유전 알고리즘에 의한 브러시리스 DC모터의 속도 제어용 혼합 $H_2/H_{\infty}$ PID제어기 설계

Design of a Mixed $H_2/H_{\infty}$ PID Controller for Speed Control of Brushless DC Motor by Genetic Algorithm

A mixed method between $H_2\;and\;H_{\infty}$ control are widely applied to systems which has parameter perturbation and uncertain model to obtain an optimal robust controller. Brushless Direct Current (BLDC) motors are widely used for high performance control applications. Conventional PID controller only provides satisfactory performance for set-point regulation. However, with the presence of nonlinearities, uncertainties and perturbations in the system, conventional PID is not sufficient to achieve an optimal robust controller. This paper presents an approach to ease designing a Mixed $H_2/H_{\infty}$ PID controller for controlling speed of Brushless DC motors and the genetic algorithm is used to solve the optimized problems. Numerical results are shown to prove that the performance in the proposed controller is better than that in the optimal PID controller using LQR approach.