Double control loop for adjusting position and speed in a direct current motor
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Mar 16, 2012
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Abstract
This paper presents the design and implementation process of a speed and position control for a direct current motor using double loop and four algorithms: classical PID, fuzzy PID, fuzzy, and a heuristic-based nonlinear PID, which is proposed by the authors. There is a special emphasis on the development of the power stage, the development of algorithms for measuring variables, the modeling stage and, finally, the real time control using Matlab.
Keywords
Control of speed and position, PID controllers (LC), fuzzy control, nonlinear control theoryControl de velocidad y posición, controlador PID, control difuso, teoría del control no lineal
References
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ASAN, Y.; MOHAMED, E. y OMAR, S. Wavelet network-based motion control of DC motors. Expert Systems with Applications. Elseviere. 2010, vol. 37. pp. 1522-1527.
BEN-BRAHIM, L.; BENAMMAR, M. y ALHAMADI, M. A. A resolver angle estimator based on its excitation signal. IEEE transactions on industrial electronics. 2009, vol. 56, núm. 2, pp. 574-580.
BENKHORIS, M. y AIT-AHMED, M. Discrete speed estimation from a position encoder for motor drives. Power Electronics and Variable Speed Drives, 1996. Sixth International Conference on (Conf. Publ. No. 429). Nottingham, 23-25 de septiembre, 1996, pp. 283-287.
BOGGARPU, N. K. y KAVANAGH, R. C. New learning algorithm for high-quality velocity measurement from low-cost optical encoders. Instrumentation and Measurement Technology Conference Proceedings, 2008. IMTC 2008, IEEE. Victoria, Vancouver Island, British Columbia, Canada, 12-15 mayo 2008, pp. 1908-1913.
BOUKAS, T. K. y HABETLER, T. G. High-performance induction motor speed control using exact feedback linearization with state and state derivative feedback. Power Electronics, IEEE Transactions on. 2004, vol. 19, núm 4, pp. 1022-1028.
BRICKWEDDE, A. Microprocessor-based adaptive speed and position control for electrical drives. Industry Applications, IEEE Transactions on. 1985, IA-21, vol. 5, pp. 1154-1161.
BROWN, R.; SCHNEIDER, S. y MULLIGAN. M. Analysis of algorithms for velocity estimation from discrete position versus time data. Industrial Electronics, IEEE Transactions on. 1992, vol. 39, núm. 1, pp. 11-19.
CHUN-FEI, H. y BOREE-KUEN, L. FPGA-based adaptive PID control of a DC motor driver via sliding-mode approach. En: Expert Systems with Applications. s. l.: Elsevier, 2011 (in press).
EL RIFAI, K. Nonlinearly parameterized adaptive PID control for parallel and series realizations. American Control Conference, 2009. ACC ‘09. St. Louis, MO, 10-12 junio 2009, pp. 5150-5155.
FULMEK, P. et al. Capacitive sensor for relative angle measurement. IEEE Transactions on Instrumentation and Measurement. 2002, vol. 51, núm 6, pp. 1145-1149.
GERASIMOS, R. Particle and Kalman filtering for state estimation and control of DC motors. ISA Transactions. 2009, vol. 48. pp. 62-72.
GEVERS, M. Identification for control. From the early achievements to the revival of experiment design. Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC ‘05. 44th IEEE Conference on. Sevilla, España, 12-15 diciembre 2005, pp. 1-18.
JOHNSON, E.; OH, S.-M. Adaptive control using combined online and background learning neural network. 43rd IEEE Conference on Decision and Control. Atlantis, Paradise Island, Bahamas, 14-17 diciembre 2004, pp. 5433-5438.
KIM, N.; HUH, U. y KIM, J. Fuzzy position control of motor plant with backlash. Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE. Busan, Korea. 2-6 noviembre 2004, vol. 3, pp. 3190-3195.
LIU, C.; XU, J. y HANG, C. Comparison between a fuzzy PID controller and a kind of nonlinear PID controller. Decision and Control, 1997, Proceedings of the 36th IEEE Conference on. San Diego, CA, 10-12 diciembre, 1997, vol. 3, pp. 2736-2741.
LIU, G. On velocity estimation using position measurements. American Control Conference. Anchorage, AK, 8-10 mayo 2002, vol. 2, pp. 1115-1120.
MURUGANANDAM, M. y MADHESWARAN, M. Modeling and simulation of modified fuzzy logic controller for various types of DC motor drives. Control, Automation, Communication and Energy Conservation, 2009. INCACEC 2009. 2009 International Conference on. Perundurai, Tamilnadu, 4-6 junio 2009, pp. 1-6.
