International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 12, No. 2, Jun 2021, pp. 1196~1204

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v12.i2.pp1196-1204  1196

Improving neural network using a sine tree-seed algorithm for

tuning motor DC

Widi Aribowo, Bambang Suprianto, Joko

Department of Electrical Engineering, Universitas Negeri Surabaya, Indonesia

Article Info ABSTRACT

Article history: A DC motor is applied to delicate speed and position in the industry. The
stability and productivity of a system are keys for tuning of a DC motor
Received Oct 6, 2020 speed. Stabilized speed is influenced by load sway and environmental
Revised Feb 2, 2021 factors. In this paper, a comparison study in diverse techniques to tune the
Accepted Mar 23, 2021 speed of the DC motor with parameter uncertainties is showed. The research
has discussed the application of the feed-forward neural network (FFNN)
which is enhanced by a sine tree-seed algorithm (STSA). STSA is a hybrid
Keywords: method of the tree-seed algorithm (TSA) and Sine Cosine algorithm. The
STSA method is aimed to improve TSA performance based on the sine
DC motor cosine algorithm (SCA) method. A feed-forward neural network (FFNN) is
Feed-forward neural network popular and capable of nonlinear issues. The focus of the research is on the
Sine cosine algorithm achievement speed of DC motor. In addition, the proposed method will be
Sine tree-seed algorithm compared with proportional integral derivative (PID), FFNN, marine
Tree-seed algorithm predator algorithm-feed-forward neural network (MPA-NN) and atom search
algorithm-feed-forward neural network (ASO-NN). The performance of the
speed from the proposed method has the best result. The settling time value
of the proposed method is more stable than the PID method. The ITAE value
of the STSA-NN method was 31.3% better than the PID method. Meanwhile,
the ITSE value is 29.2% better than the PID method.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Widi Aribowo
Departement of Electrical Engineering
Universitas Negeri Surabaya
Unesa Kampus Ketintang, Surabaya 61256, Jawa Timur, Indonesia
Email: [email protected]

1. INTRODUCTION
DC motor (direct current) is a basic electromechanical device that has the function to convert
electrical power into mechanical power. DC motor is a type of motor that is used direct voltage as its power
source. By providing a voltage difference at the two terminals, the motor will be rotating in one direction. If
the polarity of the voltage is reversed, the direction rotation of the motor will be reversing as well. The
polarity of the voltage is applied in the two terminals to determine the direction of rotation of the motor. DC
motors have reliability, flexibility, and low cost. It is the reason why DC motor is very popular in industrial
applications and household appliances that requires motor speed and position control. DC motors are most
compatible with level speed control and are therefore applied in many adaptable speed drives [1].
DC motors have better speed characteristics than AC motors. In addition, the DC motors have an
optimal speed control for breaking and acceleration. DC motors have a longer lifetime due to adjustments
and variations in implementation.

Journal homepage: http://ijpeds.iaescore.com

Int J Pow Elec & Dri Syst ISSN: 2088-8694  1197

Conventional motor controllers such as PID controllers are still popularly applied [2]. This is due to
the simple PID topology. The weakness of PID is to achieve high performance from a controller that has
required accurate and precise control parameters. A good PID control setting will have an impact on optimal
system response [3]. It is really depending on the parameter settings and the mathematical model. Classical
methods have characteristics when modeling a non-linear system. This is influenced by the control equation
which is complicated and required more effort.
This is stimulated the development of intelligent control technology [4]. The development of
artificial intelligence is becoming an additional supplement in terms of control. In recent years, several
researchers have started to apply several intelligent control methods based on artificial intelligence. Neural
networks are the favorite method used because they have the ability to solve complex and non-linear
problems. Several neural network methods are applied in applications such as forecasting [4], classification
[5], estimation [6], and prediction [7]. Several studies on DC motor control are divided into two concepts,
namely: conventional methods and artificial intelligence methods. several artificial intelligence concepts for
controlling such as: Whale optimization algorithm [8], [9], Harris Hawks optimization algorithm [10], flower
pollination algorithm [11], firefly algorithm [12], ant colony algorithm [13], [14], and neural network [15],
[16].
Feed forward neural network (FFNN) has a simple and easy to implement network structure. FFNN
is the favorite of the most widely implemented and is growing rapidly with a wide variety. Several
computation methods have been widely applied to optimize neural networks such as the particle swarm
optimization (PSO) method which is applied for weighting FFNN optimization [17], Genetic algorithm
combined with FFNN [18], and a combination of gravitational search algorithm and FFNN [19].
Tree-seed algorithm (TSA) has the advantage that it can solve optimization problems. On the other
hand, TSA has limited exploitation when dealing with complex problems. The sine-cosine algorithm (SCA)
method has the advantage of balancing exploration and exploitation. The SCA can find promising areas of
the search space and ultimately converge to the global optimal [20].
This research is proposing the sine tree-seed algorithm method to improve neural network skills.
The limitations of the neural network in weighting will be handled by the sine tree-seed algorithm method.
The method of the sine tree-seed algorithm is developed by combining the sine cosine algorithm and the tree
seed algorithm [20]. The method of this research is called the STSA-NN hybrid method. The method is used
to control the speed of a DC motor. The contribution of this research is to present intelligent control skills
based on the Sine Tree-Seed Algorithm hybrid method and the neural network. The validation and
effectiveness of the proposed method are compared with the PID, FFNN, MPA-NN and ASO-NN.

