The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
Analysis & Control of Inverted Pendulum System Using PID ControllerIJERA Editor
This Analysis designs a two-loop proportional–integral–derivative (PID) controller for an inverted cart– pendulum system via pole placement technique, where the (dominant) closed-loop poles to be placed at the desired locations are obtained from an Linear quadratic regulator (LQR) design. It is seen that in addition to yielding better responses (because of additional integral action) than this LQR (equivalent to two-loop PD controller) design, the proposed PID controller is robust enough. The performance and of the PID compensation are verified through simulations as well as experiments.
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects because it provides a straight motion directly without mediate mechanical actuators. Some control methods for PLM based on Rotational Motor are applied to obtain several good performances, but position and velocity constraints which are important in real systems are ignored. In this paper, we analysis control problem of tracking position in PLM under state-independent disturbances via min-max model predictive control. The proposed controller brings tracking position error converge to zero and satisfies state including position and velocity and input constraints. The simulation results validity a good efficiency of the proposed controller.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
Performance Analysis of a DTC and SVM Based Field- Orientation Control Induct...IJPEDS-IAES
This study presents a performance analysis of two most popular control strategies for Induction Motor (IM) drives: direct torque control (DTC) and space vector modulation (SVM) strategies. The performance analysis is done by applying field-orientation control (FOC) technique because of its good dynamic response. The theoretical principle, simulation results are discussed to study the dynamic performances of the drive system for individual control strategies using actual parameters of induction motor. A closed loop PI controller scheme has been used. The main purpose of this study is to minimize ripple in torque response curve and to achieve quick speed response as well as to investigate the condition for optimum performance of induction motor drive. Depending on the simulation results this study also presents a detailed comparison between direct torque control and space vector modulation based field-orientation control method for the induction motor drive.
Real Time Implementation of Fuzzy Adaptive PI-sliding Mode Controller for Ind...IJECEIAES
In this work, a fuzzy adaptive PI-sliding mode control is proposed for Induction Motor speed control. First, an adaptive PI-sliding mode controller with a proportional plus integral equivalent control action is investigated, in which a simple adaptive algorithm is utilized for generalized soft-switching parameters. The proposed control design uses a fuzzy inference system to overcome the drawbacks of the sliding mode control in terms of high control gains and chattering to form a fuzzy sliding mode controller. The proposed controller has implemented for a 1.5kW three-Phase IM are completely carried out using a dSPACE DS1104 digital signal processor based real-time data acquisition control system, and MATLAB/Simulink environment. Digital experimental results show that the proposed controller can not only attenuate the chattering extent of the adaptive PI-sliding mode controller but can provide high-performance dynamic characteristics with regard to plant external load disturbance and reference variations.
In this paper, the design of a speed control scheme based on a total sliding mode control for Indirect Field Oriented of a three phase induction motor (IM) is proposed. Firstly, the indirect field oriented control is derived. Then, sliding mode control design is investigated to achieve a speed tracking objective under different load torque disturbance. Finally a dSPACE DS1104 R&D board is used to implement the proposed scheme. The experimental results released on 0.25 kW slip-ring IM show a high dynamic performance, fast transient response without overshot as well as a good load disturbances rejection response.
Analysis & Control of Inverted Pendulum System Using PID ControllerIJERA Editor
This Analysis designs a two-loop proportional–integral–derivative (PID) controller for an inverted cart– pendulum system via pole placement technique, where the (dominant) closed-loop poles to be placed at the desired locations are obtained from an Linear quadratic regulator (LQR) design. It is seen that in addition to yielding better responses (because of additional integral action) than this LQR (equivalent to two-loop PD controller) design, the proposed PID controller is robust enough. The performance and of the PID compensation are verified through simulations as well as experiments.
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects because it provides a straight motion directly without mediate mechanical actuators. Some control methods for PLM based on Rotational Motor are applied to obtain several good performances, but position and velocity constraints which are important in real systems are ignored. In this paper, we analysis control problem of tracking position in PLM under state-independent disturbances via min-max model predictive control. The proposed controller brings tracking position error converge to zero and satisfies state including position and velocity and input constraints. The simulation results validity a good efficiency of the proposed controller.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
Performance Analysis of a DTC and SVM Based Field- Orientation Control Induct...IJPEDS-IAES
This study presents a performance analysis of two most popular control strategies for Induction Motor (IM) drives: direct torque control (DTC) and space vector modulation (SVM) strategies. The performance analysis is done by applying field-orientation control (FOC) technique because of its good dynamic response. The theoretical principle, simulation results are discussed to study the dynamic performances of the drive system for individual control strategies using actual parameters of induction motor. A closed loop PI controller scheme has been used. The main purpose of this study is to minimize ripple in torque response curve and to achieve quick speed response as well as to investigate the condition for optimum performance of induction motor drive. Depending on the simulation results this study also presents a detailed comparison between direct torque control and space vector modulation based field-orientation control method for the induction motor drive.
