Microprocessor-based performance indices analysis of individual systems distributed motion control strategies

Abstract

This paper objective is to analyze individual systems performance indices of a developed synchronization control for bi-axial system speed control/speed synchronization by using two strategies (cross-coupling technique and master–slave technique) with two permanent magnet direct current (PMDC) motors. Two prototypes of the previously developed microprocessor-based PMDC motor are used. The control algorithms are implemented using ARDUINO Mega board after installing MATLAB supporting package for it. First, the system identification procedure is carried out using a pseudo-random binary sequence test and the transfer function is derived. Then, optimal tuning of the Proportional-Integral controller is performed based on the multiple-application Simpson’s 1/3 rule with the performance indices as objective functions of the tuning algorithm. After that, both cross-coupling and master–slave speed synchronization algorithms are implemented. Finally, a comparison is made for their performance indices. The integral absolute error, integral square error, integral time absolute error and integral time square error performance indices are used for the comparison purpose. Introducing the analysis of the performance indices values for individual systems is the main contribution of this paper. Larger values of the performance indices resulted in master–slave strategy on slave PMDC motor due to the time delay needed for this motor to follow the master speed.