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All Journal International Journal of Robotics and Control Systems
Sarot Srang
Institute of Technology of Cambodia
Control & Systems Engineering Electrical & Electronics Engineering

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Journal : International Journal of Robotics and Control Systems

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Comparison between Compensated and Uncompensated PD with Cascade Controller Design of PMDC Motor: Real Experiments Sopheak Yean; Sarot Srang
International Journal of Robotics and Control Systems Vol 3, No 4 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i4.1183

Abstract

In this paper, we compare two different kinds of position controllers, namely PD (both compensated and uncompensated PD) and Cascade controller (both compensated and uncompensated Cascade).  SIMULINK software is used to implement lumped parameters estimation with UKF. The Proportional-Derivative (PD) controller design by root locus and Cascade controller design have been chosen for our feedback system, and coulomb friction as disturbance is taken into account in the estimation model. The aim of this paper is to find out which controller is better (both compensated and uncompensated PD controller vs. both compensated and uncompensated Cascade controller). Therefore, the objective is to show how useful the parameter estimation for controller design with compensation. Through comparing two position controller designs, the experiment results show that both Compensated Proportional Derivative (PD) controller and Cascade controller Design have much better performance than the Uncompensated ones.
Co-Authors Sopheak Yean