Proceedings of the Korean Institute of Navigation and Port Research Conference (한국항해항만학회:학술대회논문집)
- 2004.11a
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- Pages.111-116
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- 2004
PID controller tuning of DC motor for speed control
직류모터의 속도 제어를 위한 PID 제어기 동조
- So Myung-Ok (Division of Mechatronics Engineering, National Korea Maritime University) ;
- Lee Yun-Hyung (Graduate school of National Korea Maritime University) ;
- Ahn Jong-Kap (Graduate school of National Korea Maritime University) ;
- Choi Woo-Chul (Graduate school of National Korea Maritime University)
- Published : 2004.11.01
Abstract
In this paper, parameters of a given DC motor system are estimated using the model adjustment technique and the real coded genetic algorithm(RCGA) technique. A number of tuning methods, based on experience and experiment, such as Ziegler-Nichols, Cohen-Coon, IMC, L-ITAE Method have been proposed to obtain parameters for the PID controller. This paper proposes estimating parameters of PID controller using RCGA. The performance of the proposed algorithm is demonstrated through simulations and experiences.
이 논문에서는 모델조정기법과 실수코딩 유전알고리즘을 이용하여 주어진 직류모터 시스템의 파라미터를 추정하였다. 종래에 논 Ziegler- Nichols(Z-N)동조법, Cohen-Coon(C-C)동조법, IMC(Internal model control)동조법, Lopez ITAE(L-ITAE)동조법과 같이 경험적이고 실험적인 많은 방법들이 제안되었다. 본 논문에서는 실수코딩 유전알고리즘을 이용하여 PID 제어기의 파라미터들을 동조하는 방법을 제안하고 시뮬레이션과 실험을 통해 제안한 제어기의 성능을 증명하였다.