Optimization of PID Parameters For Controlling DC Motor Based On The Aquila Optimizer Algorithm
Optimization of PID Parameters For Controlling DC Motor Based On The Aquila Optimizer Algorithm
Corresponding Author:
Widi Aribowo
Department of Electrical Engineering, Universitas Negeri Surabaya
Unesa Ketintang Campus, Surabaya 61256, East Java, Indonesia
Email: [email protected]
1. INTRODUCTION
Power system control is a key role in fulfilling electricity needs. In addition, the increased
complexity of the load is also a concern [1]. Direct current (DC) motors are included in the category of types
of motors that are most widely used in industrial environments, household appliances to as supporting
devices for electronic instrument systems [2]. In a control system, there are several types of control actions,
including proportional, integral, and derivative control actions. Each of these control actions has certain
advantages. Proportional–integral–derivative (PID) controller is a combination of the three types of
controllers. If each of the three types of controllers is independent, the results achieved will not be good
because each has its own strengths and weaknesses [3].
Different controllers are used to control the speed of the DC motor. The most widely used
controllers are conventional PI and PID controllers. PIDs are widely used in conjunction with DC Motors in
industrial applications. This control system works by processing calculations based on the control variables
Kp, Ki, and Kd to achieve the conditions according to the expected setpoint. The PID is able to produce a
good output response from the DC motor rotational speed [4]. However, its implementation of adjusting PID
parameters is complex. In recent years there have been many methods for tuning PID parameters. In a simple
application, a trial-error tuning method is used to adjust the PID value. However, this method is difficult to
obtain optimal values. So, it is difficult to adjust the parameters, and it takes a long time and also the control
accuracy is not good [5]. In recent years, researchers have used many artificial intelligent methods to
optimize the parameters of DC motors, such as particle swarm optimization algorithm [6]−[8], Harris Hawks
optimization [9], [10], genetic algorithm [11]−[13], firefly algorithm [14]−[16], flower pollination algorithm
[17]−[19] and neural network [20]−[21].
This paper will present DC motor control using PID which is optimized using the an aquila
optimizer (AO) algorithm. The AO was introduced by Abualigah [22]. Aquila optimizer (AO) duplicates the
behavior of aquila in nature during the process of capturing prey. The aquila is one of the most popular birds
of prey in the northern hemisphere [22]. The contribution of this paper is:
− The application of the latest and promising metaheuristic methods namely An Aquila Optimizer algorithm
(AO) to set the PID parameters in DC motors
− The achievement of the offered method is tested by comparing it with the seagull optimization algorithm
(SOA), marine predators algorithm, giza pyramids construction (GPC), and chimp optimization algorithm
(ChOA).
This paper has an arrangement, namely the second part, which is about the concept of DC Motor and the
aquila optimizer (AO) method. The third part is the results and discussion. The last part is to draw
conclusions from the research.
Where 𝐾𝑚 is The permeability function of the magnetic material [25]. The armature current (𝐼𝑎 ) and input
voltage (𝑉𝑎 ) have a relationship in the armature circuit the equation is as follows,
where Ra and La are Armature resistance and Armature inductance. 𝑒𝑏 is back electromotive force.
𝜏𝑚 ( 𝑠 ) = 𝜏𝐿 ( 𝑠 ) + 𝜏 𝑑 ( 𝑠 ) (5)
Where 𝜏𝐿 is the torque jointed to the load. 𝜏𝑑 is Fault torque. 𝐽 is inertia of the DC motor and 𝐵 is damping
friction ratio. The block diagram of a DC motor can be seen in Figure 1.
τd (s)
τm (s) -
+
Vs(s) + τ (s) ω (s)
- L
Kb
based algorithms, the AO method begins with a population of candidate solutions (𝑋). The method starts
stochastically with an upper limit (𝑈𝐵) and a lower limit (𝐿𝐵) [22]. Each iteration will determine
approximately the optimal solution, which is called the best solution.
