2 ADesignofIntelligentControllerforDirectCurrentMotorvol 04 Issueno 04 Page519-536
2 ADesignofIntelligentControllerforDirectCurrentMotorvol 04 Issueno 04 Page519-536
2 ADesignofIntelligentControllerforDirectCurrentMotorvol 04 Issueno 04 Page519-536
will result in the optimum controller being evaluated systems can work in highly corrosive environments
for the system every time. The objective of this such as nuclear power stations and highly aggressive
paper is to show that by employing the GA method environments such as corrosive chemicals and
of tuning a system, optimization can be achieved. gases. DC series motor is suitable for both high and
This can be seen by comparing the result of the GA low power drives, for fixed and variable speed
optimized system against the classically tuned electric drives. Because of its high starting torque,
system. this motor uses in cheap toys and automotive
The algorithm itself has many variations applications such as Cranes, Air compressors, Lifts,
due to which natural phenomena in the world. Some Elevators, winching systems, Electric traction, Hair
of them are Genetic Algorithm (GA) [7, 8], Particle drier, Vacuum cleaner and speed regulation
Swarm Optimization (PSO) [9], and Differential application, power tools, Sewing machines, Electric
Evolution (DE) [10, 11]. They are the most footing. The benefits of using a controller are
commonly used algorithm in Intelligent Search electrical protection of the motor and subsequently,
Algorithm. To test the algorithm, it is applied to the the mechanics, maintain a constant speed, even
PID Controller of the DC Motor System. The when loads are changing, dynamic response to
performance of the system along with several changing system demands, even in a braking
iterations and iteration times will be observed and condition with four-quadrant drive, monitoring to
analyzed. DC Motor is chosen due to its being evaluate machine performance, energy-saving and
commonly used in the industrial [10] and robotics accurate speed control.
world. Electric motors were developed in the late
1800s. By 1887, the electric motor was installed on 1.1 Objectives
the first electric trolley system in Richmond, a) To develop a robust control platform with
Virginia. By 1892, the electric elevator and control optimization methods.
system was invented. Thomas Edison promoted DC b) To improve the performance of DC motor speed
power and built electric power transmission systems control/ position control.
to power DC motors. 1 hp to 100,000 hp electric c) To add adaptation/ intelligence in our control
motors are available to meet any industrial need. architecture.
Asynchronous and synchronous motors and
generators are available to suit specialized functions. 1.2 Methodology
The NEMA Frame is especially suited for The step response is the reference signal,
challenging environments. Also, the motors can be DC motor which is a plant, scope where we see the
vertical with high torque availability for additional output response and this is controller where we will
power. Of course, they can operate on AC or DC see the performance by applying different
power. approaches. Firstly, we apply the PID controller.
The work has been done on the analysis of PID controller is a combination of proportional,
genetic algorithm rules and membership function integral and derivative actions. PID Controller is the
parameters [12]. In 1960, Prof. Holland introduced most common control algorithm used in industrial
genetic algorithms [13, 14]. Genetic algorithms are automation. PID controllers show poor control
applied to search for the globally optimal solution to performances for an integrating process and a large
problems [15]. The evolution process of genetic time delay process “Figure 1”. then apply intelligent
algorithms is based on natural selection. Examples controller which is a class of control techniques that
of applications include industrial fans, blowers, use various artificial intelligence computing
pumps, machine tools, power tools, turbines, approaches like neural networks, fuzzy logic,
compressors, alternators, ships, rolling mills, paper machine learning and genetic algorithms.
mills, movers, and other special applications. Some
Figure 1: Methodology of design of intelligent controller for direct current (dc) motor.
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 520
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The controller attempts to minimize the 2.2 Genetic Algorithm (GA) Controller
error by adjusting the process control input. The PID A genetic algorithm is an evolutionary
controller calculation (algorithm) involves three optimization technique. This optimization is
constant parameters called the proportional (P), inspired by genetic evolution in the animal world. It
integral (I) and derivative (D) values, these values can minimize or maximize an objective function
can be interpreted in terms of time. P depends on the given “Figure 3”.
present error, I on the accumulation of past error, It has four steps in the process:
and D is a prediction of future error, based on the (1) Selection.
current rate of change. The weighted sum of these (2) Crossover.
three actions is used to adjust the process via a (3) Mutation.
control element such as the position of a control (4) Replace population with better fitness.
valve, or power supplied to a heating element. .
