GWO-Based Multi-Stage Algorithm for PMDC Motor Parameter Estimation

During the design of a wheeled mobile robot, the problem of the proper selection of the parameters of its motor controllers was encountered. Knowing the parameters of the robot's Permanent Magnet Direct Current (PMDC) motors, precise tuning of the controllers can be performed, which then results in improved robot dynamics. Among many methods of parametric model identification, optimization-based techniques, particularly genetic algorithms, have gained more and more interest recently. The articles on this topic present the results of parameter identification, but they do not refer to the search ranges for individual parameters. With too wide a range, genetic algorithms do not find solutions or are time-inefficient. This article introduces a method for determining the parameters of a PMDC motor. The proposed method performs an initial estimation of the range of searched parameters to shorten the estimation time of the bioinspired optimization algorithm.