Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A PID learning controller for DC motors

DC 전동기를 위한 PID 학습제어기

  • Baek, Seung-Min (Dept.of Electric Engineering, Sungkyunkwan University) ;
  • Kuc, Tae-Yong (Dept.of Electric Engineering, Sungkyunkwan University)
  • 백승민 (성균관대학교 전자공학과) ;
  • 국태용 (성균관대학교 전자공학과)
  • Published : 1997.12.01
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Abstract

With only the classical PID controller applied to control of a DC motor, good (target) performance characteristic of the controller can be obtained if all the model parameters of DC motor and operating conditions such as external load torque, disturbance, etc. are known exactly. However, in case when some of system parameters or operating conditions are uncertain or unknown, the fixed PID controller does not guarantee good performance, which is assumed with precisely known system parameters and operating conditions. In view of this and the robustness enhancement of DC motor control system, we propose a PID learning controller which consists of a set of learning rules for PID gain tuning and learning of an auxiliary input. The proposed PID learning controller is shown to drive the state of uncertain DC motor system with unknown system parameters and external load torque to the desired one world wide asymptotically. Computer simulation and experimental results are given to demonstrate the effectiveness of the proposed PID learning controller, thereby showing its superiority to the conventional fixed PID controller.

Keywords

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