Comparison between Compensated and Uncompensated PD with Cascade Controller Design of PMDC Motor: Real Experiments
(1) * Sopheak Yean Mail (Institute of Technology of Cambodia, Cambodia)
(2) Sarot Srang Mail (Institute of Technology of Cambodia, Cambodia)
*corresponding author

Abstract


In this paper, we compare two different kinds of position controllers, namely PD (both compensated and uncompensated PD) and Cascade controller (both compensated and uncompensated Cascade).  SIMULINK software is used to implement lumped parameters estimation with UKF. The Proportional-Derivative (PD) controller design by root locus and Cascade controller design have been chosen for our feedback system, and coulomb friction as disturbance is taken into account in the estimation model. The aim of this paper is to find out which controller is better (both compensated and uncompensated PD controller vs. both compensated and uncompensated Cascade controller). Therefore, the objective is to show how useful the parameter estimation for controller design with compensation. Through comparing two position controller designs, the experiment results show that both Compensated Proportional Derivative (PD) controller and Cascade controller Design have much better performance than the Uncompensated ones.

Keywords


DC Motor; PD Controller; Cascade Controller; Root Locus; UKF

   

DOI

https://doi.org/10.31763/ijrcs.v3i4.1183 		      

Article metrics

10.31763/ijrcs.v3i4.1183 Abstract views : 655 | PDF views : 180

   

Cite

How to cite item
   

Full Text

Download

References


[1] D. Saputra, A. Ma’arif, H. Maghfiroh, P. Chotikunnan, and S. N. Rahmadhia, “Design and Application of PLC-based Speed Control for DC Motor Using PID with Identification System and MATLAB Tuner,” International Journal of Robotics and Control Systems, vol. 3, no. 2, pp. 233-244, 2023, https://doi.org/10.31763/ijrcs.v3i2.775.

[2] B. N. Kommula and V. R. Kota, “Direct instantaneous torque control of Brushless DC motor using firefly Algorithm based fractional order PID controller,” Journal of King Saud University - Engineering Sciences, vol. 32, no. 2, pp. 133–140, Feb. 2020, https://doi.org/10.1016/j.jksues.2018.04.007.

[3] S. Srey, V. Chhour, and S. Srang, "Lumped Parameter Estimation of a Low-Cost DC Motor for Position Controller Design," 2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation (ICAMIMIA), pp. 1-6, 2021, https://doi.org/10.1109/ICAMIMIA54022.2021.9807810.

[4] H. S. Purnama, T. Sutikno, S. Alavandar, and A. C. Subrata, "Intelligent Control Strategies for Tuning PID of Speed Control of DC Motor - A Review," 2019 IEEE Conference on Energy Conversion (CENCON), pp. 24-30, 2019, https://doi.org/10.1109/CENCON47160.2019.8974782.

[5] J. Chotai and K. Narwekar, "Modelling and position control of brushed DC motor," 2017 International Conference on Advances in Computing, Communication and Control (ICAC3), pp. 1-5, 2017, https://doi.org/10.1109/ICAC3.2017.8318792.

[6] S. Devendra, B. Mahesh, K. Gaurav, and P. Gajal, “Comparison of Fuzzy-PID and PID Controller for Speed Control of DC Motor using LabVIEW,” Procedia Computer Science, pp. 252-260, 2019, https://doi.org/10.1016/j.procs.2019.05.019.

[7] M. M. Maung, M. M. Latt, and C. M. Nwe, “DC Motor Angular Position Control using PID Controller with Friction Compensation,” International Journal of Scientific and Research Publications, vol. 8, no. 11, pp. 149-155, 2018, http://doi.org/10.29322/IJSRP.8.11.2018.p8321.

[8] D. Handaya and R. Fauziah, “Proportional-Integral-Derivative and Linear Quadratic Regulator Control of Direct Current Motor Position using Multi-Turn Based on LabView,” Journal of Robotics and Control (JRC), vol. 2, no. 4, pp. 332-336, 2021, http://doi.org/10.18196/jrc.24102.

[9] A. Batool, N. Ain, A. A. Amin, M. Adnan, and M. H. Shahbaz, “A comparative study of DC servo motor parameter estimation using various techniques,” Journal for Control, Measurement, Electronics, Computing and Communications, vol. 63, no. 2, pp. 303–312, 2022, https://doi.org/10.1080/00051144.2022.2036935.

