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2, 2016
Received: 11.01.2015
Accepted: 02.08.2015
ABSTRACT - At the present time, Direct Current (DC) motors have been widely used in many industrial
applications. The main reason for their popularity is the ability to control their torque and flux easily and
independently. The most commonly used controller for the speed control of DC motor is conventional
Proportional-Integral-Derivative (PID) controller. However, the conventional PID controller has some
disadvantages. To overcome these disadvantages, various types of modified conventional PID controllers
such as Fractional Order PID (FOPID) controllers were developed. This paper presents a comparison of
time response specifications between FOPID and conventional PID controllers for a speed control of DC
motor. Performance of two controllers has been verified through simulation results using
MATLAB/SIMULINK software. Simulation results show that the FOPID controller performs better
performance and more robustness than a conventional PID controller.
Keywords: Direct Current Motor, Speed Control, PID Controller, FOPID Controller.
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SUST Journal of Engineering and Computer Science (JECS), Vol. 17, No. 2, 2016
derivative action. In addition to this, traditional The state space model of a separately excited DC
PID controllers have very simple control structure motor may be expressed as follows [2-4]:
and inexpensive cost. However, major problems in
applying a standard PID controller in a speed R K
control are the effects of nonlinearity in a DC dia a b
1
motor. The nonlinear characteristics of a DC dt La La ia
d
L
a a
v
motor such as saturation and friction could
KT B 0 (1)
degrade the performance of standard PID dt
controller [3-8]. Generally, an accurate nonlinear J J
model of an actual DC motor is difficult to find ia
and parameter obtained from systems y 0 1
identification may be only approximated values. In
order to tackle these problems and improve the
Where va is the input terminal voltage (armature
dynamic response of DC motor, a FOPID
voltage) in volt, Ra is the armature resistance in
controller has been used [9].
ohm, La is the armature inductance in H, J is the
The main objective of this paper is to control the
moment of inertia of the motor in kgm2/s2, B is the
speed of DC motor using a FOPID controller. The
viscous friction coefficient in Nms, Kb is the back
proposed controller is analyzed for its performance
emf constant in Vs/rad, KT is the torque factor
using MATLAB/SIMULINK software package. A
comparative study has also been made to highlight constant in Nm/A, is represents angular speed in
the advantage of using a FOPID controller over rad/s, and ia is the armature current in A. The
standard (integer order) PID controller for speed physical and functional parameters of the
control of direct current motor. separately excited DC motor used for simulation
testing are given in Table1 [2-4].
DYNAMIC MODEL OF DC MOTOR
Table 1: Parameters of the SEDC motor
Direct current motors are widely used for various
Parameters Values
industrial and domestic applications. There are
various types of direct current motors. In this Armature Resistance, Ra 1
paper, the Separately Excited DC (SEDC) motor Armature Inductance, La 0.05H
model is chosen according to its good electrical Moment of Inertia, J 0.01kgm2/s2
and mechanical performances more than other Viscous Friction Coefficient, B 0.0000 3Nms
direct current motor models. Figure 1 shows a The Back EMF Constant, Kb 0.023Vs/rad
separately excited direct current motor equivalent The Torque Factor Constant, KT 0.023Nm/A
model [2-4].
ORDINARY PID CONTROLLER
In the past decades, modern control theories have
made great advances. Control techniques including
optimal control, fuzzy control, neural network
control, predictive control, and so on, have been
developed significantly. Nevertheless, the
conventional PID controller has still been widely
utilized in many industrial applications such as
process control, motor drives, flight control. This
is mainly because classical PID controllers have
simple structure to be easily understood by
engineers, and easiness to design and implement.
However, it has been known that ordinary PID
Figure 1: A separately excited DC motor model controllers generally do not work well for non-
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SUST Journal of Engineering and Computer Science (JECS), Vol. 17, No. 2, 2016
linear systems, and particularly complex and integration. The continuous integro-differential
vague systems that have no precise mathematical operator (D) is defined as follows [10]:
models. The differential equation of a
conventional proportional-integral-derivative
controller is given by [6-8]: d ; >0
dt
t
1; =0
u (t ) K P e(t ) K I e(t )dt K D
de(t )
(2) a Dt
(4)
dt
0 t
d ; <0
a
Where e(t) is the error signal and u(t) is
controller's output. The parameters KP, KI, and KD
are the proportional, integral and derivative gains There are several definitions of fractional order
of the conventional PID controller, respectively. integration and differentiation. Some of the
KP, KI, and KD parameters usually take positive definitions extend directly from integer order
values. The transfer function of a classical PID calculus. The most often used are Riemann
controller is expressed as follows [6-8]: Liouville (RL) definition and Grunwald-Letnikov
(GL) definition. Recently the concept of FC is
U (s) K widely introduced in many areas in science and
GPID ( s) KP I KDs (3) engineering [10].
