Proportional-Integral-Derivative and Linear Quadratic Regulator Control of Direct Current Motor Position using Multi-Turn Based on LabView

Devi Handaya, Resti Fauziah

Abstract


This study accommodates the industry needs in monitoring a control system on a DC motor using LabView. The servomotor, which is usually used for position control, was replaced in this study with a DC motor coupled with a multi-turn potentiometer sensor. The use of DC motors was carried out to reduce actuator prices while maintaining control objectives. The control method used is in the form of Proportional – Integral - Derivative (PID) and optimal control which are then compared with the output. PID tuning is done using the Root Locus method. Meanwhile, for optimal control using the Linear Quadratic Regulation (LQR) approach. Testing was done by looking at the results of direct implementation of the DC motor plant hardware through observations using LabView. By using the right zero variables in the PID control, the best performance is obtained until it can track references. Too large a zero value will result in even greater Steady State Error. The results of optimal control using different Q variables did not provide a significant change. The SSE value shows the same result. The results show that the optimal control can track the reference with lower settling time and overshoot than the PID control. However, the two control methods still produce relatively small Steady State Error.

Keywords


labview, monitoring system, position control, PID, optimal, LQR

Full Text:

PDF

References


J. B. Wang, Control of Electric Machinery. Taiwan: Gau Lih. Book co., Ltd, 2001.

K. K. Tan and S. Zhao, “Precision motion control with a high gain disturbance compensator for linear motors,” ISA Trans., vol. 43, no. 3, pp. 399–412, 2004, doi: 10.1016/s0019-0578(07)60157-8.

M. Ali, “Kontrol Kecepatan Motor DC Menggunakan PID Kontroler Yang Ditunning Dengan Firefly Algorithm,” Intake J. Penelit. Ilmu Tek. Dan Terap., vol. 3, no. 2, pp. 1–10, 2012.

R. M. K. Hummadi and A. Hummadi, “Simulation of Optimal Speed Control for a DC Motor Using Linear Quadratic Regulator,” J. Eng., vol. 18, no. 3, pp. 340–349, 2012.

M. Khalilpour, H. H. Razmjooy, N., and P. Moallem, “Optimal Control of DC motor using Invasive Weed Optimization (IWO) Algorithm,” Majlesi Conf. Electr. Eng., no. January, pp. 1–7, 2011.

Y. Y. Hsu and W. C. Chan, “Optimal Variable-Structure Controller for Dc Motor Speed Control.,” IEE Proc. D Control Theory Appl., vol. 131, no. 6 pt D, pp. 233–237, 1984, doi: 10.1049/ip-d.1984.0039.

T. Abut, “Modeling and Optimal Control of a DC Motor,” Int. J. Eng. Trends Technol., vol. 32, no. 3, pp. 146–150, 2016, doi: 10.14445/22315381/ijett-v32p227.

R. A. Michurin and A. Schagin, “Increase the accuracy of the DC motor control system with a linear-quadratic regulator,” Proc. 2018 IEEE Conf. Russ. Young Res. Electr. Electron. Eng. ElConRus 2018, vol. 2018-Janua, no. 1, pp. 1746–1749, 2018, doi: 10.1109/EIConRus.2018.8317443.

R. A. Osornio, “Identification of Positioning System for Industrial Applications using Neural Network,” J. Sci. Ind. Res., vol. 76, no. 3, p. 144, 2017.

H. Hou, X. Yu, L. Xu, K. Rsetam, and Z. Cao, “Finite-time continuous terminal sliding mode control of servo motor systems,” IEEE Trans. Ind. Electron., vol. 67, no. 7, pp. 5647–5656, 2020, doi: 10.1109/TIE.2019.2931517.

H. M. Flieh, R. D. Lorenz, E. Totoki, S. Yamaguchi, and Y. Nakamura, “Investigation of Different Servo Motor Designs for Servo Cycle Operations and Loss Minimizing Control Performance,” IEEE Trans. Ind. Appl., vol. 54, no. 6, pp. 5791–5801, 2018, doi: 10.1109/TIA.2018.2849725.

W. R. Y. A. Prasetya and I. W. Widhiada, “Implementasi Sistem Kontrol Fuzzy pada Robot Lengan Exoskeleton,” J. METTEK, vol. 4, no. 2, p. 54, 2018, doi: 10.24843/mettek.2018.v04.i02.p04.

D. Rawat, K. Bansal, and A. K. Pandey, LQR and PID design technique for an electric furnace temperature control system, vol. 479. 2017.

A. Durdu and E. H. Dursun, “Sliding mode control for position tracking of servo system with a variable loaded DC motor,” Elektron. ir Elektrotechnika, vol. 25, no. 4, pp. 8–16, 2019, doi: 10.5755/j01.eie.25.4.23964.

M. E. F. Moran and N. A. P. Viera, “Comparative study for DC motor position controllers,” 2017 IEEE 2nd Ecuador Tech. Chapters Meet. ETCM 2017, vol. 2017-Janua, pp. 1–6, 2018, doi: 10.1109/ETCM.2017.8247475.

T. H. Mohamed, M. A. M. Alamin, and A. M. Hassan, “Adaptive position control of a cart moved by a DC motor using integral controller tuned by Jaya optimization with Balloon effect,” Comput. Electr. Eng., vol. 87, no. September 2019, p. 106786, 2020, doi: 10.1016/j.compeleceng.2020.106786.

