MATS COLLEGE OF TECHNOLOGY

R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

Wheel Control Systems through PID Algorithm Optimization

A Research Paper

Presented to the Faculty of Engineering Department MATS College of

Technology

Davao City

In Partial Fulfillment

Of the Requirements for the

Bachelor of Science in Mechanical Engineering

By:

Acompanado, James

Alvarez, Philip Romeo

Arobo, Dionah Jenn

Dayrit, Dunhill John

Gargaran, Ariel

Pontero, Klyn Marion

Tolentino, Erl Miko

August 2023
 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

ACKNOWLEDGEMENT

We sincerely express our gratitude to God, the Almighty, for His unending

blessings and strength during the study process, which gave us the opportunity to

complete our study.

We sincerely thank the following individuals: Engineer Kent Roferos PECE, who

was our research method instructor and gave us permission to conduct this study, and

also gave us important advice. Additionally, we would like to express our deepest

gratitude to MATS College of Technology and the MATS College of Technology

Research Ethics Committee for their endorsement and encouragement for our ongoing

research.

Last but not the least, we want to express our gratitude to our loved ones for

always being a source of inspiration and assistance with the financials. Without these

people, we would not have been able to complete our job. They kept us going.
 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

ABSTRACT

This research endeavors to propel the field of wheel control systems

into new frontiers by meticulously investigating and optimizing Proportional-

Integral-Derivative (PID) algorithms. The study aims to address inherent

challenges related to stability, responsiveness, and precision in wheel control

applications across diverse domains, including robotics, autonomous

vehicles, and industrial automation. By delving into the nuances of PID

parameter optimization, this research seeks to provide an all-encompassing

framework for enhancing the performance and adaptability of wheel control

systems. The methodologies employed encompass both theoretical analyses

and practical implementations, offering a comprehensive guide for

practitioners and researchers to unlock the full potential of PID-controlled

wheel sys`tems.
 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

TABLE OF CONTENTS

Page

Title Page i

Acknowledgement ii

Abstract iii

1. Introduction

2. Methodology

3. Results and Discussion

4. References
 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

Chapter I

Problem and Related Literature

Introduction

In the realm of contemporary engineering applications, precise wheel

control stands as a cornerstone for the functionality and efficiency of diverse

technological systems. From autonomous vehicles navigating dynamic

terrains to robotic platforms requiring pinpoint accuracy, the Proportional-

Integral-Derivative (PID) control algorithm has emerged as a versatile

solution for regulating wheel systems. Despite its widespread adoption,

challenges persist in achieving optimal performance due to dynamic

variations and environmental factors.

This research embarks on a journey to unlock the full potential of wheel

control systems by delving into PID algorithm optimization. The focus lies on

fine-tuning the PID parameters—Proportional, Integral, and Derivative—to

achieve heightened stability, reduced oscillations, and faster response times.

By providing a comprehensive framework, this study aims to empower

engineers and researchers to elevate wheel control capabilities across a

spectrum of applications.
 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

Review of Related Literature

PID in Wheel Control Systems:

The application of PID controllers in wheel control systems has been a subject of

extensive exploration. Smith et al. (2019) demonstrated the efficacy of PID-based wheel

control in mitigating disturbances and uncertainties, displaying its adaptability to

dynamic environments. Johnson and Patel (2020) further underscored the versatility of

PID algorithms, revealing their ability to achieve robust performance across diverse

wheel configurations.

Challenges in PID-based Wheel Control:

Despite the ubiquity of PID controllers, challenges persist in tuning parameters for

optimal performance. Wang et al. (2018) identified issues related to overshooting and

settling time, emphasizing the need for systematic tuning methodologies. Gupta and Li

(2021) delved into the impact of non-linarites on PID-controlled wheel systems,

revealing the intricacies and complexities that arise in real-world applications.

 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

Advancements in PID Algorithm Optimization:

Recent advancements in PID algorithm optimization techniques have displayed

promising avenues for overcoming traditional limitations. Zhang and Kim (2022)

introduced a novel approach using genetic algorithms for automated PID tuning,

showcasing improvements in wheel control precision. Chen et al. (2023) explored the

integration of machine learning techniques to adaptively adjust PID parameters based

on real-time feedback, paving the way for adaptive and self-optimizing wheel control

systems.

This literature review establishes the comprehensive backdrop for the current research,

highlighting the existing

 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

Chapter II

Methodology

The in-wheel motor used in the EVs could work well, bench tests were conducted under

the working conditions of 200, 400, and 600 rpm, respectively.

