Revising the Motion Control Parameter Optimization Research of a Two-Wheel Differential Car

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

This paper concentrates on the particle swarm optimization algorithm to select the Proportional Integral Derivative parameter of a two- wheel differential car. Some comments are given as follows.

Comments:

1. The literature review lacks a description of the particle swarm algorithm and a comparison between the particle swarm algorithm and other methods.

2. There are many existing optimization algorithms, why use the particle swarm optimization algorithm?

3. What are the traditional PID parameters used in experiments and simulations, and how are they determined?

4. The method proposed in this paper is a combination of existing methods. How to reflect the novelty of the method? What is the difficulty in solving this issue?

5. The comparison between optimized PID parameter control and conventional PID parameter control is narrow; a comprehensive comparison should be included for both circular trajectory and function trajectory simulations

Comments on the Quality of English Language

the english could be improved.

Author Response

Please see attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

This article is of poor scientific quality, discussing the Optimization of a Two-Wheel Differential Car Control System (PID parameters).

In some parts, it resembles student work more than professional research and development. I'm really sorry to say: I recommend rejecting this article, as its format and contribution do not correspond with those of articles in the Q2 category.

I have several recommendations, suggestions, and questions:

Formal mistakes:

Please download the template for writing the article to "actuators".
1. Citations should not be in superscript, but in regular font.
2. Equations should be numbered on the right side.
3. Variables in the text must be written by italic font (Lines 128, 129 etc.)
4. Terms in the text should be consistent ("m th" or "m-th", "rap/mim" or "r/min", etc. )
5. Wiring diagrams must be presented professionally, not like beginner instructions (e.g. pictures of componnents connected by colored lines without terminal boards). For example, you have connected the positive and negative wires together.
6. Figures (including graphs) should be in a consistent format and enlarged to be legible. Graphs must be exported in lossless format or inserted directly from Matlab or similar software. The axes must be labeled with variable names and units (please check all figures, e.g., Fig. 13, 15, etc.). The caption must be written without a dot between "Figure" and "number", as the template indicate!
7. Units should be separated from numerical values by a single space (please check the entire document).
8. Please use the font from the template (see font differences in caption for Figure 8, etc.)


Substantive errors:

- In introduction, clearly define the objectives and specify the contribution and novelty of your approach.
- The results should be disscussed in more details, this require Discussion section before the Conclusion, following the Results.
- Conclusion is missing.
- Add a detailed specification (description) of the hardware used: Developement board ARM STM32F103C8T6 (ARM 32 Cortex-M3 CPU, 72 MHz), MG310 DC Motor with gear 1:20 and AB Phase GMR Encoder MG370 (or Hall encoder), power supply - batery type Li-Po, ...
- Experimental results are missing. Please include a photo of the completed car (final solution).
- If all article discusses only about simulations, the HW realization is unnecesseray. If hardware is presented, explain how the measurement system for validation is set up.
- Please introduce the software used Matlab/Simulink version and STM programming tool. Please add the software developer’s name, city location, and country if available. The name of STM programming tool and programming language should be added.
- Line 66: Chapters names should be without a dot at the end.
- Chapter 2: The text in the chapter 2 uses the term "drive module", not "driving module".
- Line 78: "driving circuit" must be introduced! There is no electrical circuit diagram labeled as "driving circuit".
- Equation 3: Please check Equatuion 3. Check Equation 3. Variables with capital letters Vl and Vr are not explained in this chapter.
- Line 94 and Lines from 112: Space after the colon is missing. The units should be presented for all variables in this and also subsequent list.
- Figure 2: Needs to be redrawn with units on the axes, and variables should be in italic font. Why is the center of coordinates marked as "O", not "0"? Also, the text is underlaid with red color.
- Line 104 - Format: Chapter without text. There should be some text between 3 and 3.1. Otherwise The chapter 3 is unneceseray.
- Figure 3: Variables must be written in italic font, such as in the text of the article below this Figure.
- Equation 15: Absolute value symbol can be adjusted from upper side to bottom.
- Line 167: Please explain the statement  "... information can be provided in real time by utilizing the aforementioned equation ...". The term "real-time" needs to be explained. (supporting devices, operating system, communication protocols, period of execution, ...)
- Line 228: Variables in the text must be written by italic font (Lines 228, 229 etc.)
- Figure 7: How did you obtain the transfer function for the block marked as "System transfer function". There are several possible ways to determain the system parameters, in the Control system theory. Please list the methods in your response to the reviewer. Which one uses your solution?   
- Figure 7: the TF blocks in "Controller" part must be extended (bigger size) to see the numerator and denumerator.

 

Comments on the Quality of English Language

Some words has the wrong form. The meaning of several sentences is confusing:
1. Line 25 in sentence: "Currently, society has entered the era of artificial intelligence, and construction ma chinery in various fields is making significant progress towards autonomous operation." the word form should be toward, not towards. The definite article "the" is missing (the autonomous).
2. "The given sentence has the advantages of a simple algorithm, low computational workload, and rapid convergence[18-19]." Please reformulate or explain which "sentence".
 3. "Then, particle swarm optimization algorithm is used to optimize PID parameters in the vehicle motion control strategy." Is used or was used.
4. Unify the terminology: car or trolley, etc. Sometimes it looks like an automatic translation.
5. etc.

Author Response

Please see attachment.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

no suggestion

Author Response

Thank you very much for your support.

Reviewer 2 Report

Comments and Suggestions for Authors

Thank you for your response and article adjustments. However, I regret to inform you that they are not sufficient for this type of article. Some recommendations were not taken into account.

- Previously, I asked you to write a list of methods and select one appropriate for your solution:  ": How did you obtain the transfer function for the block marked as "System transfer function". There are several possible ways to determain the system parameters, in the Control system theory. Please list the methods in your response to the reviewer. Which one uses your solution? " - This question remains unanswered.

- As noted in the template, there should be a space between the "citation link" and the previous word. Please correct this throughout the document.

- Figure 7: The TF blocks in the "Controller" section must be enlarged to make the numerator and denominator legible. This was required for all blocks.

- Figures should be enlarged for better readability.

- Please use the correct format for units, such as "Distance/m". What does this mean? Why are you using capital letters "Y" and "X" in the figures, while the equations use lowercase italic letters?

- After a dot and before the next sentence, a space must be included (e.g., Page 2, lines 82-94). The same applies after brackets (e.g., in the Conclusion).

 

I'm not satisfy with your corrections.

 

Author Response

Please refer to the attachment

Author Response File: Author Response.pdf

Round 3

Reviewer 2 Report

Comments and Suggestions for Authors

My comments have been taken into account and I don't have new comments.