International Journal of Recent Technology and Engineering (IJRTE)

ISSN: 2277-3878, Volume-7 Issue-4S, November 2018

Robust Controller Design for Fixed field-DC Motor

Speed Control
T.Rajesh, S.Arun jayakar, M.Kalimuthu, G. M.Tamilselvan

Abstract: The speed and position control of DC motor is an This commitment proposes an orderly approach to speed
important task in spinning machines, Fans, Blowers, Conveyors, controller outline of a DC motor in light of model ID and
Centrifugal Pumps, Lifts, Weaving Machine based real time LQR configuration increased with a nonlinear feed-forward
applications. In this proposed manuscript various robust compensator [5], [6].
controller design has been implemented for fixed field DC motor
The electrical and mechanical parameters of the DC
speed control with various desired set speed and position values ,
which provides quicker settling time, minimum peak overshoot, motor, i.e., opposition, latency, back- EMF, damping are
minimum rise time and low steady state error while its dynamic distinguished from perceptions of the open circle reaction.
transient change with respect to load characteristics. Based on Coulomb grinding is considered as the fundamental driver of
first principle method, modeling of DC motor has been carried the nonlinear motor behavior and is satisfactorily repaid by a
out as both Transfer function and state space model. Model based feed-forward control flag. The leftover enduring state error
robust feedback controller design (LQR, H-Infinity) provides caused by minor nonlinearities and vulnerabilities in the
optimum set point tracking results when compared to model is remunerated by an essential error feedback flag.
conventional controller. The open loop response, Time domain The proposed controller is assessed for high and low speed
and Disturbance handling analysis have been encountered in
reference profiles including speed inversion to show its
MATLAB simulation and then the experimental results are
validated by conducting closed loop feedback control test with effectiveness for elite servo applications. The proposed plot
different load characteristics. endeavors to connect the present hole between the progress
of control theory and the practice of DC actuator
I. INTRODUCTION frameworks. In Section II, the transfer function model and
state-space model [7], [8] of the DC-motor has been derived
DC motors give an attractive other option to AC servo using first principle method (fundamental equations).The
motors in superior movement control applications. DC model recognizable proof is portrayed in Section III with
motors are specifically well known in low-power and high open loop speed test. Section IV deals with P+I+D control
exact servo applications because of their sensible cost and structure implementation for speed control followed by
simplicity of control. Generally motor controls [1], [2] in advanced controller design based on Linear Quadratic
modern applications utilize a course control structure. The Regulator (LQR) based state feedback control with an
external speed and inward current control circles are integrator and the feed-forward loop has been discussed in
composed as PD or PI controllers. In any case, the fell section V. Section VI provides conclusion about proposed
control structure expects that the internal circle flows are work with experimental result analysis of various controller.
significantly quicker than the external one (Chevrel et al.
(1996)). As of late a few distributions propose elective II. TRANSFER FUNCTION AND STATE SPACE
approaches to recognizable proof and control of DC motors. MODEL OF DC MOTOR
Umeno and Hori (1991) portray a summed up speed control Equivalent model of armature, free body diagram
outline procedure of DC servomotors [3], [4] in light of the of fixed field-DC Motor [9], [10] rotor is shown in figure1,
parameterization of two-degrees-of-flexibility controllers Based on first principle method system equations are
and apply the plan technique for a Butterworth channel to modeled as transfer function as well as state space
decide the controller parameter. Chevrel et al (1996) exhibit representation. The relationship between armature-current,
an exchanged LQR speed controller, planned from the direct motor-torque, angular-velocity and back emf has been given
model of the DC motor, and analyze its performance with a in equation 1-4.
course control configuration regarding accuracy, vigor and
multifaceted nature. Rubaai and Kotaru (2000) propose an
elective method to recognize and control DC motors by
methods for a nonlinear control law spoken to by a fake
neural network. Yu and Hwang (2004) display a LQR
approach to decide the ideal PID speed control of the DC
motor.
Revised Version Manuscript Received on 25 November, 2018.
T.Rajesh, Assistant Professor, Dept. Of Electronics and
Instrumentation Engineering,Bannari Amman Institute of Technology
Sathyamangalam, Erode, Tamil Nadu, India, 638401,
S.Arunjayakar, Assistant Professor, Dept. Of Electronics and
Instrumentation Engineering, Bannari Amman Institute of Technology
Sathyamangalam, Erode, Tamil Nadu, India, 638401
M.Kalimuthu, Assistant Professor, Dept. Of Electronics and Figure.1. Equivalent Circuit of fixed field DC-Motor
Instrumentation Engineering,Bannari Amman Institute of Technology
Sathyamangalam, Erode, Tamil Nadu, India, 638401
G.M.Tamilselvan, Professor, Dept. Of Electronics and Instrumentation
Engineering,Bannari Amman Institute of Technology Sathyamangalam,
Erode, Tamil Nadu, India, 638401

