Print ISSN: 1811-9212

Online ISSN: 2617-3352

Keywords : Position control


Design of L1 Adaptive Controller for Position Control of Permanent Magnet Linear Synchronous Motor (PMLSM)

Amjad Jaleel Humaidi; Mohammed Ali S. Mohammed; Akram Hashim Hameed

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2018, Volume 18, Issue 2, Pages 39-52

In the present work, the design of an L1 adaptive controller for
position control of a linear servo motor for X-Y table application has been
developed. The AC Permanent Magnet Linear Synchronous Servo Motor
(PMLSM) is considered. A comparative study between L1 adaptive control and
Model Reference Adaptive Control (MRAC) has been made. The effectiveness of
the L1 adaptive controller against uncertain parameters is analyzed based on
simulated results. Robustness characteristics of both L1 adaptive controller and
model reference adaptive controller to different input reference signals and
different structures of uncertainty have been evaluated. The L1-adaptive
controller could ensure uniformly bounded transient and asymptotic tracking
for input and output signals. Simulations based on MATLAB of an x-y table
based on PMLSM with time-varying friction and disturbance are presented to
verify the theoretical findings. The simulation results within the environment of
MATLAB/SIMULINK showed that L1-adaptive controller could give better
tracking performance, dynamic and steady-state characteristics, than that
obtained from MRAC for considered types of input and for various structures of
uncertainties.

Tuning of PID Controller Based on Foraging Strategy for Pneumatic Position Control System*

Dr. Amjad J. Humaidi

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2010, Volume 10, Issue 1, Pages 107-120

Abstract:
Pneumatic servo system has been applied in many industry fields. The system has many advantages, such as high speed, high flexibility and low price. However, the application of the system is restricted because the physical parameters have strong nonlinearity, inaccuracy and uncertainty, so that it is very difficult to find an optimal controller by means of traditional control theory. Proportional integral derivative (PID) control is one of the earlier control strategies; it has a simple control structure and can be easily tuned. Optimization of PID controller parameters is one of the recent control solutions; especially when the system is of high complexity. In this paper foraging strategy has been adopted to optimize the gains of PID controller for positioning control of a pneumatic system. The foraging theory is based on the assumption that animals search for nutrients in a way that maximize their energy intake per unit time spent for foraging. The bacterial foraging algorithm is a non-gradient and stochastical optimization technique; as no need for measurement and analytical description. In the work, the optimization model of E. coli bacterial foraging has been used and the performance index (cost) is based on Integral Square Error (ISE) for obtaining sub-optimal values of controller parameters. The behavior of bacteria (solutions) over their lifetime has been simulated and the effect of foraging parameters on cost function has been studied.