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31771

System Identification and Optimal PI Controller of R/C Servo Motors

Article

Last updated: 03 Jan 2025

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Subjects

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Tags

Engineering

Abstract

An R/C servo motor is electro-mechanical device that takes the PWM control signal to move to a certain position. This type of system is widely used in undergraduate mechatronics projects such as (small-sized robotics, radio-controlled cars, planes, etc.). However, the embedded close loop controller circuit inside the R/C servomotor represents a drawbacks in many applications need high definition controller. Therefore, in order to improve the performance of R/C servo motor, transfer function model is estimated from input-output measured data using system identification Matlab toolbox. After that, hardware in loop simulation employed to validate the estimated model with physical system. The results show good tracking to both estimated and physical system to the reference signal. PI controller designed firstly using Zigler-Nichols method in order to limit the search space. After that, optimal controller gains obtained using two intelligent optimization algorithms, Genetic Algorithms (GA), and Particle Swarm Optimization (PSO), then implemented on the physical system in real time environment using low cost components. The controller improves the set point characteristic and achieved satisfactory dynamic performance

DOI

10.21608/sjou.2016.31771

Keywords

system identification, Parameter estimation, Servomechanisms, Servomotors, Robots, Mechatronics, PI controller, DC motors, optimal control, Genetic Algorithms (GA), particle swarm optimization (PSO)

Authors

First Name

Omar

Last Name

Ahmed

MiddleName

-

Affiliation

Mechatronics Department, Faculty of engineering, October 6 University, Egypt

Email

-

City

-

Orcid

-

First Name

A.

Last Name

Elnady

MiddleName

Okasha

Affiliation

Mechatronics Department, Faculty of engineering, October 6 University, Egypt

Email

-

City

-

Orcid

-

First Name

Saber

Last Name

Abdrabbo

MiddleName

-

Affiliation

Industrial Department, Shoubra faculty of engineering, Benha University, Egypt

Email

-

City

-

Orcid

-

Volume

3

Article Issue

2

Related Issue

5380

Issue Date

2016-07-01

Receive Date

2016-04-14

Publish Date

2016-07-01

Page Start

59

Page End

66

Print ISSN

2314-8640

Online ISSN

2356-8119

Article File

SJOU_Volume 3_Issue 2_Pages 59-66.pdf

PDF . 822.3kB

Link

https://sjou.journals.ekb.eg/article_31771.html

Detail API

https://sjou.journals.ekb.eg/service?article_code=31771

Order

9

Type

Original Article

Type Code

724

Publication Type

Journal

Publication Title

Scientific Journal of October 6 University

Publication Link

https://sjou.journals.ekb.eg/

MainTitle

System Identification and Optimal PI Controller of R/C Servo Motors

Details

Type

Article

Created At

22 Jan 2023