Design and Performance Analyze of PID/PD Controller to Perform Speed Control of Brushless DC Motors

Yıl 2020, Sayı: 19, 145 - 155, 31.08.2020

Abdülsamed Tabak

https://doi.org/10.31590/ejosat.707004

Cited By: 4

Öz

The usage of brushless DC motors (BLDC) is increasing day by day due to its advantages such as providing constant mechanical torque and high power density. As the use of BLDC motors becomes widespread, a number of new studies have been introduced in terms of control of these motors In our study, firstly the PID control of the BLDC motor was performed to reduce the values such as the maximum overshoot and the settling time at the output, and the controller's parameters were obtained by the Whale Optimization Algorithm (WOA). The results were compared with the results of the system with the same parameters of the BLDC motor in the literature using PID controllers optimized by the genetic algorithm (GA), particle swarm optimization (PSO), LQR and LQ methods. In addition, PID/PD controller was utilized instead of PID for the same system and WOA was again used to determine parameters. The system designed with PID/PD controller has been compared with the system designed with PID controller systems in terms of performance criteria such as maximum overshoot, settling time and rise time. Then, in order to perform the dynamic test of both PID and PID/PD controllers, the speed of the motor was increased and the results were obtained, examined and compared with each other. As a result, it was observed that BOA-PID performed better than PID results obtained by other methods, while BOA-PID PD performed better than all studies using PID.

Anahtar Kelimeler

Brushless DC motor, PID control, PID/PD control, Whale optimization algorithm, Determination of parameters

Fırçasız Doğru Akım Motorlarının Hız Kontrolünü Gerçekleştirmek İçin PID/PD Kontrolcü Tasarımı ve Performans İncelemesi

Öz

Fırçasız doğru akım (FDA) motorlarının kullanımı, düzgün mekanik tork sağlaması ve yüksek güç yoğunluğuna sahip olması gibi avantajlarından dolayı günden güne artmaktadır. FDA motorlarının kullanımı yaygınlaştıkça bu motorların kontrolü ile ilgili yeni çalışmalar ortaya konmaktadır. Bizim çalışmamızda, çıkıştaki maksimum aşma miktarı ve oturma zamanı gibi değerlerin düşürülmesi amacıyla ilk olarak FDA motorun PID kontrolü yapılmış ve kontrolcünün parametreleri Balina Optimizasyon Algoritması (BOA) ile elde edilmiştir. Elde edilen sonuçlar literatürde aynı parametrelere sahip FDA motorun genetik algoritma (GA), parçacık sürü optimizasyonu (PSO), LQR ve LQ yöntemleri ile optimize edilen PID kontrolcülerinin kullanıldığı sistemin sonuçları ile karşılaştırılmıştır. Bunun yanında PID yerine PID/PD kontrolcü kullanılarak aynı sistemin kontrolü tekrar yapılmış ve parametrelerin belirlenmesi için yine BOA’dan faydalanılmıştır. PID/PD kontrolcü ile tasarlanan sistem; maksimum aşma, oturma zamanı ve yükselme zamanı gibi performans kriterleri açısından PID kontrolcülü sistemlerle karşılaştırılmıştır. Ardından hem PID hem de PID/PD kontrolcülerin dinamik testini gerçekleştirmek amacıyla motorun hızı artırılarak sonuçlar elde edilmiş, irdelenmiş ve birbirleri ile karşılaştırılmıştır. Sonuçlara bakıldığında ise BOA-PID’nin diğer yöntemlerle elde edilen PID sonuçlarından daha iyi performans gösterdiği, BOA-PID/PD’nin ise PID’nin kullanıldığı tüm çalışmalardan daha iyi performans sergilediği görülmüştür.

Anahtar Kelimeler

PID kontrol, PID/PD kontrol, Fırçasız DA motoru, Balina optimizasyon algoritması, Parametrelerin belirlenmesi

Kaynakça

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