Abstract
This work aimed at developing a CRONE Controller based Speed Control of Permanent Magnet Direct Current Motors in order to achieve a robust and more effective speed control. Torque is one of the fundamental factors that affect PMDC motor's speed control, which generate uncertainty known as disturbance torque on shaft of the motor due to increase in temperature and decrease in frequency of the system. Proportional Integral Derivative (PID) controllers are commonly used in the speed control of PMDC motors, but PID controllers often do not fully reject external disturbances in the system. As such, the CRONE controller based speed control of PMDC motors was developed to address the limitations of PID control. To achieve this, a PMDC motor model with the following system response characteristics was adopted; settling time of 6.2s, rise time of 0.79s and overshot of 30.4% A second generation CRONE controller was developed and then applied for speed control of the PMDC motor. The performance of the developed controller was then compared with that of a Proportional Integral Derivative Particle Swamp Algorithm (PIDPSO) controller for speed control of PMDC motor. The result of the second generation CRONE controller for the speed control of PMDC motor obtained a settling time of 0.018s and overshoot of 0.0001%. The PID-PSO controller based speed control of the PMDC motor obtained a settling time and overshoot of 0.2s and 1.87% respectively. The effectiveness of CRONE controller was visualized in frequency domain, with the stability margin of 34.5dB and 900. Simulations were carried out using MATLAB 2016a.