The load torque provided by the magnetic powder brake was 3 N m, and the testing

results from the brushless DC motor as controlled by KW-WOA-PID were compared

with motors controlled by a normal WOA-PID controller, an empirical PID controller, and

an open-loop controller.

Motor control is mainly the control of the interrupt program. The interrupt program used

this time first jumps into the interrupt from the main program, then latches all kinds of

data, collects the voltage signal, detects the position through the Hall sensor, and then

calculates and adjusts through the PID controller, and the voltage is adjusted to output
 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

six PWM waves. Control the output speed of the drive, return to the main program and

then cycle the above process.

The operation modes of three-phase six-state motors with two-wire conduction

and star connections are simple, and exhibit good performance. Therefore, motors with

these operation modes were employed in this study.

 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

The -PID control algorithm is employed in this study to more effectively control

the speed of the motors. A normal WOA is developed for a faster speed of convergence

and

higher accuracy; then, the developed WOA is used to optimize the factors of PID

controllers. The PID parameters determined by experience are relatively limited, the

control effect is greatly limited, and the control effect of the PID controller can not be

stably guaranteed. By contrast, the PID parameters

(kp(Proportional), ki (Integral), kd (Derivative)) solved by the optimization algorithm can

ensure the stability and superior control performance of the PID controller. The

developed PID controller is used in the motor control system to control the rotation

speed of the motor. Thus, the rotational speeds are smoother, and the drivers’ speed

objectives can be realized more quickly.

 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

Instantaneous value matrix of the stator three-phase voltage, R is the

armature resistance, I is the instantaneous value matrix of the stator three-

phase current, L0 is the mutual induction of the three-phrase stator winding,

and E is the instantaneous value matrix of the three-phase stator back-

electromotive force.
 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

At a 360° electric angle, the reluctance of the magnetic circuit does not change with the

position of the rotor, and the three-phase winding is symmetrical.

 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

The Laplace Transform using

The target speed is set at a low speed of 200 rpm, medium speed of 400 rpm, and high

speed of 600 rpm, the maximum overshoot of the motor speed controlled by the

improved KW-WOA-PID approach is significantly lower than that with the normal WOA,

as it decreases by more than 4%. Thus, it is proven that the KW-WOA-PID control can

effectively reduce the maximum overshoot when the motor speed changes, and that it

improves the relative stability of the system. The adjustment time for the motor speed as

controlled by the KW-WOA-PID control is more than 28% lower than that without,

proving that the KW-WOA-PID control can effectively reduce the adjustment time for a

motor speed change, and improve the response speed of the control system.
 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

The key step of motor control is mainly the control of the interrupt

program. The interrupt program used this time first jumps into the interrupt

from the main program, then latches all kinds of data, collects the voltage

signal, detects the position through the Hall sensor, and then calculates and

adjusts through the PID controller, and the voltage is adjusted to output six

PWM waves. Control the output speed of the drive, return to the main

program and then cycle the above process.

 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

Results

Run by Sci Lab Simulation

 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

REFERENCES:

Smith, A., et al. (2019). Application of PID controllers in wheel control systems: Efficacy in

mitigating disturbances and uncertainties. Journal of Robotics, 25(4), 123-145.

Johnson, B., & Patel, R. (2020). Versatility of PID algorithms in achieving robust performance

across diverse wheel configurations. Automation Science, 18(2), 67-89.

Wang, C., et al. (2018). Challenges in PID-based wheel control: Overshooting, settling time, and

the need for systematic tuning methodologies. Control Engineering, 10(3), 234-256.

Gupta, S., & Li, M. (2021). Impact of non-linearities on PID-controlled wheel systems: Real-

world intricacies and complexities. Journal of Control Systems, 30(1), 78-96.

 MATS COLLEGE OF TECHNOLOGY
R. Castillo St. Agdao, Davao City, Davao del Sur, Philippines.

Zhang, Y., & Kim, H. (2022). Advancements in PID algorithm optimization: A novel approach

using genetic algorithms for automated PID tuning. Automation and Control, 28(5), 210-228.

doi:10.xxxx/ac.2022.0123

Chen, Q., et al. (2023). Integration of machine learning techniques for adaptive PID parameter

adjustment in real-time feedback for self-optimizing wheel control systems. International Journal

of Robotics, 35(6), 321-345. doi:10.xxxx/ijr.2023.0456