Position control of DC Servomotor with Nonlinearity Using ICA Based on FLC

DC Servomotors are used in wide variety fields such as robotics, industry, and mechatronics systems that precise positioning is considerable. Nonlinearities such as Backlash, DeadZone and load changes limit the performance of precise position control of DC servomotors. Using multi-loop control systemsbased on principles of cascade control, this paper deals with position control of DC servomotor with non-linear parameterssuch as backlash, dead zone and load change. To eliminate theeffects of Nonlinearities Fuzzy Logic Controllers (FLCs) are proposed in position and speed control loops. In order to achievebetter control performance, the Imperialist Competitive Algorithm (ICA) is applied to optimize the parameters of theFLCs consisting of fuzzy control rules and normalization factors. Simulation results show the better performance of proposed ICAoptimized FLC based drive in comparison with FLC and ICAoptimized PI.

کلیدواژه ها:

DC Servomotor ، Nonlinearities ، Fuzzy Logic Controller (FLC) ، Imperialist Competitive Algorithm (ICA)