Real Time Implementation of Fuzzy Adaptive PI-sliding Mode Controller for Ind...IJECEIAES
In this work, a fuzzy adaptive PI-sliding mode control is proposed for Induction Motor speed control. First, an adaptive PI-sliding mode controller with a proportional plus integral equivalent control action is investigated, in which a simple adaptive algorithm is utilized for generalized soft-switching parameters. The proposed control design uses a fuzzy inference system to overcome the drawbacks of the sliding mode control in terms of high control gains and chattering to form a fuzzy sliding mode controller. The proposed controller has implemented for a 1.5kW three-Phase IM are completely carried out using a dSPACE DS1104 digital signal processor based real-time data acquisition control system, and MATLAB/Simulink environment. Digital experimental results show that the proposed controller can not only attenuate the chattering extent of the adaptive PI-sliding mode controller but can provide high-performance dynamic characteristics with regard to plant external load disturbance and reference variations.
In this paper, the design of a speed control scheme based on a total sliding mode control for Indirect Field Oriented of a three phase induction motor (IM) is proposed. Firstly, the indirect field oriented control is derived. Then, sliding mode control design is investigated to achieve a speed tracking objective under different load torque disturbance. Finally a dSPACE DS1104 R&D board is used to implement the proposed scheme. The experimental results released on 0.25 kW slip-ring IM show a high dynamic performance, fast transient response without overshot as well as a good load disturbances rejection response.
PID Controller Design for a Real Time Ball and Beam System – A Double Integra...idescitation
In this paper, the authors have discussed and shown
how to tune the PID controller in closed loop with time-delay
for the double integrator systems for a particular stability
margins. In math model it is assumed that time delay (ô) of
the plant is known. As a case study the authors have consid-
ered the mathematical model of the real-time beam and ball
system and analyzed the simulation and real time response.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...csandit
This paper presents PID controller with feed-forward control. The cruise control system is one
of the most enduringly popular and important models for control system engineering. The
system is widely used because it is very simple to understand and yet the control techniques
cover many important classical and modern design methods. In this paper, the mathematical
modeling for PID with feed-forward controller is proposed for nonlinear model with
disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the
gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++
program written and feed to the microcontroller type AMR on our robot
Nonlinear control of WECS based on PMSG for optimal power extraction IJECEIAES
This paper proposes a robust control strategy for optimizing the maximum power captured in Wind Energy Conversion Systems (WECS) based on permanent magnet synchronous generators (PMSG), which is integrated into the grid. In order to achieve the maximum power point (MPPT) the machine side converter regulates the rotational speed of the PMSG to track the optimal speed. To evaluate the performance and effectiveness of the proposed controller, a comparative study between the IBC control and the vector control based on PI controller was carried out through computer simulation. This analysis consists of two case studies including stochastic variation in wind speed and step change in wind speed.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Simulation and Analysis of Modified DTC of PMSMIJECEIAES
This research paper describes the simulation and analysis of the modified DTC for Surface mounted Permanent Magnet Synchronous Motor (SPMSM) using PI controller. Among all of the various drive systems,PMSM is widely used for accurate speed and torque control, with greater efficiency, superior torque to inertia and high power density.The Conventional DTC secheme widely used for this purpose but it is failed to achieve desirable performance of the system for which the modified DTC secheme is propsed.The modified DTC algorithm controls the voltage vectors, directly from a simple look up table depending on outcome of the torque and indirectly flux controllers.The overall drive system can be implemented in SIMULINK/MATLAB environment.The modified DTC is validated with loading conditions.The simulated results are focused on the speed, settling time at loaded conditions, torque and flux linkages ripple and THD in the phase current for modified DTC applied to SPMSM.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Comparative Study of the Success of PI and PI-Fuzzy Controller for Induction ...inventionjournals
Asynchronous motors have a wide range of applications in the industry.Therefore, speed control of asynchronous motors is of great importance.Speed control of asynchronous motors based on vector control techniques to achieve high performance.The vector control technique, motor flux and moment variables can be controlled independently of each other.Because of the nonlinear and complex model of asynchronous motors, the speed control applications of these motors are not provided with great efficiency by classical control methods.Fuzzy logic controllers (FLC), which were successful in many areas, present great performance in speed control of an asynchronous motor.In this study, a simulation study regarding speed control of a threephase squirrel cage asynchronous motor was carried out with a PI-Fuzzy type FLC and a conventional PI type controller.The data obtained by simulation are evaluated and the performances of the control methods are compared.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
MODELLING AND SIMULATION OF INVERTED PENDULUM USING INTERNAL MODEL CONTROLJournal For Research
The internal model control (IMC) philosophy relies on the internal model principle, which states that control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled. In particular, if the control scheme is developed based on an exact model of the process, then perfect control is theoretically possible. Transfer function of Inverted Pendulum is selected as the base of design, which examines IMC controller. Matlab/simulink is used to simulate the procedures and validate the performance. The results shows robustness of the IMC and got graded responses when compared with PID. Furthermore, a comparison between the PID and IMC was shows that IMC gives better response specifications.
