Model Reference Adaptive PID Controller Design and Analysis of the Impact of Controller Parameters on System Behavior: DC Motor Position Control
Öz
The proportional-integral-derivative (PID) control method is widely applied in the industry due to its attractive features such as simple architecture, easy design, and automatic gain adjustment. However, in order to have a successful industrial application with the PID controller, the controller has to be manually reconfigured. In order to solve this problem, the Model Reference Adaptive PID Controller (MRUPIDD), which is one of the adaptive control methods, was designed by using a low-cost STM32F4 application development kit and Waijung block set. The adaptive PID controller has a parameter adjustment mechanism to provide the desired control performance even if the system parameters change over time. Massachusetts Institute of Technology (MIT) rule is used for the parameter setting mechanism and controller design. Position control application of the controller designed within the scope of the study was carried out on the DC motor and error costs were calculated by comparing it with the PID controller. In order to examine the effects of the adaptive gain parameters on the system behavior, different gamma gain values were applied to the system and the unstable conditions were examined.
Anahtar Kelimeler
Adaptive PID Model Reference Adaptive Controller STM32F4 Waijung Block Set DC Motor
Kaynakça
- M. A. Shamseldin, A. A. E. El-Samahy, “Speed Control of BLDC Motor by Using PID Control and Self-tuning Fuzzy PID Controller”, in 15th International Workshop on Research and Education in Mechatronics (REM), 2014, pp. 1-9: IEEE.
- W. Gubara, M. Elnaim, S. F. Babiker, “Comparative Study on the Speed of DC Motor Using PID and FLC”, in Conference of Basic Sciences and Engineering Studies (SGCAC), 2016, pp. 24-29: IEEE.
- A. K. Heong, G. Chong, L. Yun, “PID Control System Analysis, Design, and Technology”, IEEE Transactions on Control Systems Technology, vol. 13, pp. 559-576, 2005.
- R. Kandiban, R. Arulmozhiyal, “Speed Control of BLDC Motor Using Adaptive Fuzzy PID Controller”, Procedia Engineering, vol. 38, pp. 306-313, 2012.
- S. Sastry, M. Bodson, Adaptive Control: Stability, Convergence, and Robustness. New York: Prentice-Hall, 1994.
- D. Zhang, B. Wei, “A Review on Model Reference Adaptive Control of Robotic Manipulators”, Annual Reviews in Control, vol. 43, pp. 188-198, 2017.
- M. Kushwah, A. Patra, “Tuning PID Controller for Speed Control of DC Motor Using Soft Computing Techniques-A Review”, Advance in Electronic and Electric Engineering, vol 4, pp. 141-148, 2014.
- Y. Çakar, Y. Orman, S. Kizir, “Design of a Model Reference Adaptive PID Controller for DC Motor Position Control: COMPARED WITH PID AND FUZZY CONTROLLERS”, Mugla Journal of Science and Technology, vol. 6, no. 0, pp. 25-35, 2020.
- A. Emiroğlu, T. Yaren, S. Kizir, “Kendinden Ayarlamalı Denetleyici ile DA Motor Hız Kontrolü”, Politeknik Dergisi, vol. 25, no. 2, pp. 757-765, 2022.
- M. Mahmud, S. M. A. Motakabber, “Adaptive PID Controller Using for Speed Control of the BLDC Motor”, in International Conference on Semiconductor Electronics (ICSE), 2020, pp. 168-171: IEEE.
- A. T. Ali, E. B. M. Tayeb, O. B. Mohd, “Adaptive PID Controller for DC Motor Speed Control” International Journal of Engineering Inventions, vol. 1, no. 5, pp. 26-30, 2012.
- S. Gueye, L. Thiaw, M. F. Ndiaye, I. Ngom, M. Diop, E. H. M. Ndiaye, “A Sensorless Speed Control of DC Motor Based on an Adaptive Reference Model”, in 4th Biennial International Conference on Nascent Technologies in Engineering (ICNTE), 2021, pp. 1-5: IEEE.
