Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter
DC motors are used in various industrial, robotic and motion control applications, and generally angular position and speed are used as the main control variables. This paper presents the design of an LQR controller with a Kalman Filter (KF) for state estimation during position and speed control of...
- Autores:
-
Marrugo, Duván A.
Vitola, Angie L.
- Tipo de recurso:
- Fecha de publicación:
- 2022
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/12227
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/12227
- Palabra clave:
- PID Controller;
Voltage Regulators;
Particle Swarm Optimization
LEMB
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
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Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter |
| title |
Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter |
| spellingShingle |
Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter PID Controller; Voltage Regulators; Particle Swarm Optimization LEMB |
| title_short |
Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter |
| title_full |
Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter |
| title_fullStr |
Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter |
| title_full_unstemmed |
Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter |
| title_sort |
Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter |
| dc.creator.fl_str_mv |
Marrugo, Duván A. Vitola, Angie L. |
| dc.contributor.author.none.fl_str_mv |
Marrugo, Duván A. Vitola, Angie L. |
| dc.contributor.other.none.fl_str_mv |
Peña, Juan C. Duque, J. Villa, J. L. |
| dc.subject.keywords.spa.fl_str_mv |
PID Controller; Voltage Regulators; Particle Swarm Optimization |
| topic |
PID Controller; Voltage Regulators; Particle Swarm Optimization LEMB |
| dc.subject.armarc.none.fl_str_mv |
LEMB |
| description |
DC motors are used in various industrial, robotic and motion control applications, and generally angular position and speed are used as the main control variables. This paper presents the design of an LQR controller with a Kalman Filter (KF) for state estimation during position and speed control of a DC motor. The proposed controller is evaluated for low and high speed reference profiles to demonstrate its efficiency in different types of applications. This approach is compared with the classical control method using a PID controller. From the results, it is observed that the settling time of the LQR-KF method is less, being 30% more efficient than the PID. In addition, the use of LQR provides an optimal state feedback control that minimizes the quadratic state error and control effort. The experimental results demonstrate the feasibility of the controller design for high precision applications. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG. |
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2022 |
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2022 |
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2023-07-19T21:23:58Z |
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2023-07-19T21:23:58Z |
| dc.date.submitted.none.fl_str_mv |
2023 |
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Marrugo, D. A., Vitola, A. L., Peña, J. C., Duque, J., & Villa, J. L. (2022, November). Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter. In Workshop on Engineering Applications (pp. 400-411). Cham: Springer Nature Switzerland. |
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https://hdl.handle.net/20.500.12585/12227 |
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10.1007/978-3-031-20611-5_33 |
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Universidad Tecnológica de Bolívar |
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Repositorio Universidad Tecnológica de Bolívar |
| identifier_str_mv |
Marrugo, D. A., Vitola, A. L., Peña, J. C., Duque, J., & Villa, J. L. (2022, November). Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter. In Workshop on Engineering Applications (pp. 400-411). Cham: Springer Nature Switzerland. 10.1007/978-3-031-20611-5_33 Universidad Tecnológica de Bolívar Repositorio Universidad Tecnológica de Bolívar |
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https://hdl.handle.net/20.500.12585/12227 |
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eng |
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eng |
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info:eu-repo/semantics/openAccess |
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Attribution-NonCommercial-NoDerivatives 4.0 Internacional |
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openAccess |
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11 páginas |