Controller design of inverted pendulum using pole placement and lqreSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
PID Controller Design for a Real Time Ball and Beam System – A Double Integra...idescitation
In this paper, the authors have discussed and shown
how to tune the PID controller in closed loop with time-delay
for the double integrator systems for a particular stability
margins. In math model it is assumed that time delay (ô) of
the plant is known. As a case study the authors have consid-
ered the mathematical model of the real-time beam and ball
system and analyzed the simulation and real time response.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...csandit
This paper presents PID controller with feed-forward control. The cruise control system is one
of the most enduringly popular and important models for control system engineering. The
system is widely used because it is very simple to understand and yet the control techniques
cover many important classical and modern design methods. In this paper, the mathematical
modeling for PID with feed-forward controller is proposed for nonlinear model with
disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the
gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++
program written and feed to the microcontroller type AMR on our robot
Nonlinear control of WECS based on PMSG for optimal power extraction IJECEIAES
This paper proposes a robust control strategy for optimizing the maximum power captured in Wind Energy Conversion Systems (WECS) based on permanent magnet synchronous generators (PMSG), which is integrated into the grid. In order to achieve the maximum power point (MPPT) the machine side converter regulates the rotational speed of the PMSG to track the optimal speed. To evaluate the performance and effectiveness of the proposed controller, a comparative study between the IBC control and the vector control based on PI controller was carried out through computer simulation. This analysis consists of two case studies including stochastic variation in wind speed and step change in wind speed.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Simulation and Analysis of Modified DTC of PMSMIJECEIAES
This research paper describes the simulation and analysis of the modified DTC for Surface mounted Permanent Magnet Synchronous Motor (SPMSM) using PI controller. Among all of the various drive systems,PMSM is widely used for accurate speed and torque control, with greater efficiency, superior torque to inertia and high power density.The Conventional DTC secheme widely used for this purpose but it is failed to achieve desirable performance of the system for which the modified DTC secheme is propsed.The modified DTC algorithm controls the voltage vectors, directly from a simple look up table depending on outcome of the torque and indirectly flux controllers.The overall drive system can be implemented in SIMULINK/MATLAB environment.The modified DTC is validated with loading conditions.The simulated results are focused on the speed, settling time at loaded conditions, torque and flux linkages ripple and THD in the phase current for modified DTC applied to SPMSM.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Comparative Study of the Success of PI and PI-Fuzzy Controller for Induction ...inventionjournals
Asynchronous motors have a wide range of applications in the industry.Therefore, speed control of asynchronous motors is of great importance.Speed control of asynchronous motors based on vector control techniques to achieve high performance.The vector control technique, motor flux and moment variables can be controlled independently of each other.Because of the nonlinear and complex model of asynchronous motors, the speed control applications of these motors are not provided with great efficiency by classical control methods.Fuzzy logic controllers (FLC), which were successful in many areas, present great performance in speed control of an asynchronous motor.In this study, a simulation study regarding speed control of a threephase squirrel cage asynchronous motor was carried out with a PI-Fuzzy type FLC and a conventional PI type controller.The data obtained by simulation are evaluated and the performances of the control methods are compared.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
MODELLING AND SIMULATION OF INVERTED PENDULUM USING INTERNAL MODEL CONTROLJournal For Research
The internal model control (IMC) philosophy relies on the internal model principle, which states that control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled. In particular, if the control scheme is developed based on an exact model of the process, then perfect control is theoretically possible. Transfer function of Inverted Pendulum is selected as the base of design, which examines IMC controller. Matlab/simulink is used to simulate the procedures and validate the performance. The results shows robustness of the IMC and got graded responses when compared with PID. Furthermore, a comparison between the PID and IMC was shows that IMC gives better response specifications.
Controller design of inverted pendulum using pole placement and lqreSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
It is widely accepted that heat treatment of wood ameliorates its dimensional stability and color evolution. This study has analyzed the effects of heat treatment in color changes and hygroscopic properties of fir wood (Abies Borissi-regis Mattf.), exposed at 200º C for 2, 3 and 4h. Dimensional stability and absorption were measured after 1 day and 3 days immersion in water of 20 º C ± 3 temperature. Color evolution and color changes were analyzed in three different directions using the CIE L*a*b* color space. The results showed that heat treatment resulted in a darkened color and an improvement in the dimensional stability of wood. The visual changes in color were more distinct after 4h treatment. The total color differences (ΔΕ) of the surface of wood substrates appear to be directly correlated with the treatment time. Swelling percentage of the samples was found to be affected by the thermal treatment intensity. The higher percentage of swelling decrease was recorded at approximately 19.61% in 4h treatment duration in a tangential direction whereas, the lowest percentage of 0.54% was derived from 3h treatment duration in a radial direction.
Thus the article offers the model represented by algebraic equations and inequalities for routing and
policing traffic in infocommunication network. The novelty of the model is as follows: multiflow nature of
modern ICN is taken into account (1), i.е. a set of flows circling between different pairs of network routers are
considered simultaneously; coherent formalization of processes of traffic routing and policing within the model
that has lower dimensionality in comparison to known earlier is provided; the choice of optimality criterion, use
of which allows to implement multipath routing with consequent inclusion of paths as well as to organize
limitation of flow intensity on all the used routs simultaneously depending on their characteristics and flow
priority. According to the results of the analysis conducted we offer recommendations for choosing relation in
numerical values of routing metrics and service denial regarding the provision of the given values for the main
QoS characteristics, e.g. average packet delay. The model can be used as a basis for perspective protocol
decisions aimed at coherence of solutions for the tasks of traffic routing and policing. Further development of
the given model is possible under full account of stochastic characteristics of packet flows circling in the
network.
