GWO-PID of Two-phase Hybrid Stepping Motor for Robotic Grinding Force

Abstract

The use of the computer program MATLAB is prominent in many studies that simulate many industrial systems. The current simulation aims to build a suitable simulation model representing the Two-phase Hybrid Stepping Motor (2Ph-HSM). This type of motor is employed in a specific application to produce a force called automatic grinding force. To control the force, motor speed, and location, we need to add control systems, so two methods have been proposed, one of which is traditional, namely proportional, integral, and derivative (PID) control and the other is intelligent, called Gray Wolf Optimization (GWO). The current work also aims to use traditional control algorithms and advanced optimization algorithms that were chosen for their ease of control and possibility of use in many industrial applications. By setting appropriate specifications for the simulation model and after conducting prescribed tests that simulate different applications of the motor’s work within electrical systems, the results demonstrated good motor performance, better response, and high accuracy, in addition to speed. The goal is to design and tune a proportional, integral, and derivative (PID) controller by gray wolf optimization (GWO) using the transfer function (TF) of a 2Ph-HSM. To adjust the parameters of conventional controllers using advanced optimization, a suitable mechanism and technique were selected from advanced optimization techniques, where the gray wolf technique algorithm was chosen as an optimization technique and Integrated Time Absolute Error (ITAE) to adjust the parameters of conventional PID controller.