RCGA를 이용한 직류모터의 속도제어기 설계

Abstract

Over the past 60 years, the PID(Proportional-Integral-Derivative) controller has been especially popular in industrial processes, such as chemical, petroleum, power, manufacturing industries, DC motors due to its simple structure and robustness. Since the performance of the PID controller depends highly on its three parameters, the proper tuning of the parameters is required to guarantee acceptable control performance. Therefore, a number of tuning methods based on experience and experiment, such as the Ziegler-Nichols method, the Cohen-Coon method, the IMC method, and the Lopez-ITAE method have been proposed to obtain parameters for the PID controller.

DC motors are also widely used in many industrial fields as the actuator of the robot and the driving power motors of the electrical vehicles.

In this paper, a methodology for designing a controller for speed control of DC motors is presented.

Firstly the parameters of a given DC motor plant are identified using the model adjustment technique and the real coded genetic algorithm(RCGA). Secondly three parameters of PID controller are also tuned using RCGA.

The two processes are combined for the speed control of a DC motor.

Finally the effectiveness of the proposed controller is verified through computer simulation and experiment to a DC motor system.