A novel delay-affected two degree of freedom PID controller using physics-inspired optimization for robust control...

Area of Science:

• Control Engineering
• Robotics
• Mechatronics

Background:

• Brushless direct-current (BLDC) motors are crucial for motion control.
• Time delays in control systems degrade performance and stability.
• Existing controllers struggle with accurate speed regulation in delayed systems.

Purpose of the Study:

• To propose a novel delay-affected two-degree-of-freedom proportional-integral-derivative (DE-2DOFPID) controller.
• To enhance the speed regulation accuracy and robustness of BLDC motors under time-delay conditions.
• To investigate the efficacy of the Rime-inspired metaheuristic (RIME) algorithm for controller tuning.

Main Methods:

• Explicitly embedding time delay into the control law via a weighted delayed-error feedback term.
• Reshaping proportional and derivative paths using two reference-weighting coefficients.
• Tuning controller gains using the Rime-inspired metaheuristic (RIME) algorithm with a composite performance index.

Main Results:

• The RIME-tuned DE-2DOFPID controller reduced settling time by 8.03% and cost by 6.99% compared to PID-based methods.
• Overshoot was maintained below 3% while improving transient behavior and robustness.
• Comparative studies showed superior performance against other metaheuristics and conventional controllers.

Conclusions:

• The DE-2DOFPID controller effectively addresses time-delay challenges in BLDC motor speed control.
• The RIME algorithm is well-suited for optimizing complex, multimodal control landscapes.
• Real-time experiments validated the controller's practical relevance for robust motion control under disturbances.