Implementation of ACO Tuned Modified PI-like Position and Speed Control of DC Motor: An Application to Electric Vehicle
The modified PI-like control scheme has been derived from classic Internal Model Control (IMC), having two tuning parameters namely controller gain Kc and reset time τI. The controller action resembles like PI control action with inherent reset windup protection and dead time compensation, except the inverse of the process model gain is set as controller gain and dominant time constant of the process model set as reset time. The controller structure is feasible enough to implement in hardware. When an accurate process model is not available, the metaheuristic algorithms like Ant Colony Optimization (ACO) is applied to find the optimal tuning parameters. The performance of proposed control scheme for both speed control and position tracking is compared and analyzed under different operating conditions with well-known Proportional-Velocity (PV) control scheme and Two-Degree-of-Freedom (2-DoF) PID structure. The experimental evaluations have been demonstrated via computer-interfaced QUBE-servo DC Motor through Hardware in Loop (HiL) implementation.
KeywordsModified PI-like 2-DoF QUBE-servo DC motor IAE ISE ACO
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