RAIRÁN, J. y FONSECA, J. Algoritmos para la medición de posición y velocidad angular, a partir de un encoder incremental. 2 Congreso Internacional de Ingeniería Mecatrónica-UNAB. Bucaramanga, Colombia, 30 septiembre, 1 y 2 octubre 2009, pp. 1-6.
RAIRÁN, J.; MATEUS, A. y GUERRERO, C. Diseño de controladores de tipo proporcional integral derivativo (PID) y difuso para la posición de un motor de corriente continua (DC). Ingeniaría y Universidad. 2010, vol. 14, núm 1, pp. 137-160.
RAIRÁN, J.; SIERRA, Y. y MORENO, N. Implementación de dos estrategias de control para la velocidad de un motor DC. Revista Ingeniería e Investigación. 2009, vol. 29, núm. 2, pp. 100-106.
RALPH, Kl. Encoders for simultaneous sensing of position and speed in electrical drives with digital control. IEEE Transactions on Industry Applications. 2007, vol. 43, núm. 6, pp. 1572-1577.
REYES, J.; ASTORGA, C.; ADAM, M. y GUERRERO, G. Bounded neuro-control position regulation for a geared DC motor. Engineering Applications of Artificial Intelligence. 2010, vol. 23, pp. 1398-1407.
RUBAAI, A.; CASTRO, M. y OFOLI, A. Design and implementation of parallel fuzzy PID controller for high-performance brushless motor drives. An integrated environment for rapid control prototyping. Industry Applications, IEEE Transactions on. 2008, vol. 44, núm. 4, pp. 1090-1098.
RUBAAI, A.; RICKETTS, D. y KANKAM, M. D. Experimental evaluation of a fuzzy logicbased controller for high performance brushless DC motor drives. Industry Applications Conference, 2000. Conference Record of the 2000 IEEE. vol. 2. Roma, Italia, 8-12 octubre 2000, pp. 1299-1305.
SAZAWA, M.; OHISHI, K. y KATSURA, S. High speed positioning servo system using integrator correction of PI controller based on disturbance observer. Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE. Orlando, FL, 10-13 noviembre 2008, pp. 2539-2544.
SEN, P. Electric motor drives and control. Past, present and future. IEEE Transaction on Industrial Electronics. 1990, vol. 37, núm. 6, pp. 562-575.
ASAN, Y.; MOHAMED, E. y OMAR, S. Wavelet network-based motion control of DC motors. Expert Systems with Applications. Elseviere. 2010, vol. 37. pp. 1522-1527.
BEN-BRAHIM, L.; BENAMMAR, M. y ALHAMADI, M. A. A resolver angle estimator based on its excitation signal. IEEE transactions on industrial electronics. 2009, vol. 56, núm. 2, pp. 574-580.
BENKHORIS, M. y AIT-AHMED, M. Discrete speed estimation from a position encoder for motor drives. Power Electronics and Variable Speed Drives, 1996. Sixth International Conference on (Conf. Publ. No. 429). Nottingham, 23-25 de septiembre, 1996, pp. 283-287.
BOGGARPU, N. K. y KAVANAGH, R. C. New learning algorithm for high-quality velocity measurement from low-cost optical encoders. Instrumentation and Measurement Technology Conference Proceedings, 2008. IMTC 2008, IEEE. Victoria, Vancouver Island, British Columbia, Canada, 12-15 mayo 2008, pp. 1908-1913.
BOUKAS, T. K. y HABETLER, T. G. High-performance induction motor speed control using exact feedback linearization with state and state derivative feedback. Power Electronics, IEEE Transactions on. 2004, vol. 19, núm 4, pp. 1022-1028.
BRICKWEDDE, A. Microprocessor-based adaptive speed and position control for electrical drives. Industry Applications, IEEE Transactions on. 1985, IA-21, vol. 5, pp. 1154-1161.
BROWN, R.; SCHNEIDER, S. y MULLIGAN. M. Analysis of algorithms for velocity estimation from discrete position versus time data. Industrial Electronics, IEEE Transactions on. 1992, vol. 39, núm. 1, pp. 11-19.
CHUN-FEI, H. y BOREE-KUEN, L. FPGA-based adaptive PID control of a DC motor driver via sliding-mode approach. En: Expert Systems with Applications. s. l.: Elsevier, 2011 (in press).
