Parameter Optimization of PID Sliding Mode Controller for Hydraulic Turbine Regulating System Based on IFABC Algorithm

Hydraulic turbine regulating system (HTRS) is a complex and nonlinear system, which might not be controlled well by traditional PID controller. Fortunately, sliding mode controller (SMC) has certain advantages in dealing with nonlinear system. Moreover, the design of control law for controller is difficult but extremely necessary. Therefore, an improved fuzzy artificial bee colony algorithm (IFABC) is proposed and applied to the parameter optimization of improved PID-SMC (IPID-SMC) controller, which will be compared with the conventional PID controller and traditional SMC controller. The simulation results indicate that the proposed IPID-SMC controller improves the nonlinear HTRS system performance with faster convergence speed and accurate convergence precision. In the proposed method, the sliding surface of the controller has been integrated with proportional-integral-derivative (PID) controller, and the parameters of PID controllers first obtained through particle swarm optimization (PSO) algorithm. Next, other parameters will be optimized by these four algorithms, which include DE algorithm, PSO algorithm, ABC algorithm and IFABC algorithm. The results show that the proposed IFABC algorithm reduces the chattering of IPID-SMC controller and improves the dynamic performance of the nonlinear HTRS system.