2. MATERIALS AND METHODS

2.1. A sine tree-seed algorithm
The method proposed by STSA-NN is a combination of STSA and NN methods. The STSA
algorithm is an improvement in the Tree-Seed Algorithm (TSA) method using the Sine Cosine (SCA)
method.

2.1.1. TSA: Tree-seed algorithm

TSA is a metaheuristic method that has a function as an intelligent optimization based on the
relationship between trees and seeds. It is used to solve ongoing problems. At the start of the algorithm, the
trees are planted above the ground. The location of the tree is placed with the best possible solution to the
problem. The land is a representation of the search space. A control parameter called search tendency (ST) is
used to handle trees that have the best search tendency or taken randomly. The TSA method has the
advantage of strengthening and blending locally to optimal or near-optimal.
Meanwhile, a very important optimization problem is to get a clear location generated from the tree.
This is the focus of the search. New trees are created by replacing existing trees with new seeds that are
deemed suitable and best. The tree and seed search method will be repeating until a specified number of
function criteria are accommodated. In the early stages, initialize the tree is determined by.
𝑡+1 𝑡 𝑡 𝑡 𝑡
𝑃𝑖,𝑗 = 𝑃𝑗,𝑚𝑖𝑛 + 𝑟𝑖,𝑗 × (𝑆𝐻𝑗,𝑚𝑎𝑥 − 𝑆𝐿𝑗,min ) (1)

𝑡+1 𝑡 𝑡 𝑡 𝑡
𝐵𝑖,𝑗 = 𝑃𝑖,𝑗 + 𝛼𝑖,𝑗 × (𝐵𝑗,𝑚𝑎𝑥 − 𝑃𝑟,𝑗 ) (2)

𝑡+1 𝑡+1 𝑡 𝑡 𝑡
𝐵𝑖,𝑗 = 𝑃𝑖,𝑗 + 𝛽𝑖,𝑗 × (𝑃𝑖,𝑗 − 𝑃𝑟,𝑗 ) (3)

𝑡
𝐵𝑗,𝑚𝑎𝑥 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
= min (∫(𝑃 𝑡+1
𝑖,𝑗 )) (4)
Improving neural network using a sine tree-seed algorithm for tuning motor DC (Widi Aribowo)
1198  ISSN: 2088-8694

𝑡+1 𝑡
Where dimension of the tree is 𝑃𝑖,𝑗 . The higher bound of the search space is 𝑆𝐻𝑗,𝑚𝑎𝑥 . The lower bound of
𝑡 𝑡
the search space is 𝑆𝐿𝑗,min . The random value with range [0,1] generated for each dimension is 𝑟𝑖,𝑗 . The
𝑡+1 𝑡 𝑡
dimension of the seed is 𝐵𝑖,𝑗 . 𝛼𝑖,𝑗 . 𝛽𝑖,𝑗 are the scaling element which generated in series of [−1, 1]
𝑡
randomly. The dimension of top tree place is 𝐵𝑗,𝑚𝑎𝑥 . The dimension of a tree randomly chosen from the
𝑡
population is 𝑃𝑟,𝑗 . For all test, the stop state is the peak times of function evaluations (MaxFE) and the
amount of function evaluations (FE).

𝑀𝑎𝑥𝐹𝐸 = 𝑀 𝑥10000 (5)

𝐹𝐸 = 𝐴 (6)

Where M is the dimension of a function, A is the number of trees.

2.1.2. SCA: Sine–cosine algorithm

SCA is served to solve optimization problems with unknown search spaces using the sine and cosine
functions. The location of each search agent is updated to get the optimal solution. SCA has an algorithm for
combining high randomness of several solutions and random solutions which is useful for obtaining
promising areas in the search space.