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 Robust Controller Design for Fixed field-DC Motor Speed Control

The armature current and torque relationship is given in Table1. Parameters of DC Motor
equation 1.
Symbol Description of Quantified
𝑇 = 𝐾𝑡 𝑖 (1)
of Parameters Value
The back emf and the angular velocity of the shaft have
variables
proportional equality relationship which is given in equation
2. J rotor-moment of 0.035Kg.m^2
inertia
𝑒 = 𝐾𝑒 𝜃 (2) b constant value of 0.255N.m.
viscous-friction
From the Figure 1, based on fundamental laws (Newton’s Ke Constant of 0.032V/rad/sec
and Kirchhoff’s laws) the following governing equations are electromotive-force
derived.
Kt Constant of motor- 0.023N.m/Amp
torque
𝐽𝜃 + 𝑏𝜃 = 𝐾𝑖 (3)
R Internal-electrical 1.515Ohm
𝑑𝑖 restriction
𝐿 + 𝑅𝑖 = 𝑉 − 𝐾𝜃 (4)
𝑑𝑡
L Internal-electrical 0.883Henry
inductance
The equation 3 and 4 implies the first principle model of
DC-motor.
A. Transfer Function Model of DC Motor III. DC Motor Speed-Analysis
The equation 5 and 6 has been obtained taking Laplace A. Open loop Test
transform of equation 3 and 4. By conducting open loop test the step response
characteristics curve and its time domain specifications has
𝑠 𝐽𝑠 + 𝑏 𝜃 𝑠 = 𝐾𝐼 𝑠 (5) been obtained for equation (7), using MATLAB command-
Linear System Analyzer tool
𝐿𝑠 + 𝑅 𝐼 𝑠 = 𝑉 𝑠 − 𝐾𝑠𝜃 𝑠 (6)

𝜃(𝑠) 𝐾
𝑃 𝑠 = = (7)
𝑉(𝑠) 𝐽𝑠 + 𝑏 𝐿𝑠 + 𝑅 + 𝐾 2
Where,
𝜃 𝑠 = DC − motor speed
𝑉 𝑠 = DC − motor Armature voltage
B. State-Space Model of DC Motor
The armature voltage and the rotational speed has been
selected as the input and output respectively. The armature
current as the state variables. The state space representation
[11], [12] is given as,
−𝑏 𝐾
𝑑 𝜃 0
𝐽 𝐽 𝜃 + 1 𝑉
= (8)
𝑑𝑡 𝑖 −𝐾 −𝑅 𝑖
𝐿
𝐿 𝐿