This paper presents a study on flexural behaviour of concrete filled steel tube based on the former
work carried out by Manojkumar. An ANSYS model is developed that can predict the behaviour of concrete
filled steel tube to determine moment carrying capacity at ultimate point for beam Concrete filled steel tube
beams are studied and verified by the finite element program ANSYS against experimental data. The Main
parameters affecting the behaviour and strength of concrete filled beams are geometrical parameters, material
nonlinearities, loading, boundary conditions and degree of concrete confinement. To account for all these
properties ANSYS model is developed. The main parameters varied in analysis study are D/t ratio,
characteristic strength of infilled concrete. The proposed model predicts ultimate moment capacity for CFT
beams. In the numerical analysis, circular and rectangular CFT cross sections are considered using different
grades of concrete. The predicted values are compared with experimental results. Numerical analysis has
shown that for rectangular CFT’s a good confining effect can be provided. Moment capacity results obtained
from the ANSYS model are compared with the values predicted by Lin Han (2004) and different codes such as
AISC-LRFD (1999) and EC4 (1994).
In this paper the phenomenon of a DFIG during fault is described. Here a three phase fault is created by using fault block in MATLAB Simulink library and the converter which was connected at the rotor side of the DFIG(Doubly Fed Induction generator) is disconnected after the fault and is shorted by resistances. Then the rotor is no longer supplied from the voltage source inverter. Here the operation of both normal or fault duty is described. The assumption is that the mechanical system cannot respond during the short time of a three phased short circuit. Here equivalent circuits are built to model the fault response of DFIG.
Experiment based comparative analysis of stator current controllers using pre...journalBEEI
The stator current control loop plays an important role in ensuring the quality of electric drives interm of producing fast and adequate required torque. When the current controller provides ideal responses, speed control design subsequently is in charge of improving the system performances. Classical PID control is commonly used in current loop design, this paper presents the comparative analysis of current stator controller using proportional integral control and predictive current control (PCC) in field-oriented control-based induction motor drives, with rigidly coupled loads. The experimental results show system responses with PID and PCC. Informative experiment-based analysis provides primary guidance in selection between the two controls.
The induction motors are indispensable motor types for industrial applications due to its wellknown advantages. Therefore, many kind of control scheme are proposed for induction motors over the past years and direct torque control has gained great importance inside of them due to fast dynamic torque response behavior and simple control structure. This paper suggests a new approach on the direct torque controlled induction motors, Fuzzy logic based space vector
modulation, to overcome disadvantages of conventional direct torque control like high torque ripple. In the proposed approach, optimum switching states are calculated by fuzzy logic
controller and applied by space vector pulse width modulator to voltage source inverter. In order to test and compare the proposed DTC scheme with conventional DTC scheme
simulations, in Matlab/Simulink, have been carried out in different speed and load conditions. The simulation results showed that a significant improvement in the dynamic torque and speed responses when compared to the conventional DTC scheme.
Comparing of switching frequency on vector controlled asynchronous motorijscai
Nowadays, asynchronous motors have wide range use in many industrial applications. Field oriented
control (FOC) and direct torque control (DTC) are commonly used methods in high performance vector
control for asynchronous motors. Therefore, it is very important to identify clearly advantages and
disadvantages of both systems in the selection of appropriate control methods for many industrial
applications. This paper aims to present a new and different perspective regarding the comparison of the
switching behaviours on the FOC and the DTC drivers. For this purpose, the experimental studies have
been carried out to compare the inverter switching frequencies and torque responses of the asynchronous
motor in the FOC and the DTC systems under different working conditions. The dSPACE 1103 controller
board was programmed with Matlab/Simulink software. As expected, the experimental studies showed that
the FOC controlled motors has a lessened torque ripple. On the other hand, the FOC controlled motor
switching frequency has about 65-75% more than the DTC controlled under both loaded and unloaded
working conditions
Modeling & Simulation of PMSM Drives with Fuzzy Logic ControllerIJMER
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
International Journal of Modern Engineering Research (IJMER) covers all the fields of engineering and science: Electrical Engineering, Mechanical Engineering, Civil Engineering, Chemical Engineering, Computer Engineering, Agricultural Engineering, Aerospace Engineering, Thermodynamics, Structural Engineering, Control Engineering, Robotics, Mechatronics, Fluid Mechanics, Nanotechnology, Simulators, Web-based Learning, Remote Laboratories, Engineering Design Methods, Education Research, Students' Satisfaction and Motivation, Global Projects, and Assessment…. And many more.
Master slave vector controlled double induction motor using unity power facto...eSAT Journals
Abstract
In the recent days most of the industries uses Induction motors as the primary loads. In order to meet the total load requirement
multiple motors are used. In this paper two Vector Controlled (VC) Induction Motors and a double closed loop PWM rectifier are
used to explain the operation of Master Slave Configuration. The work mainly concentrates on the operation of a Unity Power factor
Controlled (UPFC) PWM Rectifier as the input source for both the Vector Controlled Induction Motors. This UPFC PWM Rectifier
uses two closed loop pi control algorithms the inner loop controls the current and the outer loop controls the DC voltage. The
proposed model is simulated in Matlab/ Simulink and the results shows good synchronization for two induction motors operated in
master slave configuration.
Keywords: Vector Control, Induction Motor, PWM Rectifier, and Unity Power Factor Control
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
A study on PMSM drive systems fed by multi-level inverter using linear quadra...TELKOMNIKA JOURNAL
This paper presents research on a permanent magnet synchronous motor (PMSM) by a 5-level T-type inverter using linear quadratic regulator (LQR) control for speed control. The space vector modulation (SVM) structure for the 5-level T-type inverter to improve the control quality of the PMSM drive system is presented. This paper aims to successfully design a state feedback controller to control motor speed in a permanent magnet synchronous motor drive system. Simulink results are performed with different speed ranges and the same torque load. These results will focus on evaluating quality when the PMSM drive operates at all speeds. MATLAB/Simulink proves the results.
