Model Reference Adaptive Control of a DC Motor Speed with Encoder using Hardware in the Loop

https://doi.org/10.22146/ijeis.98453

Muhammad Aqsal Mufhaddhal(1), Erwin Susanto(2*), Muhammad Ridho Rosa(3)

(1) School of Electrical Engineering, Telkom University, Bandung 40257
(2) School of Electrical Engineering, Telkom University, Bandung 40257
(3) School of Electrical Engineering, Telkom University, Bandung 40257
(*) Corresponding Author

Abstract


This study aims to design speed control of a DC motor with an encoder using the Model Reference Adaptive Control (MRAC) via hardware in the loop (HIL) system. Although conventional control such as a PID control is still found in many dc motor control applications today, but they have limitations in adaptiveness from any uncertainties and noises. Therefore, this paper proposes a more adaptive control technique. Model Reference Adaptive Control which forces the real system to follow the behavior of the reference model system even though there is uncertainty in the system dynamics.  This research includes the design of a hardware system on a loop consisting of a DC motor plant, MRAC controller, and control display. In addition, experiments were also carried out to test the performance control with sinusoidal reference signals and signal reference steps. The test results show that the MRAC control successfully follows the reference signal with low Root Mean Squared Error (RMSE) values. In conclusion, this study succeeded in designing a control on a DC encoder motor using the Model Reference Adaptive Control on the system hardware in a loop and yields satisfactory results in experimental testing

Keywords


DC motor, encoder; hardware in the loop; MRAC

Full Text:

PDF


References

D. Mohanraj et al., “A Review of BLDC motor: state of art, advanced control techniques, and applications,” IEEE Access, vol. 10, pp. 54833-54869, 2022, doi: 10.1109/ACCESS.2022.3175011

R. Silva-Ortigoza et al., “Hierarchical flatness-based control for velocity trajectory tracking of the “DC/DC boost converter–DC motor system powered by renewable energy,” IEEE Access, vol. 11, pp. 32464-32475, 2023, doi: 10.1109/ACCESS.2023.3260188.

P. Wang, J. Zhao, and K. Liu, “Parameter-Adaptation-Based Virtual DC Motor Control Method for Energy Storage Converter,” IEEE Access, vol. 9, pp. 90795–90804, 2021, doi: 10.1109/ACCESS.2021.3091699

W. Tan, W. Han, and J. Xu, “State-Space PID: A Missing Link Between Classical and Modern Control,” IEEE Access, vol. 10, pp. 116540–116553, 2022, doi: 10.1109/ACCESS.2022.3218657

J. Dong, B. He, M. Ma, C. Zhang and G. Li, “Open-Closed-Loop PD Iterative Learning Control Corrected with the Angular Relationship of Output Vectors for a Flexible Manipulator,” IEEE Access, vol. 7, pp. 167815–167822, 2019, doi: 10.1109/ACCESS.2019.2930559

A.A. El-Samahy, and M.A. Shamseldin, “Brushless DC motor tracking control using self-tuning fuzzy PID control and model reference adaptive control,” Ain Shams Engineering Journal, vol. 9, no. 3, pp. 341–352, 2018, https://doi.org/10.1016/j.asej.2016.02.004

M.A. Qureshi, S. Musumeci, F. Torelli, A. Reatti, A. Mazza, and G. Chicco, “A novel model reference adaptive control approach investigation for power electronic converter applications,” International Journal of Electrical Power & Energy Systems, vol. 156, 109722, 2024, https://doi.org/10.1016/j.ijepes.2023.109722

Q. Pan, X. Fan, and J. Li, “Connectivity matrix-based descriptors with deep learning for estimation of pure component properties,” Computer Aided Chemical Engineering, vol. 52, pp. 1957-1962, 2023, https://doi.org/10.1016/B978-0-443-15274-0.50311-5

M. Singh, R.K Dubey, S. Kumar, “Vehicle telematics: An Internet of Things and Big Data approach,” Artificial Intelligence and Machine Learning for EDGE Computing, pp. 235-254, 2022, https://doi.org/10.1016/B978-0-12-824054-0.00019-8

K. Rajesh and M. S. Saravanan, “Prediction of customer spending score for the shopping mall using Gaussian mixture model comparing with linear spline regression algorithm to reduce root mean square error,” 2022 6th International Conference on Intelligent Computing and Control Systems (ICICCS), Madurai, India, pp. 335-341, 2022, doi: 10.1109/ICICCS53718.2022.9788162

M.M. Ahmed, W.S. Hassanien, M.A. Enany, “Modeling and evaluation of SC MPPT controllers for PVWPS based on DC motor,” Energy Reports, vol. 7, pp. 6044-6053, 2021, https://doi.org/10.1016/j.egyr.2021.09.055

