Automation, Control and Intelligent Systems

2014; 2(6-1): 1-9

Published online November 20, 2014 (http://www.sciencepublishinggroup.com/j/acis)
doi: 10.11648/j.acis.s.2014020601.11
ISSN: 2328-5583 (Print); ISSN: 2328-5591 (Online)

Speed control of a DC motor using Controllers

Md Akram Ahmad1, Kamal Kishor2, Pankaj Rai3
1
Electronics and Communication Engineering Department, Maryland Institute of Technology and Management, Jamshedpur, India
2
Electronics and Communication Engineering Department, Ramgovind Institute of Technology, Koderma, India
3
Electrical Engineering Department, BIT Sindri, Dhanbad, India

Email address:
[email protected] (Md. Akram Ahmad), [email protected] (Kamal Kishor), [email protected] (Dr. Pankaj Rai)

To cite this article:

Md Akram Ahmad, Kamal Kishor, Pankaj Rai. Speed Control of a DC Motor Using Controllers. Automation, Control and Intelligent Systems.
Special Issue: Impact of Gesture Recognition in the Technological Era. Vol. 2, No. 6-1, 2014, pp. 1-9. doi: 10.11648/j.acis.s.2014020601.11

Abstract: This paper describes the speed control of a DC shunt motor using conventional controllers (PID, IMC) and Fuzzy
Logic controller based on Matlab Simulation program. A mathematical model of the process has been developed using real
plant data and then conventional controllers and Fuzzy logic controller has been designed. A comparative analysis of
performance evaluation of all controllers has been done.
Keywords: PID Controller, IMC, FLC, DC Motor

1. Introduction
DC motors are widely used in industrial applications, robot applications of fuzzy set theory, introduced by L.A Zadeh in
manipulators and home appliances, because of their high 1973 and applied (Mamdani 1974) in an attempt to control
reliability, flexibility and low cost, where speed and position system that are structurally difficult to model. Since then,
control of motor are required. This paper deals with the FLC has been an extremely active and fruitful research area
performance evaluation of different types of conventional with many industrial applications reported [4]. In the last
controllers and intelligent controller implemented with a three decades, FLC has evolved as an alternative or
clear objective to control the speed of separately excited DC complementary to the conventional control strategies in
motor. various engineering areas.
PID controllers are commonly used for motor control Analysis and control of complex, nonlinear and/or time-
applications because of their simple structures and varying systems is a challenging task using conventional
intuitionally comprehensible control algorithms. Controller methods because of uncertainties. Fuzzy set theory [5] which
parameters are generally tuned using Ziegler-Nichols led to a new control method called Fuzzy Control which is
frequency response method [1]. Ziegler-Nichols frequency able to cope with system uncertainties. One of the most
response method is usually used to adjust the parameters of important advantages of fuzzy control is that it can be
the PID controllers. However, it is needed to get the system successfully applied to control nonlinear complex systems
into the oscillation mode to realize the tuning procedure. But using an operator experiences or control engineering
it’s not always possible to get most of the technological knowledge without any mathematical model of the plant [6].
plants into oscillation [2].
In process control, model based control systems are mainly 2. DC Motor
used to get the desired set points and reject small external
disturbances. The internal model control (IMC) design is Direct current (DC) motors convert electrical energy into
based on the fact that control system contains some mechanical energy through the interaction of two magnetic
representation of the process to be controlled then a perfect fields. One field is produced by a magnet of poles assembly,
control can be achieved. So, if the control architecture has the other field is produced by an electrical current flowing in
been developed based on the exact model of the process then the motor windings. These two fields result in a torque which
perfect control is mathematically possible [3]. tends to rotate the rotor.
Fuzzy logic control (FLC) is one of the most successful
2 Md Akram Ahmad et al.: Speed Control of a DC Motor Using Controllers

Based on the data book, the transfer function is as

& $
' & &+ , $&,$/./$
(11)

3. Proportional-Integral-Derivative (PID)
Controller
Figure 1. DC shunt motor model. PID controllers are probably the most widely used
industrial controller. In PID controller Proportional (P)
The armature voltage equation is given by: control is not able to remove steady state error or offset error
in step response. This offset can be eliminated by Integral (I)
V t R I t L . E t (1) control action. Integral control removes offset, but may lead
to oscillatory response of slowly decreasing amplitude or
Equation for back emf of motor will be even increasing amplitude, both of which are error, initiates
E t K ω t (2) an early correction action and tends to increase stability of
system.
Now the torque balance equation will be given by: Ideal PID controller in continuous time is given as
T t K. I t :8 9
0 12 34 <: =
(3)
"
:9
(12)
56 7; 8 9 :9
T t J Bω t (4)
Laplace domain representation of ideal PID controller is
Where, A B
K Torque constant (Nm/A) >? @ 12 1 <: @ (13)
C B 56 B
K back emf constant (Vs/rad)
Let us combine the upper equations together: Ziegler and Nichols proposed rules for determining values
of 12 , <F GHI <: based on the transient response
R .I t L . K ω t (5) characteristics of a given plant. Closed loop oscillation based
PID tuning method is a popular method of tuning PID
K. I t J Bω t (6) controller. In this kind of tuning method, a critical gain 1J is
induced in the forward path of the control system. The high
Taking Laplace Transform of (5) & (6), we get value of the gain takes the system to the verge of instability.
It creates oscillation and from the oscillations, the value of
s R .I s L .I s K ω s (7) frequency and time are calculated. Table 1 gives
experimental tuning rules based on closed loop oscillation
K. I s Jω s Bω s (8) method [2,9].
If current is obtained from (8) and substituted in (7) we Table 1. Closed loop oscillation based tuning methods.
have…
Type of Controller KL MN MO
s ω s #L . Js $ R .J L .B s K .K % (9) 0.5K R 0
!" P ∞
PI 0.45K R 0.83T 0
Then the relation between rotor shaft speed and applied
PID 0.6K R 0.5T 0.125T
armature voltage is represented by transfer function:
From the Closed loop oscillation method, 1J 13 and T = 2 sec, which
& (
(10) implies 12 7.8 , <F 1 and<: 0.5
' & )* &+ , )- , * &, ( (. , -