Internal Model Based Vector Control of Induction MotorIJMER
This paper deals with the design of PID and Internal Model Controllers (IMC) in adjusting
the speed of induction machine under disturbances and set point changes. The performance of PID
controller is compared with IMC. The internal model control is an alternative to the classic feedback
structure. Internal model control is composed of an inverse model connected in series with the plant and a
forward model connected in parallel with the plant, this structure allows the error feedback to reflect the
effect of disturbances and plant mismodelling resulting in a robust control loop. The IMC provides good
performance and robustness against the disturbances in system when compared with the PID controller. A
simulation study of these methods is presented using MATLAB/SIMULINK.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
PID controller for microsatellite yaw-axis attitude control system using ITAE...TELKOMNIKA JOURNAL
The need for effective design of satellite attitude control (SAC) subsystem for a microsatellite is imperative in order to guarantee both the quality and reliability of the data acquisition. A proportional-integral-derivative (PID) controller was proposed in this study because of its numerous advantages. The performance of PID controller can be greatly improved by adopting an integral time absolute error (ITAE) robust controller design approach. Since the system to be controlled is of the 4th order, it was approximated by its 2nd order version and then used for the controller design. Both the reduced and higher-order pre-filter transfer functions were designed and tested, in order to improve the system performance. As revealed by the results, three out of the four designed systems satisfy the design specifications; and the PD-controlled system without pre-filter transfer function was recommended out of the three systems due to its structural simplicity, which eventually enhances its digital implementation.
Optimal and Pid Controller for Controlling Camera's Position InUnmanned Aeria...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small
unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using
MATLAB technique and the results displayed graphically, also PID controller was designedand
simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade
mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
9 Control Strategies for Variable-speed Fixed-pitch Win.docxevonnehoggarth79783
9
Control Strategies for Variable-speed
Fixed-pitch Wind Turbines
Bunlung Neammanee, Somporn Sirisumrannukul and
Somchai Chatratana1
Department of Electrical Engineering, Faculty of Engineering
King Mongkut’s University of Technology North Bangkok
1National Science and Technology Development Agency
Thailand
1. Introduction
This chapter deals with a design of controllers for variable-speed fixed-pitch wind turbines.
The chapter begins with an introduction to wind turbine control and the detail of nonlinear
models of the wind energy conversion system (WECS). Linearization around a set of
equilibrium points is presented to obtain a linear parameter variable model from a nonlinear
system. Open-loop characteristics for small signals are then described to analyze dynamic
behaviors under different operating conditions. The control objectives for variable-speed
fixed-pitch wind turbines detailed in this chapter consists of three operating conditions:
1. Maximization of extracted energy: The wind turbine should extract wind energy at the
highest efficiency to obtain the highest energy conversion ratio. Three alternative
maximum peak power tracking (MPPT)-based algorithms for fixed pitch wind turbines
are introduced. The first algorithm is guided by a torque reference (Mirecki et at., 2004).
The second method searches an optimal operating point from the slope of the power-
rotational speed curve. The last method is based on the control objective derived from a
fuzzy rule base.
2. Limitation of extracted energy with active stall with rotational speed control: The aim of
this control is to limit stresses on the turbine while minimizing the power fluctuations
around a constant value, normally around the nominal power.
3. Control of MPPT and stall regulation at the overlapping region: This operating
condition is effective with constant rotational speed control.
The controller objectives, controller schemes and controller designs are discussed in detail.
The developed controllers for fixed-pitch wind turbines are based on a speed and torque-
feedback control scheme. The proper design of the reference signal allows accurate tracking
of each control strategy along the entire operating range. Hardware and software
implementation for the control algorithms are explained. The case studies were carried out
with two laboratory experiments with a developed wind turbine simulator: 1) three MPPT
algorithms and active stall regulation with rotational speed control, and 2) an MPPT
algorithm with a grid-connected converter. The chapter is concluded in the last section. The
references are also provided for further research and studies.
Source: Wind Power, Book edited by: S. M. Muyeen,
ISBN 978-953-7619-81-7, pp. 558, June 2010, INTECH, Croatia, downloaded from SCIYO.COM
www.intechopen.com
Wind Power
210
2. Model of variable speed fixed-pitch wind energy conversion system
2.1 Modeling of rotor .
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Discrete Time Optimal Tracking Control of BLDC Motor
1. International Journal of Engineering Inventions
e-ISSN: 2278-7461, p-ISSN: 2319-6491
Volume 2, Issue 10 (June 2013) PP: 25-33
www.ijeijournal.com Page | 25
Discrete Time Optimal Tracking Control of BLDC Motor
Tran Dinh Huy, Ngo Cao Cuong and Nguyen Thanh Phuong.
HUTECH Hightech Research Instituite, Vietnam,
Abstract: Brushless Direct Current (BLDC) motors are widely used for high performance control applications.
