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Determination of the PID controller parameters for speed and position control
of DC motor using Gravitational Search Algorithm

Conference Paper · December 2011

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Determination of the PID Controller Parameters for Speed and Position Control
of DC Motor using Gravitational Search Algorithm
Serhat DUMAN1, Dinçer MADEN2, Uur GÜVENÇ3
1
Department of Electrical Education, Technical Education Faculty, Duzce University, Duzce, 81620, TURKEY
[email protected]
2
Department of Electrical and Electronics Engineering, Engineering Faculty, Duzce University, Duzce, 81620,
TURKEY
[email protected]
3
Department of Electrical and Electronics Engineering, Faculty of Technology, Duzce University, Duzce, 81620,
TURKEY
[email protected]

Abstract motor [9]. Allaoua et al. utilized particle swarm optimization

algorithm for neuro-fuzzy DC motor speed control [10].
In this paper we use a new search heuristic called One of the recently developed stochastic algorithms is the
Gravitational Search Algorithm (GSA) to determination of gravitational search algorithm (GSA) based on the Newton’s
the optimal PID controller parameters in the speed and law of gravity and mass interactions [11]. GSA has been verified
position control of a DC motor. The model of a DC motor is high quality performance in solving different optimization
considered as second and third order system. Mean squared problems in the literature [12-18]. In this paper, a newly
error (MSE) performance index has been used as objective developed heuristic optimization called GSA method is
function. End of the optimization process, the rise and the proposed to determinate of PID controller parameters for speed
settling times and the overshoot are compared to those and position control of DC motor. This paper has been
reported in the literature. To show that effectiveness of organized as follows: in section 2 the DC motor is described and
proposed method are compared with Ziegler-Nichols the model of it is shown. Gravitational search algorithm
method in speed control of DC motor. Simulation results describes in section 3. Section 4, describes how GSA is used to
show the effectiveness and robustness of proposed design the PID controller values optimally for a DC motor speed
controllers to provide the speed and position control of DC control and position control. A comparison between the results
motor. obtained by the proposed approach and ref. [4] via simulation
the DC motor position control and speed control are offered in
1. Introduction section 5. The paper is concluded in section 6.

At the present time, DC motors have been widely used in 2. Modeling the System
many industrial applications due to high performance of speed
control and position control. In this applications speed and In this study, proposed approach has been simulated a DC
position are generally controlled by proportion-integration (PI), shunt motor as is shown in Fig. 1. DC shunt motors have the
proportion-derivation (PD), and proportion-integration- field coil in parallel with the armature. The current in the field
derivation (PID) controller. PID controller is simple, robust and coil and the armature are independent of one another.
more preferable compare to PI or PID because of many Consequently, these motors have perfect speed and position
advantages [1]. Although the simple structure and robustness of control. The characteristics equations of the DC motor can be
PID control method, optimally tuning coefficient of proportion, defined by the following equations [1,3];
integration and derivation have been quite difficult via
conventional methods such as Ziegler-Nichols, Karl-Astrom
etc.[2].
Nowadays, many heuristic methods have been used for
tuning of PID controller parameters. Thomas and Poongodi
proposed to determination of the PID controller parameters in
position control of DC motor using the genetic algorithm [3].
Nagaraj et al. used soft computing techniques for tuning of PID
controller parameters [4]. Al-Hamouz and Al-Duwaish utilized
genetic algorithm for a new variable structure DC motor
controller [5]. Xia et al. investigated speed control of brushless
DC motor using genetic algorithm based fuzzy controller [6].
Gargari and Lucas designed optimal PID controller using Fig. 1. Diagram of the DC shunt motor
imperialist competitive algorithm [7]. Moghaddas et al. utilized
particle swarm optimization algorithm for determination PID
di
controller parameters in speed control of DC motor [8]. Nasri et
al. proposed particle swarm optimization algorithm for optimum
V R a i  La  ea (1)
dt
design PID controller in speed control of linear brushless DC

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 Te kmi (2) 3.2. Step 2: Fitness Evaluation of All Agents

dZ In this step, to execute for all agents at each iteration and best
Te J  BZ (3)
and worst fitness are computed at each iteration described as
dt follows.

d 2T dT best (t ) min fit j (t )

Te J 2
B (4) j{1,.., N }
(9)
dt dt

dT worst (t ) max fit j (t ) (10)

ea k eZ ke (5) j{1,.., N }
dt
where fitj(t) is the fitness of the jth agent of iteration t , best(t)
The transfer functions are defined for speed and position and worst(t) are best (minimum) and worst (maximum) fitness
control of DC motor, respectively. of all agents.

