
is used in feedback loops and can be evolutionary genetics. Usually GAs represent

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 32
Optimization of Control Parameters Based on Genetic Algorithm Technique Fadel et. al.

an optimization procedure in a binary search The observation interval is divided into n

space, and unlike traditional hill climbers they
do not evaluate and improve a single solution
but a set of solutions or hypotheses, a so-called
population. Genetic programming starts with a
primordial ooze of thousands of randomly
created computer programs and uses the
Darwinian principle of natural selection,
recombination (crossover), mutation, gene
duplication, gene deletion, and certain
mechanisms of developmental biology to breed
an improved population over a series of many
generations.
• The GAs differ from traditional search and
optimization methods by four differences,
they are:
• GAs search from a population of points, not
a single point.
• GAs do not require an auxiliary knowledge,
just the objective function and
corresponding fitness levels influence the
directions of search.
• GAs, do not use deterministic ones but only
probabilistic transition rules.
• GAs work on an encoding of the parameter
set rather than the parameter set, itself
points, or samples; the error for each sample is
calculated and entered fitness equation, which
gives the sum of all errors squared as a result.
The minimization of fitness, performed by the
genetic algorithm by adjusting the PID gains,
will ensure that the actual output is as close as
possible to the desired one [5].
Figure 12 shows the block diagram for
adjusting the PID parameters via GA with the
SIMULINK model. The genetic algorithm
repeatedly modifies a population of individual
solutions. At each step, it selects individuals at
random from the current population to be
parents and uses them to produce the children
for the next generation. Over successive
generations, the population evolves toward an
optimal solution. A fitness evaluation function
is needed to calculate the overall responses for
each of the sets of PID values and from the
responses generates a fitness value for each set
of individuals expressed by:
∞
𝐼𝑆𝐸 = ∫ 𝑒(𝑡)2 𝑑𝑡 (65)
0

(except in where real-valued individuals 𝑒(𝑡) = 𝑦𝑠𝑠 − 𝑦(𝑡) (67)

are used) [14]

Fitness Measure Function

Fitness Function (also known as the Evaluation
Function) evaluates how close a given solution
is to the optimum solution of the desired
problem. It determines how fit a solution is. In
genetic algorithms, each solution is generally
represented as a string of binary numbers,
known as a chromosome. We have to test these
solutions and come up with the best set of
solutions to solve a given problem. Each
solution, therefore, needs to be awarded a score,
to indicate how close it came to meeting the
overall specification of the desired solution.
This score is generated by applying the fitness
function to the test, or results obtained from the
tested solution.

Since the objective is to minimize the error

between the set-point (desired output) and the
plant output (actual output), the fitness function
has been defined as:
𝐹𝑖𝑡𝑛𝑒𝑠𝑠 = ∑ [𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝑜𝑢𝑡𝑝𝑢𝑡 Fig. 12: The Optimization Flowchart of GA
𝑛
− 𝑎𝑐𝑡𝑢𝑎𝑙 𝑜𝑢𝑡𝑝𝑢𝑡]2 Technique

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 33
Journal of Mechatronics and Automation
Volume 6, Issue 3
ISSN: 2455-1988

RESULTS AND DISCUSSION value of 4 cm, a settling time of 9.584 second,

The simulation program is built considering
numerical values of a typical electro-hydraulic
servo actuator (EHSA) which is stated in [9].
Equations from (1) to (63) describe the dynamic
performance and the transient response of the ISA
system. These equations represent a detailed non-
linear mathematical modelling of the system that
used to develop a computer simulation program
using MATLAB/SIMULINK package. This
transient response is obtained by the simulation
program to a 10 mA step input current with a
step time of 2 second. The hydraulic cylinder
response is over-damped with a steady state
and a rise time of 3.173 second, overshoot of
0.265 % and with steady state error of 0.005867
%. The transient response and the block
diagram of the ISA are shown in Figure 13.
In order to improve the system performance,
PID controller should be used. The first
estimated values of the PID controller is
calculated using Zeigler-Nichols method.
These parameters are Kp=3.54, Ki=5.92 and
Kd=0.536. Figure 14 shows the transient
response of the ISA with the PID control
parameters.

Fig. 13: Step Response of The ISA

Fig. 14: Step Response of the ISA with Classical PID Controller

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 34
Optimization of Control Parameters Based on Genetic Algorithm Technique Fadel et. al.

