SPEED CONTROL OF

DC MOTOR USING PID

CONTROLLER
PRESENTED BY :
TATWADARSHAN
NANDA
ELECTRICAL
ENGINEERING
REGD NO. :

OUTLINE
Types of DC MOTOR
Controller & its types
Working of a PID controller
Design of real time PID controller
PID DC motor control system
Simulation of the system using MATLAB & results
Conclusion
References

DC MOTOR

SELF
EXCITED
DC MOTOR

SERIES
WOUND DC
MOTOR

SHUNT
WOUND DC
MOTOR

SEPARATELY
EXCITED DC
MOTOR

COMPOUND
WOUND DC
MOTOR

PERMANEN
T MAGNET
DC MOTOR

CONTROLLER : It is an electronic device that compares the

controlled values of a system with the desired values and
has a function to correct the deviation produced.
Types Of Controllers :
1. Two position or ON-OFF controller
2. Proportional controller
3. Integral controller
4. Proportional-plus-integral controller
5. Proportional-plus-derivative controller
6. Proportional-plus-integral-plus derivative controller

MODELLING OF A DC MOTOR AND SIMULATION

Separately excited DC motors are most suitable for wide range

speed control and are therefore used in many adjustable speed

drives.
A DC motor can be seen to be comprised of three main parts:
current carrying conductors called an armature; a circuit for
magnetic field provided by magnets of poles; and a commutator
that switches the direction of current in the armature.
The equivalent circuit of separately excited DC motor is as
follows.

 The final transfer function of separately excited DC motor is as

follows.

where

J=Moment of Inertia of the Rotor(kg.m)

b=Damping ratio of the Mechanical System (Nms)
Km =Motor Constant(Nm/A)
Rm = Motor Electric Resistance()
Lm =Motor Electric Inductance(H)
V =Input Voltage(Volt)

WORKING PRINCIPLE OF A PID CONTROLLER

A PID Controller combines the actions of proportional, integral

& derivative control and provides an output with minimal error.

Proportional Gain(Kp) - Larger Kp typically means faster

response since the larger the error, the larger the Proportional
term compensation.

Integral Gain(Ki) - Larger Ki implies steady state errors are

eliminated quicker. The trade-off is larger overshoot: any
negative error integrated during transient response must be
integrated away by positive error before we reach steady
state.

Derivative Gain(Kd) - Larger Kd decreases overshoot, but slows

down transient response and may lead to instability due to
signal noise amplification in the differentiation of the error.

The relationship between the input e(t) and output u(t) can be formulated as
following.

U(t) = Kp+Ki+kd

(BLOCK DIAGRAM OF A PID CONTROLLER)

DESIGN OF REAL TIME PID CONTROLLER

The above figure shows a block diagram of a real time PID

controller.
Where R(s) =reference input
y(s) =system output
C(s) =controller transfer function
H(s) =feedback loop (sensor) transfer function

PID DC MOTOR CONTROL SYSTEM

PID

DC
MOTOR
(OUTPUT
)

(INPUT
)
SPEED

(BLOCK DIAGRAM OF A PID CONTOLLER DC

CONTROL SYSTEM)

We can control the speed of a DC motor using PID controller in

two different methods. The methods are :i)Open loop control system
ii)Closed loop control system

 In open loop control, the control value is not dependent on the

output or the speed of the motor, whereas in closed loop control
the control value is dependent on the speed of the motor.
For real time speed control approach a closed loop speed control
with a digital PID controller is designed.
A potentiometer is used as the reference command signal to set the
input voltage at various levels as required.
Further, the control value obtained from the controller is utilized to
generate the average output voltage for adjusting the duty cycle in
order to maintain constant motor speed.

 For simulation purposes at first the controller equations are

loaded into the flash memory of the first microcontroller.
Then the transfer function equations of the motor were loaded
into the flash memory of the second microcontroller.
Both the microprocessor work accordingly and finally use the
received data from PID controller to generate the controller
value.
The controller value is calculated using the difference between
the reference speed and the actual speed measured by
microcontroller1. This error is then used to generate the PID
constants, which in turn develops the duty cycle (D) equivalent
for the closed loop control.

SIMULATION AND RESULTS

(MATLAB based simulation model for PID controlled DC motor)

In the above model difference between the reference speed and the actual
motor speed is provided as an input to the PID controller.
As the error input increases controller adjusts its output parameters accordingly
so as to reduce the error between the desired and actual speed.

Output
(rpm)

Time in sec

(System Response with PID

controller)

 The previous figure shows the speed response of dc

motor using PID controller when step input is applied as
reference signal.
The response curve shows an overshoot along with
certain oscillations around reference signal. However
overshoot can be reduced by increasing the derivative
gain but the rise time also increases as a consequence.
Hence, there exists a compromise between overshoot
and the speed of response i.e. rise time which means
that we have to sacrifice one for improving another.

Output
(rpm)

Time in sec

(System Response without PID controller)

CONCLUSION
From the analysis been done it is clear that PID is a
simple controller based on the mathematical model of
the system to be controlled.
It successfully overcomes the drawback of proportionalderivative (PD) controller of steady-state error.
The advantage of PID controller is its feasibility and
easy to be implemented.

The important observations made during the studies are :

A proportional controller Kp will have the effect of reducing the
rise time and reduce but never eliminate the steady state error.
An internal controller Ki will have the effect of eliminate the
steady state error but it may make the transient response worse.
A derivative controller Kd will have the effect of increasing the
stability of the system and reducing the overshoot and improve
the transient response.
The output performance obtained by normalized value in PID is
very close and near to accuracy.

REFERENCES
Saurabh Dubey , Dr. S.K. Srivastava ,A PID Controlled Real Time
Analysis of DC Motor, International Journal of Innovative
Research in Computer and Communication Engineering Vol. 1,
Issue 8, October 2013
A. S. Othman, Proportional Integral and Derivative Control of
Brushless DC Motor, European Journal of Scientific Research,
Vol.35 No. 2 (2009), pp. 198-203.
Aditya Pratap Singh , Udit Narayan , Akash Verma , Speed Control
of DC Motor using PID Controller Based on Matlab, Innovative
Systems Design and Engineering, Vol.4, No.6,2013

THANK YOU