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Separately Excited DC Motor Speed control of using various

Tuning Conventional Controllers
Ujjwal Kumar 1, Devendra Dohare2
1 M.Tech Student, Department of Electrical Engineering MPCT Gwalior (India)
2 Assistant professor, Department of Electrical Engineering MPCT Gwalior (India)

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Abstract - DC motors are used extensively in options have evolved for this purpose [1].DC motor plays a
industrial variable speed applications because of most significant role in modern industrial. These are several
types of applications where the load on the DC motor
demanding speed-torque characteristics and are simple
varies over a speed range. These applications may demand
in controlling aspects. This paper presents the most high-speed control accuracy and good dynamic responses
commonly used controller in the industry field is the [2].DC motors are considered as adjustable speed
proportional integral (PI) and proportional integral machine. Separately excited DC motor drive is the most
derivative (PID) controller. The purpose of this paper is suitable configuration used for variable speed applications
to design a Ziegler-Nichols controller to improve the for a long time due to its accurate speed control,
controllable torque, high reliability and simplicity [3].
performance (speed) of the DC motor in order to control
Today, industries are increasingly demanding for process
the angular speed of the motor. The results are automation in all sectors such as defence, industries,
compared with controller tuned by PI, PID and Ziegler- Robotics etc. DC motors have been used in variable speed
Nichols method. The results show the superiority drives. The versatile control characteristics of dc motors
Ziegler-Nichols method for separately excited DC motor have contributed to their extensive use in industry. DC
speed control, which leads to improve the transient and drives are less complex with a single power conversion
steady state of speed responses of separately excited DC from AC to DC. DC drives are normally less expensive for
most horsepower ratings. DC motors have a long tradition
motor. The proposed method, is very efficient and could
of use as adjustable speed machines and a wide range of
easily be extended for other global Techniques. options have evolved for this purpose [4].

Key Words: Speed Control, DC Motor Model, PI 2. DC Motor Modeling and Simulation
Controller, PID Controller, Ziegler-Nichols method Separately excited DC motors are most suitable for wide
range speed control and are therefore used in many
1. INTRODUCTION adjustable speed drives. DC motors are most suitable for
wide range speed control and are therefore used in many
The development of high performance motor drives is adjustable speed drives. A DC motor can be seen to be
very important in industrial as well as other purpose comprised of three main parts: current carrying
applications such as steel rolling mills, electric trains and conductors called an armature; a circuit for magnetic field
robotics. Generally, a high performance motor drive provided by magnets of poles; and a commutator that
system must have good dynamic speed command tracking switches the direction of current in the armature as it
and load regulating response to perform task. DC drives, passes a fixed point in space In order to build the DC
because of their simplicity, ease of application, high motors transfer function its simplified mathematical
reliabilities, flexibilities and favorable cost have long been model has been used. The equivalent circuit of separately
a backbone of industrial applications, robot manipulators excited DC motor is show in the fig 1 [4].
and home appliances where speed and position control of
motor are required. DC drives are less complex with a
single power conversion from AC to DC. Again the speed
torque characteristics of DC motors are much more
superior to that of AC motors. A DC motors provide
excellent control of speed for acceleration and
deceleration. DC drives are normally less expensive for
most horsepower ratings. DC motors have a long tradition
of use as adjustable speed machines and a wide range of Fig 1 the equivalent circuit of separately excited DC motor
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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056
Volume: 02 Issue: 08 | Nov-2015 www.irjet.net p-ISSN: 2395-0072

Where
Va= Armature Voltage in volt
Ra= Armature Resistance in Ohm
La=Armature Inductance in Henry
Ia=Armature Current in Amp
Eb= Back EMF in Volt
Tm=Mechanical Torque in N-m
Jm= Moment of Inertia Kg-m2
Bm=Damping Coefficient Nm.Sec
If= Field Current in Amp
Lf= Field Inductance in Henry
Vf= Field Voltage in Volt
Fig 2 MATLAB Simulink model of DC motor using PI
For this purpose assuming Load torque TL=0, And friction
torque Tf=0, since neither affects the transfer Function. Controller
The transfer function of DC motor speed with respect to
the input voltage can be written as follows, 3.2 Speed control of DC motor using PID
Controller
The PID control is most widely used in industrial
applications. It is implemented to control the speed of DC
motor which is shown in Fig.2. The error between the
Selection of motor parameters reference speed and the actual speed is given as input to a
The DC motor under study has the following specification PID controller. The PID controller depending on the error
and parameters. changes its output, to control the process input such that
1. Specifications: the error is minimized. Detailed information about the
3hp, 230V, 11Amp, 1500 rpm theory and tuning of PID controllers is given in [6][7].The
2. Parameters: combination of proportional, integral and derivative
Ra=2.45ohm,La=0.2145 H,Kb=1.05volt/rad/sec, J=5kgm2, control action is called PID control action. PID controllers
B=0.0859 N/rad/sec. are commonly used to regulate the time-domain behavior
of many different types of dynamic plants. These
3. Different Tuning method controllers are extremely popular because they can
Speed of DC motor can be controlled using different tuning usually provide good closed-loop response characteristics.
methods and are as follows:- Consider the feedback system architecture that is shown
3.1 Speed control of DC motor using PI Controller in Fig. 3 where it can be assumed that the plant is a DC
3.2 Speed control of DC motor using PID Controller motor whose speed must be accurately regulated. In this
3.3 Speed control of DC motor using Z-N Method paper use MATLAB Simulink model of DC motor using PID
Controller show in the fig 3.

