Comparison Between Conventional PI and Sliding Mode with Salp Swarm Algorithm to Position Two BLDC Motors

Nowadays, BLDC motors have become important motors for their many applications. Some of these applications require precise position and speed control, such as paper and textile mills, robots, CNC machines, etc. These and other applications require an accurate tracking trajectory of the movement. In this paper, two methods were used for dual motor synchronization, namely SMC and conventional PI control, to connect the two motors and perform the precise synchronization of their movements. Also, the cascade controller was designed to control the position of two BLDC motors. A salp swarm algorithm is used to determine the values of parameters for cascade control methods P and PI and dual motor synchronization (DMS) for both methods. In addition to using the objective function, Integral Time Absolute Error (ITAE), to produce the most accurate results, The results were compared using sliding mode control and conventional PI control for dual motor synchronization. The simulation results showed that the dual motor synchronization by sliding mode control is better than the dual motor synchronization by conventional PI control in terms of deviation, settling time, and overshoot. It was noted that at point (7,2), when drawing the letter (M), using conventional PI control showed a clear deviation and inaccurate drawing. while the deviation from this point is very small (almost zero) when using sliding mode control.