Conventional PID controller only provides satisfactory performance for set-point regulation. In this paper, a
discrete time optimal tracking control of BLDC motor is presented. Modeling of the BLDC motor is expressed in
state equation. A discrete time full-order state observer is designed to observe states of BLDC motor. Feedback
gain matrix of the observer is obtained by pole assignment method using Ackermann formulation with
observability matrix. The state feedback variables are given by the state observer. A discrete time LQ optimal
tracking control of the BLDC motor system is constructed to track the angle of rotor of the BLDC motor to the
reference angle based on the designed observer. Numerical and experimental results are shown to prove that
the performance of the proposed controller.
Keywords: Brushless Direct Current (BLDC) motors, optimal control
I. INTRODUCTION
The disadvantages of DC motors emerge due to the employment of mechanical commutation since the
life expectancy of the brush construction is restricted. Furthermore, mechanical commutators lead to losses and
contact uncertainties at small voltages and can cause electrical disturbances (sparking). Therefore, Brushless
Direct Current (BLDC) motors have been developed. BLDC motors do not use brushes for commutation;
instead, they are electronically commutated. BLDC motors are a type of synchronous motor. This means that the
magnetic field is generated by the stator and the rotor which rotates at the same frequency so that the BLDC
motor do not experience the “slip” that is normally seen in induction motors. In addition, BLDC motor has
better heat dissipation characteristic and ability to operate at higher speed [1]. However, the BLDC motor
constitutes a more difficult problem in terms of modeling and control system design due to its multi-input nature
and coupled nonlinear dynamics.
Therefore, a compact representation of the BLDC motor model was obtained in [2]. This model is
similar to permanent magnet DC motors. As a result, PID controller can be easily applied to control BLDC
motors. In recent years, researchers had applied another algorithm to enhance high performance system. R.
Singh presented DC motor predictive models [5], this research designed optimal controller also. M. George
introduced speed control of separated excited DC motor [4]. GUPTA presented a robust variable structure
position control of DC motor [6]. These researches focused in continuous time system so that implementation of
microcontroller is not convenient.
This paper presents a discrete time optimal tracking control of BLDC motor. The model of the BLDC
motor is expressed as discrete time equations. The optimal tracking controller based on the estimated states by
using discrete time observer is designed to control. The effectiveness of the designed controller is shown via
numerical and experimental results in the comparing with the traditional PID controller.
II. BRUSHLESS DC MOTORS
Unlike a permanent magnet DC motor, the commutation of a BLDC motor is controlled electronically.
To rotate the BLDC motor, the stator windings should be energized in a sequence. It is important to know the
rotor position in order to understand which winding will be energized following the energizing sequence. Rotor
position is sensed using Hall effect sensors embedded into the stator.
The dynamic characteristics of BLDC motors are similar to brushed DC motors. The model of BLDC
motor can be represented as [2].
iKT tm (1)
eKE (2)
KiTbJ m (3)
KVRi
dt
di
L (4)
where
R : Armature resistance [].
L : Armature inductance [H].
2. Discrete Time Optimal Tracking Control of BLDC Motor
www.ijeijournal.com Page | 26
K : Electromotive force constant [Nm/A].
Kt : Torque constant [Nm/A].
Ke : Voltage constant [Vs/rad].
V : Source voltage [V].
: Angular velocity of rotor [rad/s].
J : Moment of inertia of the rotor [kgm2
].
b : Damping ratio of the mechanical system [Nms].
In SI unit system, Kt is equal to Ke.
Combining (3) and (4) yields
KVKRbRJLbLJ 2
(5)
T
mx is defined as state vector of the BLDC motor. Eq. (5) can be written as
m
m
m
m
m
m
x
C
B
x
A
x
001
0
0
0
100
010
2
my
V
LJ
K
LJ
RJLb
LJ
KRb
(6)
where my is rotational angle of the rotor of the BLDC motor.
The discrete time system equations of the BLDC motor can be obtained as
kTky
kVTkTk
m mm
mmmm
xC
θxΦx
1
(7)
where
13
kmx is state vector of the BLDC motor at the kth
sample time,
kym is rotational angle of the rotor of the BLDC motor at the kth
sample time,
3332
!3
1
!2
1
TTTeT T 32
m3
A
m mm
m
AAAIΦ ,
13
0
dTT
T
BΦθ mm
, and 31
mm CC T .
III. CONTROLLER DESIGN
III.1 Discrete Time Full-Order State Observer Design
To implement the discrete time optimal tracking controller, the information of all state variables of the
system is needed. However, all state variables are not accessible in practical systems [3]. Furthermore, in the
system that all state variables are accessible, the hardware configuration of the system becomes complex and the
cost to implement this system is very high because sensors to measure all states are needed. Because of these
reasons, a discrete time observer is needed to estimate the information of all states of the system. In the case that
the output of the system is measurable and the system is full-observable, a discrete time full-order state observer
can be designed to observe information of all state variables of the system.