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Marrugo, Duván A.05d2d5f3-e9bd-4c5d-a546-f436ce989b7dVitola, Angie L.2b9c112b-e453-4186-b849-ac3e25fab648Peña, Juan C.Duque, J.Villa, J. L.2023-07-19T21:23:58Z2023-07-19T21:23:58Z20222023Marrugo, D. A., Vitola, A. L., Peña, J. C., Duque, J., & Villa, J. L. (2022, November). Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter. In Workshop on Engineering Applications (pp. 400-411). Cham: Springer Nature Switzerland.https://hdl.handle.net/20.500.12585/1222710.1007/978-3-031-20611-5_33Universidad Tecnológica de BolívarRepositorio Universidad Tecnológica de BolívarDC motors are used in various industrial, robotic and motion control applications, and generally angular position and speed are used as the main control variables. This paper presents the design of an LQR controller with a Kalman Filter (KF) for state estimation during position and speed control of a DC motor. The proposed controller is evaluated for low and high speed reference profiles to demonstrate its efficiency in different types of applications. This approach is compared with the classical control method using a PID controller. From the results, it is observed that the settling time of the LQR-KF method is less, being 30% more efficient than the PID. In addition, the use of LQR provides an optimal state feedback control that minimizes the quadratic state error and control effort. The experimental results demonstrate the feasibility of the controller design for high precision applications. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.11 páginasapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://purl.org/coar/access_right/c_abf2Communications in Computer and Information ScienceFull State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filterinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/drafthttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/version/c_b1a7d7d4d402bccehttp://purl.org/coar/resource_type/c_2df8fbb1PID Controller;Voltage Regulators;Particle Swarm OptimizationLEMBCartagena de IndiasAhmed, A., Gupta, R., Parmar, G. GWO/PID Approach for Optimal Control of DC Motor (2018) 2018 5th International Conference on Signal Processing and Integrated Networks, SPIN 2018, art. no. 8474105, pp. 181-186. Cited 14 times. http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=8447178 ISBN: 978-153863045-7 doi: 10.1109/SPIN.2018.8474105Chevrel, P., Sicot, L., Siala, S. Switched LQ controllers for dc motor speed and current control: a comparison with cascade control (1996) PESC Record - IEEE Annual Power Electronics Specialists Conference, 1, pp. 906-912. Cited 10 times. ISBN: 0780335007 doi: 10.1109/PESC.1996.548689Dani, S., Sonawane, D., Ingole, D., Patil, S. Performance evaluation of PID, LQR and MPC for DC motor speed control (2017) 2017 2nd International Conference for Convergence in Technology, I2CT 2017, 2017-January, pp. 348-354. Cited 10 times. ISBN: 978-150904307-1 doi: 10.1109/I2CT.2017.8226149Kondratiev, A., Slivinsky, M. Method for determining the thickness of a binder layer at its nonuniform mass transfer inside the channel of a honeycomb filler made from polymeric paper (2018) Eastern-European Journal of Enterprise Technologies, 6 (5-96), pp. 42-75. Cited 605 times. http://journals.uran.ua/eejet doi: 10.15587/1729-4061.2018.150387Guo, J., Huang, W., Williams, B.M. Adaptive Kalman filter approach for stochastic short-term traffic flow rate prediction and uncertainty quantification (2014) Transportation Research Part C: Emerging Technologies, 43, pp. 50-64. Cited 424 times. www.elsevier.com/inca/publications/store/1/3/0/ doi: 10.1016/j.trc.2014.02.006Handaya, D., Fauziah, R. Proportional-integral-derivative and linear quadratic regulator control of direct current motor position using multi-turn based on LabView (2021) Journal of Robotics and Control (JRC), 2 (4), pp. 332-336. Cited 9 times. https://journal.umy.ac.id/index.php/jrc/article/view/10033/5834 doi: 10.18196/jrc.24102Hekimoglu, B. Optimal Tuning of Fractional Order PID Controller for DC Motor Speed Control via Chaotic Atom Search Optimization Algorithm (Open Access) (2019) IEEE Access, 7, art. no. 6287639, pp. 38100-38114. Cited 162 times. http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639 doi: 10.1109/ACCESS.2019.2905961Khatoon, S., Gupta, D., Das, L.K. PID & LQR control for a quadrotor: Modeling and simulation (2014) Proceedings of the 2014 International Conference on Advances in Computing, Communications and Informatics, ICACCI 2014, art. no. 6968232, pp. 796-802. Cited 64 times. ISBN: 978-147993079-1 doi: 10.1109/ICACCI.2014.6968232Madhukar, P., Mishra, P.K. Linear quadratic gaussian control design with extended Kalman filter (2020) Int. Res. J. Adv. Sci. Hub, 2, pp. 31-42. https://doi.org/10.47392/irjash.2020.34Maghfiroh, H., Nizam, M., Praptodiyono, S. PID optimal control to reduce energy consumption in DC-drive system (Open Access) (2020) International Journal of Power Electronics and Drive Systems, 11 (4), pp. 2164-2172. Cited 5 times. http://ijpeds.iaescore.com/index.php/IJPEDS/article/download/20872/13302 doi: 10.11591/ijpeds.v11.i4.pp2164-2172Shamseldin, M.A. Optimal coronavirus optimization algorithm based pid controller for high performance brushless dc motor (2021) Algorithms, 14 (7), art. no. 193. Cited 14 times. https://www.mdpi.com/1999-4893/14/7/193/pdf doi: 10.3390/a14070193Vishal, V., Kumar, V., Rana, K.P.S., Mishra, P. Comparative study of some optimization techniques applied to DC motor control (2014) Souvenir of the 2014 IEEE International Advance Computing Conference, IACC 2014, art. no. 6779522, pp. 1342-1347. Cited 23 times. doi: 10.1109/IAdCC.2014.6779522Xiang, Z., Wei, W. Design of DC motor position tracking system based on LQR (Open Access) (2021) Journal of Physics: Conference Series, 1887 (1), art. no. 012052. Cited 2 times. http://iopscience.iop.org/journal/1742-6596 doi: 10.1088/1742-6596/1887/1/012052(2018) Applied Energy Yu, G.R., Hwang, R.C.: Optimal PID speed control of brush less DC motors using LQR approach. In: 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. 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