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69 lines
1.6 KiB
Markdown
69 lines
1.6 KiB
Markdown
# Derivative Effect on Control System
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This dir is belong to Control System class contains with Tuning PID with ZN1 and PSO on motor system.
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## Software
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This program ran in Matlab
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## Variables
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`s = tf('s');` defines `s` as 'frequency domain' for transfer function and will be used further.
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```
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J = 0.01;
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b = 0.1;
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K = 0.01;
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R = 1;
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L = 0.5;
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```
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Those variable comes from BLDC control system.
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```
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c1=2; c2=2; w_max = 1; w_min = 0.1; particles=50; iterations=100;
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var=3; e_max = 1; e_min=0.1;
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% Search limit
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lim_min = 0;
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lim_max = 2500;
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```
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Variable above is the constant for PSO tuning.
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## Testing
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### ITAE Cost Function
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### Step Response
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## Results
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### Before PSO-PID
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```
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RiseTime: 1.0161
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SettlingTime: 1.8471
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SettlingMin: 0.0819
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SettlingMax: 0.0907
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Overshoot: 0
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Undershoot: 0
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Peak: 0.0907
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PeakTime: 3.0168
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SSError: 0.9095
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```
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### After PSO-PID
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Kp = 853.2738
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Ki = 73.5218
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Kd = 2500
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```
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RiseTime: 9.6110e-04
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SettlingTime: 0.0012
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SettlingMin: 0.9952
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SettlingMax: 0.9977
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Overshoot: 0
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Undershoot: 0
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Peak: 0.9977
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PeakTime: 0.0036
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SSError: 0.0024
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```
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### Notes
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Contact nanda.r.d@mail.ugm.ac.id for more information
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### Links
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You can access the source code here
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[github.com/nandard/control-system.git](https://github.com/nandard/control-system.git)
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