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Genetic Algorithm Based Speed Control of PMDC Motor Using Low Cost PIC 16F877A Microcontroller

Circuits and Systems 2016年第8期7卷 1334-1340页

作者： Thangavel Vijayakumar Subramaniam Muthukrishnan Gopalraj Murugananth EEE Department Sri Eshwar College of Engineering Coimbatore India EEE Department Ahalia School of Engineering and Technology Palakkad India

This paper mainly aims at proposing an effective method of speed control of the low power motors like Permanent Magnet Direct Current (PMDC) motor used in the orthopedic surgeries using a natural optimization technique called genetic algorithm. Using this method, better values of Performance parameters like rise time, settling time, fall time, peak overshoot and steady state are achieved compared to the conventional PI controller. The SIMUINK MODEL of both the controller operation is obtained using MATLAB version R2013a. The simulated results reveal that the proposed control drive exhibits reduced peak overshoot, rise time, settling time and steady state error. An experimental setup is devised to validate the simulation results. The comparative analysis made depicts the superiority of the proposed algorithm with reference to its conventional counterpart.

关键词： Effective PMDC Orthopaedic Optimization Performance Indices Rise Time Fall Time Peak Overshoot steady state error PI MATLAB

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The MPC Attitude Control with Integration for VELOX-Ⅱ

The MPC Attitude Control with Integration for VELOX-Ⅱ

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第三十九届中国控制会议

作者： Xiaohua Zhang Ling Keck Voon Lim Wee Seng Chong Kwang Tong Zhengliang Lu Xiang Zhang Wenhe Liao School of Mechanical Engineering Nanjing University of Science and Technology School of Electrical and Electronic Engineering Nanyang Technological University

VELOX-II that has been launched on 16 th December 2015 is the second CubeSat built by the Satellite Research Centre（SaRC） of Nanyang Technological University（NTU）. However, according to the operation data of VELOX-II in orbit, it can be observed that there is a large steady state error and the error becomes the most crucial factor for the pointing error. In this paper,Model Predictive Control（MPC） with integration was proposed in order to offset the steady state error. At first, the MPC with integration was based on a state space model with an incremental input aiming to add an integral item. Secondly, a quadratic cost function was designed to derive the control law of MPC with integration. Finally, a series of analysis and simulations were implemented for VELOX-II’s MPC, PD, Sliding Mode Control（SMC） and MPC with integration, respectively. The theory analysis and simulation results revealed that the steady state error is from environmental and actuator’s disturbances, and it can not be offset by VELOX-II’s MPC, PD and SMC controllers, but can be eliminated by the MPC controller with integration;comparing with PID, the MPC has much improved attitude tracking performance, especially in the aspect of time delay;different with SMC, the MPC with integration is easy to be come true on the 8051 chip because of the smaller amount of computations and codes;VELOX-II using the MPC controller with integration can achieve a higher pointing accuracy.

关键词： VELOX-II MPC with Integration quadratic cost function steady state error

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