𝑋1,1 ⋯ ⋯ 𝑋1,𝑛
𝑋2,1 ⋯ ⋯ 𝑋2,𝑛
𝑋=[ ] (7)
⋮ ⋮ ⋮ ⋮
𝑋𝑚,1 𝑋𝑚,𝑛 … 𝑋𝑚,𝑛
Where m is the total number of candidate solutions (population), and n is the dimension size of the problem.
𝑟𝑎𝑛𝑑 is a random number, the j th lower bound is 𝐿𝐵𝑗 . the j th upper bound of the given problem is 𝑈𝐵𝑗 . AO
algorithm methods that simulate the behavior of aquila during hunting can be grouped into four steps:
− Step 1: Increased exploration (𝑋1 )
In step 1, aquila explores from the sky to determine the area of the search space to determine the
position of prey. Aquila identifies prey areas and selects the best areas for hunting.
𝑡
𝑋1 (𝑡 + 1) = 𝑋𝑏𝑒𝑠𝑡 (𝑡) (1 − 𝑇 ) + (𝑋𝑀 (𝑡) − 𝑋𝑏𝑒𝑠𝑡 (𝑡) × 𝑟𝑎𝑛𝑑) (9)
1
𝑋𝑀 (𝑡) = 𝑁 ∑𝑁
𝑖=1 𝑋𝑖 (𝑡 ) , 𝑁 = 1,2, … . 𝑑𝑖𝑚 (10)
Where, the solution of the next iteration of t is 𝑋1 (𝑡 + 1). It is produced in the initial search method (𝑋1 ).
𝑋𝑏𝑒𝑠𝑡 (𝑡) Is the best-obtained solution until t the iteration, this describes the estimated point of the prey. The
𝑡
parameter to supervisor the increased exploration via the number of iterations is (1 − 𝑇 ). The points mean
value of the current solutions linked at t th iteration is 𝑋𝑀 (𝑡). 𝑟𝑎𝑛𝑑 is a random value. The dimension size of
the problem is 𝑑𝑖𝑚. The population size is 𝑁.
− Step 2: Limited exploration (𝑋2 )
In the second step, the prey has been found with a high level of altitude. In this position, Aquila will
circle in the clouds, get into position, and prepare to attack prey. At this step, aquila has selected the area of
prey. Mathematically, the second step can be formulated in (11)-(18).
𝜋𝛽
Γ(1+𝛽)×𝑠𝑖𝑛𝑒( )
2
𝜎=( 𝛽−1 ) (13)
1+𝛽 ( 2 )
Γ( )×𝛽×2
2
𝑦 = 𝑟 × cos(𝜃) (14)
𝑥 = 𝑟 × sin(𝜃) (15)
𝑟 = 𝑟1 + 𝑈 + 𝐷1 (16)
𝜃 = −𝜔 × 𝐷1 + 𝜃1 (17)
3×𝜋
𝜃1 = (18)
2
Where the completion of the iteration t produced by the second step of the method is 𝑋2 (𝑡 + 1). he
distribution function of levy flights is 𝐿𝑒𝑣𝑦 (𝐷 ). the dimension space is (𝐷). 𝑋𝑅 (𝑡) is a random solution
value with a range of 1 to N. 𝑠 is a fixed constant value with a range up to 0.01. 𝑢 𝑎𝑛𝑑 𝑣 are a random value
between 0 and 1. 𝜎 is a fixed constant value with a range up to 1.5. 𝑥 𝑎𝑛𝑑 𝑦 are used to describe the spiral
shape in the search. 𝑟1 is selected a value between 1 and 20 which is used to fix the number of search cycles.
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Int J Pow Elec & Dri Syst ISSN: 2088-8694 219
𝑈 is the variable multiplied by 0.00565. 𝐷1 is an integer from 1 to the maximum value of the search space
variable (dim). 𝜔 is a variable that has a fixed small value multiplied by 0.005.
− Step 3: Increased exploitation (𝑋3 )
In step 3, Aquila will be in a position of exploitation that is approaching the prey and giving a
preemptive attack. This behavior can be represented mathematically by the (19).
