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(1)
(2)
Where,
a = La/Ra = Time constant of armature circuit.
(3)
(4)
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In the above plot, the gain margin and phase margin both are
infinity and it indicates that the system is totally stable and the
gain value can be increased to a large value before the system
becomes unstable. Similarly in the polar plot if the locus of the
plot crosses the negative real axis then the system becomes
unstable and in pole zero plot if the roots of the characteristics
equation lies in right hand side of s plane then the system
becomes unstable.
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For, both the cases the gain margin and phase margin both are
infinite, it indicates that the system is Robust and has minimal
overshoot.
From the above polar plot, the poles lie in left hand side of s
plane. So, the system is stable.
Fig.9. Step response of Field controlled DC motor.
Angular speed
(rpm)
1320
1515
1573
1442
1403
1622
1430
1442
1365
1535
1420
1466
1420
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S
P
E
E
D
(
R
P
M
)
S
P
E
E
D
(
R
P
M
)
TIME (SECONDS)
S
P
E
E
D
(
R
P
M
)
TIME (SECONDS)
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each variable. We can use 8 bit & 4 bit also. Thereafter select
the random strings from the population to form the mating
pool. In order to use roulette-wheel selection procedure, we
calculate the average fitness of the population. Then the mating
pool strings are used in the crossover operation. The next step
is to perform mutation on strings in the intermediate
population. The resulting population becomes the new
population. The whole process is coded in Matlab & after
running the program we get the optimized values of Kp, Ki &
Kd. The simulation model for the entire system is given below
and also the genetic algorithm parameters are chosen for the
optimization.[5]
S
P
E
E
D
(
R
P
M
)
TIME (SECONDS)
Fig 26. Simulation Graph of DC motor using Genetic Algorithm
Parame
ter
Kp
Ki
Kd
Tr
1
0.10 1.06
Without 1
0
03
GA
6.52 0.00 0.30 0.37
With
0
8
3
73
GA
Ts
Mp
8.66
3.13
0.94
3
ess
0.0
9
0.00 0.0
4
2
Value
20
Iteration
05
Crossover Probability
> 0.8
Mutation Probability
< 0.05
VIII. CONCLUSION
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REFERENCES
[1]Mehdi Ghazavi Dozein, Amin Gholami,
Mohsen
Kalantar,Speed control of dc motor using different
optimization techniques based PID controller,center for
excellence for power System automation and operation
Iran university of science and technology, Iran, pp.6448 -6459,
Journal of basic and applied scientific research.
[2] Dorf and Bishop, Modern Control systems, 10th
Edition, Pearson/prentice hall, Inc.2005, Motion and control.
[3] Shabbiruddin, Amitav Ray,Speed control techniques
Using fuzzy logic and response surface methodology, Int.
J.Advance soft Computing applications, vol.4, no.2, July
2012, ISSN 2074-8523.
[4] Megha Jaiswal, Mohna phadnis,speed control of dc
motor using genetic algorithm based PID controller,
Internatonal Journal of advanced Research in computer science
and software engineering, volume 3, July 2013, Issue 7,ISSN:
2277 128X.
[5] Ramesh Chandra chourasia, mukesh kumar,Speed control
Of S.E.D.C motor by using PI and Fuzzy logic controller, IJSCE,
ISSN: 2231-2307.
[6] Husain Ahmed,Controlling of D.C. Motor using Fuzzy logic
controller,Conference on advances in communication and control
systems 2013(CAC2S 2013),pp 666-670.
[7]Gauri mantri, N.R. Kulkarni,Design and optimization of PID
controller using genetic algorithm,International Journal of research
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[8]Umesh Kumar Bansal,Rakesh Narvey,Speed control of DC motor
using Fuzzy PID controller,Advance in Electronic and Electric
engineering
,ISSN 2231-1297,volume 3, number 9,pp 1209-1220.
[9]John J Constantine,H,Stuart,non linear control system analysis
and Design with Matlab,CRL press,2003.
[10]Muhammed,Electrical machines,DC motor-2.
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