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DATA DRIVEN CONTROL SYSTEM OF DC MOTOR

DATA DRIVEN CONTROL SYSTEM OF DC MOTOR

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Ye Naung1, Anatolii Schagin, Htin Lin Oo, Kyaw Zaw Ye, Zaw Min Khaing

Department of Automatic Control System and Control

National Research University of Electronic Technology

Zelenograd, Moscow, Russia

1

ye.naung.miet@gmail.com

Abstract—This paper presents data driven control system of linear and nonlinear black-box model structures [1]. In this

DC motor by using system identification process. In this paper paper, nonlinear black-box model structures in the system

we use component base modeling similar to real DC motor by identification toolbox have been used for representing

using simscape electronic systems for obtaining the input voltage continuous-time transfer function of the DC motor. In a

and output speed of DC motor, the system identification toolbox broader sense, the system identification is no easy way to

and the nonlinear autoregressive with exogenous input (NARX) derive their mathematical models for the most complex system

neural network for identification and obtaining the model of an unlike dc motors. In this case, artificial neural network (ANN)

object. The object model and training the neural network for can be used for multiple input/outputs and the very complex

data driven control system are developed by using

system due to the fact that they can estimate any continuous

MATLAB/SIMULINK platform. So, simulation results of this

paper present the advantage of the suggested control method and

nonlinear function to any acceptable accuracy in the system

the acceptable accuracy with respect to dynamic characteristics identification [2]. So, nonlinear autoregressive with exogenous

of the system. input (NARX) neural network is used to compare nonlinear

black-box model structures, which generate transfer function

Keywords— data driven control system; system identification; of the plant in the system identification process.

(NARX) neural network; dc motor; pid controller; simscape Today, we can use many kinds of control design in control

electronic systems

system such as PID control design, model reference adaptive

control design and model predictive control design. But

I. INTRODUCTION proportional, integral, derivative controller (PID controller)

DC motors are widely used in robotic control systems, still becomes very popular and is commonly used in control

transportation, industrial control systems and other systems and other applications. PID controller design has the

applications due to their dynamic characteristics and high following special features: simple mathematical modelling,

efficiency. On the other hand, in DC motor system may be good reliability, high reliability, stabilization. Besides it, the

occur such as changes in load dynamics, disturbances, variable system operates and corrects the error easily in the stationary

and unpredictable inputs, unknown parameters. All that will state. Therefore, one should choose PID controller for the

result in high motor performance, therefore, the motor must be controller design.

controlled and analysed. To analyse and design the controller The main goal of this paper is to implement data driven

of the motor, it is necessary to design its model. In this regard, control system of the DC motor using system identification

to solve the problem the data driven control must be used. process. And another important task is to compare the

Data driven control is a designed controller when no plant performance of the nonlinear autoregressive with exogenous

model is available and it requires the measured input/output inputs (NARX) neural network and nonlinear black-box model

data about the plant, system identification process and structures, which generate transfer function of the plant in the

controller design. In this case, let’s consider component base system identification process.

modelling similar to a real DC motor by using simscape

electronic system because simscape allows to create models of

physical systems rapidly within the MATLAB/SIMULINK II. DATA DRIVEN CONTROL

platform for the researchers. Simscape electronic system Nowadays, many industrial processes, aerospace systems,

allows building models of physical components based on robotic systems become more complex. Thus, even if physical

physical connections that directly connect with simulink models are available for this complex system, they can be too

block0 and other modelling paradigms. complex to be suitable for the design of the controller [4]. For

this reason, the data driven control is established and

System identification is possible to solve the objective of

developed in the theory and applications. Here, we consider

designing mathematical models of dynamical system based on

the data driven control system of DC motor by using system

the perceived system data. The system identification toolbox is

identification process and implement the data driven control

useful for representing dynamic systems and ensures some

flow work as shown in (fig.1).

• Electrical Reference block

Utilizing Simscape simulink blocks, we can quickly

construct DC motor model as shown in (fig.3).

In this paper, the DC motor is a hardware part, from which Fig. 3. SIMULINK diagram of simscape physical plant completed DC motor

input voltage and output speed can be measured. The

measured data is used to operate system identification process. After getting the completed DC motor model, the

And then we get the transfer function of the plant model from measured input (voltage) and output (speed) of the DC motor

the system identification process. It is mandatory to choose a are used to operate system identification process. The input

controller design and a control system for controlling the plant (voltage) and output (speed) of the DC motor are given in

model. After finishing the modeling process, we can start real (fig.4).

time testing of the DC motor.

In this paper, the physical block diagram of the simscape

extension is used to build DC Motor model. Actual physical

component is represented in simscape library. For the DC

motor models they can be built without mathematical

equations. DC motor equations can be directly modelled

applying the simscape electronic system. To get the completed

DC motor model, there is easy to assign values to the physical

parameters of each block [3]. DC motor model using the

physical modeling block is given in (Fig.2).

