Study on ADRC Parameter Optimization Using CPSO for Clamping Force Control System

<table class="fixed-width table-group" id="tab4"><tr><td><table class="table"><colgroup><col style="width:6.74em"/><col style="width:3.94em"/><col style="width:3.89em"/><col style="width:4.41em"/><col style="width:2.95em"/><col style="width:3.32em"/></colgroup><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="2">Controller</td><td class="align_center" colspan="5">Parameter</td></tr><tr class="thead"><td class="align_center"><span style="width: 16.7495ptpx;"><svg height="12.7178pt" id="M110" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 16.7495 12.7178" width="16.7495pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M558 587C558 666 497 712 432 712C379 712 330 691 284 650C212 586 178 508 148 348L71 -65C49 -185 35 -229 23 -235L27 -261C49 -259 101 -251 124 -224C131 -216 138 -178 159 -24C171 66 197 200 227 356C264 550 295 668 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transform="matrix(.0091,0,0,-0.0091,7.228,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">PSO-ADRC</td><td class="align_center">230.00</td><td class="align_center">878.19</td><td class="align_center">2076.66</td><td class="align_center">5.90</td><td class="align_center">0.010</td></tr><tr><td class="align_left">CPSO-ADRC</td><td class="align_center">229.96</td><td class="align_center">792.86</td><td class="align_center">2499.26</td><td class="align_center">6.85</td><td class="align_center">0.013</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Optimized key parameters of ADRC.</div>

Mathematical Problems in Engineering

tab4

Table 4

Table 4: Study on ADRC Parameter Optimization Using CPSO for Clamping Force Control System 