It is assumed that the system (7) is full-observable. The system equations of the discrete time closed
loop observer are proposed as follows:
kTky
kykykVTkTk
m
mm
mm
mmmm
xC
LθxΦx
ˆˆ
ˆˆ1ˆ
(8)
where 13
ˆ
kmx is state vector of the observer at the kth
sample time, kymˆ is the rotational
angle of rotor of the observer at the kth
sample time, and 13
L
is the feedback gain matrix.
kkk mmm xxx ˆ~ is defined as the estimated error state vector between the motor and the
observer. Subtracting Eq. (8) from Eq. (7), the error state equation can be obtained as
kkTTk mcdmmmm xAxLCΦx ~~1~ (9)
The design objective of the observer is to obtain a feedback gain matrix L such that the estimated error
states approach to zero as fast as possible. That is, the feedback gain matrix L must be designed such that
3. Discrete Time Optimal Tracking Control of BLDC Motor
www.ijeijournal.com Page | 27
eigenvalues of Acd exist in unit circle for the system (9) to be stable. By pole assignment method using
Ackermann formulation with observability matrix Om, the feedback gain matrix L is obtained as follows [3]:
1
0
0
''
1
2
mm
mm
m
m
T
3
1
mm
ΦC
ΦC
C
ΦeOΦL (10)
where mΦ' is desired characteristic equation of the observer, T2
mmmmmm ΦCΦCCO is
observability matrix, and 1003e is unit vector.
Block diagram of this observer is shown in Fig. 1.
Figure 1 Block diagram of the system with observer.
III.2 Discrete time optimal controller design based on discrete time full-order state observer
The discrete time state variables equation of the BLDC motor can be rewritten as follows:
kk
kkk
xCy
uBxAx
d
dd
1
(11)
where x(k) 31
is state vector, y(k) is output, u(k) is control input, and Ad 33
,
Bd 31
, Cd 13
are matrices with corresponding dimensions.
An error signal e(k) is defined as the difference between the reference input r(k) and the
output of the system y(k) as follows:
kkk yre (12)
It is denoted that the incremental control input is 1 kkk uuu and the incremental state is
1 kkk xxx . If the system (11) is controllable and observable, it can be rewritten in the increment as
follows:
kk
kkk
xCy
uBxAx
d
dd
1
(13)
The error at the k+1th
sample time can be obtained from Eq. (12) as
111 kkk yre . (14)
Subtracting Eq. (12) from Eq. (14) yields
kkkkkk yyrree 111 (15)
Substituting Eq. (13) into Eq. (15) can be reduced as
kkkkk uBCxACree dddd 11 (16)
where kkk rrr 11
It is assumed that future values of the reference input ,,2,1 kk rr cannot be utilized. The
future values of the reference input beyond the kth
sample time are approximated as kr . It means that the
following is satisfied.
,2,1for0 iikr (17)
From the first row of Eq. (13) and Eq. (16), the error system can be obtained as
k
k
k
k
k
kk
u
B
BC
x
e
A0
AC1
x
e
G
d
dd
XA
d3x1
dd
X E
1
1
1
(18)
4. Discrete Time Optimal Tracking Control of BLDC Motor
www.ijeijournal.com Page | 28
where 14
kX , 44
EA , and 14
G .
A scalar cost function of the quadratic form is chosen as
0k
kΔkΔkkJ uRuXQX TT
(19)
where 44
3
313
31e
00
0Q
Q is semi-positive definite matrix, eQ , and R are positive
scalar.
The optimal control signal ku that minimizes the cost function (19) of the system (18) can be
obtained as [3]
kk XAPGGPGRu E1
T1
1
T
(20)
where P is semi-positive definite matrix. It is solution of the following algebraic Ricatti equation [3].
E
T1TT
EE
T
E PAGPGGPGAPAAQP
R (21)
where 44
Q
is semi-positive definite matrix, and R is positive scalar.
By taking the initial values as zero and integrating both side of Eq. (20), the control law ku can be
obtained as
kke
z
z
Kku e m1xxK
1
1 (22)
where 41
E1
T1
1
T
1x1e1 APGGPGRKK K
Based on the proposed observer (9) and the controller (22), the discrete time optimal controller design
based on discrete time full-order state observer can be given as follows:
kke
z
z
KkV e m1xxK ˆ
1
1
(23)
The discrete time optimal tracking control system of the BLDC motor (7) designed based on the
information of states of the system obtained from discrete time closed loop observer (9) is shown in Fig. 2.
Figure 2 Block diagram of the optimal control of the BLDC motor.
IV. NUMERICAL AND EXPERIMENTAL RESULTS
The specification of BLDC motor is shown in Table 1.
The effectiveness of the controller (23) as shown in Fig. 2 is verified by the simulation and
experimental results.
The BLDC motor is controlled by the optimal tracking controller (23) which is obtained by choosing 1R and
0000
0000
0000
0002.0
Q . The poles of the system (9) are chosen as j0.32-0.375j0.32+0.3755.0λ for fast
response. The feedback gain matrix T
00000012.000009.0153.0L is obtained from (10). The
5. Discrete Time Optimal Tracking Control of BLDC Motor
www.ijeijournal.com Page | 29
simulation results of the observer are shown in Figs. 3~5. And the simulation results of the designed discrete
time optimal tracking controller of BLDC motor designed based on the discrete time full-order state observer
are shown in Figs. 6~9.
Figs. 3~6 show that even with different initial conditions between observer and system, all states and
the output of the designed observer converge to those of system after about 0.01 second.
Fig. 7 shows that discrete time optimal tracking controller of the BLDC motor designed based on the
discrete time full-order state observer has good performance. The output of the system converges to the
reference input after about 0.08 second, and its overshoot is about 4.5%. The tracking error of the system is
shown in Fig. 8. The control signal input is shown in Fig. 9.
