Design of PI Controller for Angular Velocity Control of Brushed DC Motor plus Neuro Adaptive Control
Abstract
Recently, the DC motor has been widely used in industry even though its maintenance costs are higher than the induction motor. Although control theory has made great advance in the last few decades, which has led to many sophisticated control schemes, PID (Proportional Integral Derivative) control still remains the most popular type of control being useed in industries today. This popularity is partly due to the fact that PID controllers have simple structures and very well understood principles. PI controller is essentially PID controller with the derivative (D) coefficient set equal to zero. A derivative coefficient is not essential and may have a detrimental effect on system response characteristics especially in a first order system.Generally, the DC servo motor systems have uncertain and nonlinear characteristics which degradeperformance of controllers.To alleviate the problems,we added a robustifying adaptive gain. Based on aLyapunov synthesis method, it was shown that the proposed adaptive gain guaranteed the convergence of the tracking error to zero and the global boundedness of all signals in the closed-loop system.References
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