Design and Implementation of MRAC & MRAC-PID Feedback for Turntable

Year 2023, , 1171 - 1185, 01.09.2023

Saıbal Manna , Deepak Kumar Singh , Ashok Kumar Akella

https://doi.org/10.35378/gujs.1052850

Cited By: 1

Abstract

The paper explains a control method for turntable by feedback a PID controller with the traditional model reference adaptive controller (MRAC) based on the MIT rule. The traditional MRAC is designed for a first-order system with the adjustment of a two-variable parameter. However, the majority of plants, including turntable, are second-order systems. Traditional MRAC tracking performance for second-order systems is unsatisfactory. The control law for the second order system along with extension from the first to the second order of MRAC is derived. The modified MRAC i.e., MRAC-PID controller is designed for the application of turntable. It enhanced the system’s dynamic performance. To assess the performance of the proposed controller, MATLAB/Simulink software was used. The article incorporates a detailed analysis and comparison of PID, MRAC as well as MRAC-PID controllers based on the MIT rule for the turntable system. The robustness of the proposed controller is validated by introducing uncertainties in two aspects i.e., mistuning of the controller gains and turntable system dynamics change. The probabilistic design assessment for the mistuning is carried out through levels of uncertainty in controller gain. It is observed that PID and MRAC would track the reference model but modified MRAC has better performance in terms of tracking accuracy, adaptability, and rapidity. Several performance indexes such as integral absolute error (IAE), integral time absolute error (ITAE), and integral square error (ISE) were employed to justify the proposed controller superiority.

Keywords

MRAC, MRAC-PID, Turntable, MIT rule, PID

References

• [1] Andoh, F., “Moment of Inertia Identification Using the Time Average of the Product of Torque Reference Input and Motor Position”, IEEE Transactions on Power Electronics, 22(6): 2534-2542, (2007).
• [2] Yang, S., Wang, Y., Su, B. K., “Study on disturbance torques compensation in high precise servo turntable control system”, Dianji yu Kongzhi Xuebao/Electric Machines and Control, 13(4): 615-619, (2009).
• [3] G. S. R., Thangavelusamy, D., “Robust Reference Tracking and Load Rejection on Non-Linear System using Controllers”, Gazi University Journal of Science, 35(4): 1454-1469, (2022).
• [4] Zhuo-Yun, N., Chao, Z., Qing-Guo, W., Zhiqiang, G., Hui, S., Ji-Liang, L., “Design, analysis and application of new disturbance rejection PID for uncertain system”, ISA Transactions, 101: 281-294, (2020).
• [5] M., P., Jacob, J., Joseph K, P. “Design of model reference adaptive-PID controller for automated portable duodopa pump in parkinson’s disease patients”, Biomedical Signal Processing and Control, 68, 102590, (2021).
• [6] Astrom, K. J., Wittenmark, B, “Adaptive Control”, 2nd ed, Dover publications, INC., Mineola, New York, 185-225, (2001).
• [7] Oda, K., Toyoda, Y., Nakamura, H., “Model reference control for steam temperature of power plant at start-up stage”, Proceedings of the 34th SICE Annual Conference. International Session Papers, Hokkaido, Japan, 1609-1614, (1995).
• [8] Srisertpol, J., Phunghimai, S., “Model Reference Adaptive Temperature Control of the Electromagnetic Oven Process in Manufacturing Process”, WSEAS International Conference on Signal Processing, Robotics and Automation, UK, 57-61, (2010).
• [9] Vale, M. R. B. G., Fonseca, D. G. V., Pereire, K. R. C., Maitelli, A. L., Araujo, F. M. U., Casillo, D. S. S., “Model Reference Adaptive Control with inverse compensation applied to a pH plant”, IEEE International Symposium on Industrial Electronics, Bari, Italy, 244-249, (2010).
• [10] Nguyen, A. T., Rafaq, M. S., Choi, H. H., Jung, J., “A Model Reference Adaptive Control Based Speed Controller for a Surface-Mounted Permanent Magnet Synchronous Motor Drive”, IEEE Transactions on Industrial Electronics, 65(12): 9399-9409, (2018).
• [11] Jingzhuo, S., Huang, W., “Model Reference Adaptive Iterative Learning Speed Control for Ultrasonic Motor”, IEEE Access, 8: 181815-181824, (2020).
• [12] Xin, L., Yao, W., Peng, Y., Qi, N., Xie, S., Ru, C., Badiwala, M., Sun, Y., “Model Reference Adaptive Control for Aortic Pressure Regulation in Ex Vivo Heart Perfusion”, IEEE Transactions on Control Systems Technology, 29(2): 884-892, (2021).
• [13] Wang, Y., Li, A., Yang, S., Li, Q., Ma, Z., “A neural network based MRAC scheme with application to an autonomous nonlinear rotorcraft in the presence of input saturation”, ISA Transactions, 115: 1-11, (2021).
• [14] Reddy, P. M. S., Shimjith, S. R., Tiwari, A.P., Kar, S., “State Feedback Output Tracking Model Reference Adaptive Control for Nuclear Reactor”, IFAC-PapersOnLine, 53(1): 319-324, (2020).
• [15] Sengupta, R., Dey, C., “Designing Of An Imporved MRAC With Fuzzy-PD Feedback For Marginally Stable Processes”, 2018 Fifth International Conference on Emerging Applications of Information Technology (EAIT), Kolkata, India, 1-4, (2018).
• [16] Zhao, C., Ma, J., Fan, X., Ji, R., “Design of MRAC and Modified MRAC for the Turntable”, 39th Chinese Control Conference (CCC), Shenyang, China, 1874-1878, (2020).