S. Ekinci, B. Hekimoğlu, and D. Izci, “Opposition based Henry gas solubility optimization as a novel algorithm for PID control of DC motor,” Engineering Science and Technology, an International Journal, vol. 24, no. 2, pp. 331-342, 2021, https://doi.org/10.1016/j.jestch.2020.08.011

N. Promkaew, et al., “Development of metaheuristic algorithms for efficient path planning of autonomous mobile robots in indoor environments,” Results in Engineering, pages 102280, 2024, https://doi.org/10.1016/j.rineng.2024.102280

A. Fontanella et al., “Modeling the coupled aero-hydro-servo-dynamic response of 15 MW floating wind turbines with wind tunnel hardware in the loop,” Renewable Energy, vol. 219, no. 1, 119442, 2023, https://doi.org/10.1016/j.renene.2023.119442

T. Jung, N. Jazdi, S. Krauß, C. Köllner, and M. Weyrich, “Hardware-in-the-Loop Simulation for a Dynamic Co-Simulation of Internet-of-Things-Components,” Procedia CIRP, vol. 93, pp. 1334–1339, 2020, https://doi.org/10.1016/j.procir.2020.03.073.

G. N. Sahu and M. Law, “Hardware-in-the-loop simulator for emulation and active control of chatter,” HardwareX, vol. 11, e00273, 2022, https://doi.org/10.1016/j.ohx.2022.e00273.

A. S. Kvalsund and D. Winkler, “Development of an Arduino-based, open-control interface for hardware in the loop applications,” HardwareX, vol. 16, e00488, 2023, https://doi.org/10.1016/j.ohx.2023.e00488

A.Sepehri, A.A Asadi, G.K. Costa, andN. Sepehri, “A do-and-see approach for learning mechatronics concepts,” Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'18), Niagara Falls, Canada, June 7–9, 2018, doi: 10.11159/cdsr18.124.

Leomariga, “How to communicate Simulink Arduino,” available at https://github.com/leomariga/Simulink-Arduino-Serial.

S. Kersting and M. Buss, “Direct and indirect model reference adaptive control for multivariable piecewise affine systems,” IEEE Transactions on Automatic Control, vol. 62, no. 11, pp. 5634–5649, Nov. 2017, doi: 10.1109/TAC.2017.2690060

L. Zhang, Z. Zhu, X. Zhou and L. Sun, “Model reference adaptive control of cross-coupling hysteresis in piezoceramics with dynamic loads,” IEEE Access, vol. 10, pp. 14691–14697, 2022, doi: 10.1109/ACCESS.2022.3148325.

R. Rajesh, S.N. Deepa, “Design of direct MRAC augmented with 2 DoF PIDD controller: An application to speed control of a servo plant,” Journal of King Saud University - Engineering Sciences, vol. 32, no. 5, pp. 310-320, 2020, https://doi.org/10.1016/j.jksues.2019.02.005.

K. A. Jose, et al., “Speed synchronization of multiple BLDC motor drive using Arduino,” 2023 IEEE 8th International Conference for Convergence in Technology (I2CT), Lonavla, India, pp. 1-5, 2023, doi: 10.1109/I2CT57861.2023.10126358.

A. Ma’arif et al., “Control of DC motor using proportional integral derivative (PID): Arduino hardware implementation,” 2020 2nd International Conference on Industrial Electrical and Electronics (ICIEE), Lombok, Indonesia, pp. 74-78, 2020, doi: 10.1109/ICIEE49813.2020.9277258.

H. M. Htun, A. N. Yakunin, H. S. Paing and K. Win, “Implementation of ANFIS controller for DC motor on an Arduino due board,” 2021 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (ElConRus), St. Petersburg, Moscow, Russia, pp. 2668-2671, 2021, doi: 10.1109/ElConRus51938.2021.9396740.



DOI: https://doi.org/10.22146/ijeis.98453

Article Metrics

Abstract views : 281 | views : 129

Refbacks

  • There are currently no refbacks.




Copyright (c) 2024 IJEIS (Indonesian Journal of Electronics and Instrumentation Systems)

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.



Copyright of :
IJEIS (Indonesian Journal of Electronics and Instrumentations Systems)
ISSN 2088-3714 (print); ISSN 2460-7681 (online)
is a scientific journal the results of Electronics
and Instrumentations Systems
A publication of IndoCEISS.
Gedung S1 Ruang 416 FMIPA UGM, Sekip Utara, Yogyakarta 55281
Fax: +62274 555133
email:ijeis.mipa@ugm.ac.id | http://jurnal.ugm.ac.id/ijeis



View My Stats1
View My Stats2