Position Control of DC Servo System Using Fractional Order PID Controller Based on Particle Swarm Optimization

Increasing demand of robotics in industrial sector results in usage of DC servo motors because of its high efficiency, high torque to weight ratio, accuracy and resolution. Due to these advantages, the DC servo motor has numerous applications like positioning of dish antennas, balancing the position of aircraft and being used at joints of robots etc. So, for positioning the DC servo motor at desired and accurate position a controller is needed to control it. Fractional-Order Proportional Integral-Derivative (FOPID) controller has been used in this work for the position control, which is advanced than Proportional Integral Derivative (PID) controller. The PID controller consists of only three control parameters but FOPID consists of five control parameters which results in more accurate positioning compared to PID controller. To tune the FOPID controller parameters, particle swarm optimization (PSO) has been used to achieve accurate and desired positioning. To make position control automatic the closed loop operation is performed, there by adjusting the position of DC servomotor to its desired position. This paper analyzes the position control of DC servo system performance with FOPID controller tuned by PSO optimization algorithm.