Performance Evaluation of Different Objective Function in PID Tuned by PSO in DC-Motor Speed Control

Abstract

Abstract The electric motor is an electromagnetic device that converts electrical energy into mechanical energy. There are many industrial sectors using electrical motors. Almost 90% of industries still use PID control because of its simplicity, applicability, and reliability. However, the weakness of PID is that it takes a long time to tune. PSO is one of the optimization methods which can be used to tune PID. The objective function is needed when using PSO to tune PID control. Five different objective functions which are ISE, IAE, ITSE, ITAE, and MSE is compared in terms of performance and control energy. The PID controller is applied in DC motor speed control in a simulation environment. Three testing condition is carried out which is step responses, set-point changes, and disturbance rejection. The simulation result shows that in terms of performance, ITSE is the best one. On the other hand, in terms of control energy, ISE is using the lowest energy to control the plant.