EKF-based self-regulation of an adaptive nonlinear PI speed controller for a DC motor

Authors : Omer SALEEM, Urwa OMER

Pages : 4131-4141

View : 15 | Download : 9

Publication Date : 0000-00-00

Article Type : Research Paper

Abstract :This paper presents a robust adaptive nonlinear proportional--integral insert ignore into journalissuearticles values(ANPI); scheme to control the speed of a direct-current insert ignore into journalissuearticles values(DC); motor. Unlike proportional--integral--derivative insert ignore into journalissuearticles values(PID); controllers, PI controllers have a simpler structure and they deliver effective control effort. However, due to inadequate controller gains, they are often unable to simultaneously improve the transient as well as the steady-state response of the system. A nonlinear PI insert ignore into journalissuearticles values(NPI); controller alleviates these issues and delivers a good response. In this research, the proportional and integral gains of the NPI controller are dynamically modulated via a nonlinear sigmoidal function insert ignore into journalissuearticles values(SiF); of the error dynamics of the motor`s angular speed. The variation rates of these functions are manually tuned via trial-and-error method. These rates are also dynamically updated via an extended Kalman filter insert ignore into journalissuearticles values(EKF);-based adaptation mechanism. The performances of a linear PI controller, an NPI controller having fixed variation rates, and an NPI controller equipped with the EKF-based self-regulated SiFs are tested and compared in real time. The experimental results are analyzed to validate the effectiveness of the proposed ANPI controller in optimizing DC motor speed control.
Keywords : DC motor, NPI control, sigmoidal function, self tuning controllers, EKF