Ethiopian Institute of Technology Mekelle EiT-

Mini-Project: Comparative the Performance of

Speed Control of Separately excited DC motor
using PI and Fuzz Logic Controller

ATSEDE GEBREZGEABHER GIRMAY

DEPARTMENT OF CONTROL AND INSTRUMENTATION ENGINEERING

MEKELLE UNIVERSITY, MEKELLE, ETHIOPIA

Contents
Abstract............................................................................................................................................1
I. Introduction..............................................................................................................................1
II. Methodology.........................................................................................................................2
III. Simulink Model and Results.................................................................................................8
IV. Conclusion..........................................................................................................................11
Reference.......................................................................................................................................12

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Abstract
This paper represents effective performance of fuzzy logic controller over the conventional PI
controller in DC motor speed estimating and controlling by using MATLAB/SIMULINK. DC
motor can affect by nonlinearity factors like saturation and friction during in operations that
cannot handle by the conventional controller. The aim of development fuzzy logic controller is to
avoid the nonlinearity and providing efficient and simple method for controlling the speed. Such
a control scheme gives very accurate and precise result immediately. The fuzzy logic controller
employs if-else form programming of the various conditions to control the motor speed and uses
membership functions for mapping input and output variables. In this paper Fuzzy logic
controller have 9 rule base relating speed error and change in speed error to control speed of the
separately excited DC motor. It also provides comparison of speed response of fuzzy logic
controller with the response achieved by PI controller for DC motor controllers. PI controller are
frequently utilized in industries to control processes as compared to PI and PID conventional
controller because it produces less overshoot, decreasing rise time and settling time. The auto -
tuning method are used to calculate the proportional gain Kp and integral gain Ki parameters.

Keywords - Proportional - Integral (PI), Fuzzy Logic Controller (FLC), Membership Function,
Separately Excited Direct Current (SEDC).

I. Introduction
DC motors are widely used in industries, wind turbines, electric vehicles, and robotics and used
extensively in adjustable speed drives and position control application areas due to their
simplicity, reliability, ease of application, and favorable cost along with simple & continuous
control characteristics. DC motor have a quality to provide high torque load sustainable property.
DC motors are very well known as adjustable speed machines and hence they have a long
tradition of use in the field of speed regulation. Several controllers are conceived and designed to
control the speed control of DC motor in order to execute variety of functions and the
controllers which have become eminent in this sector are named as: proportional integral (PI),
Fuzzy Logic Controller (FLC) [5]. Specifically, the paper describes the development of a fuzzy-
logic controller to maintain constant speed in a separately excited dc motor operating under
loading conditions [6].The non-linear characteristics of a DC motor namely saturation and

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friction could degrade the performance of conventional controllers. Several advance controller
such as Fuzzy logic controller have been developed to reduce these effects.

II. Methodology
a) Dynamic Model: Separately excited DC Motor
In a separately excited DC motor supply is given separately for both field winding and
armature winding to excitation. Field winding is used to excite the field flux. The armature
current is applied to the rotor via brush and commutator. Interaction of field flux and
armature current in the rotor produces torque. The effect of armature reaction has been
neglected as the motor uses inter poles or compensating winding. [1][2].

Fig1: Circuit Diagram of Self Excited Dc motor

FIELD AND ARMATURE EQUATION
Field voltage can be calculated by applying KVL:
dif
Vf =Rf ∗if + Lf , …………………………………………………………………… (1)
dt
i
where Rf is field resistance , Lf is field inductance and f is field current.

Armature voltage is given by KVL:

dia
Va=Ra∗ia+ La + Eg , … … … . … … … … … … … … … … … … … … … … … … …(2)
dt
where Rais armatur resistance , Lais armature Inductance, Eg is induced electromotive
force, can be calculated as
Eg=Kvifωm , … … … … … … … … … … … … … … … … … … … … … … … … … … … (3)
Where, Kv is t h e motor voltage constant (inV / A−rad /sec )

ωm, is is motor speed in (rad/sec), if is directional proportion with flux ϕ So,

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 Eg=Kvϕωm , w h ere K =kvϕ , Eg=Kωm … … … … … … … …(4)
The Armature current can be given by, taking a Laplace transform to equation (2)
Va−Eg
Ia= …………………………………………………………………………..… …(5)
LaS + Ra
TORQUE EQUATION AND ANALYSIS
Torque developed is given by:
dω
Td=J + Bω+TL …………………………………………………………. (6)
dt
Where, J is momentum of inertia (Kg*m2), B is Viscous friction constant (N.m/rad/sec) and TL
is load torque.
Developed Torque also expressed as;
Td=KIa … … … … … … … … … … … … … … … … … … … … … … … … … … … … … .(7)
Td−TL
ωm= … … … … … … … … … … … … … … … … … … … … … … … … … … . … …(8)
JS +B

Fig 2: Block Diagram of Self Excited DC motor

b) PI Controller
PI controller is commonly used in industry process to eliminate the steady state error resulting
from P controller. Integral is equal to error multiplied by the time error has persisted. In this

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manner, integral increases the response of the system to a given error over time until it is
corrected and P is used to respond fast.