- P. Jain, M. J. Nigam, "Real Time Control of Ball and Beam System with Model Reference Adaptive Control Strategy Using MIT Rule", in International Conference on Computational Intelligence and Computing Research, 2013, pp. 1-4: IEEE.
- S. Kizir, T. Yaren, E. Kelekçi, Matlab Simulink Destekli Gerçek Zamanlı Kontrol: Teori ve Mühendislik Uygulamaları. Ankara: Seçkin Yayıncılık, 2019.
- K. Worden, C. X. Wong, U. Parlitz, A. Hornstein, D. Engster, T. Tjahjowidodo, F. Al-Bender, D. D. Rizos, S. D. Fassois, “Identification of Pre-Sliding and Sliding Friction Dynamics: Grey Box and Black-Box Models”, Mechanical Systems and Signal Processing, vol. 21, pp. 514-534, 2007.
- T. Söderström, P. Stoica, System Identification. New York: Prentice-Hall, 1989.
- Y. Naung, A. Sachagin, O. H. Lin, Y. K. Zaw, Z. Khaing, “Implementation of Data Driven Control System of DC Motor by Using System Identification Process”, in Conference of Russian Young Researchers in Electrical and Electronic Engineering (EIConRus), 2018, pp. 1801-1804: IEEE.
- A. Nikranjbar, “Model Reference Adaptive PID Control of Servo Speed DC Motor“, Majlesi Journal of Mechatronic Systems, vol. 2, pp. 7-13, 2013.
MODEL REFERANS UYARLAMALI PID DENETLEYİCİ TASARIMI VE DENETLEYİCİ PARAMETRELERİNİN SİSTEM DAVRANIŞINA ETKİ ANALİZİ: DC MOTOR KONUM KONTROLÜ
Öz
Oransal-integral-türev (PID) kontrol yöntemi, basit mimarisi, kolay tasarım ve otomatik kazanç ayarlama gibi çekici özellikleri nedeniyle endüstride yaygın olarak uygulanmaktadır. Bununla birlikte, PID denetleyicisiyle başarılı bir endüstriyel uygulama yapabilmek için genellikle denetleyicinin önceden manuel olarak yeniden ayarlanması gerekmektedir. Bu sorunu çözmek için çalışma kapsamında, düşük maliyetli STM32F4 uygulama geliştirme kiti ve Waijung blok seti kullanılarak uyarlamalı kontrol yöntemlerinden biri olan Model Referans Uyarlamalı PID Denetleyici (MRUPIDD) tasarımı gerçekleştirilmiştir. Uyarlanabilir PID denetleyicisi, sistem parametreleri zamanla değişse bile istenen kontrol performansını sağlamak için parametre ayarlama mekanizmasına sahiptir. Parametre ayarlama mekanizması ve denetleyici tasarımı için Massachusetts Teknoloji Enstitüsü (Massachusetts Institute of Technology-MIT) kuralı kullanılmıştır. Çalışma kapsamında tasarlanan denetleyicinin DC motor üzerinde konum kontrol uygulaması gerçekleştirilmiş ve PID denetleyicisi ile karşılaştırılarak hata maliyetleri hesaplanmıştır. Uyarlama kazanç parametrelerinin sistem davranışına etkisinin incelenmesi için ise farklı gama kazanç değerleri sisteme uygulanmış ve kararlılığı bozan durumlar incelenmiştir.
Anahtar Kelimeler
Uyarlamalı PID Model Referans Uyarlamalı PID Denetleyici STM32F4 Waijung Blok Seti DC Motor
Kaynakça
- M. A. Shamseldin, A. A. E. El-Samahy, “Speed Control of BLDC Motor by Using PID Control and Self-tuning Fuzzy PID Controller”, in 15th International Workshop on Research and Education in Mechatronics (REM), 2014, pp. 1-9: IEEE.
- W. Gubara, M. Elnaim, S. F. Babiker, “Comparative Study on the Speed of DC Motor Using PID and FLC”, in Conference of Basic Sciences and Engineering Studies (SGCAC), 2016, pp. 24-29: IEEE.
- A. K. Heong, G. Chong, L. Yun, “PID Control System Analysis, Design, and Technology”, IEEE Transactions on Control Systems Technology, vol. 13, pp. 559-576, 2005.
