Model Reference Adaptive Controller without Integral (MRACWI) for Position Control of DC Motor

Mohd Hafiz A. Jalil, Rohaiza Hamdan, Silma Amy Fazira Abd Latif, Rafidah Ngadengon, Herdawatie Abd Kadir, Faridah Hanim Mohd Noh, Nurhani Kasuan

Abstract

A direct current (DC) motor is an important actuator and has been used extensively in many industries such as for positioning machines and robotic systems. Proper position regulation of DC motor is inherently important in the industry due to several factors such as the requirement for accurate positioning and safety measures. Therefore, this paper focuses on the development of model reference adaptive control without integral (MRACWI) to achieve a better position regulation of DC motor. Based on the results, it is shown that the MRACWI is capable to provide robust and precise performance in controlling the position of DC motor and produce better performance in terms of settling time, percentage overshoot and mean square error as compared with PID controller, standard MRAC and MRAC with sigma modification.

Keywords

ARX model; DC motor; Model reference adaptive control; PID controller; Position control.

Article Metrics

Abstract view : 105 times
PDF - 110 times

Full Text:

PDF

References

N. Kumar, H. Gupta and R. Choudhary, Analysis fuzzy self tuning of PID controller for DC motor drive, IJITKM, Special Issue, 148–152, 2014.

M. Namazov and O. Basturk, DC motor position control using fuzzy proportional-derivative controllers with different defuzzification methods, Turkish Journal of Fuzzy Systems, 1(1), 36–54, 2010.

K. Ghadge, S. More and P. Gaikwad, Robotic arm for pick and place application, International Journal of Mechanical Engineering and Technology, 9(1), 125–133, 2018.

L. Petrua and G. Mazen, PWM control of a DC motor used to drive a conveyor belt, Procedia Engineering, 100, 299–304, 2015.

M. A. Umoren, A. O. Essien and I. I. Ekpoudom, Design and implementation of conveyor line speed synchroniser for industrial control applications: A case study of champion’s breweries PLC, UYO, Nigerian Journal of Technology, 35(3), 618–626, 2016.

K. Sailan and K.-D. Kuhnert, DC motor angular position control using PID controller for the porpuse of controlling the hydraulic pump, International Conference on Control, Engineering & Information Technology, Sousse, Tunisia, 2013, pp. 22–26.

H. Ahmed and A. Rajoriya, Performance assesment of tuning methods for PID controller parameter used for position control of DC motor, International Journal of u-and e-Service, Science and Technology, 7, 139–150, 2014.

A. J. Humaidi, M. A. S. Mohammed and M. N. Mustafa, Design of L1-adaptive controller for single axis positioning table, Journal of Engineering, 23(11), 81–96, 2017.

G. Mamani, J. Becedas and V. F. Batlle, Robust position control of a DC motor by sliding mode, Doctoral Conference on Computing, Electrical and Industrial Systems, Costa de Caparica, Portugal, 2010, pp. 493–502.

A. Khanna and T. Gaur, Model predictive control of DC motor model in matlab, International Journal of Scientific & Engineering Research, 8(4), 82–85, 2017.

U. O. Patrick, E. P. Chigozie and S. N. Arinze, Model reference adaptive control (MRAC) scheme for eliminating over shoot in DC servomotor, International Journal of Advanced Research in IT and Engineering, 6(3), 14–30, 2017.

N. A. Dange and A. Pawar, Position control of servo motor using fuzzy logic controller, International Journal of Innovative Research in Science, Engineering and Technology, 5(4), 5278–5286, 2016.

A. Muhammad, On replacing PID controller with ANN controller for DC motor position control, International Journal of Research Studies in Computing, 2(1), 21–29, 2013.

C. Copot, C. I. Muresan and R. D. Keyser, Speed and position control of a DC motor using fractional order PI-PD control, 3rd International Conference on Fractional Signals and Systems, Ghent, Belgium, 2013, pp. 1–6.

S. P. Kumar, J. V. P. Chand and B. Pangedaih, Position control of DC motor by compensating strategies, International Journal of Engineering Research & Technology, 1(9), 1–7, 2012.

K. K. Wong, C. L. Hoo and M. H. H. Mohyi, Anti-windup PI controller, SIPIC For Motor Position Control, MATEC Web of Conferences, 152, 02022, 2018.

M. A. Rahman and S. M. Ali, Adaptive control of angular position & angular velocity for a DC motor with full state measureable, International Journal of Engineering Research and Applications, 3(4), 1782–1791, 2013.

J. Zahid, K. X. Khor, C. F. Yeong, E. L. M. Su and F. Duan, Adaptive control of DC motor for one-DOF rehabilitation robot, ELEKTRIKA, 16(3), 1–5, 2017.

T. Garikayi, S. Matope and D. V. D. Heever, Development of a model reference adaptive controller of the plantarflexion and dorsiflexion movements within the sagittal plane, International Conference on Chemical Engineering & Advanced Computational Technologies, Pretoria, South Africa, 2014, pp. 60–67.

G.-Q. Wu, S.-N. Wu, Y.-G. Bai and L. Liu, Experimental studies on model reference adaptive control with integral action employing a rotary encoder and tachometer sensors, Sensors, 13(4), 4742–2759, 2013.

K. B. Pathak and D. M. Adhyaru, MRAC based DC servo motor motion control, International Journal of Advanced Research in Engineering and Technology, 7(2), 53–63, 2016.

M. N. M. Salleh, N. Talpur and K. H. Talpur, A modified neuro-fuzzy system using metaheuristic approaches for data classification, Artificial Intelligence Emerging Trends and Applications, M. A. Aceves-Fernandez, Ed., 1st ed: IntechOpen, 2018.

N. Prljaca and A. Bjelic, Robust decentralized adaptive control of a quadrotor UAV, 23rd Mediterranean Conference on Control and Automation, Torremolinos, Spain, 2015, pp. 1–6.

A. J. Humaidi and A. H. Hameed, Robust MRAC for a wing rock phenomenon in delta wing aircrafts, AUT Journal of Modeling and Simulation, 49(1), 113–122, 2017.

A. D. Gaeta and U. Montanaro, Application of a robust model reference adaptive control algorithm to a nonlinear automotive actuator, International Journal of Automation and Computing, 11(4), 377–391, 2014.

D. E. Seborg, D. A. Mellichamp, T. F. Edgar and F. J. Doyle, Process Dynamics and Control, 3rd ed. United State of America: John Wiley & Sons, Inc., 2011.

S. Pankaj, J. S. Kumar and R. K. Nema, Comparative analysis of MIT rule and lyapunov rule in model reference adaptive control scheme, Innovative Systems Design and Engineering, 2(4), 154–162, 2011.

M. H. A. Jalil, M. N. Taib, M. H. F. Rahiman, R. Hamdan and M. H. Marzaki, Real time implementation of first order model reference adaptive control (MRAC) without integral on regulating temperature of glycerin bleaching process, ARPN Journal of Engineering and Applied Sciences, 10(22), 17158-17164, 2016.

M. H. A. Jalil, M. N. Taib, M. Rahiman, R. Hamdan and M. H. Marzaki, Robust adaptive control for temperature regulation of glycerin bleaching process, Advanced Science Letters, 23(6), 5515-5518, 2017

Refbacks

  • There are currently no refbacks.