DC Motor Controller Using Full State Feedback

Naufal Rahmat Setiawan, Alfian Ma'arif, Nuryono Satya Widodo

Abstract


This paper discusses the implementation of a full state feedback control system on DC motors to stabilize the speed of DC motors and fight the disturbances given to DC motors. Modern controls such as full state feedback use 2 sensor inputs, namely the Hall effect speed sensor OH42E and the INA219 current sensor and use 3 parameters namely K1 (Constant 1), K2 (Constant 2), and KI (Integral Constant) in designing the controller, the goal is to get a good system response according to the desired design specifications. The test was carried out with a hardware-in-the-Loop (HIL) scheme which uses an Arduino microcontroller as a DC motor plant control device in the form of a control mathematical model entered in the Arduino IDE software and by trial and error to find the desired response value. The test results showed that at the values of K1=1, K2=1, KI=0.9, a stable system response was obtained with tr(s)=3, ts(s)=4, and Os(%)=7% The addition of an integral constant () value affects a short rising time but is inversely proportional to a high overshoot value as well. Varying the values of K1 and K2 as multipliers on the sensor values has an impact on the stability of the system response or oscillations. The stability of this system response indicates that full state feedback can be relied upon as a control system.


Keywords


State feedback; Contol System; Motor DC

Full Text:

PDF

References


C. Grimholt and S. Skogestad, “Optimal PI and PID control of first-order plus delay processes and evaluation of the original and improved SIMC rules,” Journal of Process Control, vol. 70, pp. 36-46, 2018, https://doi.org/10.1016/j.jprocont.2018.06.011.

T. Gui, et al, “Real-time demonstration of homodyne coherent bidirectional transmission for next-generation data center interconnects,” Journal of Lightwave Technology, vol. 39, no. 4, pp.1231-1238, 2021, https://doi.org/10.1109/JLT.2021.3052826.

P. Parikh, S. Sheth, R. Vasani, and J. K. Gohil, “Implementing Fuzzy Logic Controller and PID Controller to a DC Encoder Motor - ‘a case of an Automated Guided Vehicle,’” Procedia Manuf., vol. 20, pp. 219– 226, 2018, https://doi.org/10.1016/j.promfg.2018.02.032.

A. K. Rajagiri, S. R. Mn, S. S. Nawaz, and T. Suresh Kumar, “Speed control of DC motor using fuzzy logic controller by PCI 6221 with MATLAB,” E3S Web Conf., vol. 87, no. 201 9, pp. 1–6, 2019, https://doi.org/10.1051/e3sconf/20198701004.

F. Irsyadi, M. Z. Romdlony, D. Rahmawati, and A. Firdaus, "Application of Full State Feedback Control in HIL (Hardware In-The-Loop) Ball and Beam System," Instek Journal, vol. 4. pp. 181–190, 2019, https://doi.org/10.24252/instek.v4i2.10400.

J. Berberich, A. Koch, C. W. Scherer, and F. Allgower, “Robust data- driven state-feedback design,” Proc. Am. Control Conf., vol. 2020- July, pp. 1532–1538, 2020, https://doi.org/10.23919/ACC45564.2020.9147320.

A. Ma’arif and N. R. Setiawan, “Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation,” J. Robot. Control, vol. 2, no. 5, pp. 456–461, 2021, https://doi.org/10.18196/jrc.25122.

X. Sun, C. Hu, G. Lei, Y. Guo, and J. Zhu, “State Feedback Control for a PM Hub Motor Based on Gray Wolf Optimization Algorithm,” IEEE Trans. Power Electron., vol. 35, no. 1, pp. 1136–1146, 2020, https://doi.org/10.1109/TPEL.2019.2923726.

A. Apte, V. A. Joshi, H. Mehta, and R. Walambe, “Disturbance- Observer-Based Sensorless Control of PMSM Using Integral State Feedback Controller,” IEEE Trans. Power Electron., vol. 35, no. 6, pp. 6082–6090, 2020, https://doi.org/10.1109/TPEL.2019.2949921.

