Title: Robust speed control design for electric motors using the Kharitonov theorem and genetic algorithms: an experimental study
Authors: Ashraf Saleem; Hisham M. Soliman; Serein Al Ratrout; Mahmoud I. Masoud
Addresses: Department of Electrical and Computer Engineering, Sultan Qaboos University, Muscat, Oman ' Department of Electrical and Computer Engineering, Sultan Qaboos University, Muscat, Oman; Department of Electrical Engineering, Cairo University, Cairo, Egypt ' Department of Information Technology, Al Zahra College for Women, Muscat, Oman ' Department of Electrical and Computer Engineering, Sultan Qaboos University, Muscat, Oman
Abstract: Electric motor drives are subjected to severe oscillations that might cause motor shaft fatigue and consequent breakdown during system operation. In this paper, a design of robust proportional integral (PI) controller for induction motor (IM) drives is presented. Uncertainties due to different load conditions of the drive system are modelled by a transfer function with interval coefficients. Instead of stabilising an infinite number of polynomials, the Kharitonov theorem is used to design a robust controller by simultaneous stabilisation of only four polynomials. The controller parameters are optimised so that the maximum eigenvalue among the four polynomials is pushed to the left in the complex plane. This is accomplished using genetic algorithm (GA) optimisation to achieve the maximum possible rapidity of the system. The proposed controller is tested experimentally using the hardware-in-the-loop (HIL) technique. The simulation and experimental results show the validity and effectiveness of the proposed controller as compared to the auto-tuned PID control at different loading conditions.
Keywords: robust digital control; induction motors; Kharitonov theorem; system identification; model-based control.
International Journal of Modelling, Identification and Control, 2018 Vol.30 No.3, pp.239 - 251
Received: 01 Aug 2017
Accepted: 18 Sep 2017
Published online: 17 Sep 2018 *