- R. Kandiban, R. Arulmozhiyal, “Speed Control of BLDC Motor Using Adaptive Fuzzy PID Controller”, Procedia Engineering, vol. 38, pp. 306-313, 2012.
- S. Sastry, M. Bodson, Adaptive Control: Stability, Convergence, and Robustness. New York: Prentice-Hall, 1994.
- D. Zhang, B. Wei, “A Review on Model Reference Adaptive Control of Robotic Manipulators”, Annual Reviews in Control, vol. 43, pp. 188-198, 2017.
- M. Kushwah, A. Patra, “Tuning PID Controller for Speed Control of DC Motor Using Soft Computing Techniques-A Review”, Advance in Electronic and Electric Engineering, vol 4, pp. 141-148, 2014.
- Y. Çakar, Y. Orman, S. Kizir, “Design of a Model Reference Adaptive PID Controller for DC Motor Position Control: COMPARED WITH PID AND FUZZY CONTROLLERS”, Mugla Journal of Science and Technology, vol. 6, no. 0, pp. 25-35, 2020.
- A. Emiroğlu, T. Yaren, S. Kizir, “Kendinden Ayarlamalı Denetleyici ile DA Motor Hız Kontrolü”, Politeknik Dergisi, vol. 25, no. 2, pp. 757-765, 2022.
- M. Mahmud, S. M. A. Motakabber, “Adaptive PID Controller Using for Speed Control of the BLDC Motor”, in International Conference on Semiconductor Electronics (ICSE), 2020, pp. 168-171: IEEE.
- A. T. Ali, E. B. M. Tayeb, O. B. Mohd, “Adaptive PID Controller for DC Motor Speed Control” International Journal of Engineering Inventions, vol. 1, no. 5, pp. 26-30, 2012.
- S. Gueye, L. Thiaw, M. F. Ndiaye, I. Ngom, M. Diop, E. H. M. Ndiaye, “A Sensorless Speed Control of DC Motor Based on an Adaptive Reference Model”, in 4th Biennial International Conference on Nascent Technologies in Engineering (ICNTE), 2021, pp. 1-5: IEEE.
- P. Jain, M. J. Nigam, "Real Time Control of Ball and Beam System with Model Reference Adaptive Control Strategy Using MIT Rule", in International Conference on Computational Intelligence and Computing Research, 2013, pp. 1-4: IEEE.
- S. Kizir, T. Yaren, E. Kelekçi, Matlab Simulink Destekli Gerçek Zamanlı Kontrol: Teori ve Mühendislik Uygulamaları. Ankara: Seçkin Yayıncılık, 2019.
- K. Worden, C. X. Wong, U. Parlitz, A. Hornstein, D. Engster, T. Tjahjowidodo, F. Al-Bender, D. D. Rizos, S. D. Fassois, “Identification of Pre-Sliding and Sliding Friction Dynamics: Grey Box and Black-Box Models”, Mechanical Systems and Signal Processing, vol. 21, pp. 514-534, 2007.
- T. Söderström, P. Stoica, System Identification. New York: Prentice-Hall, 1989.
- Y. Naung, A. Sachagin, O. H. Lin, Y. K. Zaw, Z. Khaing, “Implementation of Data Driven Control System of DC Motor by Using System Identification Process”, in Conference of Russian Young Researchers in Electrical and Electronic Engineering (EIConRus), 2018, pp. 1801-1804: IEEE.
- A. Nikranjbar, “Model Reference Adaptive PID Control of Servo Speed DC Motor“, Majlesi Journal of Mechatronic Systems, vol. 2, pp. 7-13, 2013.
Ayrıntılar
| Birincil Dil | Türkçe |
|---|---|
| Konular | Mühendislik |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Yayımlanma Tarihi | 1 Eylül 2023 |
| Gönderilme Tarihi | 13 Aralık 2022 |
| Kabul Tarihi | 30 Mayıs 2023 |
| Yayımlandığı Sayı | Yıl 2023 Cilt: 11 Sayı: 3 |