[10] M. F. Fazdi and P-W. Hsueh, “Parameters Identification of a Permanent Magnet DC Motor: A Review,” MDPI journals, Electronics, vol. 12, no. 12, 2023, https://doi.org/10.3390/electronics12122559.

[11] H. M. Usman, S. Mukhopadhyay, and H. Rehman, “Permanent magnet DC motor parameters estimation via universal adaptive stabilization,” Control Engineering Practice, pp. 50-62, 2019, https://doi.org/10.1016/j.conengprac.2019.06.006.

[12] B. Robert, “Dynamic determination of DC motor parameters -Simulation and testing,” 2014 6th IEEE International Conference on Electronics, Computers and Artificial Intelligence (ECAI), pp. 13–18, 2014, http://doi.org/10.1109/ECAI.2014.7090191.

[13] V. Ivan and K. Michal, “Experimental Friction Identification of a DC Motor,” International Journal of Mechanics and Applications, pp. 26-30, 2013, http://article.sapub.org/10.5923.j.mechanics.20130301.04.html.

[14] A. Kapun, M. Čurkovič, A. Hace, and K. Jezernik, “Identifying dynamic model parameters of a BLDC motor,” pp. 1254-1265, 2008, https://doi.org/10.1016/j.simpat.2008.06.003.

[15] M. Hadef and M. R. Mekideche, “Parameter identification of a separately excited dc motor via inverse problem methodology,” Turkish Journal of Electrical Engineering and Computer Sciences, vol. 17, no. 2, pp. 99-106, 2009, https://doi.org/10.3906/elk-0805-5.

[16] M. L. Awoda and S. A. Ramzy, “Parameter Estimation of a Permanent Magnets DC motor.” Iraqi Journal for Electrical and Electronic Engineering, vol. 15, no. 1, pp. 28–36, 2019, https://doi.org/10.37917/ijeee.15.1.3.

[17] M. Li and Y. Ma, “Parameter Identification of DC Motor based on Compound Least Square Method,” 2020 IEEE 5th Information Technology and Mechatronics Engineering Conference (ITOEC), pp. 1107-1111, 2020, https://doi.org/10.1109/ITOEC49072.2020.9141652.

[18] D. Gao, S. Wu, J. Yu, M. Wang, and Y. Wang, “Parameter identification of DC motor model based on improved dynamic forgetting factor recursive least squares method,” 2022 IEEE 8th International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA), pp. 282-286, 2022, https://doi.org/10.1109/ICSIMA55652.2022.9929227.

[19] S. Arshad, S. Qamar, T. Jabbar, and A. Malik, “Parameter estimation of a DC motor using ordinary least squares and recursive least squares algorithms,” Proceedings of the 8th International Conference on Frontiers of Information Technology, no. 31, pp. 1–5, 2010, https://doi.org/10.1145/1943628.1943659.

[20] J. Becedas, G. Mamani and V. Feliu, “Algebraic parameters identification of DC motors: methodology and analysis,” International Journal of Systems Science, vol. 41, no. 10, pp. 1241-1255, 2010, https://doi.org/10.1080/00207720903244097.

[21] M. Hadef, A. Bourouina, and M. Mekideche, Parameter Identification of a DC Motor via Moments Method,” Iranian journal of electrical and computer engineering, vol. 7, pp. 159-163, 2008, https://api.semanticscholar.org/CorpusID:112010258.

[22] W. Wu, “DC Motor Parameter Identification Using Speed Step Responses,” Modelling and Simulation in Engineering, pp. 1–5, 2012, https://doi.org/10.1155/2012/189757.

[23] J. A. Mohammed, “Modeling, Analysis and Speed Control Design Methods of a DC Motor,” Eng. & Tech. Journal, vol. 29, no. 1, pp. 141-155, 2011, https://api.semanticscholar.org/CorpusID:16729553.

[24] A. Khalid and A. Nawaz, “Sensor less control of DC motor using Kalman filter for low-cost CNC machine,” 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE), pp. 180-185, 2014, https://doi.org/10.1109/iCREATE.2014.6828362.

[25] M. Huba, S. Chamraz, P. Bistak, and D. Vrancic, “Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable,” pp. 2-26, 2021, https://doi.org/10.3390/s21186157.

