PID-Dahlin Polynomial Speed Controller Optimized by Ant Colony Algorithm on an ARM Platform

Abstract

A polynomial PID controller does not have the same transient response as a conventional PID, since it tends to be relatively slower, but at the same time much more stable. To demonstrate the above, this paper proceeds to develop two speed controllers for a permanent magnet DC motor. One is a PID controller with standard structure tuned by Euler using the PID Tuner tool of Matlab, and the other is a polynomial PID controller based on the Dahlin algorithm, which is tuned using Ant Colony Optimization (ACO). The controllers are implemented on a card with Advanced RISC Machine (ARM) technology of the STM32F4-Discovery family, programmed in graphical language using Simulink from Matlab. The performance of the controls is compared using the Wilcoxon statistical method of IBM's Statistical Package for the Social Sciences (SPSS), which determines the best control based on the Integral of Absolute Error (IAE).