Position - Velocity Control for Two PMDC Motors Connected by a Cross-Coupling Technique with Butterflies Optimization Algorithm

Abstract

In this paper, two contributions are presented. the first is to design two cascade controllers to control the velocity and position for two Permanent Magnet DC motors (PMDC) working together at the same time for use in many applications such as CNC machines, robotics, and others. Furthermore, the cross-coupling technique is used to connect these motors and adjust the precise synchronization of their movement on the axes. The second contribution is the use of the butterfly’s optimization algorithm (BOA) with the objective function Integral Time Absolute Error (ITAE) to extract the optimal parameter values for the two cascade controllers and the synchronization controller in order to obtain the best accurate results. The simulation results showed high accuracy to reach the desired position at a regular velocity of both the PMDC motors with accurate synchronization and tracking trajectory on the axes. In addition, a very small position deviation of 0.021 rad was observed, and the system returned to a steady-state after 2 seconds of applying the full load.