[26] O. E Daniel and O. P Patrick, “Comparative Study Of PD, PI And PID Controllers For Control Of A Single Joint System In Robots,” The International Journal of Engineering and Science (IJES), pp. 51-54, 2018, https://www.theijes.com/papers/vol7-issue9/Version-2/H0709025154.pdf.

[27] A. Ma'arif and N. R. Setiawan, “Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation,” Journal of Robotics and Control (JRC), vol. 2, no. 5, pp. 456-461, 2021, http://dx.doi.org/10.18196/jrc.25122

[28] S. Srang and M. Yamakita, “Adaptive Friction Compensation for a Position Control System with Stribeck Friction using Hybrid Unscented Kalman Filter,” International Journal of Information and Communication Technology, vol. 5, pp. 283-295, 2013, https://doi.org/10.1504/IJICT.2013.054936.

[29] S. Sarkka, “On Unscented Kalman Filtering for State Estimation of Continuous-Time Nonlinear Systems,” in IEEE Transactions on Automatic Control, vol. 52, no. 9, pp. 1631-1641, 2007, https://doi.org/10.1109/TAC.2007.904453.

[30] M. Ardeshir and R. Ahmad, “Performance evaluation of nonlinear Kalman filtering techniques in low-speed brushless DC motors driven sensor-less positioning systems,” Control Engineering Practice, pp. 148-156, 2017, https://doi.org/10.1016/j.conengprac.2017.01.004.

[31] S. Yang and H. Li, “Application of EKF and UKF in Target Tracking Problem,” 2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC), pp. 116-120, 2016, https://doi.org/10.1109/IHMSC.2016.25.

[32] P. Pichlík, “Comparison of Different Kalman Filter Types Performance for a Locomotive Slip Control Purposes,” in 2017 9th International Conference on Electronics, Computers and Artificial Intelligence (ECAI), pp. 1-4, 2017, https://poster.fel.cvut.cz/poster2017/proceedings/Poster_2017/Section_PE/PE_005_Pichlik.pdf.

[33] M. S. Grewal and A. P. Andrews, “Applications of Kalman Filtering in Aerospace 1960 to the Present [Historical Perspectives],” in IEEE Control Systems Magazine, vol. 30, no. 3, pp. 69-78, 2010, https://doi.org/10.1109/MCS.2010.936465.

[34] F. Auger, M. Hilairet, J. M. Guerrero, and E. Monmasson, T. Orlowska-Kowalska and S. Katsura, “Industrial Applications of the Kalman Filter,” IEEE Transactions on Industrial Electronics, pp. 5458–5471, 2013, https://doi.org/10.1109/TIE.2012.2236994.

[35] F. Auger, J. M. Guerrero, M. Hilairet, S. Katsura, E. Monmasson, and T. Orlowska-Kowalska, “Introduction to the Special Section on Industrial Applications and Implementation Issues of the Kalman Filter,” in IEEE Transactions on Industrial Electronics, vol. 59, no. 11, pp. 4165-4168, 2012, https://doi.org/10.1109/TIE.2012.2194411.

[36] K. Szabat and T. Orlowska-Kowalska, “Performance Improvement of Industrial Drives With Mechanical Elasticity Using Nonlinear Adaptive Kalman Filter,” in IEEE Transactions on Industrial Electronics, vol. 55, no. 3, pp. 1075-1084, 2008, https://doi.org/10.1109/TIE.2008.917081.

[37] E. Laroche, E. Sedda and C. Durieu, “Methodological Insights for Online Estimation of Induction Motor Parameters,” in IEEE Transactions on Control Systems Technology, vol. 16, no. 5, pp. 1021-1028, 2008, https://doi.org/10.1109/TCST.2007.916317.

[38] S. Jafarzadeh, C. Lascu, and M. S. Fadali, “State Estimation of Induction Motor Drives Using the Unscented Kalman Filter,” in IEEE Transactions on Industrial Electronics, vol. 59, no. 11, pp. 4207-4216, 2012, https://doi.org/10.1109/TIE.2011.2174533.

[39] M. Piao, Y. Wang, M. Sun, and Z. Chen, “Friction compensation and limit cycle suppression at low velocities based on extended state observer,” IFAC-PapersOnLine, vol. 53, no. 2, pp. 1313-1318, 2020, https://doi.org/10.1016/j.ifacol.2020.12.1863.

