Turkish Journal of Electrical Engineering and Computer Sciences
Abstract
This paper presents an adaptive collaborative speed controller for a permanent magnet direct-current (PMDC) motor. The proposed scheme beneficially combines the control efforts of a proportional-integral (PI) controller and a linear-quadratic regulator (LQR) via a weighted summing module. Initially, the weightages of the summing module are kept fixed. They are optimally tuned and tested via the particle swarm optimization algorithm. In order to synergize the controller combination, these weightages are adaptively modulated as well, using hyperbolic secant functions of the error dynamics of the motor's angular speed. The adaptive combination renders significant enhancement in the transient response, steady-state response, input-energy consumption, disturbance rejection, and variable load-torque handling capability of the motor. The adaptive-weighted controller is tested against the PI controller, the LQR, and a fixed-weighted collaborative controller via `hardware-in-the-loop' experiments. The experimental results are presented to validate the robustness of the adaptive controller.
DOI
10.3906/elk-1709-54
Keywords
PMDC motor, linear-quadratic regulator, PI controller, adaptive-weighted control, particle swarm optimization, hyperbolic secant function
First Page
1612
Last Page
1622
Recommended Citation
SALEEM, OMER and MAHMOOD-UL-HASAN, KHALID
(2018)
"Adaptive collaborative speed control of PMDC motor using hyperbolic secant functions and particle swarm optimization,"
Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 26:
No.
3, Article 39.
https://doi.org/10.3906/elk-1709-54
Available at:
https://journals.tubitak.gov.tr/elektrik/vol26/iss3/39
Included in
Computer Engineering Commons, Computer Sciences Commons, Electrical and Computer Engineering Commons