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 521
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Volume 4, Issue 4 Apr 2022, pp: 519-536 www.ijaem.net ISSN: 2395-5252
3 DIRECT CURRENT (DC) MOTOR In a DC motor, the input electrical energy is the
A DC motor is an electrical machine that direct current which is transformed into the
converts electrical energy into mechanical energy. mechanical rotation “Figure 4”.
3.1 Types of Direct Current (DC) Motor (3) Compound wound type.
There are different types of DC motors The compound type can be classified into
available. They are listed below: two types namely long shunt as well as the short
(1) PMDC (Permanent Magnet DC Motor) shunt. The long shunt is further classified as
type. cumulative and differential types. Similarly, the
(2) Separately excited. short shunt types are further classified as cumulative
(3) Self-excited. and differential types. The separately excited and
The classification of self-excited can be done like series types are commonly preferred for industrial
the following. purposes “Figure 5”. The DC motors classification
(1) Shunt-wound. figure is shown below.
(2) Series wound.
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• Modified ZN (MZN). system, they select the value of kp, ki, kd. If the
• Cohen Coon (CC). model of the system is wrong the value of k p, ki, kd
• Chien Hrones Reswick (CHR) etc. will be wrong “Figure 6”. Therefore, these systems
are not always effective.
There are also many more tuning rules to Without depending on the reaction curve of the
determine the Kp, Ki, Kd values of PID. But these system and use modern optimization techniques that
rules have some limitations. They assumed the will automatically work with system errors and
system to be a first-order pulse dead time model. automatically update the gain. Then this problem
Depending on the reaction curve of the open-loop can be fixed.
In this block here added optimization block cause minimizes errors. Which is on the basis of
which is an additional block. A genetic algorithm objective function (TTSE).
can optimize a given error function to find the best First order plus Dead time (FOLDT) model:
suitable sets of gains for the PID controller. This Km e−STm
Gm (s) = (ii)
1+sTm
4.2 Proportional Integral Derivative (PID) performance table is the lowest. Integral squared
+Genetic Algorithm (GA) error (ISE) and integral absolute.
Genetic algorithm is the major category of Genetic algorithms can optimize a given error
evolutionary algorithms (EA) that creates function to find the best suitable sets of gains for the
resolutions to optimization difficulties by retaining PID controller. Objective Functions/ performance
methods stimulated by usual developments such as; indices used here is:
selection, inheritance, mutation and crossing. GA is Integral of Time times the Squared Error, ITSE =
∞
operated to decide on optimizing the rates of PID ∫0 te(t)2 dt. (iii)
controller gains for the selected BLDC motor It gives robustness to the controller as it does not
system. The controller is proposed to reduce the depend on the system model. Genetic algorithm is
error decrease of the output response with regard to an evolutionary optimization technique. This
the orientation signal. The error is computed equally optimization is inspired by genetic evolution in
in the performance table, achieved by reducing the animal world. It can minimize or maximize any
error among the unit step of input response. The objective function given.
physiognomies for the wanted performance are
typically stated in relation to time field amounts. The 4.3 Motor Models
performance of the control system is measured Here DC motor model transfer function
equally to the optimum “Figure 7”. If the parameters that has been collected from various references.
values of the PID controller are selected the
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 524
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0.01
Motor Model 1:t ∫ 1 (s) =
0.005s2 +0.06S+0.1001 0.067
Motor Model 4:t ∫ 4 (s) =
0.00113 s2 +0.0078854 S+0.0171
0.02
Motor Model 2:t ∫ 2 (s) =
0.008s2 +0.12S+0.004
These are the transfer function of our four motor
Motor Model 3: t ∫ 3 (s) =
0.972 models.
0.001488 s2 +0.2832 S+0.78341
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5 RESULTS AND DISCUSSION of the wellness of the best arrangement with era,
5.1 Proportional Integral Derivative (PID)+ where best arrangement is characterized as the
Ziegler Nichols (ZN) Vs. Proportional Integral one which gives least rise time, settling time,
Derivative (PID) + Genetic Algorithm (GA) zero overshoot and almost zero consistent zero
• The extent of Kp, Ki and Kd are picked between steady state error.
(0-100) separately.
0.01
• Estimations of Kp, Ki and Kd are plotted through For Motor Model 1: t ∫ 1 (s) =
0.005s2 +0.06S+0.1001
the objective function demonstrates the variety
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 526
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In this graph, the system is getting stable after almost 2.5s and it takes 2.5s to settle. In this comparison
if added a PID controller structure with this, then see a close loop response comparison.
