Original scientific paper

https://doi.org/10.31803//tg-20201119185015

Genetic Algorithm-Based Parametrization of a PI Controller for DC Motor Control

Marko Mavrinac ; University of Rijeka, Faculty of Engineering Vukovarska 58, 51000 Rijeka, Croatia
Ivan Lorencin ; University of Rijeka, Faculty of Engineering Vukovarska 58, 51000 Rijeka, Croatia
Zlatan Car orcid.org/0000-0003-2817-9252 ; University of Rijeka, Faculty of Engineering Vukovarska 58, 51000 Rijeka, Croatia
Mario Šercer orcid.org/0000-0002-4101-4092 ; Razvojno-edukacijski centar za metalsku industriju Metalska jezgra Čakovec, Bana Josipa Jelačića 22 D, 40 000 Čakovec, Croatia

Abstract

This paper analyses the application of a genetic algorithm (GA) for the purpose of designing the control system with separately excited DC motor controlled according to the rotor angle. The presented research is based on the utilization of a mathematical model designed with separate electrical and mechanical sub-systems. Such an approach allows fine-tuning of PID controllers by using an evolutionary procedure, mainly GA. For purpose of PID tuning, the new fitness function which combines several step response parameters with the aim of forming a unique surface which is then minimized with a genetic algorithm. From the results, it can be seen that the elitism-based algorithm achieved better results compared to the eligibility-based selection. Such an algorithm achieved a fitness value of 0.999982 resulting in a steady-state error of 0.000584 rad. The obtained results indicate the possibility of applying a GA in the parameterization of the PID controller for DC motor control.

Keywords

Control system design; Fitness score; Genetic algorithm; PID control; separately excited DC motor

Hrčak ID:

271922

URI

https://hrcak.srce.hr/271922

Publication date:

4.2.2022.

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