3.1 Speed control of DC motor using PI Controller

The P-I controller has a proportional as well as an integral
term in the forward path, The integral controller has the
property of making the steady state error zero for a step
change, although a P-I controller makes the steady state
error zero, Since most of the process cannot work with an
offset, they must be controlled at their set points and in
order to achieve this, extra intelligence must be added to
proportional controller and this is achieved by providing
an integral action to the original proportional controller.
So the controller becomes proportional –Integral
controller [5].in this paper use MATLAB Simulink model of Fig 3 MATLAB Simulink model of DC motor using PID
DC motor using PI Controller shows in the fig 2. Controller

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

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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056
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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

The corresponding three adjustable PID parameters are

most commonly selected to be
 Controller gain- (increased value gives more
proportional action and faster control)
 Integral time- (decreased value gives more
integral action and faster control) Fig 4 MATLAB Simulink model of DC motor using Ziegler-
 Derivative time- (increased value gives more
derivative action and faster control) Nichols Controller
Although the PID controller has only three parameters, it 4. MATLAB SIMULATION RESULTS
is not easy, without a systematic procedure, to find good In this paper, a dynamic model of a separately excited DC
values (tunings) for them. In fact, a visit to a process plant motor has been designed and implemented in MATLAB
will usually show that a large number of the PID along with the PI controller, PID controller and Ziegler-
controllers are poorly tuned Nichols controller. separately excited DC motor MATLAB
simulink model show in the fig 2 fig 3 and fig 4 ,Response
3.3 Speed control of DC motor using Z-N Method of PI controller , PID controller and Ziegler-Nichols show
One of the most widely used method for the tuning of the in the fig 5 .fig 6,fig 7,The better results have been
PID controller gains is to use the open loop response as presented in Table 1 and combined all controller response
inferred by Ziegler-Nichols(ZN), yet this method is limited show in the fig 8.
for application till the ratio of 4:1 for the first and the
second peaks in the closed loop response[8], leading
towards an oscillatory response. Ziegler and Nichols
proposed two experimental approaches to quickly adjust
the controller parameters without knowing the precise
dynamic model of the system to adjust. Both methods are
empirical and based on tests. In this paper we use the
second method of Ziegler-Nichols, it is a simple technique
to tuning P, I, D controller parameters [9][10]. Ziegler and
Nichols presented two methods, a step response method
and a frequency response method. The step response
method is based on an open-loop step response test of the Fig.5 Step response of system with PI controller
process, hence requiring the process to be stable. The
open loop system’s S shaped response is characterized by
the parameters, namely the process time constant T and L.
These parameters are used to determine the controller’s
tuning parameters. The second method of Z-N tuning is
closed-loop tuning method that requires the
determination of the ultimate gain and ultimate period.
The method can be interpreted as a technique of
positioning one point on the Nyquist curve. This can be
achieved by adjusting the controller gain (Ku) till the
system undergoes sustained oscillations (at the ultimate
gain or critical gain), whilst maintaining the integral time
constant (Ti) at infinity and the derivative time constant
(Td) at zero. In this paper use MATLAB Simulink model of
DC motor using PID Controller show in the fig 4. Fig.6 Step response of system with PID controller

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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056
Volume: 02 Issue: 08 | Nov-2015 www.irjet.net p-ISSN: 2395-0072

5. CONCLUSIONS
In this paper Simulation results it is concluded that,
compared with the conventional PI controller, PID
controller and Ziegler-Nichols has a performance in both
transient and steady state response. The Ziegler-Nichols
controller has better dynamic response, shorter response
time, small overshoot, and small steady state error then PI
controller, PID controller.

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