Position control of DC motors with Experience Mapping based Prediction Controller

Abstract

The paper presents a new controller inspired by the human experience based, voluntary body action control (dubbed motor control) learning mechanism. The controller is called Experience Mapping based Prediction Controller (EMPC). EMPC is designed with auto-learning features without the need for the plant model. The core of the controller is formed around the motor action prediction-control mechanism of humans based on past experiential learning with the ability to adapt to environmental changes intelligently. EMPC is utilized for high precision position control of DC motors. The simulation results are presented to show that accurate position control is achieved using EMPC for step and dynamic demands. The performance of EMPC is compared with conventional PD controller and MRAC based position controller under different system conditions. Position Control using EMPC is practically implemented and the results are presented.

A study of bipolar control action with EMPC for the position control of DC motors

“…To overcome the problems due to non-idealities in a practical system, EMK is developed using initial learning as described in [35,36]. Here the duration of the rectangular pulse that should be applied in terms of T on values for different values of P total of the position control system is obtained instead of a single input-output recording as proposed before to counter the non-linearity of the relation.…”

“…The principle unipolar action and the corresponding system response is shown in Fig. 1 [35,36]. EMPC utilizes rectangular control inputs with constant amplitude A m and time duration T on for the development of EMK.…”

“…The simulation and the experimental studies show that the EMPC achieves accurate position control for step and dynamic demands. A comparative study of performance of the position system based on the EMPC, PD and model reference adaptive controller (MRAC) in [35,36] shows that the EMPC performs better. EMPC presented in [35,36] uses a method of action where the voltage applied to the motor always generates torque to assist the rotation of the motor and not oppose it.…”

“…OJR is also accomplished only through new experiential learning and not with the help of a mathematical model of the system. EMPC was developed for a DC motor based precision positioning system [35,36]. The simulation and the experimental studies show that the EMPC achieves accurate position control for step and dynamic demands.…”

“…Inspired by the concepts of HMC, a new type of simple, effective and robust controller named experience mapping based prediction controller (EMPC) has been designed [35,36]. Similar to HMC, EMPC directly interacts with the system to be controlled, and develops experiences.…”