PID gain tuning for Robust Control of PMDC Motor with tracking and disturbance rejection through H∞
Prasanth Venkatareddy1, Subhash Kulkarni2
1Prasanth Venkaatreddy*, Electrical and Electronics Engineeringt, Don Bosco Institute of Technology, Bangalore. Affiliated to Visvesvaraya Technological University, Belagavi, Karnataka, India.
2Subhash Kulkarni, Electronics and Communication, PESIT Bangalore South Campus, Affiliated to Visvesvaraya Technological University, Belagavi, Karnataka, India.
Manuscript received on October 12, 2019. | Revised Manuscript received on 24 October, 2019. | Manuscript published on November 10, 2019. | PP: 4097-4102 | Volume-9 Issue-1, November 2019. | Retrieval Number: A4352119119/2019©BEIESP | DOI: 10.35940/ijitee.A4352.119119
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Permanent-magnet (PM) motors are employed in numerous industrial control applications for their high efficiency, simple mechanism and low cost. In most of the applications, either the plant model is inaccurately defined or the plant parameters are prone to variations over period of time. Also, in most of the applications, have a requirement of good tracking as well as good disturbance rejection, two competing requirements. The controller should cater to the parameter variations as well as provide robust performance against external disturbances and hence requires a robust control approach towards designing a controller. A classical PID controller, which lacks robustness requirements is augmented by H∞ optimization based gain tuning to meet the robustness requirements. This paper discusses a PID controller design using H∞ optimization approach. Different performance goals for tracking and disturbance rejection are defined and PID gains are tuned to meet the goals in H∞ sense. A commercial Maxon RE35 motor is selected for modeling and simulation.
Keywords: PMDC, Motor Parameter Variation, Tunable PID, H∞ Norm, Tracking, Disturbance Rejection
Scope of the Article: Exact and Parameterized Computation