System Identification and Optimal PI Controller of R/C Servo Motors
Ahmed, O., Elnady, A., Abdrabbo, S. (2016). System Identification and Optimal PI Controller of R/C Servo Motors. EKB Journal Management System, 3(2), 59-66. doi: 10.21608/sjou.2016.31771
Omar Ahmed; A. Okasha Elnady; Saber Abdrabbo. "System Identification and Optimal PI Controller of R/C Servo Motors". EKB Journal Management System, 3, 2, 2016, 59-66. doi: 10.21608/sjou.2016.31771
Ahmed, O., Elnady, A., Abdrabbo, S. (2016). 'System Identification and Optimal PI Controller of R/C Servo Motors', EKB Journal Management System, 3(2), pp. 59-66. doi: 10.21608/sjou.2016.31771
Ahmed, O., Elnady, A., Abdrabbo, S. System Identification and Optimal PI Controller of R/C Servo Motors. EKB Journal Management System, 2016; 3(2): 59-66. doi: 10.21608/sjou.2016.31771

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

Scientific Journal of October 6 University
Article 9, Volume 3, Issue 2, July 2016, Page 59-66  XML PDF (803.04 K)
Document Type: Original Article
DOI: 10.21608/sjou.2016.31771
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Authors
Omar Ahmed1; A. Okasha Elnady1; Saber Abdrabbo2
1Mechatronics Department, Faculty of engineering, October 6 University, Egypt
2Industrial 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
system identification; Parameter estimation; Servomechanisms; Servomotors; Robots; Mechatronics; PI controller; DC motors; optimal control; Genetic Algorithms (GA); particle swarm optimization (PSO)
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