Model Reference Adaptive Control Based Adaptive-PID Controller Design for Speed Control of Separately Excited Direct Current Motor

Abstract

Separately excited direct current (SEDC) motor is the most used drive in a machine that can be adjusted inside a wide range with the goal that this provides easy controllability and high performance. The primary objective of this thesis is to control the speed of a separately excited direct current motor using the Model Reference Adaptive control (MRAC) based proportional integral derivative (PID) controller approach. The constant gain of the PID controller operation is not effective at the point where the parameter of any system changes regarding time. If MRAC based design should occur, the adjustable PID gain parameters corresponding to changes in the plant will be determined by referring to the reference model which specifies the property of the desired control system. This thesis presents the method for designing a MRAC based PID controller for speed control of armature controlled separately excited DC motor. Simulation results showed that the speed response is less affected under increased reference input, load torque and uncertain output disturbance signal for modified MIT rule than MIT rule. Likewise, at steady state the error is zero, the speed response has less maximum overshoot and fast settling time under modified MIT rule than MIT rule of model reference adaptive control. Under the Lyapunov adaptive control based, the system is stable, and the system response has less or equal to 0.505% maximum overshoot and 3.110 second settling time for all the condition we had considered under Modified MIT rule.