Speed control of DC motor using fractional order PID controller based on particle swarm optimization

Abstract

Due to the required different speeds and important role of direct current (DC) motors in laboratories, production factories and industrial application, speed controlling of these motors becomes an essential matter for proper operation with high efficiency and performance accuracy. This paper presents a new speed controlling technique that is based on particle swarm optimization (PSO) algorithm in the optimization process of the parameters for the fractional order proportional–integral–derivative (FOPID) controller. The FOPID is an advanced and modern controlling system in which the two more added parameters (the derivative μ and integral λ orders) are fractional rather than integer. Through the process of minimizing the fitness functions, the obtained results show that the designed controller system can excellently set the best controller parameters due to the fractions of these additional parameters. With respect to the PSO-PID controller, the simulation results for the proposed PSO-FOPID controller show performance improvements of 14%, 21%, 24.5%, 78%, and 19.3% in the values of the parameters Kp, Ki, Kd, Tr, and Ts respectively.