Z s  Ke 3.3. Step 3: Compute the Gravitational Constant (G(t))

V s  JLa s  Ra J  BLa s  K e2  Ra B
2
  (6)
In this step, the gravitational constant at iteration t (G(t)) is
computed as follows.

T s  Ke t
V s  JLa s  Ra J  BLa s 2  K e2  Ra B s
3
  (7)
G (t ) G0 exp( D
T
) (11)

Where, Ra is armature resistance, La is armature inductance, where G0 is the initial value of the gravitational constant
i is armature current, V is armature voltage, ea is back emf chosen randomly,  is a constant, t is the current iteration and T
voltage, Ke is back emf constant, Km is torque constant, Tm is is the total iteration number.
torque developed by the motor,  is angular speed of shaft,  is
angular displacement of shaft, J is moment of inertia of motor 3.4. Step 4: Update the Gravitational and Inertial
and load, B is frictional constant of motor and load.
Masses
3. Gravitational Search Algorithm In this step, the gravitational and inertial masses are updated
for each agent at iteration as follows.
Rashedi et al. proposed a new meta-heuristic searching
algorithm called Gravitational Search Algorithm (GSA) in 2009.
The Gravitational Search Algorithm is a swarm-based and also Mai Mpi Mii Mi , i 1,2,...,N (12)
is memory-less optimization algorithm based on the Newton’s
fit i t   worst t 
laws of gravity and mass interaction. The gravitational force
between two particles is directly proportional to the product of mi t  (13)
their masses and inversely proportional to the square of the best t   worst t 
distance between them. According to the proposed algorithm,
agents are assumed to be objects that their performances are
where fiti(t) is the fitness of the ith agent at iteration t.
measured by means of masses. The whole agents pull each other
by the gravitational attraction force and this force induces the
mi t 
M i t 
movement of all agents globally towards the agents with heavier
masses. In GSA, each mass has four particulars: its position, its N
(14)
inertial mass, its active gravitational mass and passive
gravitational mass. The position of the mass equaled to a
¦ m t 
j 1
j

solution of the problem and its gravitational and inertial masses

are specified using a fitness function [11]. GSA algorithm can
be summarized following steps: where Mai is the active gravitational mass of the ith agent,
Mpi is the passive gravitational mass of the ith agent, Mii is the
inertia mass of the ith agent, Mi(t) is the mass of the ith agent at
3.1. Step 1: Initialization
iteration t.
When it is assumed that there is a system with N (dimension
of the search space) masses, position of the ith mass is described 3.5. Step 5: Calculate the Total Force
as follows. At first, the positions of masses are fixed randomly.
In this step, the total force acting on the ith agent (Fid(t)) is

Xi x ,..., x
1
i
d
i ,...xin  for, i=1,2,…,N (8)
calculated as follows.

where, xid is the position of the ith mass in dth dimension.

Fi d (t ) ¦ rand
jkbestj z i
j Fijd (t ) (15)

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 where randj is a random number between interval [0,1] and 3.8. Step 8: Repeat
kbest is the set of first K agents with the best fitness value and
biggest mass. In this step, steps from 2 to 7 are repeated until the iterations
The force acting on the ith mass (Mi(t)) from the jth mass reach the criteria. In the final iteration, the algorithm returns the
(Mj(t)) at the specific iteration t is described according to the value of positions of the corresponding agent at specified
gravitational theory as follows. dimensions. This value is the global solution of the optimization
problem also.
M pi (t ) u M aj (t ) All these steps explained above describes how the GSA
Fijd (t ) G(t ) ( x dj (t )  xid (t )) (16) works. Besides, the principle diagram of the GSA is illustrated
Rij (t )  H in Fig. 2.

where Rij(t) is the Euclidian distance between ith and jth 4. Tuning of PID Parameters based Gravitational
agents  X (t ), X
i j (t )
2
 and  is the small constant.
Search Algorithm

In the proposed approach, the PID control structure is shown

in Fig. 3. The PID parameters Kp, Ki, and Kd are tuned using the
3.6. Step 6: Calculate the Acceleration and Velocity
GSA technique discussed in this section.
In this step, the acceleration (aid(t)) and velocity (vid(t)) of
the ith agent at iteration t in dth dimension are calculated through
law of gravity and law of motion as follows.
d Fi d (t )
a (t )
i (17)
M ii (t )

vid (t  1) rand i uv di (t )  a id (t ) (18)

where randi is the random number between interval [0,1].

