초록 close

- PID controllers with constant gains have been widely used in various control systems due to its powerful performance and easy implementation. But it is difficult to have uniformly good control performance in all operating conditions.In this paper, we propose a nonlinear variable PID controller with immune feedback mechanism. An immune feedback mechanism is based on the functioning of biological T-cells, they include both an active term, which controls response speed, and an inhibitive term, which controls stabilization effect. Therefore, the proposed nonlinear PID controller is based on immune responses of biological immune feedback mechanism which is the cell mediated immunity. and In order to choose the optimal nonlinear PID controller gaines, we also propose the tuning algorithm of nonlinear function parameter in immune feedback mechanism. To verify performance of the proposed algorithm, the speed control of nonlinear DC motor are performed. From the simulation results, we have found that the proposed algorithm is more superior to the conventional constant gain PID controller.