Design of PI Controller for Angular Velocity Control of Brushed DC Motor plus Neuro Adaptive Control

Sabat Anwari

Sabat Anwari Departmen of Electrotechnic ITENAS Bandung

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

Akbarzadeh, T. M. R., Kim, Y.T.,and Feerouzbakhsh, B. (1997).Evolutionary Fuzzy Speed Regulation for a DC Motor, Proceedings of the 29th Southeastern Symposium on System Theory (SSST'97).pp.292–296.

Anwari, S. (2006). Robust Model Reference Adaptive Control of Angular Velocity Control Simulation of Brushed DC Motor, JurnalTeknikElektro.Vol. 6.No. 1. pp. 30–36.

Anwari, S. and Kusumah, D. (2006).Angular Velocity Control Simulation of Brushed DC Motor Using Model Reference Adaptive Control.JurnalItenas, Vol. 9. No. 4. pp. 169–174.

Bulut, M., Cansever, G., and Ustun, S. V. (2000).Fuzzy Model-Based Learning for a DC Motor Controller.ICSPAT 2000 DSP World Conference, Dallas, Texas. USA.16-19 Oct.

Dobra, P. (2002).Robust PI Control for Servo DC Motor.International Conference on Control Applications.Vol. 1. pp. 100–110.

Fisher, M. E., Ghosh, A., and Sharaf, A. M. (1996).Intelligent Control Strategies for Permanent Magnet DC Motor Drives.Proceedings of the 1996 International Conference on Power Electronics, Drives and Energy Systems for Industrial Growth. New Delhi. India.Vol. 1.pp. 360–366.

He, S. and Xu, X. (2008). Hardware/Software Co-design Approach for an ADALINE Based Adaptive Control System.Journal of Computers.Vol. 3.No. 2, Feb. pp. 29–36.

Iracleous, D. P. and Alexandridis, A. T. (1995). Fuzzy Tuned PI Controllers for Series Connected DC Motor Drives.Proceedings of the IEEE International Symposium on Industrial, Athens. Greece.Vol. 2. pp. 495–499.

Ji, J. K. and Sul, S. K. (1995).DSP-Based Self-Tuning IP Speed Controller with Load Torque Compensation for Rolling Mill DC Drive.Trans. on Industrial Electronics.Vol. 42.No. 4.Aug. pp. 382–386.

Jovanovic, Z., and Golo, G. (1997).DC Motor Position Control by Discrete-Time Variable Structure Controllers.The Scientific Journal FactaUniversitatis, Series: Mechanics, Automatic, Control and Robotics. Vol.2. No 7. pp. 291–300.

Kim, J. H., Kim, K. C., and Chong, E. K. P. (1994).FuzzyPrecompensated PID Controllers.IEEE Trans. Contr. Sys. Tech. Vol. 2. pp. 406–411.

Krause, P. C. and Wasynczuk, O. (1989).Electromechanical Motion Devices.McGraw-Hill. Singapore.

Kucukdemiral, I. B., Cansever, G., and Gulez, K. (1999).Design of a Dynamic and Robust Speed Controller for a DC Servo Motor by Using a DSP.Proc. 2nd International Conference on Mathematical and Computational Applications in Engineering. Baku. Azerbaijan. Sep. 1–3.pp. 289–297.

Li, G. and Tsang, K. M. (2007).Concurrent Relay-PID Control for Motor Position Servo Systems.International Journal of Control, Automation, and Systems.Vol. 5.No. 3. June. pp. 234–242.

Matsunaga, N. (1991).Fuzzy Hybrid Control of DC Servomotor.Trans. IEE Japan.Vol. 111. pp. 105–111.

Nandam, P. K. and Sen, P. C. (1987).Analog and Digital Speed Control of DC Drives Using Proportional Integral and Integral-Proportional Control Techniques.IEEE Trans. Ind. Electron, Vol. 34. pp. 227–233.

Ong, C. M. (1998).Dynamic Simulation of Electric Machinery.Prentice Hall International. New Jersey.

Slotine, J.E., and Li., W.(1991).Applied Nonlinear Control.PenticeHall International. New Jersey.

Sundareswaran, K. and Vasu, M. (2000).Genetic Tuning of PI Controller for Speed Control of DC Motor Drive.Proceedings of IEEE International Conference on Industrial technology (ICIT-2000).Goa. Vol.1. Jan. pp.521–525.

Weerasoorya, S. and Al-Sharkawi, M. A. (1991). Identification and Control of a DC Motor Using Back-Propagation Neural Networks.IEEE transactions on Energy Conversion. Vol. 6, No. 4.Dec. pp. 663–669.

Zein, S., Kassas, M., and Wells, F. M. (1990).A Switchable DB-PI Controller for DC-Motor Drives with Transient Requirement.Proceedings of the IEEESoutheastcon '90. New Orleans. LA. April.Vol. 3. pp. 842–846.