Figs. 10~15 show the simulation results of the tracking angle of the BLDC motor control system using
the PID controller with two cases: unbounded control signal and bounded control signal. The proposed PID
controller is designed based on the flat criterion. When control signal V is unbounded, the overshoot of the
output is about 11.5% as shown in Fig. 10, and tracking error converges to zero after about 0.07 second as
shown in Fig. 11. However, the control signal V changes from -2000 to 4100 as shown in Fig. 12, it is too big
value to be implemented for the real system. When the control signal V is bounded as shown in Fig. 15,
overshoot of the output is about 40% as shown in Fig. 13, and tracking error converges to zero after about 0.08
second as shown in Fig. 14.
In comparing the simulation results of the designed discrete time optimal tracking controller designed
based on discrete time full-order state observer with those of the proposed PID controller, it is shown that the
designed discrete time optimal tracking controller has better performance than the proposed PID controller.
Table 1 Specification of BLDC motor
Parameters Values and units
R 21.2 Ω
Ke 0.1433 V s/rad
D 1x10-4
kg-m s/rad
L 0.052H
Kt 0.1433 kg-m/A
J 1x10-5
kg-m s2
/rad
0 0.02 0.04 0.06 0.08 0.1
0
2
4
6
8
10
12
Time [sec]
Statex
1
ofplantandobserver[deg]
State of plant
State of observer
Figure 3 State θˆ of observer and state θ of plant.
0 0.02 0.04 0.06 0.08 0.1
-50
0
50
100
150
200
250
300
350
400
Time [sec]
Statex2
ofplantandobserver[rad/s]
State of plant
State of observer
Figure 4 State θ
ˆ of observer and state θ of plant.
ˆ
ˆ
6. Discrete Time Optimal Tracking Control of BLDC Motor
www.ijeijournal.com Page | 30
0 0.02 0.04 0.06 0.08 0.1
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
x 10
5
Time [sec]Statex3
ofplantandobserver
State of plant
State of observer
Figure 5 State θ
ˆ of observer and state θ of plant.
0 0.005 0.01 0.015 0.02
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
Time [sec]
Errorbetweenoutputofobserverandplant[deg]
Figure 6 Error between estimated output of observer and output of plant.
0 0.05 0.1 0.15
0
1
2
3
4
5
6
7
8
9
10
11
Time [sec]
Referenceinputandoutput[deg]
Output
Reference input
Figure 7 Reference input and output of system using optimal controller.
0 0.05 0.1 0.15
-2
0
2
4
6
8
10
Time [sec]
Trackingerror[deg]
Figure 8 Tracking error of system using discrete time optimal controller.
[rad/s2
]
ˆ
7. Discrete Time Optimal Tracking Control of BLDC Motor
www.ijeijournal.com Page | 31
0 0.05 0.1 0.15
-5
0
5
10
15
20
25
Time [sec]
ControlsignalV[V]Figure 9 Control signal input using discrete time optimal controller.
0 0.05 0.1 0.15
0
2
4
6
8
10
12
Time [sec]
Referenceinputandoutputofsystem[deg]
Reference input
Ouput of the system
Figure 10 Reference and output of system using PID controller with unbounded control signal V.
0 0.05 0.1 0.15
-2
0
2
4
6
8
10
Time (sec)
Trackingerror
Figure 11 Tracking error of system using PID controller with unbounded control signal V.
0 0.05 0.1 0.15
-2000
-1000
0
1000
2000
3000
4000
5000
Time (sec)
ControlsignalV
Figure 12 Unbounded control signal V of PID controller.
[deg]
8. Discrete Time Optimal Tracking Control of BLDC Motor
www.ijeijournal.com Page | 32
0 0.05 0.1 0.15
0
5
10
15
Time [sec]
Referenceinputandoutputofthesystem[deg]
Reference input
Ouput of the system
Figure 13 Reference and output of system using PID controller with bounded control signal V.
0 0.05 0.1 0.15
-5
0
5
10
Time (sec)
Trackingerror
Figure 14 Tracking error of system using PID controller with bounded control signal V.
0 0.05 0.1 0.15
-500
-400
-300
-200
-100
0
100
200
300
400
500
Time (sec)
ControlsignalinputV
Figure 15 Bounded control signal V of PID controller.
To illustrate the effectiveness, a position tracking control scheme of BLDC motor is implemented. The
experimental set up is shown in Fig. 16. A BLDC motor driver is built using Hex MOSFET IRF540, IR2101 as
a gate driver, and encoder as a speed feedback sensor. The main controller is PIC18F4431 Microchip. Fig. 17
shows each phase hall sensor signals versus phase voltages in Fig. 18.
Figure 16 Developed speed control of BLDC motor system
[deg]
9. Discrete Time Optimal Tracking Control of BLDC Motor
www.ijeijournal.com Page | 33
Voltage(V)
Time (ms)
0 2.5 5 7.5 10 12.5 15 17.5 20 22.5 25
0
10
0
10
0
Figure 17 Hall sensor signals
Voltage(V)
Time (ms)
0 2.5 5 7.5 10 12.5 15 17.5 20 22.5 25
0
50
0
50
0
Figure 18 Motor phase voltages
V. CONCLUSION
In this paper, a discrete time optimal tracking control system for BLDC motor based on a full-order
observer has been applied and investigated to control position of BLDC motor. Performance of the optimal
tracking controller is analyzed and compared with the traditional PID controller. The effectiveness of the
designed controller is shown by the simulation and experimental results. Moreover, the responses of the system
using discrete time optimal and proposed PID controller are presented to compare their performance.
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