𝑉𝑖𝑡+1 = 𝑉𝑖𝑡 + 𝑟1𝑡 × sin(𝑟2𝑡 ) × |𝑟3𝑡 × 𝐾1𝑡 − 𝑉𝑖𝑡 | , 𝑟4𝑡 < 0.5 (7)

𝑉𝑖𝑡+1 = 𝑉𝑖𝑡 + 𝑟1𝑡 × cos(𝑟2𝑡 ) × |𝑟3𝑡 × 𝐾1𝑡 − 𝑉𝑖𝑡 | , 𝑟4𝑡 ≥ 0.5 (8)

Where the position of the current solution is 𝑉𝑖𝑡+1 . The best solution obtained so far is 𝐾1𝑡 . 𝑟1𝑡 dictates the next
place (or direction of movement), the distance from which the movement should move to the target or
outward is 𝑟2𝑡 . A random weight for the goal so that stochastically emphasize (𝑟3𝑡 >1) or deemphasize (𝑟3𝑡 <1)
the effect of desalination in defining the distance is 𝑟3𝑡 . A uniform switching between sine and cosine
functions is 𝑟4𝑡 .
𝑎
𝑟𝑖 = 𝑎 − 𝑡 𝑥 (9)
𝑇

Where 𝑡 is the current iteration, 𝑇 is the maximum iterations, and 𝑎 is a constant.

2.1.3. STSA: Sine tree-seed algorithm

Seeds have an important role in the distribution and search for optimal value. This is not optimal due
to random and simple seed production. Poor seed production will result in optimization results that are not in
accordance with the optimal solution. The STSA method modifies the number of seeds (ns) value so that it
can be processed according to changes in the FE value. This has an effect on the amount that impacts on the
best solution finding model.
𝐹𝐸
𝑟𝑎𝑡𝑖𝑜𝐹𝐸 = (10)
𝑀𝑎𝑥𝐹𝐸

𝑥𝑇ℎ𝑒𝑎𝑡 = 0.5 × 𝑟𝑎𝑡𝑖𝑜𝐹𝐸 × 𝜋 (11)

𝑛𝑠 = 𝐿 × |(𝐻 − 𝐿) × cos (𝑥𝑇ℎ𝑒𝑎𝑡)| + 1 (12)

𝑘 = 2 × (1 − 𝑟𝑎𝑡𝑖𝑜𝐹𝐸) (13)

Where the number of seeds is 𝑛𝑠. 𝐿 and 𝐻 are the low and upper bound of the number of seeds produced by a
tree. A new parameter based on the original TSA which combines the inspiration of SCA is 𝑘. 𝑘 has range
[0,2]. TSA has a weakness in the seed position updating function. Problems arise when the seed positions are
separated. The position of this seed will have a large uncertainty value. This will be a factor causing the
possibility of finding an optimal solution that is fast and accurate is getting smaller. On the other hand, SCA
has good prowess in terms of global search capabilities. SCA has a balance in exploration and exploitation.

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The STSA algorithm integrates TSA with SCA to improve the ability to find optimal global stochastic
solutions in optimization problems. The (2) and () in the TSA are replaced by.
t+1 t
Bi,j = tmprand × Pr,j + (1 − tmprand) × 𝐵𝑗𝑡 , 𝑟𝑎𝑛𝑑 < 0.5𝑆𝑇 (14)

𝑡+1 𝑡
𝐵𝑖,𝑗 = 𝑃𝑖,𝑗 + 𝑘 × ( 𝐵𝑗𝑡 − 𝑃𝑟,𝑗
𝑡 𝑡
× 𝑃𝑖,𝑗 𝑡
) × sin( 𝜋 × acos(𝑃𝑟,𝑗 )) , 0.5𝑆𝑇 ≤ 𝑟𝑎𝑛𝑑 < 0.5𝑆𝑇 (15)

t+1 t
Bi,j = Pr,j × Pi,jt + k × ( x t × Pi,jt − Pr,j
t
) x cos( π x arccos(x t )), 0.5𝑆𝑇 ≤ 𝑟𝑎𝑛𝑑 < 0.5𝑆𝑇 (16)

Where 𝑘 is a new parameter based on the original TSA. The supervisor parameter for controlling the search
trend is ST. Higher ST supplies solid local search and accelerates convergence, and vice versa lower values
lead to slow convergence but strong global search.