In order to reduce steady state error and
oscillations in the transient response, the fitness
function must be modified in order to include
steady state error and the oscillations in the
transient response. The modified fitness
function is given by:
𝑡
𝑓(𝑡) = ∫ 𝑡 |𝑒(𝑡)| 𝑑𝑡 + 𝛼𝑀𝑝 + 𝛽𝑒𝑠𝑠 (66)
0 individual to be evaluated [14].
The implementation of the optimization
procedure through genetic algorithm (GA)
technique starts with the definition of the
chromosome representation. The chromosome
is formed by three values that correspond to the
three gains to be adjusted in order to achieve a
satisfactory behavior. The gains, Kp, Ki and
K(d)are real numbers and characterize the

Where α and β are weighting factors equal to 1.5
and 5 respectively, imposed by the user to achieve
desired response characteristics; M_p is the
overshoot and e_ss is the steady-state error.
The fitness distribution is computed by Eqn.
(66) and the plots in the Kp, Ki and Kd ranges
are shown in Figure 15, respectively. From the
fitness distribution with respect to the number
of generation plot, we can see that the near
optimal values of feedback gains can obtain
within 10 generations, which corresponds to
about 200 experiments. More than this number
of experiments would be needed for manual
tuning by an experienced technician. The
optimal values of feedback gains are clearly
defined in a given gain space. These figures
also indicate that it would be very hard to
determine optimal gains by manual tuning,
because of the contrast behaviors of the
controller parameters.
The optimization technique is applied to the
system according to the GA technique. The
optimized PID parameters results at the
assumed population of 20 are Kp=5.1,
Ki=0.149 and Kd=0.27. The settling time of the
modified fitness function is significantly
shorter than that achieved by the ITAE
schemes.
After applying the optimized PID controller in
the system, the performance of the system is
improved. Figure 16 shows the transient
response of the ISA with the optimized PID
control parameters.
The transient response parameters of the system
such that the settling time, the rise time, and the
overshoot percentage are obtained. These
results are collected in Table 2 and Figure 17.

Fig. 15: Fitness Values and PID Gains with respect to the Number of Generation

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 35
Journal of Mechatronics and Automation
Volume 6, Issue 3
ISSN: 2455-1988

Fig. 16: Step Response of The ISA with the Optimized PID Controller

Fig. 17: Step Response of The ISA with and without Optimized PID Controller

Table 2: Controller Design Parameters CONCLUSION

Control Parameters Model PID Modified PI-D An optimization method by using a genetic
𝑘𝑝 0 3.17 4.53 algorithm for tuning the PID controller gains
𝑘𝑖 0 -0.0012 0.148 has been presented in this paper. The major
𝑘𝑑 0 0.0293 0.284
work of this paper contains two aspects. First, a
Overshoot (%) 0.43 0.407 0.46
Rise time (sec) 3.126 0.978 0.778
non-linear mathematical model and a computer
Settling time (sec) 6.51 3.38 3.062 simulation program are developed for the
Steady state error 0.00386 0.003399 0.003314 integrated electro-hydraulic servo actuator.

JoMA (2019) 24-37 © STM Journals 2019. All Rights Reserved Page 36
 Optimization of Control Parameters Based on Genetic Algorithm Technique
Second, an optimization method of PID control
parameters for the nonlinear electrohydraulic
servo actuator system by Genetic Algorithm as
a search technique with minimum information
specific to the system such as the defined
fitness function.
The results demonstrate that the optimal PID
parameters were successfully found in order to
achieve the response with nearly zero overshoot
percentage and minimal settling and rise time.
Genetic Algorithm applied in PID controller
improves the ISA transient response. This is shown
by the following results, reducing the rise time by
51.53 %, reducing the settling time by 50 %, and
reducing the maximum overshoot by 83 %.
Disadvantages of this method are possible long
times needed to complete all the tests in
optimization process and possible problems on
sensitive system since the tested PID
parameters are selected randomly. This method
of optimization could also be used for other
systems with similar control demands or, with
some modifications, could be used to tune other
types of controllers where some kind of
optimization process is involved.
In future work, it seems to be easy to adapt the
optimization method presented here to tune
other controller types, where some optimization
is involved, such LQR, LQG or pole placement
controllers, when weighting parameters or
weighting functions can be searched.
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Cite this Article
Mohamed Z. Fadel, Mahmoud G. Rabie,
Ahmed M. Youssef. Optimization of
Control Parameters Based on Genetic
Algorithm Technique for Integrated
Electrohydraulic Servo Actuator System.
Journal of Mechatronics and Automation.
2019; 6(3): 24–37p.
Page 37