Electrical system Lab-II, EE-882

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Design a PID Controller to control the speed of a DC Motor Using Matlab Simulink

I . INTRODUCTION
The DC motors have been popular in the industry control area for a long time, because they have many good
characteristics, for example: high start torque characteristic, high response performance, easier to be linear
control…etc.
The speed of a DC motor is given be the relationship

V − IaRa
N=
kφ
This Equation show that the speed is dependent on the supply voltage V, the armature circuit resistance Ra, and
field flux Ф, which is produced by the field current. This paper describes the MATLAB/ SIMULINK of the DC
motor speed control method namely field resistance, armature voltage, armature resistance control method and
feedback control system for DC motor drives .
When speed control over a wide range is required, combination of armature voltage control and field flux control
is used. This combination permits the ratio of maximum to minimum speed to be 20 to 40. With closed loop
control, this range can be extended up to 200.
The parameters of the PID controller kp, ki and kd (or kp, Ti and Td) can be manipulated to produce various
response Curves from a given process as we will see later .

II. PID CONTROLLER

The combination of proportional, integral and derivative control action is called PID control action. PID
controllers are commonly used to regulate the time-domain behavior of many different types of dynamic plants.
These controllers are extremely popular because they can usually provide good closed-loop response
characteristics.
Consider the feedback system architecture that is shown in Fig. 1 where it can be assumed that the plant is a DC
motor whose speed must be accurately regulated .

Fig - 1
The PID controller is placed in the forward path, so that its output becomes the voltage applied to the motor's
armature the feedback signal is a velocity, measured by a tachometer .the output velocity signal C (t) is summed
with a reference or command signal R (t) to form the error signal e (t). Finally, the error signal is the input to the
PID controller .

de
u = kpe + ki ∫ edt + kd
dt

Consult with
AP,DS
 Electrical system Lab-II, EE-882
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III. DC MOTOR MATHEMATICS MODEL AND THE CONTROL THEORY

DC motors have speed-control capability, which means that speed, torque and even direction of rotation can be
changed at any time to meet new conditions .The electric circuit of the armature and the free body diagram of
the rotor are shown in the following fig- 2

Fig - 2
Let Ra=Armature Resistance,
La=Armature self inductance caused by armature flux,
ia= Armature current,
if= field current,
Eb=Back EMF in armature,
V =Applied voltage,
T=Torque developed by the motor,
θ = Angular displacement of the motor shaft,
Ј =Equivalent moment of inertia of motor shaft & load referred to the motor,
B= Equivalent Coefficient of friction of motor shaft & load referred to the motor.
The DC motors are generally used in the linear range of the magnetization curve. Therefore, air gap flux Ф is

proportional of the field current i.e.

Φ ∝ if
Φ = kf i f .......... (1)

Where Kf is a constant
The torque T developed by the motor is proportional to the armature current and air gap flux i.e.
T ∝ Φ ia
T = ka Φ ia
T = kakf Φ ia
T = kia .........( 2 )
Where KT =motor toque constant
The motor back EMF being proportional to speed is given as

Eb ∝ Φω
Eb = kb ω
dθ
Eb = kb ......( 3 )
dt

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AP,DS
 Electrical system Lab-II, EE-882
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Where Kb= back emf constant

Applying KVL in the armature circuit

dia
v = Raia + La + Eb ........( 4 )
dt
And thedynamic quation with moment of inertia & coefficient of friction will be

d 2θ dθ
T = J 2
+ B .......... .( 5 )
dt dt
And with load torque

d 2θ dθ
T =J + B + T L .......( 6 )
dt 2 dt

Take the laplace transform of equation of (2) ,(3), (4) and (5)
T ( s ) = KIa ( s )
Eb ( s ) = KbS θ ( s )
V ( s ) = Ia ( s )( Ra + sLa ) + Eb
V ( s ) − Eb ( s ) = Ia ( s )( Ra + sLa )
T ( s ) = ( Js 2
+ sB )θ ( s )
T ( s ) = ( Js + B ) s θ ( s )
or
T ( s ) = ( Js + B ) ω ( s )
T ( s ) = KIa ( s )

A Block diagram of armature controlled d. c. motor

Fig- 3

Consult with
AP,DS
 Electrical system Lab-II, EE-882
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The transfer function of DC motor speed with respect to the input voltage can be written as follows .
ω (s)
G (s) =
V (s) From equation (7) the armature inductance is very small in
KT
= ........( 7 )
( Ra + sLa )( Js + B ) + KbK T

practices, hence, the transfer function of DC motor speed to the input voltage can be simplified as Follows,

