Journal of Robotics and Control (JRC)

Volume 4, Issue 1, January 2023

ISSN: 2715-5072, DOI: 10.18196/jrc.v4i1.15866 54

Simulation Model of PID Controller for DC Servo

Motor at Variable and Constant Speed by Using
MATLAB
Zainab B. Abdullah 1, Salam Waley Shneen 2*, Hashmia S. Dakheel 3
1,3
Department of Electro-mechanical Engineering, University of Technology, Baghdad, Iraq
2
Nanotechnology and Advanced Material Center, University of Technology, Baghdad, Iraq
Email: 1 Zainab.B.Abdullah@uotechnology.edu.iq, 2 salam.w.shneen@uotechnology.edu.iq,
3
Hashmia.S.Dakheel@uotechnology.edu.iq
*Corresponding Author

Abstract—The current simulation is conducted in order to the DCSM by adjusting the PID parameters (𝐾𝑑, 𝐾𝑝 𝑎𝑛𝑑
develop an appropriate design for the control systems and 𝐾𝑖) as well as the use of MATLAB in accounts that applied
control the speed of the electric motor. To obtain the to multiple cases depending on the ideal coefficient to
appropriate and required design, work is carried out for two
integrate the time-doubled absolute error criterion into the
cases, a constant speed and the other case at variable speed in
different conditions for operation of dc servo motor, these unit step and slope. In Mezher [14] refer two types of
conditions include rotating in a clockwise direction, break and conventional controllers, PI and PID, were used to control
returns rotating in the opposite clockwise direction. Through the speed of a DCSM. Multiple inputs were tested in a
the proposed working conditions, it is possible to obtain the simulation program and the results were presented using
best values for the parameters of the control unit that improve LABVIEW. The researcher presented in the paper [15]
the working performance of dc servo motor, which were shown building a dynamic model of DC motor and using
by the simulation results and their values were kp =5, ki=3 and Matlab/Simulation as a sub-system of the motor, and then
kd=5 for PID controller. Which changed the system response using PID and FLC as a logic controller to control the motor
speed, rise time and the upper and lower bypass ratio at
speed. For centuries, PID controllers have been used in
acceptable rates and ratios to prove an improvement
procedure in the work of the electric motor. industrial applications for their ease of application, high
efficiency and robustness [16-22]. PID controllers have
Keywords— DCSM; PID Controller; Speed; Position three basic control modes (kp, ki, kd), which are
characterized by ease of implementation and good
I. INTRODUCTION performance, enabling them to be widely used in industrial
Due to the high specifications that DC servo motors fields [23-28]. When designing the PID control mechanism,
(DCSM) possess, high torque, low inertia torque, so they are its parameters are adjusted in order to reach the optimum
used in computers and drives (printers, disks, tapes and operation of the motor (reduce rise time, overshoot, steady
word processing) and all of these fields require speed state error and hold time [29-34]. This paper proposes using
control, high accuracy and precise positioning. Where the PID controller to speed control of DCSM in order to
speed and position of the servo motor are controlled by the develop and obtain best results.
control unit that sends signals in the feedback [1-5]. In II. MATHEMATICAL MODELS OF DCSM
addition to the above advantages, the servo motors (SM)
have other advantages of high flexibility, low cost, and high Due to the good electrical and mechanical performance
reliability. There are problems when controlling the motor of the (SM) when compared with a DC motor therefore, this
speed where the characteristics are non-linear and the engine paper includes the study of controlling the speed of this type
is a time-varying nature, so servo motor needs highly of motor because of its importance in the practical and
efficient control units or they are called expert controllers it industrial fields, especially the field of control. Fig. 1 show
is added to the traditional controllers to control the speed model representation of the motor [35], while Fig. 2
and position of the motor or to improve the performance [6- illustrates dynamic behavior of DCSM by block diagram.
10]. The study presented [11] a simulation model of the [36-41].
(SM), the use of the PID controller, and the simulation of Equation (1) refers to the transfer function of (DCSM),
the mathematical model of the motor in improving the also Table 1 shows parameters of (DCSM) [42]:
performance of the motor. In research [12], the PI controller
was used to control the speed of the (SM), the use of data Ɵ𝑠 𝐾𝑡
= (1)
for real experiments, and the use of genetic algorithms 𝑉𝑎 𝑠(𝐿𝑎 𝑠 + 𝑅𝑎 )(𝐽𝑚 𝑠 + 𝐵𝑚 ) + 𝐾𝑡 𝐾𝑏 𝑠
technology to reach the best results, which are used as input
to the pi controller, so that pi became fast response, less
raise and sufficient stability time. Paper [13] include a
powerful PID regulator was used to control the position of

Journal Web site: http://journal.umy.ac.id/index.php/jrc Journal Email: jrc@umy.ac.id

Journal of Robotics and Control (JRC) ISSN: 2715-5072 55

model refers to speed control at constant value of speed

while second model deals with variable speed at multi
conditions. Fig. 3 indicates to simulation model for each
with and without PID controller whereas Fig. 4 shows the
model at variable speed at different conditions.

