TY - GEN
T1 - Design and implementation of adaptive PID controller for speed control of DC motor
AU - Sahputro, Suwandi Dwi
AU - Fadilah, Fahmi
AU - Wicaksono, Nanda Avianto
AU - Yusivar, Feri
N1 - Funding Information:
Thanks to the Universitas Indonesia, which has funded this paper via grants Publikasi International Terindeks untuk Tugas Akhir Mahasiswa UI (PITTA) 2017.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/5
Y1 - 2017/12/5
N2 - This paper describes the design and implementation of adaptive PID control strategy for controlling the angular velocity of the DC motor. Adaptive PID controller is designed to calculate the control parameters which are tuned adaptively to give desired control performance even if parameters of DC Motor are changed. The controller's parameters are online tuned when the motor is running using a Recursive Least Squares (RLS) method. The controller is able to change the value of the controller's constants to maintain motor performance as it is desired when parameters of DC motor are changed. Initially a Pseudo Random Binary Sequence (PRBS) signal is given to the system for 0.07 seconds to get the estimated transfer function of the plant system (DC motor) using the RLS algorithm. From coefficients of the estimated system's transfer function, the poles of a desired characteristic equation can be obtained for the system that has the appropriate output. Thus, the proportional, integral and derivative constants of controller can be obtained by using online pole placement method. Here, an online identification system is used to determine the new control parameters. The effectiveness of this adaptive PID controller is verified by experimental results using a microcontroller STM32F446.
AB - This paper describes the design and implementation of adaptive PID control strategy for controlling the angular velocity of the DC motor. Adaptive PID controller is designed to calculate the control parameters which are tuned adaptively to give desired control performance even if parameters of DC Motor are changed. The controller's parameters are online tuned when the motor is running using a Recursive Least Squares (RLS) method. The controller is able to change the value of the controller's constants to maintain motor performance as it is desired when parameters of DC motor are changed. Initially a Pseudo Random Binary Sequence (PRBS) signal is given to the system for 0.07 seconds to get the estimated transfer function of the plant system (DC motor) using the RLS algorithm. From coefficients of the estimated system's transfer function, the poles of a desired characteristic equation can be obtained for the system that has the appropriate output. Thus, the proportional, integral and derivative constants of controller can be obtained by using online pole placement method. Here, an online identification system is used to determine the new control parameters. The effectiveness of this adaptive PID controller is verified by experimental results using a microcontroller STM32F446.
KW - DC motor
KW - PID controller
KW - STM32F446
KW - adaptive controller
KW - recursive least square
UR - http://www.scopus.com/inward/record.url?scp=85045908961&partnerID=8YFLogxK
U2 - 10.1109/QIR.2017.8168478
DO - 10.1109/QIR.2017.8168478
M3 - Conference contribution
AN - SCOPUS:85045908961
T3 - QiR 2017 - 2017 15th International Conference on Quality in Research (QiR): International Symposium on Electrical and Computer Engineering
SP - 179
EP - 183
BT - QiR 2017 - 2017 15th International Conference on Quality in Research (QiR)
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Quality in Research: International Symposium on Electrical and Computer Engineering, QiR 2017
Y2 - 24 July 2017 through 27 July 2017
ER -