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Abstract— This paper deals with the performance analysis of back-propagation algorithm [10]–[11]. It is standard and most
a robust neural controller applied to the DC motor for speed popular procedure used to design an ANN. The input and
control. The robustness is guaranteed by the use of the Internal output data used for training are obtained when the DC motor
Model Controller (IMC). The IMC is based on the artificial is working in closed loop at various values of speed and loads.
Neural Network (ANN) principle. This paper proposes an
adaptive neural controller methodology in the dc motor control In this work an internal model controller is established for
and the results are compared with the performance of the feed- speed control of DC motor. The IMC controller has the benefit
forward neural controller. Simulations results and experimental of robustness ease of design and good speed responses.
set up are presented to demonstrate the robustness of the speed
controller under a wide range of load of the proposed schemes in A mathematical model of the process has been developed
a closed loop control. The effective results show that the using real plant data and then neural controller has been
performance of neural network control dc motor is improved by designed. The proposed adaptive control structure is applied to
using adaptive neural network than the feed-forward neural control the speed and suppress the disturbances of the system.
network. A comparative analysis of performance evaluation of static
and adaptive neural controllers has been done. Performances
Keywords—Internal Model Controller IMC; Artificial neural of the developed speed neural IMC controller and accuracy are
network; feed-forward neural network. verified via simulation results. The adaptive neural IMC
controller offers a number of potential advantages over the use
I. INTRODUCTION of feed-forward layered networks. Adaptive feedback
controllers may be less sensitive and more robust than feed-
DC motors are usually used in many industrial applications forward controllers to changes in plant dynamics and
such as robot manipulators and home appliances, because of parameters.
their high reliability, low cost and flexibility. The speed and
position control of DC motor are necessary[1]-[4]. This paper The different sections of this paper are organized as
proposes the performance evaluation of intelligent controller follows: in Section 2 we present the dynamic model of the DC
implemented to control the speed of separately excited DC motor. The description of the feed-forward and adaptive
motor. neural network, used for identification and adaptive control, is
presented in Section 3. The neural identification and the
Artificial neural networks led to a new intelligent control inverse model are presented. Simulation results and an
method called neural control. One of the important advantages experimental set up of the identification and control system are
of neural control is their ability to learn and adapt themselves illustrated in section 4. Section 5 drew a conclusion.
to the behavior of any real systems. So, it can be successfully
used to control complex plant without any knowledge of a
mathematical model of the plant [5]-[6]. It can be used to II. MODELING OF DC MOTOR
control and identify the systems [7]. The neural networks can The system considered for our analysis is a dc motor. The
be classified as static feed-forward and adaptive neural complete system can be represented by the schematic diagram
networks [8]. ANN can be trained using data taken from the shown in Figure 1 [8].
system or when directly connected to the system. The ANN
controller would remain robust despite parameter deviations
and noise measurements. We used an ANN with three layers.
The training is offline. The adaptive ANN used in this paper
have a feed-forward neural network structure trained with the
978-1-5090-6287-4/17/$31.00 ©2017 IEEE
Ω( p ) K
= (11)
U a ( p ) ( Ra + La p )( f + jp ) + K 2
Fig. 1. Electrical schematic of a DC Motor. Consider the following physical parameters of DC motor
The dc motor can be described by the loop equation as first table 1.
order differential equations
di
ua = Ra ia + La a + E (1) TABLE I. DC MOTOR PARAMETER
dt
Ra Resistance 8Ω
Equation for back emf of motor will be
E = KΩ (2) La Inductance 0.129 H
Where ua is the armature winding input voltage; E is the Rf Resistance 100 Ω
back-electromotive-force (EMF) voltage, La is the armature Lf Inductance 0.2 H
winding inductance; ia is the armature winding current; Ra is
the armature winding resistance; K is the back-EMF constant J Moment of Inertia 0.02 Kg-m2
and Ω is the rotor angular speed. F damping coefficient 0.0218 Nm-sec/rad
J ( k ) = ( y ( k ) − y m (k )) 2 (16) Fig. 3. Evolution of output of directed neural model speed and output of
k process.