E (s) s
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SUST Journal of Engineering and Computer Science (JECS), Vol. 17, No. 2, 2016
the dynamical properties of a fractional order horizontal and vertical axis. As shown in Figure 3,
control system. However, up till now there is no the fractional order PID controller generalizes the
systematic way to set the value for and [14- ordinary integer order PID controller and expands
19]. The fractional integro-differential equation of it from point to plane. This expansion could
the FOPID controller is given by [13-19]: provide much more flexibility in ordinary PID
controller design. Point (0, 0) corresponds to P
u (t ) K P e (t ) K I Dte (t ) K D Dt e (t ) (5) controller, point (0, 1) corresponds to ordinary PD
controller, point (1, 0) corresponds to ordinary PI
The transfer function of the FOPID controller is controller and point (1, 1) corresponds to ordinary
obtained through Laplace transform as follows: PID controller, where as the shaded portion
KI between four corners represent the FOPID
U (s)
GFOPID ( s ) KP K s (6) controllers. Evidently, all these classical types of
E (s) s D
PID controllers are special cases of the FOPID
Or: controller, when the values of and are integer
U (s)
values of 0 or 1 [13-19].
GFOPID ( s ) KP KI s KD s (7)
E (s)
where E(s) is an error and U(s) is controller's
output. It is obvious that the fractional order PID
controller not only needs design three parameters
KP, KI, and KD, but also design two orders and
of integral and derivative controllers. Figure 2
shows the block diagram configuration of the
FOPID controller [13].
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SUST Journal of Engineering and Computer Science (JECS), Vol. 17, No. 2, 2016
Reference
Speed (rad/sec)
8
FOPID Controller
6 PID Controller
0
0 2 4 6 8 10
Time (sec)
Figure 5: Step response of SEDC using ordinary
PID and FOPID controllers
20
Figure 4: MATLAB/SIMULINK overall model of
speed control of DC motor using FOPID and PID
15
Figure 5 gives the speed responses of the
Speed (rad/sec)
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SUST Journal of Engineering and Computer Science (JECS), Vol. 17, No. 2, 2016
smoothly without any remarkable overshoot and and then withdrawn at time 8sec. Here the
undershoot. In addtion, the settling time and rise ordinary PID controller was affected by change in
time for FOPID controller is shorter than for load, but FOPID controller has no affect by the
conventional PID controller. change in load. Furthermore, there is no overshoot
when FOPID controller is applied whilst using
20 ordinary PID controller, the speed significantly
Reference decreases during 5 and 8 period of time.
FOPID Controller 0.3
10 PID Controller FOPID Controller
Speed (rad/sec)
PID Controller
0.2
0
Torque (Nm)
0.1
-10
0
-20
0 2 4 6 8 10
Time (sec) -0.1
Figure 7: Speed responses of FOPID and ordinary 0 2 4 6 8 10
PID controllers with reversing speed Time (sec)
Figure 9: DC motor troque responses under load
Scenario four: Load torque torque disturbance
Load disturbance rejection is also important to
evaluate the controllers robustness. Figure 8 gives CONCLUSIONS
the speed responses when the SEDC motor is Fractional order PID and ordinary PID controllers
commanded to follow the speed reference with have been considered in this paper for controlling
sudden change in load torque. Similary, Figure 9 the speed of a separately excited DC motor.
shows their corresponding motor torque responses Performance of FOPID controller and classical
versus load torque disturbances. PID controller has been verified through
simulation using MATLAB/SIMULINK software
12 package. From the simulation results, it can be
concluded that the proposed FOPID controller
10 improves the overshoot, rise time, settling time,
good tracking of reference speed and maintaining
Speed (rad/sec)
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SUST Journal of Engineering and Computer Science (JECS), Vol. 17, No. 2, 2016
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