G. Organtini, “Arduino as a tool for physics experiments,” In Journal of Physics: Conference Series, vol. 1076, no. 1, p. 012026, 2018, https://doi.org/10.1088/1742-6596/1076/1/012026.

A. H. Espoui, S. G. Larimi, and G. N. Darzi, ”Optimization of protease production process using bran waste using Bacillus licheniformis,” Korean Journal of Chemical Engineering, vol. 39, no. 3, pp. 674-683, 2022, https://doi.org/10.1007/s11814-021-0965-3.

M. Duk, O. V. Bereziuk, M. S. Lemeshev, and V. V. Volodymyr Bogachuk, “Means for measuring relative humidity of municipal solid wastes based on the microcontroller Arduino UNO R3,” no. October, p. 125, 2018, https://doi.org/10.1117/12.2501557.

M. Prauzek, et al, “Energy harvesting sources, storage devices and system topologies for environmental wireless sensor networks: A review,“ Sensors, vol. 18, no. 8, p. 2446, 2018, https://doi.org/10.3390/s18082446.

S. Nurmuslimah, N. Saidatin, and M. Rahadhianto, “Design of Water Temperature Stabilizer Using Element Peltier and Atemga16 for Louhan’s Aquariums,” In Journal of Physics: Conference Series, vol. 2117, no. 1, p. 012016, https://doi.org/10.1088/1742-6596/2117/1/012016.

N. Balakrishna, L. V. Kumar, S. Sandeep, D. D. Prasad, and B. Srikanth, “Speed and Direction Control of Dc Motor Using Android Mobile Application,” EPRA International Journal of Research and Development (IJRD), vol. 7, no. 6, pp. 221-224, 2022, http://eprajournals.net/index.php/IJRD/article/view/587.

A. Mohamad, and T. Joko, “Interfacing the quadrature rotary encoder to STM32F407VGT6 of brachytherapy HDR IR-192 using LS7184N module,” Prima, vol. 16, no. 2, pp. 24-32, 2019, https://inis.iaea.org/search/search.aspx?orig_q=RN:52031522.

Z. Gingl, et al, “Universal Arduino-based experimenting system to support teaching of natural sciences,” In Journal of Physics: Conference Series, vol. 1287, no. 1, p. 012052, 2019, https://doi.org/10.1088/1742-6596/1287/1/012052.

V. Bereziuk, M. S. Lemeshev, V. V. Bogachuk, and M. Duk, “Means for measuring relative humidity of municipal solid wastes based on the microcontroller Arduino UNO R3,“ In Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2018, vol. 10808, pp. 1055-1062, 2018, https://doi.org/10.1117/12.2501557.

M. K. Mishu, et al , ”Prospective efficient ambient energy harvesting sources for iot-equipped sensor applications,” Electronics, vol. 9, no. 9, p. 1345, 2020, https://doi.org/10.3390/electronics9091345.

N. H. M. Tahir, M. F. Suhaimi, S. N. Mohamad, and S. R. Aw, “IoT Based Automatic Aquarium Monitoring System for Freshwater Fish, “International Journal of Synergy in Engineering and Technology,, vol. 2, no. 1, pp. 125-133, 2021, https://tatiuc.edu.my/ijset/index.php/ijset/article/view/95.




DOI: https://doi.org/10.59247/csol.v1i1.3

Refbacks

  • There are currently no refbacks.


Copyright (c) 2023 Naufal Rahmat Setiawan, Alfian Ma'arif, Nuryono Satya Widodo

 

Control Systems and Optimization Letters
ISSN: 2985-6116
Website: https://ejournal.csol.or.id/index.php/csol
Email: alfian_maarif@ieee.org
Publisher: Peneliti Teknologi Teknik Indonesia
Address: Jl. Empu Sedah No. 12, Pringwulung, Condongcatur, Kec. Depok, Kabupaten Sleman, Daerah Istimewa Yogyakarta 55281, Indonesia