On-line gain-tuning IP controller using real-coded genetic algorithm

摘要

An integral proportional (IP) controller with on-line gain-tuning using real-coded genetic algorithm (GA) is proposed to control the mover position of a linear induction motor (LIM) servo drive system. First, the dynamic model of an indirect field-oriented LIM servo drive is derived. Then, a real-time GA is developed to search the optimal gains of the IP controller. The theoretic bases of the IP controller and real-time GA are described in detail. Moreover, the proposed control system is implemented in a PC-based computer control system to control the LIM for achieving high-precision position control with robustness. Finally, simulated and experimental results show that the proposed controller provides high-performance dynamic characteristics and is robust with regard to plant parameter variations and external load disturbance.