Open AccessPID gain tuning for Robust Control of PMDC Motor with tracking and disturbance rejection through H∞
Author(s) -
Prasanth Venkaatreddy*,
Subhash Kulkarni
Publication year - 2019
Publication title -
international journal of innovative technology and exploring engineering
Language(s) - English
Resource type - Journals
ISSN - 2278-3075
DOI - 10.35940/ijitee.a4352.119119
Subject(s) - pid controller , robustness (evolution) , control theory (sociology) , control engineering , computer science , robust control , dc motor , engineering , control system , control (management) , temperature control , artificial intelligence , biochemistry , chemistry , electrical engineering , gene
Permanent-magnet (PM) motors are employed in numerous industrial control applications for their high efficiency, simple mechanism and low cost. In most of the applications, either the plant model is inaccurately defined or the plant parameters are prone to variations over period of time. Also, in most of the applications, have a requirement of good tracking as well as good disturbance rejection, two competing requirements. The controller should cater to the parameter variations as well as provide robust performance against external disturbances and hence requires a robust control approach towards designing a controller. A classical PID controller, which lacks robustness requirements is augmented by H∞ optimization based gain tuning to meet the robustness requirements. This paper discusses a PID controller design using H∞ optimization approach. Different performance goals for tracking and disturbance rejection are defined and PID gains are tuned to meet the goals in H∞ sense. A commercial Maxon RE35 motor is selected for modeling and simulation