A. Hashim and O. Ahmed, “Optimal Speed Control for Direct Current Motors Using Linear Quadratic Regulator,” J. Sci. Technol. -Engineering Comput. Sci., vol. 14, no. 2, pp. 48–56, 2013.

D. Handaya, R. Fauziah, and T. Listyorini, “Real-time Monitoring System Using LabView for DC Motor Position Control Embedded System with PID and Pole Placement Control,” pp. 375–381, 2019, doi: 10.4108/eai.24-10-2018.2280595.

H. S. S. Siregar and R. M. S. Adinandra, “Model Predictive Control (MPC) untuk Sistem Motor DC Berbasis LabVIEW,” Stud. Syst. Decis. Control, p. 18, 2018.

T. Nagarjuna, K. Nehru, G. Nagendra Prasad, and N. Menakadevi, “Smart sensor network based high quality air pollution monitoring system using labview,” Int. J. Online Eng., vol. 13, no. 8, pp. 79–87, 2017, doi: 10.3991/ijoe.v13i08.7161.

R. M. Shrenika, S. S. Chikmath, A. V. Ravi Kumar, Y. V. Divyashree, and R. K. Swamy, “Non-contact Water Level Monitoring System Implemented Using LabVIEW and Arduino,” Proc. - 2017 Int. Conf. Recent Adv. Electron. Commun. Technol. ICRAECT 2017, pp. 306–309, 2017, doi: 10.1109/ICRAECT.2017.51.

M. John, A. Joseph, and D. Vasanthi, “Design and implementation of low cost multichannel data acquisition hardware for computer aided measurement,” Proc. - TIMA 2017 9th Int. Conf. Trends Ind. Meas. Autom., 2017, doi: 10.1109/TIMA.2017.8064805.

P. M. Gavhane, D. S. Sutrave, V. D. Bachuwar, S. D. Gothe, and P. S. Joshi, “Smart Turbidity Monitoring and Data Acquisition using LabVIEW,” J. Xidian Univ., vol. 14, no. 5, pp. 22–30, 2020, doi: 10.37896/jxu14.5/290.

E. A. El-Behiry, E. S. S. Ahmed, and T. Mahmoud, “Real-Time Wireless Control for a Data Acquisition-Based Micro-Computer System,” J. Electron. Mater., vol. 48, no. 8, pp. 4762–4772, 2019, doi: 10.1007/s11664-019-07324-1.

W. P. S. Freitas, C. R. Cena, D. C. B. Alves, and A. M. B. Goncalves, “Arduino-based experiment demonstrating Malus’s law,” Phys. Educ., vol. 53, no. 3, 2018, doi: 10.1088/1361-6552/aab43d.

D. Parras-Burgos, A. Gea-Martínez, L. Roca-Nieto, D. G. Fernández-Pacheco, and F. J. F. Cañavate, “Prototype system for measuring and analyzing movements of the upper limb for the detection of occupational hazards,” Sensors (Switzerland), vol. 20, no. 17, pp. 1–17, 2020, doi: 10.3390/s20174993.

Y. Naung, A. Schagin, H. L. Oo, K. Z. Ye, and Z. M. Khaing, “Implementation of Data Driven Control System of.pdf,” pp. 1801–1804, 2018.

A. Arda Ozdemir and S. Gumussoy, “Transfer Function Estimation in System Identification Toolbox via Vector Fitting,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 6232–6237, 2017, doi: 10.1016/j.ifacol.2017.08.1026.

Q. G. Wang, T. H. Lee, H. W. Fung, Q. Bi, and Y. Zhang, “PID tuning for improved performance,” IEEE Trans. Control Syst. Technol., vol. 7, no. 4, pp. 457–465, 1999, doi: 10.1109/87.772161.

U. Badri, Kontrol Optimal Pada Motor DC Menggunakan Metode Linear Quadratic Regulator. Surabaya: ITS, 2012.

Ilham, “Kendali Linear Quadratic Regulator ( LQR ) Pada Motor Induksi 3 Phasa dengan Direct Torque Control ( DTC ),” J. Teknol. Inf. dan Komun., vol. 4, no. 2, pp. 45–52, 2014.

G. F. Franklin, D. J. Powell, and A. Emami, Feedback Control of Dynamic Systems, 6th ed., vol. 6, no. 3. London: Pearson Education Ltd., 2010.


Article Metrics

Abstract view : 52 times
PDF - 52 times

Refbacks

  • There are currently no refbacks.


Copyright (c) 2020 Journal of Robotics and Control (JRC)

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

_____________________________________________________________________

Abstracted/Indexed by:

 

 

 

_____________________________________________________________________


Journal of Robotics and Controls (JRC)
P-ISSN: 2715-5056 || E-ISSN: 2715-5072
Organized by Lembaga Penelitian, Publikasi & Pengabdian Masyarakat UMY, Yogyakarta, Indonesia
Published by Universitas Muhammadiyah Yogyakarta, Yogyakarta, Indonesia
Website: http://journal.umy.ac.id/index.php/jrc
Email: jrc@umy.ac.id || jrcofumy@gmail.com
_____________________________________________________________________

Creative Commons License

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

 

View JRC Stats