System Identification and Optimal PI Controller of R/C Servo Motors

Document Type : Original Article

Authors

1 Mechatronics Department, Faculty of engineering, October 6 University, Egypt

2 Industrial Department, Shoubra faculty of engineering, Benha University, Egypt

Abstract

An R/C servo motor is electro-mechanical device that takes the PWM control signal to move to a certain position. This type of system is widely used in undergraduate mechatronics projects such as (small-sized robotics, radio-controlled cars, planes, etc.). However, the embedded close loop controller circuit inside the R/C servomotor represents a drawbacks in many applications need high definition controller. Therefore, in order to improve the performance of R/C servo motor, transfer function model is estimated from input-output measured data using system identification Matlab toolbox. After that, hardware in loop simulation employed to validate the estimated model with physical system. The results show good tracking to both estimated and physical system to the reference signal. PI controller designed firstly using Zigler-Nichols method in order to limit the search space. After that, optimal controller gains obtained using two intelligent optimization algorithms, Genetic Algorithms (GA), and Particle Swarm Optimization (PSO), then implemented on the physical system in real time environment using low cost components. The controller improves the set point characteristic and achieved satisfactory dynamic performance

Keywords

Main Subjects

Files

Share

How to cite

Statistics