Jim George and Geetha Mani
Harmony search, ant colony optimisation, re-designed PI-like controller, 2 DoF PID controller
DC motors with encoder sensors are applied in industrial applications that require precision control and rapid dynamic response which in turn acts as a DC servomotor. Performance optimisation of the DC motor is an area of concern when subjected to accurate position control. In this work, DC motor embedded with rotary encoder which is single-ended is applied to compute precise angular displacement. Redesigned PI-like controller and 2-DoF PID controllers are implemented to address performance issues. The process model ambiguity forms track to incorporate metaheuristic algorithms like harmony search (HS) and ant colony optimisation (ACO) for the determination of quantitative speciļ¬cations. This paper focuses on position control of DC servo motor for tracking based on HS-tuned redesigned PI-like control and 2-DoF PID control. The control algorithms are implemented on PC interfaced QUBE servo DC Motor through Hardware in Loop (HiL). ACO was applied to compare the performance of HS. Performance index-based comparison by incorporating the aforementioned optimisation algorithms showcases HS-tuned controllers are comparatively better than ACO-tuned on account of the performance index.
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