Building a MRAC-HIL adaptive control system for DC electric motors
119 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.97.2024.41-49Keywords:
Adaptive control; MRAC; HIL RCP; DC motor control.Abstract
This article proposes an approach to build a model reference adaptive control MRAC system for DC electric motor using MRAC-HIL coordination based on the RCP rapid control prototyping tool MicroLabBox. In this plan, the reference model, control algorithms and functional input-output blocks were built based on the MATLAB-Simulink library and additional libraries from dSpace. The entire models and algorithms were compiled, downloaded to the MicroLabBox, run and tested in real time. The experimental results of using the direct Lyapunov method and the speed gradient method confirm the advantages of adaptive control which applied to control objects with variable or uncertain parameters. Control system is stable, the performance is good and depends on reference model only. The idea of coordinating MRAC-HIL can be extended to other control objects, tools, and development platforms.
References
[1]. S. Aydemir, S. Sezen and H. M. Ertunc, "Fuzzy logic speed control of a DC motor," The 4th International Power Electronics and Motion Control Conference, 2004. IPEMC 2004., Xi'an, China, pp. 766-771 Vol.2, (2004).
[2]. P. Thepsatorn, A. Numsomran, V. Tipsuwanporn and T. Teanthong, "DC Motor Speed Control using Fuzzy Logic based on LabVIEW," 2006 SICE-ICASE International Joint Conference, Busan, Korea (South), pp. 3617-3620, (2006), doi: 10.1109/SICE.2006.314890. DOI: https://doi.org/10.1109/SICE.2006.314890
[3]. F.J. Chang, S.H. Twu, and S. Chang, “Tracking control of DC motors via an improved chattering alleviation control,” IEEE Trans. Ind. Electron.,vol. 39, no. 1, pp. 25–29, (1992). DOI: https://doi.org/10.1109/41.121908
[4]. A. Xiong and Y. Fan, "Application of a PID Controller using MRAC Techniques for Control of the DC Electromotor Drive," 2007 International Conference on Mechatronics and Automation, Harbin, China, pp. 2616-2621, (2007), doi: 10.1109/ICMA.2007.4303969. DOI: https://doi.org/10.1109/ICMA.2007.4303969
[5]. M. Koksal, F. Yenici and A. N. Asya, "Position Control of a Permanent Magnet DC Motor by Model Reference Adaptive Control," 2007 IEEE International Symposium on Industrial Electronics, Vigo, Spain, pp. 112-117, (2007), doi: 10.1109/ISIE.2007.4374583. DOI: https://doi.org/10.1109/ISIE.2007.4374583
[6]. P. Swarnkar, J. S. Kumar and R.K. Nema, "Comparative Analysis of MIT Rule and Lyapunov Rule in Model Reference Adaptive Control Scheme," Innovative Systems Design and Engineering, vol. 2, no. 4, pp. 154–162, (2011).
[7]. MS. Ehsani, “Adaptive Control of Servo Motor by MRAC Method,” 2007 IEEE Vehicle Power and Propulsion Conference. Published online:78-83, (2007). doi:10.1109/vppc.2007.4544102. DOI: https://doi.org/10.1109/VPPC.2007.4544102
[8]. S. Sheel, R. Chandkishor and O. Gupta, "Speed control of DC drives using MRAC technique," 2010 International Conference on Mechanical and Electrical Technology, Singapore, pp. 135-139, (2010), doi: 10.1109/ICMET.2010.5598335. DOI: https://doi.org/10.1109/ICMET.2010.5598335
[9]. Munadi, M. A. Akbar, T. Naniwa and Y. Taniai, "Model Reference Adaptive Control for DC motor based on Simulink," 2016 6th International Annual Engineering Seminar (InAES), Yogyakarta, Indonesia, pp. 101-106, (2016), doi: 10.1109/INAES.2016.7821915. DOI: https://doi.org/10.1109/INAES.2016.7821915
[10]. Sumit Kumar Sar, Lillie Dewan, "MRAC Based PI Controller for Speed Control of D.C. Motor Using LabView," WSEAS Transactions on Systems and Control, vol. 9, E-ISSN: 2224-2856, (2014).
[11]. A.V. Basharin, V.A. Novikov, G.G.Sokolovsky, "Electric drive control," Eenergoizdat, (1982).
[12]. Shi-jie Su, Yuan-yuan Zhu, Hai-rong Wang and Chen Yun, "A method to construct a reference model for model reference adaptive control," Advances in Mechanical Engineering, Vol. 11(11) 1–9, (2019). DOI: 10.1177/1687814019890455. DOI: https://doi.org/10.1177/1687814019890455
[13]. Saurabh Mani Tripathi, Francisco M. Gonzalez-Longatt Editors, "Real-Time Simulation and Hardware-in-the-Loop Testing Using Typhoon HIL," Springer. (2023). DOI: https://doi.org/10.1007/978-981-99-0224-8
[14]. Fomin V.N., Fradkov A.L., Yakubovich V.A., "Adaptive control of dynamic objects," M.: Nauka. 448 p, (1981).
[15]. I.V. Miroshnik, V.O. Nikiforov , A.L. Fradkov, "Nonlinear and adaptive control of complex dynamic systems," St. Petersburg: Nauka. 549 p, (2000).
[16]. N.V. Antonov, V.A. Terekhov, I.Y. Tyukin, "Adaptive control in technical systems," St. Petersburg: St. Petersburg University Publishing House. - 244 p. - ISBN 5-288-02934-2, (2001).
[17]. N.D. Egupova, "Methods of robust, neuro-fuzzy and adaptive control," M: Publishing house of MSTU im. N.E. Bauman. - 744 p, (2002).
[18]. B. R. Andrievsky, A. A. Stotsky, A. L. Fradkov, “Speed gradient algorithms in control and adaptation problems,” 1988, No. 12, 3–39; Autom. Remote Control, 49:12, 1533–1564, (1988).
[19]. B. R. Andrievsky, A. L. Fradkov, “Speed gradient method and its applications,” 2021, № 9, 3–72; Autom. Remote Control, 82:9, 1463–1518, (2021).