ω (s) Km
G (s) = = .......... ( 8 )
V (s) τs + 1

K T R a J
Where K m = is a motor gain and τ = is the
RaB + K b K T R a B + K b K T

motor time constant

From equation (8), the transfer function can be drawn the DC motor system block diagram which is
shown in
Key point; Field controlled dc motor is open loop while armature controlled is closed loop system. Hence
armature controlled dc motor are preferred over field controlled system

For small size motor field control is advantageous because only a low power servo amplifier is
required while the armature current which is not large can be supplied from an expensive constant current
amplifier.
For large size motor it is on the whole cheaper to use armature control scheme. Further in armature
controlled motor, back emf contributes additional damping over and above that provided by load friction.

IV. MATLAB REPRESENTATION AND SYSTEM RESPONSE

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AP,DS
 Electrical system Lab-II, EE-882
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A. PROPORTIONAL-INTEGRAL-DERIVATIVE CONTROL (PID)

The combination of proportional, integral and derivative control action is called PID action control and the
controller is called three action controllers.
Here the proportional part of the control action repeats the change of error and derivative part of the control
action adds an increment of output so that proportional plus derivative action is shifted ahead in time.
The integral part ads a further increment of output proportional to the area under the deviation line. The
combination of proportional, integral an derivative action may be made in any sequence as shown.
Now, we increase the gain Kd, with Kp=5; Ki=10. All results are illustrated in the Table 3 and the
corresponding plots are shown in Fig .
From the results we see that the rise time increase from (0.50 sec to 0.82sec) for (Kd=1 to Kd=4) and the
overshoot from (23% to 12%) and there is small change in the settling time. Hence the steady state error is
completely zero.
Kd Rise Maximum Steady State Peak Amplitude of
Time(sec) Overshoot Error Velocity (red/sec)
(%)
1 0.50 23.39 0 40

2 0.65 15.95 0 40
3 0.71 14.52 0 40
4 0.82 12.58 0 40

Table – 1 PID control

Fig- 5
So now we know that if we use a PID controller with: Kp=4,ki=1 and Kd=1; all our design requirements will be
satisfied and the response looks like

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AP,DS
 Electrical system Lab-II, EE-882
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Fig- 6

PID controller with: Kp=4,Ki=1 and Kd=1

Effects of PID controllers parameters kp, ki and kd on a closed loop system are summarized in the table below.

Closed loop Rise Time(sec) Maximum Settling Steady State

Response Overshoot(%) Time(sec) Error
As increase of KP Decrease Increase Small change Decrease
As increase of KI Decrease Increase Increase Eliminate
As increase of KD Small change Decrease Decrease Small change
Table- 2
V. CONCLUSION
Accurate performance of a motor is desired feature for any industrial application.
As the age of motor increases its performance also deceases with aging, so it is desired to evaluate the
performance of motor from time to time for efficient operation
The conventional method for calculating output performance indices are quite time consuming.
The PID based approach algorithm worked satisfactory for the test system.
The important observations made during the studies are
1) The solution time for proposed PID approach is only a fraction of time taken by conventional algorithm.
2) A proportional controller Kp will have the effect of reducing the rise time and reduce but never eliminate
the steady state error.
3) An internal controller Ki will have the effect of eliminate the steady state error but it may make the
transient response worse.
4) A derivative controller Kd will have the effect of increasing the stability of the system and reducing the
overshoot and improve the transient response.
5) The output performance obtained by normalized value in PID is very close and near to accuracy.
6) MATLAB used for simulation of entire project is sophisticated and user friendly software.
It must be mentioned that the efficiency of the speed algorithm can be improved by using more efficient
learning techniques and dynamic weight selection algorithm
Consider the following values for the physical parameters

EXAMPLE Armature inductance (L ) = 0.5 H

Armature resistance (R ) = 1Ω
Armature voltage (V ) = 200 V
Mechanical inertia (J) = 0.01 Kg.m2
Friction coefficient (B) = 0.1 N-m/rad/sec
Back emf constant K = 0.01 V/rad/sec
Motor torque constant K = 0.01N.m/A
Rated speed = 1450 rpm
Consult with
AP,DS