Fig3: Block Diagram of PI controller

c) Fuzzy Logic Controller

Fuzzy logic control is a control algorithm based on a linguistic control strategy, which is
derived from expert knowledge into an automatic control strategy. It controls the DC motor
speed without difficult mathematical calculation. While the other control systems use
difficult mathematical calculation to provide a model of the controlled plant. Fuzzy Logic
controller gives good performance. [1][2]. A fuzzy logic controller (FLC) has already been
proved analytically to be equivalent to a non-linear PI controller when a non-linear
defuzzification method is used. Also, the result from the comparisons of conventional and
fuzzy logic control techniques in the form of a FLC and fuzzy compensator showed fuzzy
logic can reduce the effects of non-linearity in a DC motor and improve the performance of a
controller. [2][3]

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 Fig 4: Block Diagram of Fuzzy Logic Controller

d) Rule base for speed control of DC motor

In this paper, the speed controller make use of 9 rules mentioned in the matrix below, based on
which Fuzzy Logic controller operates to give the desired result.

Fig 5: Rule matrix for speed control of SEDC motor

Fig 6: Membership function for Error

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 Fig 7: Membership function for Change of Error

Fig 8: Membership Function for Output

Fig 9: Rules

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Fig 10: Rule Viewer

Fig 11: Surface Viewer

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III. Simulink Model and Results

Fig 12: Simulink model of SEDC motor using PI control

Fig 12: Auto-Tuning Values of PI controller

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 Fig 13: Actual Speed and Torque vs Time using PI controller
This MATLAB output represents, both speed and torque have an overshoot during the starting
phase, when the PI controller attempts to eliminate the steady state error. This cause armature
current and inertia of motor and load becomes increase. After eliminating the error using the

integral the overshoot effect is cancelled. In PI controller settling time ts is reduced and fast
rising time.

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 Fig 14: Simulink model of speed control using Fuzzy Logic Controller

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 Fig 15: Speed and Torque vs Time output using Fuzzy Logic Controller

This Simulink output Graph for the speed response of separately excited DC Motor using fuzzy
logic controller is successfully simulated with a better performance. Overshot is handled even if
high torque in the starting phase as compare with the conventional PI controller. In this Simulink
result fuzzy logic control has a finer control response with respect to load control.

IV. Conclusion
The auto-tuning method used in this paper is very efficient as compared to other tuning methods

to calculate easily the PI parameters. The speed can be controlled of SEDC motor using fuzzy

logic controller compared to PI controller is mainly intended to control and maintain the constant

speed with a null % overshoot and fast rising time but PI controller consists high overshoot and

high settling time to reach the steady state. PI controller fails to provide the speed controlling for

a non-linear load. Self-excited DC motor under fuzzy logic controller can operate in optimal

performance and efficiency rather than controlled by PI controller. All over the drawback of PI

controller can be overcome by Fuzzy Logic Controller.

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Reference
[1]. Deepshikha, Dr. Ramesh Kumar, “Fuzzy Logic Speed Controller for Separately Excited
Dc Motor and Its Comparison with PID Speed Controller” IOSR Journal of Electrical and
Electronics Engineering (IOSR-JEEE) e-ISSN: 2278-1676,p-ISSN: 2320-3331, Volume
9, Issue 4 Ver. I (Jul – Aug. 2014),
[2]. Albinus Bernard, “SPEED CONTROL OF SEPARATELY EXCITED DC MOTOR
USING ARTIFICIAL INTELLIGENT APPROACH”, Faculty of Electrical and
Electronic Engineering, University Tun Hussein Onn Malaysia, January 2013.
[3]. Dr.Rateb H.Issa, “Separately Excited DC Motor Optimal Efficiency Controller”,
International Journal of Engineering and Innovative Technology (IJEIT), Vol. 3, Issue 1,
ISSN: 2277-3754, July 2013
[4]. J. N. Rai, Mayank Singhal and Mayank Nandwani, “Speed control of DC motor using
Fuzzy logic technique”, IOSR-JEEE, ISSN: 2278-1676, vol. 3, Dec 2012.
[5]. Dr. Ch. Chengainah and K. Venkateshwarlu, “Comparative study on DC motor speed
control using various controller”, IJAREEIE ISSN 2278-8875, Vol. 3, Issue 1, Jan 2014.
[6]. Niraj Kumar Shukla and Dr. S. K. Sinha, “Fuzzy and PI controller based performance
evaluation of separately excited DC motor”, IJETEE, vol 2, Issue. 1, April 2013

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