EL RIFAI, K. Nonlinearly parameterized adaptive PID control for parallel and series realizations. American Control Conference, 2009. ACC ‘09. St. Louis, MO, 10-12 junio 2009, pp. 5150-5155.
FULMEK, P. et al. Capacitive sensor for relative angle measurement. IEEE Transactions on Instrumentation and Measurement. 2002, vol. 51, núm 6, pp. 1145-1149.
GERASIMOS, R. Particle and Kalman filtering for state estimation and control of DC motors. ISA Transactions. 2009, vol. 48. pp. 62-72.
GEVERS, M. Identification for control. From the early achievements to the revival of experiment design. Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC ‘05. 44th IEEE Conference on. Sevilla, España, 12-15 diciembre 2005, pp. 1-18.
JOHNSON, E.; OH, S.-M. Adaptive control using combined online and background learning neural network. 43rd IEEE Conference on Decision and Control. Atlantis, Paradise Island, Bahamas, 14-17 diciembre 2004, pp. 5433-5438.
KIM, N.; HUH, U. y KIM, J. Fuzzy position control of motor plant with backlash. Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE. Busan, Korea. 2-6 noviembre 2004, vol. 3, pp. 3190-3195.
LIU, C.; XU, J. y HANG, C. Comparison between a fuzzy PID controller and a kind of nonlinear PID controller. Decision and Control, 1997, Proceedings of the 36th IEEE Conference on. San Diego, CA, 10-12 diciembre, 1997, vol. 3, pp. 2736-2741.
LIU, G. On velocity estimation using position measurements. American Control Conference. Anchorage, AK, 8-10 mayo 2002, vol. 2, pp. 1115-1120.
MURUGANANDAM, M. y MADHESWARAN, M. Modeling and simulation of modified fuzzy logic controller for various types of DC motor drives. Control, Automation, Communication and Energy Conservation, 2009. INCACEC 2009. 2009 International Conference on. Perundurai, Tamilnadu, 4-6 junio 2009, pp. 1-6.
RAIRÁN, J. y FONSECA, J. Algoritmos para la medición de posición y velocidad angular, a partir de un encoder incremental. 2 Congreso Internacional de Ingeniería Mecatrónica-UNAB. Bucaramanga, Colombia, 30 septiembre, 1 y 2 octubre 2009, pp. 1-6.
RAIRÁN, J.; MATEUS, A. y GUERRERO, C. Diseño de controladores de tipo proporcional integral derivativo (PID) y difuso para la posición de un motor de corriente continua (DC). Ingeniaría y Universidad. 2010, vol. 14, núm 1, pp. 137-160.
RAIRÁN, J.; SIERRA, Y. y MORENO, N. Implementación de dos estrategias de control para la velocidad de un motor DC. Revista Ingeniería e Investigación. 2009, vol. 29, núm. 2, pp. 100-106.
RALPH, Kl. Encoders for simultaneous sensing of position and speed in electrical drives with digital control. IEEE Transactions on Industry Applications. 2007, vol. 43, núm. 6, pp. 1572-1577.
REYES, J.; ASTORGA, C.; ADAM, M. y GUERRERO, G. Bounded neuro-control position regulation for a geared DC motor. Engineering Applications of Artificial Intelligence. 2010, vol. 23, pp. 1398-1407.
RUBAAI, A.; CASTRO, M. y OFOLI, A. Design and implementation of parallel fuzzy PID controller for high-performance brushless motor drives. An integrated environment for rapid control prototyping. Industry Applications, IEEE Transactions on. 2008, vol. 44, núm. 4, pp. 1090-1098.
RUBAAI, A.; RICKETTS, D. y KANKAM, M. D. Experimental evaluation of a fuzzy logicbased controller for high performance brushless DC motor drives. Industry Applications Conference, 2000. Conference Record of the 2000 IEEE. vol. 2. Roma, Italia, 8-12 octubre 2000, pp. 1299-1305.
SAZAWA, M.; OHISHI, K. y KATSURA, S. High speed positioning servo system using integrator correction of PI controller based on disturbance observer. Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE. Orlando, FL, 10-13 noviembre 2008, pp. 2539-2544.
SEN, P. Electric motor drives and control. Past, present and future. IEEE Transaction on Industrial Electronics. 1990, vol. 37, núm. 6, pp. 562-575.
How to Cite
Rairán-Antolines, J. D., & Fonseca-Gómez, J. M. (2012). Double control loop for adjusting position and speed in a direct current motor. Ingenieria Y Universidad, 15(2). https://doi.org/10.11144/Javeriana.iyu15-2.dlcp
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