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VO HOANG DUY, NGUYEN HUNG*, SANG-KWUN JEONG*, HAK-KYEONG KIM* AND SANG BONG KIM*(2008). The Korea Committee for Ocean Resources and Engineering, pp14-19.
Key words: Linear quadratic regulator (LQR), Robust control, Genetic algorithm, Brushless direct current (BLDC) motor, H2/H∞ proportional integral derivative (PID) controller
ABSTRACT: This paper proposes a mixed H2/H∞ optimal PID controller with a genetic algorithm based on the dynamic model of a brushless direct current (BLDC) motor and applies it to speed control. In the dynamic model of the BLDC motor with perturbation, the proposed controller guarantees robust and optimal tracking performance to the desired speed of the BLDC motor. A genetic algorithm was used to obtain parameters for the PID controller that satisfy the mixed H2/H∞ constraint. To implement the proposed controller, a control system based on PIC18F4431 was developed. Numerical and experimental results are shown to prove that the performance of the proposed controller was better than that of the optimal PID controller.
* Dept. of Mechanical Eng., College of Eng., Pukyong National University, Busan, Korea