DEVELOPMENT OF PI AND PID CONTROLLERS BASED ON ESP32 FOR SPEED CONTROL OF A THREE-PHASE INDUCTION MOTOR USING AN INVERTER WITH A KALMAN FILTER
Keywords:
Kalman filter, PI and PID controller, Three-phase induction motor, Speed control system, InverterAbstract
Variable speed control of three-phase induction motors using inverters is widely implemented in diverse industrial applications, leading to notable advancements in efficiency for conveyor belt systems. This control mechanism enables precise handling of materials, thereby enhancing operational effectiveness in industrial settings. Additionally, it facilitates seamless adaptation to varying production requirements, ensuring accurate control and maintenance of rotational speed for tasks that demand high precision, such as conveyor systems, water pumping systems, and production machine tools. Furthermore, fans and blowers also derive benefits from this speed control system. This paper introduces a feedback control system developed on the ESP32 microcontroller, which interfaces with an inverter to achieve precise speed control of three-phase induction motors. The PI and PID controller parameters were determined utilizing the Ziegler-Nichols method. To effectively mitigate speed noise, a low-pass filter and a low-pass filter cascade with a Kalman filter were employed. The motor shaft speed is directly measured using an encoder, converted to RPM, and subsequently subjected to the noise filter and controller. The motor speed control signal is an analog signal ranging from 4-20 mA. The test results successfully demonstrate the integration of the low-pass filter cascade with the Kalman filter, alongside the PI and PID controllers, ensuring that the control system operates within acceptable limits. Furthermore, both the low-pass filter and PID controller exhibit the shortest rise time.
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