∂Ek
= ok − Tk (27)
Fig. 7. The direct neural model of process. ∂ok
The inverse neural model as shown in figure 8 has three
∂ok (28)
layers, the input layer containing six neurons, one hidden layer = f ( Zhk + z 0).[1 − f ( Zhk + z 0)] = ok .(1 − ok )
containing seven neurons and an output layer containing one ∂( Zhk + z 0)
neuron. We find after several iterations the best learning
∂ ( Zhk + z 0)
coefficient η=0.02. = hkT (29)
∂Z
Using equations (26), (27), (28) and (29), the updating of the
weight value Z and biases z0 of future step (k + 1) is:
Z (k + 1) = Z (k ) −η∇Ek / z = Z (k ) + η (Tk − ok ).ok .(1 − ok )hkT (30)
= Z (k ) + η ∂s hkT
ek = Tk − ok (22)
1
Ek = ekT ek = (TkT Tk + okT ok − 2okT Tk ) (23)
2
Fig. 9. The internal model control (IMC) scheme. (b)
tz
10
nofwh
ig
Matlab/Simulink. Output responses of the system are obtained
5
v
Eo tio
lu
for controllers used in this paper. A load is applied at t =10s.
0
2.5
200
2
sz
ia 0
1.5
ofb
150
n
1
tio
Voltage(v)
lu
o
0.5
v
E
100 0
-0.5
0 5 10 15 20 25 30 35 40
Time (s)
50
(d)
0
0 5 10 15 20 25 30 35 40
Time (s) Fig. 12. Evolutions neural weights and biases of neural inverse model (w,
Fig. 10. Static neural control: control signal. w 0, z, z 0).
200
180
200
160
disturbance 140
Voltage(v)
150 120
Speed(rad/s)
100
100 80
60
Target 40
50
DC motor output
20
0 5 10 15 20 25 30 35 40
Time (s)
0
0 5 10 15 20 25 30 35 40
Time (s) Fig. 13. Adaptive neural control: control signal.
Fig. 11. Feed-forward neural control: target and Dc motor outputs. 200
controller under the effect of the disturbance and the variation 100
layer of the corrector. Z and z0 weights and biases between DC motor output
Target
the hidden layer and the output layer of the corrector. The 0
0 5 10 15 20 25 30 35 40
control signal evolution of the adaptive neural control is Time (s)
shown in Figure 13. The evolution of the DC machine output Fig. 14. Adaptive neural control: target and Dc motor outputs.
and the adaptive neural controller output are shown in figure
14. Figure 15 shows the evolution of static neural IMC control
and the adaptive neural control.
7
6
120
5
tw
100
iegh
4
volutionofW
2 80
Speed (rad/s)
1
E
0
60
-1
-2
0 5 10 15 20 25 30 35 40
Time (s) 40
Adaptive neural IMC output
20 Target
Static neural IMC output
(a)
0
0 5 10 15 20
Time (s)
2
1.5
Fig. 15. Speed evolution by Static neural IMC control and Adaptive neural
volutionofbiasw0
1
control under disturbances.
0.5
-0.5
-1
adaptive IMC control of DC Motor is shown in table 2.
0 5 10 15 20 25 30 35 40
Time (s)
10
5
TABLE II. COMPARAISON OF PERFORMANCE OF STATIC NEURAL AND
ADAPTIVE CONTROLLER OF DC MOTOR 0
Error (rad/s)
Static error Response time overtaking -5
(s)
-10
Speed (rad/s)
the variable evolution of the target. The response time has a 60
application of load of 600W
feeble value equal to 2.78 s. the overtaking is equal to 15%. elimination of load of 400W
40 application of load of 400W
The proposed adaptive neural control is compared to the
static neural IMC control. The comparison approves the 20 DC machine outpout
efficiency of the IMC adaptive neural controller method than target
0
Error (rad/s)
-5
-10
-15
-20
-25
0 100 200 300 400 500
Time (s)
Fig. 20. Evolution error between DC machine output and target.
90 74
85
72 75 states are considered. In fig. 20 the static error is equal to zero.
80 100 120
40
70
70
65
These results justify the robustness of the overall control
360 380 400
system under load disturbances. The IMC speed controller
20 242244246248250252
application of achieves better performance in speed regulation and tracking.
0
load of 600 W
DC machine output
Target V. CONCLUSION
-20
0 50 100 150 200 250 300 350 400 In this paper, an IMC adaptive neural network control
Time (s)
approach is proposed to control the DC machine speed under
Fig. 17. Speed response under constant load of 600 w.
disturbances as load insertion and variable target evolution.
The proposed controller is compared to the static neural IMC
controller. In general, the neural IMC controller consists of
two neural models, A ANNI and ANNC. The ANNI consist in
modeling the DC machine while the ANNC permit to
represent the controller. From simulation and experimental
results obtained, it is shown that the adaptive neural IMC
controller has a good performance in speed regulation and
tracking. The static error is equal to zero under a wide range of
loads insertion. The adaptive neural IMC controller is more
efficient than the static neural IMC controller. To improve the
performance of the neural control approach an application in
Networked Control Systems is to be performed in the future.
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