The System Identification Toolbox provides MATLAB

functions, SIMULINK blocks and interactive tools for

creating dynamic model system. There is need to acquire input

and output data in the time and frequency domain to identify

Fig. 2. SIMULINK diagram of simscape physical plant DC motor

continuous and discrete transfer functions, process models and

The electrical part of the model solves voltage and current the state space model.

values while the mechanical side solves the torque and angular In this work, input voltage and output speed of DC motor

velocity leads to identical simulation results for the models of are used as the input data in the system identification toolbox.

armature-controlled DC motor. The main advantage of the The input data is estimated by using continuous-time

simscape model is the ability to modify the model quickly identified transfer function estimation (TFEST) on time

without having the equations of the system. In order to domain data. After the identification process, we get the

complete the response of DC motor, it is necessary to add the transfer function with the following parameterization:

following blocks to the model [2]:

• Fit to estimation – 95.78% (stability enforced)

• Current Sensor block

• FPE – 8.498

• Controlled Voltage Source block

• MSE – 8.488

• PS-Simulink Converter blocks

• Solver Configuration block

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ω (s) 53 .98 s + 5 .04

= 2

Y (s) s + 1636 s + 0 .194 (1)

Neural Networks system identification. The article deals with

the solution of the DC motor model based on (NARX) neural

network. The standard (NARX) neural network architecture is

shown in (fig.5).

V. THE CONTROLLER DESIGN

The proportional-integral-differential (PID) controller is

In this part, input (voltage) and output (speed) of the DC the most effective and widespread type of regulator, which

motor are used to train as an input and target of the (NARX) provides quite high accuracy while controlling various

neural network. The (NARX) neural network structure processes. The PID controller generates an output signal that

consists of 10 neurons with a (tansig) transfer function in the is calculated using the following formula:

hidden layer, 1 neuron with a (purelin) tramsfer function in the t de(t )

output layer and 2 numbers of delay. We use Levenberg- u (t ) = K p e(t ) + K i ³ e(τ ) dτ + K d

0 dt (2)

Marquardt algorithm to train the networks with learning rate

equal to 0.001. The network validated in 1000 iterations, 16 As can be seen from the formula, the control signal is a

seconds and the best validation performance of the mean sum of three components: Kp, Ki and Kd. The proportional

squared error (mse) is 4.149e-9. After successful training of component depends on the error and is responsible for the

the network, we get the (NARX) network and it’s given in response to the instantaneous control error. The integral

(fig.6). component contains the accumulated control error, which is an

additional source of output power and allows achieving the

maximum speed of reaching the setpoint without overshoot.

The differential component depends on the rate of change of

the parameter, which causes the regulator to react to a sharp

change in the measured parameter, which can be solving an

external disturbing effect. In this paper, PID controller is used

for the proposed plant model. For correct regulation of the

Fig. 6. NARX Neural Network plant model, it is necessary to configure the coefficients of the

controller. There are many kinds of tuning method used to

After the system identification process, we can compare configure the PID controller, such as Ziegler-Nichols method,

the performance (NARX) neural network architectures and a manual setting method and auto tuning method in

nonlinear black-box model structures which generate transfer MATLAB. The auto tuning method is used to get the desired

function of the plant in the system identification process. The response of the DC motor. The DC motor model using PID

comparative model is shown in (fig.7) and the results of the controller is shown in (fig.9).

model are given in (fig.8).

Fig. 7. Comparative model

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The performance of the proposed control system is produced model can be realistic dynamic model of DC motor,

effectiveness and acceptable response of DC motor and it’s that able adopt the DC motor to dynamics completely.

useful to real time testing of DC motor. The speed response of Moreover this model can be used to analysis controller design

the DC motor using PID controller is given in (fig.10). and the control system of DC motor for students, researchers

and control engineers.

REFERENCES

[1] https://www.mathworks.com/help/nnet/ug/design-time-series-narx-

feedback-neural-networks.html

[2] Hussein, A., Hirasawa, K., Hu, J., Wada, K., 2003. Application of

universal learning networks to PV-supplied DC motor drives. Research

Reports on Information Science and Electrical Engineering of Kyushu

University8(2),129–134.)

[3] Ye Naung ,Schagin Anatolii, Htin Lin Oo, Zaw Min Khaing,Kyaw Zaw

Ye.The Comparative Analysis of Modelling of Simscape Physical Plant

System Design and Armature- Controlled System Design of DC Motor.

Young Researchers in Electrical and Electronic Engineering

(EIConRus), 2017 IEEE Conference of Russian.978-1-5090-4865-

Fig. 10. The speed response of the DC motor using PID controller 6/17/$31.00©2017IEEEɋ.998-100

[4] Zhongsheng Hou, Huijun Gao,Frank L. Lewis.Data-Driven Control and

Learning Systems. IEEE transaction on industrial electronics, VOL.64,

VI. CONCLUSION NO.5, MAY2017.Page.4070-4074

In this paper, data driven control system of DC motor is [5] W. P. Aung, “ Analysis on modeling and simulink of DC motor and its

implemented by using system identification process. The driving system used for wheeled mobile robot ”. International Journal of

Computer, Information, and Systems Science, and Engineering, Volume

system identification based on system identification toolbox 2 Number 1, Nov. 2007.

and (NARX) neural network for DC motor model estimation [6] D. M. Gillard and K. E. Bollinger, “ Online identification and control of

is produced. Nowadays, neural network system identification a DC motor using learning adaptation of neural networks ”. IEEE Trans.

is becoming more popular and it’s useful for more complex On Industrial Applications, VOL. 36, NO. 3, MAY/JUNE 2000.

dynamics models and multiple input/output systems. The

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