2.2. Feed-forward neural network

Neural networks are machine learning devices inspirited by biological neural networks and capable
of processing with mimic as the human brain [21]. Artificial neural networks (ANN) could construct model
linear and nonlinear algorithms. They are greatly answered as potent tools for the optimization function. The
feed-forward neural network (FFNN) is to approximate and control nonlinear relationships between inputs
and outputs. The data model needs to move in only one direction (forward) from the input nodes, via the
hidden layers, and eventually to the output node. FFNN has a topology which consists of process units, which
are represented by neurons. Figure 1 is the topology of FFNN. Neurons are the most important items of the
FFNN which are governed by input, hidden layers and outputs. The input (𝐼𝑛 ) sends a signal to the hidden
layer through a weighted network (Wij). In this section, the hidden neuron receives a weight plus bias input.
Then, the neurons are directed to the output layer (𝑋4 ). FFNN can be formulated as.
𝑗
𝑋1 (𝑡) = ∑𝑖=1 𝑊𝑖𝑗 𝐼𝑛 (t) + 𝑏1 (17)

1
𝑋2 (𝑡) = 𝑓(𝑥1 (𝑡)) = (18)
1+𝑒𝑥𝑝𝑥1

𝑘
𝑋3 (𝑡) = ∑𝑗=1 𝑊𝑗𝑘 𝑋2 (t) + 𝑏2 (19)

1
𝑋4 (𝑡) = 𝑓(𝑋3 (𝑡)) = (20)
1+𝑒𝑥𝑝𝑋3

Figure 1. FFNN structure

2.3. DC motor
DC motor is a type of motor that uses speed and position control which is the armature control of the
DC motor [22]. Armature control by keeping the static field current constant is key in DC motor setup [23].
The equivalent circuit is illustrated in Figure 2.

Improving neural network using a sine tree-seed algorithm for tuning motor DC (Widi Aribowo)
1200  ISSN: 2088-8694

Table 1. DC motor parameters [25]

Notation Information
Ra Armature resistance
La Armature inductance
ea Armature voltage
eb Back electromotive force
J Moment of intertia constant
B Damping friction ratio
Tm Motor torque
Kb EMF constant
Ki Moment constant
Figure 2. DC motor equivalent circuit [24]

𝑒𝑎 (𝑠) = (𝑅𝑎 + 𝐿𝑎 . 𝑠). 𝐼𝑎 (𝑠) + 𝑒𝑏 (𝑠) (21)

𝑒𝑏 (𝑠) = 𝐾𝑏 𝜔(𝑠) (22)

𝑇𝑚 (𝑠) = 𝐽𝑠𝜔(𝑠) + 𝐵𝜔(𝑠) (23)

𝑇𝑒 (𝑠) = 𝐾𝑖 𝐼𝑎 (24)

2.4. The proposed STSA-NN model

The flow chart of the STSA-NN hybrid method is presented in Figure 3 in Appendix. STSA and NN
work independently. The two processes further have interacted with each other to form the STSA-NN
method. In the method proposed by STSA-NN, data from the generator is taken as input and target for NN
training. The data is processed and grouped. NN is set using several parameters. The weighting parameter at
the beginning will be used a random value. This weight value will be increased using the STSA method. The
weighted results from STSA will be stored in the NN.

3. RESULTS AND DISCUSSION

In the first step of the test, the DC motor is modeled on the MATLAB/Simulink (R2015a). DC
motor modeling is regulated using the PID method. PID controller parameter values can be seen in Table 2.
The necessary data were captured and grouped as a reference for the STSA-NN intelligent control training.
Schematic of DC motor control using STSA-NN can be seen in Figure 4. The parameters and values used in
the proposed STSA-NN method can be seen in Table 3. The convergence curve of STSA is reported in
Figure 7.
In Figure 5, the convergence value of STSA stops at iteration 25. This result is obtained by entering
the parameters contained in Table 3 in the STSA-NN algorithm. The next step, it is to install and test the
STSA-NN controller on the DC Motor. The result of a closed loop system between the controller and the dc
motor can be seen in Figure 6. Table 4 is a detail of DC Motor output wave.