0 𝜃
𝑦= 1 (9) Figure.2. Step Response Analysis
𝑖 From the figure 2, it is observed that the system model did
The equation 8 and 9 shows the state and output equation of not attain the desired set speed as 1 rad/sec which attain only
DC-Motor. 0.1 rad/sec. and also which takes more than 2 sec to settle
down. So it is clearly observed that the open loop test will
C. Design Requirements of DC Motor not satisfy the desired design requirements. So the system
The main aim of the design requirement is to control the needs closed loop robust controller in order to achieve the
sped of the DC motor at desired set point or operating design requirements.
condition. Then the additional control outputs should meet
the following requirement at any instance. IV. CLOSED LOOP PID CONTROLLER
 Less than 2% of steady state error. IMPLEMENTATION
 Less than 2 seconds of settling time.
 Less than 6% of maximum peak-overshoot. The open loop system now modified as closed by
The detailed description of DC motor parameters has been introducing feedback to controller. The conventional PID
given in Table 1. controller takes action after the error occurrence. The closed
loop structure is given in figure 3.

Published By:
Blue Eyes Intelligence Engineering
Retrieval Number: E2047017519 463 & Sciences Publication
 International Journal of Recent Technology and Engineering (IJRTE)
ISSN: 2277-3878, Volume-7 Issue-4S, November 2018

Fig.5 shows the closed loop output response with KD=1,

KI=200, KP=100 and there is maximum peak overshoot has
been observed. So the system needs to further efficient
tuning with moderate gain parameters.

Figure.3. Closed loop structure of DC motor Speed

Control
𝑢 𝑠 𝐾𝐼
𝐶 𝑠 = = 𝐾𝑃 𝑒 𝑠 + 𝑒 𝑠 + 𝐾𝐷 𝑒 𝑠 … (10)
𝑒(𝑠) 𝑆
The equation (10) shows that PID controller output has the
effect on error signal.

Figure.6. Closed loop PID control Output with K D=10,

KI=200, KP=100
Fig.6 shows the closed loop output response with KD=10,
KI=200, KP=100and there is no offset error and maximum
peak overshoot. So, the controller provides satisfactory
output response to control the speed of the DC motor with
optimum gain values.

V. ROBUST CONTROLLER IMPLEMENTATION

Figure.4. Closed loop PID control Output with KP=76,
KI=.11, KD=1.1
Figure 4 shows the closed loop output response
with KP=76, KI=1.1, KD=1.1 and there is maximum amount
of offset error has been observed. So the system needs to
tune effectively with moderate gain parameters.

Figure.7. Closed loop Robust LQR controller Design

Figure 7 shows the Linear Quadratic Regulator (LQR) based
closed loop control of DC motor speed control [13]. In LQR,
the optimum value of gain KLQR provides satisfactory closed
loop output without any offset error and overshoot and also
LQR handles disturbance effectively [14] when compared to
conventional PID based closed loop control strategy.
The final armature voltage of DC motor is given in equation
11 as,

Figure.5. Closed loop PID control Output with K D=1,

KI=200, KP=100

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 Robust Controller Design for Fixed field-DC Motor Speed Control

𝑤 5. Aamir Hashim and Obeid Ahmed, “Optimal Speed Control for Direct
𝑉𝑎 = 𝐾1 ∗ 𝑤 + 𝐾2 ∗ + 𝐾3 ∗ 𝐼 (11) Current Motors Using Linear Quadratic Regulator”, Journal of
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𝐶= 0
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Neural Network Technique “International Journal of Scientific and
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Speed Control Motor”, International Journal of Advanced Research in Electrical,
Electronics and Instrumentation Engineering, Vol. 3, Issue 1, January
From figure 8, it is observed that, the LQR based closed 2014.
loop control configuration provides superior set point
tracking and disturbance rejection performance [15], when
compared to existing feed forward and PID based
conventional control configuration.

VI. CONCLUSION
From the figure 4, 5, 6 it is observed that the conventional
closed loop PID controller does not provides satisfactory
response to control the speed of the DC motor. This leads
offset error, peak overshoot, large settling time and poor
disturbance rejection capability and then, from the figure 7
and 8 it is clearly shows that, the robust LQR based closed
loop controller configuration provides ultimate feedback
gain which provides satisfactory and optimum closed loop
output response with null offset, very minimum peak
overshoot and perfect capability of disturbance rejection
performance.

REFERENCES
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