مشخصات پژوهش

Abstract- Controlling industrial equipment, particularly vehicles, utilizing four Permanent Magnet-Direct-Current (PMDC) are carried out motors by PID controller. The inputs of such controllers are one loop speed control, dualloop speed-current control, and three-loop speed-currentpower control. Power is supplied through battery and photovoltaic systems that together with motor and chopper dynamic model is simulated by Matlab/Simulink program; as well as, by using state-space-matrix (SSM), inputs will comprise battery voltage and load torque and outputs include speed and PMDC armature current. The best controlling method is chosen by comparing the results.