Here blue curve is PID controller and red curve is GA+PID controller (proposed controller).
0.02
For Motor Model 2: t ∫ 2 (s) = 2
0.008s +0.12S+0.004
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 527
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DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 528
International Journal of Advances in Engineering and Management (IJAEM)
Volume 4, Issue 4 Apr 2022, pp: 519-536 www.ijaem.net ISSN: 2395-5252
In this graph, the system is unstable and if added a PID controller structure with this, then see a close loop response
comparison.
Here blue curve is PID controller and red curve is GA+PID controller (proposed controller).
0.972
For Motor Model 3: t ∫ 3 (s) = 2
0.001488 s +0.2832 S+0.78341
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 529
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In this graph, getting output is 1 but the model is giving 1.2 which means there is an error in the system and it
takes time to settle 1.5s.
Here blue curve is PID controller and red curve is GA+PID controller (proposed controller).
0.067
For Motor Model 4: t ∫ 4 (s) = 2
0.00113 s +0.0078854 S+0.0171
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 530
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In this graph, the systems getting output is 1 but model is giving almost 4 which mean there is a huge error in this
system and it takes time to settle almost 1.4s.
Here blue curve is PID controller and red curve is GA+PID controller (proposed controller).
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 531
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5.9 Step Response for Motor Model One, Two, Three and Four
There are four motor models used in this close loop response comparison. For motor model
study and they are motor models one, two, three and three, getting output is 1 but the model is giving 1.2
four. For motor model one, the system is getting which means there is an error in the system and it
stable after almost 2.5s and it takes 2.5s to settle. In takes time to settle to 1.5s. For motor model four,
this comparison, if added a PID controller structure the system getting output is 1 but the model is giving
with this, then see a close loop response comparison. almost 4 which means there is a huge error in this
For motor model two, the system is unstable and if system and it takes time to settle to almost 1.4s.
added a PID controller structure with this, then see a
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[6] PID Controller The author gets the best value of PID Controller for controlling the
speed of DC motor is proportional gain 𝐾𝑝 = 20, integral gain 𝐾𝑖 =
2.57, and derivative gain 𝐾𝑑 = 0.0235 with steady-state error =
0.53017, rise time= 0.0527, settling time = 0.097, overshoot = 0 and
the modification in the objective function will obtain the best and
consistent solution.
[17] Intelligent Control The author’s work on the subject highlights the idea, creation,
development and implementation of intelligent control and finally,
the results considering the application and development for the
purpose are presented exposed:
• To within the controller, a value is entered within a range of
1600 RPM to start control of engine speed.
• Achieving values of error of 3%, which is acceptable in a
practical manner.
[20] Intelligent Control The author’s work on the subject highlights the idea, creation,
development and implementation of intelligent control and finally,
the results considering the application and development for the
purpose are presented exposed:
• To the speed of the motor is slowed down only for about 270
rpm (9%) in 980 milliseconds under the effect of full load.
• The motor speed is hunting about 200 rpm (6.66%) in 900
milliseconds on unloading conditions.
[21] Genetic Algorithm The results obtained from the simulations clearly show the genetic
algorithm is used for integral absolute error, integral time-weighted
absolute error, integral square error, and integral time-weighted
square error. It is ascertained that; the proposed controller works very
well in all operating conditions than the other considered controllers.
[22] PID Controller The author gets the best value of PID Controller for controlling the
speed of DC motor is proportional gain 𝐾𝑝 = 5.0196, integral gain
𝐾𝑖 =80.8051, and derivative gain 𝐾𝑑 =0.0549 with steady-state error
=0.0763, rise time= 0.0527, settling time =0.116, overshoot = 0 and
the modification in the objective function will obtain the best and
consistent solution.
[24] DC Motors The results of experiments prove that the approach has lots of good
performances in response speed, control accuracy, adaptability and
robustness. The modification in the objective function will obtain the
best and most consistent solution.
DOI: 10.35629/5252-0404519536 Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 534
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associated with the genetic-based PID is much lesser [6]. Ma’arif, A., Nabila, H., & Wahyunggoro, O.
than the error calculated in the conventional scheme. (2019, November). Application of Intelligent
There are four motor models used in the study. For Search Algorithms in Proportional-Integral-
model one, the system is getting stable after almost Derivative Control of Direct-Current Motor
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