Fig. 3. The block diagram of proposed PID controller with GSA

algorithm

The variable e(t) presents the tracking error which is

difference between the reference input value and real output.
This error signal will be sent to the PID controller and the
controller computes both the derivate and the integral of this
error signal [2]. In this study, Mean Squared Error (MSE) is
considered as objective function for optimization of PID
controller parameters. MSE objective function is defined as
follows:

§ N 2 ·
¨ ¦  y  yˆ i  ¸
MSE ¨ i 1 ¸ (20)
¨ N ¸
¨ ¸
© ¹
1
J (21)
1  MSE
Fig. 2. The principle diagram of the GSA [11] Where J is the objective function (MSE).
3.7. Step 7: Update the Position of Agents 5. Results of Simulation
th th d
In this step the next position of the i agents in d (xi (t+1)) Proposed method has been applied to tune of optimal PID
dimension are updated as follows. controller parameters. In order to verify the performance of
proposed GSA approach based on Newtonian physical law of
xid (t  1) xid (t )  vid (t  1) (19) gravity and law of motion which is tested for speed and position
control of DC motor.

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 The setting parameters of proposed approach are given in
Table 1.

Table 1. Setting parameters of proposed approach for optimal

PID controller
Parameters
N G0  T
100 100 7 200

The parameters of the electric DC motor have the following

value respectively, J=0.042 Kgm2/rad, B=0.01625 Nm/(rad/sec),
Km=0.9 Nm/A, Ke=0.9 V/(rad/sec), L=0.025 Henry, R=5 ohm.
These nominal values are taken from ref. [4]. Firstly, position
control of DC motor has been simulated to evaluate the
effectiveness of the proposed optimal PID controller based on
GSA. According to optimal PID controller parameters obtained Fig. 5. Root locus curve of the position control
from proposed GSA in position control of DC motor, peak
overshoot, settling time and rise time are compared with ref. [4] Secondly, speed control of DC motor has been simulated to
and exhibited in Table 2. The position response of PID evaluate the effectiveness of the proposed optimal PID
controller tuning parameters using gravitational search controller based on GSA and results obtained from proposed
algorithm strategy is shown in Fig 4. Root locus analysis allows approach are compared with Ziegler-Nichols method. Optimal
the exploration of time domain and stabilization behaviors of the PID controller parameters obtained from proposed GSA in
position control of DC motor. The root locus curves are shown speed control of DC motor, peak overshoot, settling time and
in Fig. 5. The closed loop poles of the position control of DC rise time are compared with Ziegler-Nichols and shown in Table
motor are represented in Table 3. 4. The speed response of PID controller tuning parameters using
gravitational search algorithm strategy and Ziegler-Nichols is
Table 2. Comparison of the simulation results shown in Fig. 6 and Fig. 7. Root locus analysis allows the
Peak overshoot Settling Time Rise time exploration of time domain and stabilization behaviors of the
Methods speed control of DC motor. The root locus curves are shown in
(%) (sec) (sec)
ZNST [4] 41.4 2.56 0.242 Fig. 8. The closed loop poles of the speed control of DC motor
Continuous are represented in Table 5.
87.6 4.31 0.0474
Cycling [4]
PSO [4] 8.81 0.205 0.014 Table 4. Comparison of the simulation results
EP [4] 13 0.324 0.0317 Peak overshoot Settling Time Rise time
Methods
(%) (sec) (sec)
GA [4] 12.9 1.15 0.0385
ZN 44.2 0.0649 0.00538
GSA 6.7 0.0396 0.0131
GSA 0.0002 0.00000458 0.00000257
Table 3. Poles of closed loop for position control
Table 5. Poles of closed loop for speed control
Closed Loop Poles
Closed Loop Poles
-98.16+114.90i
-837910
-98.16-114.90i
-0+0i
-2.20
-0+0i
-1.87

Fig. 6. The speed response of optimal PID controller tuning

Fig. 4. The position response of optimal PID controller tuning
parameters using GSA
parameters

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