Fig. 1. Model representation of DCSM

Fig. 4. The simulation model with and without PID controller at variable
speed

IV. SIMULATION RESULTS AND DISCUSSION

Fig. 2. Block Diagram representation of a (DCSM)
In this part, the results will be discussed. These results
TABLE I. TABLE TYPE STYLES also are in two cases, first case deals with speed control for
DCSM with constant speed with and without PID controller
Criterion Symbols Amounts Units while the second case at a variable speed in different
Armature resistance Ra 2.23 ohm
Armature inductance La 0.23 H
conditions.
Moment of inertia Jm 0.00006286 Kg.m2 A. Simulation results at constant speed
Friction coefficient Bm 0.0000708 Rad /sec
Torque constant KT 0.121 N-m-s / rad When speed constant the Simulink response of PID
Back emf constant KB 0.121 V/(rad/s) controller for speed control of DCSM at no load that can be
shown in the Figures. Fig. 5 refers to characteristics of
speed whereas Fig. 6 indicates the torque of motor while
other characteristics can be shown in Figs. 8, 9 and 10
respectively.

Fig. 3. The simulation model with and without PID controller at constant
speed

III. SIMULATION MODEL TO SPEED CONTROL OF DCSM

The simulation model of DCSM is implemented by
using Math Lab program [43-46], this type of traditional Fig. 5. speed control of DCSM
controllers has advantages using to improve the work and
performance of operation for machines to get better results,
especially in the field of control, so this paper proposes two
models when DCSM operates at no load [47-54], the first

Zainab B. Abdullah, Simulation Model of PID Controller for DC Servo Motor at Variable and Constant Speed by Using
MATLAB
Journal of Robotics and Control (JRC) ISSN: 2715-5072 56

Fig. 9. Error of system

Fig. 6. Torque characteristic of DCSM

B. Simulation results at variable speed

In this section, the results are obtained at variable speed
in three condition, first condition when the motor rotates at a
clockwise direction, the second condition when the motor
breaks and third condition when the motor returns rotating
in opposite clockwise direction as available in Table 2.

TABLE II. CONDITION OF OPERATION FOR DCSM

Conditions of operation for DCSM Time (sec)
Rotates at a clockwise direction 0-5
Break 5-10
Rotate opposite clockwise direction 10-15
Break 15-20
Rotates at a clockwise direction 20-25

Simulink responses and the characteristics of DCSM at

above conditions can be shown in Fig. 10 – 15.

Fig. 7. The Current

Fig. 10. reference speed of DCSM

Fig. 8. The Voltage

Zainab B. Abdullah, Simulation Model of PID Controller for DC Servo Motor at Variable and Constant Speed by Using
MATLAB
Journal of Robotics and Control (JRC) ISSN: 2715-5072 57

Fig. 11. speed control of DCSM Fig. 14. Torque of DCSM

Fig. 12. The current Fig. 15. The voltage

The simulation results indicate obtaining better results

for each speed control and Simulink response of DCSM
when using PID control by minimize in ever shoot in order
to develop and improve performance of DCSM to obtain
good simulation results.
V. CONCLUSION
In this simulation, the process of designing and
implementing a conventional control unit was conducted to
control the speed of the motor. A model was built that
simulates the electric motor in two cases at no load with
constant speed and with variable speed. Simulation results
Possibility to improve the performance of the motor by
setting the conventional control unit for all the proposed
conditions and given in your results section .
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Fig. 13. The Error of system

Zainab B. Abdullah, Simulation Model of PID Controller for DC Servo Motor at Variable and Constant Speed by Using
MATLAB
Journal of Robotics and Control (JRC) ISSN: 2715-5072 58

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Zainab B. Abdullah, Simulation Model of PID Controller for DC Servo Motor at Variable and Constant Speed by Using
MATLAB