[40] S. Yean, T. Peou, B. Sethy and S. Srang, “PD Controller and Dynamic Compensation Design for a DC Motor based on Estimated Parameters,” 2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation (ICAMIMIA), pp. 7-12, 2021, https://doi.org/10.1109/ICAMIMIA54022.2021.9807796.

[41] M. S. Amiri, M. F. Ibrahim and R. Ramli, “Optimal parameter estimation for a DC motor using genetic algorithm,” International Journal of Power Electronics and Drive System (IJPEDS), vol. 11, no. 2, pp. 1047-1054, 2020, https://doi.org/10.11591/ijpeds.v11.i2.pp1047-1054.

[42] A. Ma’arif, H. Nabila, Iswanto, and O. Wahyunggoro, “Application of Intelligent Search Algorithms in Proportional-Integral-Derivative Control of Direct-Current Motor System,” in Journal of Physics: Conference Series, vol. 1373, no. 1, pp. 1–10, 2019, https://doi.org/10.1088/1742-6596/1373/1/012039.

[43] T. N. Gücin, M. Biberoğlu, B. Fincan and M. O. Gülbahçe, “Tuning cascade PI(D) controllers in PMDC motor drives: A performance comparison for different types of tuning methods," 2015 9th International Conference on Electrical and Electronics Engineering (ELECO), pp. 1061-1066, 2015, https://doi.org/10.1109/ELECO.2015.7394556.

[44] K. G. Abdulhussein, N. M. Yasin, and I. J. Hasan, “Comparison of cascade P-PI controller tuning methods for PMDC motor based on intelligence techniques,” International Journal of Electrical and Computer Engineering (IJECE), vol. 12, no. 1, pp. 1-11, 2022, http://doi.org/10.11591/ijece.v12i1.pp1-11.

[45] N. S. Nise, “Control Systems Engineering 7th Edition,” Pomona, United States, pp. 164-169, 2015, https://www.amazon.com/Control-Systems-Engineering-Norman-Nise-ebook/dp/B00UGE1DJW.

[46] E. A. Wan and R. van Der Merwe, “The unscented Kalman filter for nonlinear estimation,” Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373), pp. 153-158, 2000, https://doi.org/10.1109/ASSPCC.2000.882463.

[47] A. Mehrjouyan and A. Alfi, “Robust adaptive unscented Kalman filter for bearings-only tracking in three dimensional case,” Applied Ocean Research, vol. 87, pp. 223-232, 2019, https://doi.org/10.1016/j.apor.2019.01.034.

[48] H. B. Khamseh, S. Ghorbani, and F. Janabi-Sharifi, “Unscented Kalman filter state estimation for manipulating unmanned aerial vehicles,” Aerospace Science and Technology, vol. 92, pp. 446-463, 2019, https://doi.org/10.1016/j.ast.2019.06.009.

[49] E. A. Wan and R. van der Merwe, “The Unscented Kalman Filter,” Kalman Filtering and Neural Networks, pp. 221-280, 2001, https://doi.org/10.1002/0471221546.ch7.

[50] H. Yan, G. Huang, H. Wang, and R. Shu, “Application of Unscented Kalman Filter for Flying Target Tracking,” 2013 International Conference on Information Science and Cloud Computing, pp. 61-66, 2013, https://doi.org/10.1109/ISCC.2013.10.

[51] P. Gu, Z. Jing, and L. Wu, “Adaptive fading factor unscented Kalman filter with application to target tracking,” Aerospace Systems, vol. 4, pp. 1-6, 2021, https://doi.org/10.1007/s42401-020-00071-w.


Refbacks

  • There are currently no refbacks.


Copyright (c) 2023 Sopheak Yean, Sarot Srang

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

 

About the JournalJournal PoliciesAuthor Information

International Journal of Robotics and Control Systems
e-ISSN: 2775-2658
Website: https://pubs2.ascee.org/index.php/IJRCS
Email: ijrcs@ascee.org
Organized by: Association for Scientific Computing Electronics and Engineering (ASCEE), Peneliti Teknologi Teknik Indonesia, Department of Electrical Engineering, Universitas Ahmad Dahlan and Kuliah Teknik Elektro
Published by: Association for Scientific Computing Electronics and Engineering (ASCEE)
Office: Jalan Janti, Karangjambe 130B, Banguntapan, Bantul, Daerah Istimewa Yogyakarta, Indonesia