Table 2. Parameter of PID controller Table 3. Parameter of STSA-NN

Parameter Value Parameter Value
Kp 2 Hidden layer 4
Training Levenberg-marquardt
KI 6.5 Maximum iteration number 50
KD 0.01 Number of populations 50
Lower bound; upper bound -1.28;1.28
ST 0.3
Upper limit of seed's number 0.1
Lower limit of seed's number 0.25

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Figure 4. DC motor speed control with STSA-NN controller

Figure 5. The convergence curve of STSA Figure 6. Speed step response of the DC motor

In Table 4, a comparative analysis of the proposed STSA-NN approach compared to PID is shown. To
determine the effectiveness and validation of the proposed method, two criteria were used, namely Integral of
time multiplied by squared error (ITSE) and Integral of time multiplied by absolute error (ITAE). ITSE has a
supplementary time multiplier of the error function which points on the span of the error duration. This
measurement is popular in the system takes quick tunning time. The ITSE index formula is given as.
∞
𝐼𝑇𝑆𝐸 = ∫0 𝑡. 𝑒 2 (𝑡). 𝑑𝑡 (25)

ITAE is integrating the absolute error multiplied by time after time. Minimizing the integral of time-weighted
absolute error (ITAE) is as usual pointed to as a good achievement index in plotting controllers.
∞
𝐼𝑇𝐴𝐸 = ∫0 𝑡. 𝑒(𝑡). 𝑑𝑡 (26)

The comparison of the ITAE and ITSE can be seen in Table 4. The ITAE value of the PID has value 0.5944.
Meanwhile, the lowest ITAE value is owned by the ASO-NN method. It is 0.3357. The lowest ITSE value is
owned by the STSA-NN method of 0.1423. On the other hand, the highest value of ITSE is owned by the
MPA-NN method of 0.2057

Table 4. Comparison of the transient response analysis results for different controllers.
Controller Overshoot Settling Time (s) Rise Time (s) ITSE ITAE
PID 1.0003 0.1375 0.081 0.2007 0.5944
FFNN No overshoot 0.1375 0.08 0.2025 0.7155
MPA-NN No overshoot 0.15 0.085 0.2057 0.7364
ASO-NN 1.042 0.13 0.04 0.1515 0.3357
STSA-NN No overshoot 0.11 0.055 0.1423 0.4097

4. CONCLUSION
Managing control on a DC motor is a very interesting research area. DC motor control that has a
setpoint value must pay attention to the efficiency of the control. The sine tree-seed algorithm and neural
network hybrid method proposed in this study is used to control DC motors. From the research results, the
proposed method sine tree seed algorithm-neural network (STSA-NN) has a better performance on the
settling time and ITAE parameters than the performance of PID. The ITAE value of the proposed method is

Improving neural network using a sine tree-seed algorithm for tuning motor DC (Widi Aribowo)
1202  ISSN: 2088-8694

0.4097. Meanwhile, the ITSE value of the proposed method has better performance than the PID value. It is
0.1423. The lowest ITAE value is owned by the ASO-NN method of 0.3357. However, the ASO-NN method
has an overshoot of 1.0423. To test the performance of the STSA-NN method, it is necessary to carry out
further research with more complex problems.

APPENDIX

Figure 3. The proposed STSA-NN flowchart

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Improving neural network using a sine tree-seed algorithm for tuning motor DC (Widi Aribowo)
1204  ISSN: 2088-8694

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BIOGRAPHIES OF AUTHORS

Widi Aribowo is a lecturer in the Department of Electrical Engineering, Universitas Negeri

Surabaya, Indonesia. He is B.Sc in Power Engineering/Sepuluh Nopember Institute of
Technology (ITS)-Surabaya in 2005. He is M.Eng in Power Engineering/Sepuluh Nopember
Institute of Technology (ITS)-Surabaya in 2009. He is mainly research in the power system
and control.

Bambang Suprianto is a lecturer in the Department of Electrical Engineering, Universitas

Negeri Surabaya, Indonesia. He completed Bachelor of Electronic Engineering Education in
Universitas Negeri Surabaya-Surabaya in 1986. He holds Master Engineering in Sepuluh
Nopember Institute of Technology (ITS)-Surabaya in 2001. He was completed Doctor of
Electrical Engineering in Sepuluh Nopember Institute of Technology (ITS)-Surabaya in 2012.
His research interests include power system, control and electronic.

Joko is a lecturer in the Department of Electrical Engineering, Universitas Negeri Surabaya,

Indonesia. He completed Bachelor of Electronic Engineering Education in Universitas Negeri
Surabaya-Surabaya in 1989. He holds Master Engineering in Sepuluh Nopember Institute of
Technology (ITS)-Surabaya in 2004. He was completed Doctor in Universitas Negeri Malang-
Malang in 2017. His research interests include power system and motor.

Int J Pow Elec & Dri Syst, Vol. 12, No. 2, June 2021 : 1196 – 1204