Where the exploitation adjustment parameters fixed in this paper with small values (0,1) are 𝛼 and 𝛿. 𝑈𝐵
indicates the upper limit and 𝐿𝐵 indicates the lower limit of the given problem.
− Step 4: Limited exploitation (𝑋4 )
In method 4, aquilla gets closer to the prey. Prey will be attacked by aquilla on the ground. Aquilla
walk on the ground and take prey. Prey is attacked by aquilla at the last location. Behavioral modeling of
aquilla in step 4 can be modeled mathematically as in (20)-(23).
2×𝑟𝑎𝑛𝑑−1
𝑄𝑓 = 𝑡 (21)
(1−𝑇)2
𝐺1 = 2 × 𝑟𝑎𝑛𝑑 − 1 (22)
𝑡
𝐺2 = 2 × (1 − 𝑇 ) (23)
Where the solution of the iteration generated by the fourth search method (𝑋4 ) is 𝑋4 (𝑡 + 1). The quality
function used to balance the search strategy is 𝑄𝑓 . All kind of aquila movements used to track prey is 𝐺1 . 𝐺2
is a lowering worth from 2 to 0. It is showed the flight incline of the Aquila applied to adhere prey from the
first spot to the last spot. The current solution at the t-th iteration is 𝑋 (𝑡). A random point with range between
0 and 1 is 𝑟𝑎𝑛𝑑. The current iteration is t. The maximum number of iterations is 𝑇. The allocation function of
the flight levy is 𝐿𝑒𝑣𝑦(𝐷).
Optimization of PID parameters for controlling DC motor based on the … (Widi Aribowo)
220 ISSN: 2088-8694
Figure 3. The convergence curve of benchmark Figure 4. Step response with speed reference 1
function
The comparison of the ITAE and ITSE with the other controllers can be seen in Table 4. The ITAE
value of the AO-PID has a value of 0.7631. It is the lowest ITAE value. The ITSE value for the AO-PID
method is 0.2924. Meanwhile, the highest value of ITSE is owned by the MPA-PID method, namely 0.3563.
To test the robustness of the proposed method, a test was carried out by changing the speed of the DC motor.
The reference speed is set to the initial value of 0.8 for 5 seconds. Next, the reference speed is increased to 1
for 10 seconds. Finally, the reference speed is decreased by 0.5. In Table 5, the overshoot and undershoot
values can be seen in detail. In the first step, the highest overshoot value is MPA-PID, which is 0.8215. On
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Int J Pow Elec & Dri Syst ISSN: 2088-8694 221
the other hand, AO-PID method has the lowest value. It is 0.8026. In step 2, the highest overshoot value is
owned by the MPA-PID method of 1.005. In the second step, the overshoot value of the AO-PID and SOA-
PID methods differs very slightly, which is 0.0001. In the third step, the reference speed is reduced by 0.5.
The worst undershoot value is by the MPA-PID method. It is 0.4864. In Table 5, the AO has the same ITSE
value as the ChOA method, which is 0.3482. The lowest ITSE value is owned by the MPA method is 0.3468.
ITSE highest score is GPC with a value of 0.3486. The AO and SOA methods have the same ITAE value
with a value of 0.7387. The highest score of ITAE is owned by the MPA method, which is 0.7398. On the
other hand, the lowest value of ITAE is the GPC method of 0.7384.
4. CONCLUSION
DC motor control is a very interesting field due to the rapid development of control methods. Weak
parameter adjustment will result in dc motor performance. In this study, the Aquila Optimizer Algorithm
method was proposed to optimize the parameters of the PID. In conclusion, the AO method has optimal
achievement. The proposed method can reduce the overshoot of the PID by an average of 0.023% and can
improve the undershoot of the PID by 0.5%. The proposed method, namely AO which is applied to optimize
PID controllers, has the best ability.
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BIOGRAPHIES OF AUTHORS
Int J Pow Elec & Dri Syst, Vol. 13, No. 1, March 2022: 216-222