This is the transfer function of the DC motor. Usually, initial design values of PID controller obtained by
Consider the following values for the physical parameters all means needs to be adjusted repeatedly through computer
[7,8] simulations until the closed loop system performs or
Armature inductance (L ) = 0.5 H compromises as desired. These adjustments are done in
Armature resistance (R ) = 1Ω MATLAB simulation.
Armature voltage (V ) = 200 V
Mechanical inertia (J) = 0.01 Kg.m2 4. Internal Model Control (IMC)
Friction coefficient (B) = 0.1 N-m/rad/sec
Back emf constant K = 0.01 V/rad/sec The theory of IMC states that “control can be achieved
Motor torque constant K = 0.01N.m/A only if the control system encapsulates, either implicitly or
Rated speed = 1450 rpm explicitly, some representation of the process to be
 Automation, Control and Intelligent Systems 2014; 2(6-1): 1-9 3

controlled”. feature of internal model controller is that the process model

The Internal Model Controller is based on the inverse of is in parallel with the actual process.
the process model we are trying to control. If we cascade the Figure (2) shows the scheme of IMC. Internal model
process transfer function with a controller which is the exact controller provides a transparent framework for control
inverse of the process, then effectively the gain becomes system design and tuning.
unity and we have perfect set-point tracking [10]. The main

Fig 2. Internal module control scheme.

$
Z @
>Y (18)
&+ , $&,$/./$

A good rule of thumb is to choose λ to be twice fast as

open loop response.
λ=0.9 implies, >d @
Fig 3. Equivalent Block diagram of IMC
,/.gB +
A controller >J @ has been used to control the Thus, a @ Z
#>Y @ % >d @ becomes,
\
Z @ is a model of >2 @ [10].
process >2 @ . Suppose >Y
B + , $B,$/./$
Where a @ (19)
.h$B + ,i.hB,$
[ B
>J @ Z B .[ B (14) Hence, from equation (14)
\]2

a @
And if >J @
Z @ .a @
1 j >Y
Z @
>2 @ = >Y (15)
Implies,
the model is an exact representation of process, then it is
B + , $B,$/./$
clear that the output will always equal to set point. Notice >J @ (20)
.h$B + ,i.hB,/
that this ideal control performance is achieved without
feedback.
Designed the IMC controller as 5. Fuzzy Logic Controller (FLC)
>^_` @ a @ Z @ c\ >d @
b>Y (16) Table 2. Linguistic variables.

Where >d @ is a low pass function defined as

NB NM NS Z PB PM PS
Big Medium Small Big Medium Small
Zero
negative negative negative positive positive positive
>d @ (17)
,eB f
Table 3. Rule base for fuzzy logic controller.
Here we consider 2nd order low pass filter (n = 2). ce
Thus, >d @ + , e
NB NM NS Z PS PM PB
,eB
NB NB NB NB NB NM NS Z
Where λ is closed loop time constant[10]. NM NB NB NB NM NS Z PS
Now, NS NB NB NM NS Z PS PM
K
Z NB NM NS Z PS PM PB
>2 @ PS NM NS Z PS PM PB PB
J L s$ J R B L s KK B R PM NS Z PS PM PB PB PB
PB Z PS PM PB PB PB PB
4 Md Akram Ahmad et al.: Speed Control of a DC Motor Using Controllers

The fuzzy controllers are designed with two input error and output are [-120, 120], [-120,120] and [-180,180]
variables, error and change of error and one output variable. respectively. The rule base framed for DC motor is tabulated
The Mamdani based fuzzy inference system uses linear in Table 3[12].
membership function for both inputs and outputs [11]. For The structure of the rule base provides negative feedback
the fuzzy logic controller the input variables are error 4 and control in order to maintain stability under any condition.
rate (change) of error ∆4 , and the output variable is Linguistic variables for error, rate of error and controller
controller output ∆0 . Triangular membership functions are output are tabulated in table 2[13].
used for input variables and the output variable. Each Fig 4, 5 and 6 shows membership functions of different
variable has 7 membership functions. Thus, there were total variables implemented in FIS editor in MATLAB toolbox.
49 rules generated. The universe of discourse of error, rate of

Fig 4. Membership functions for input-1(error).

Fig 5. Membership functions for input-2(change of error).

Fig 6. Membership functions for output.

 Automation, Control and Intelligent Systems 2014; 2(6-1): 1-9 5

6. Simulation
The simulations for different control mechanism discussed above were carried out in Simulink in MATLAB and simulation
results have been obtained.

Fig 7. Simulink model of DC motor.

Fig 8. PID Controller Simulink model.

6 Md Akram Ahmad et al.: Speed Control of a DC Motor Using Controllers

Fig 9. IMC Controller Simulink model.

Fig 10. Simulink model of FLC Controller.

Fig 11. Unit step response of PID Controller.

 Automation, Control and Intelligent Systems 2014; 2(6-1): 1-9 7

Fig 12. Unit step response of IMC.

Fig 13. Unit step response of FLC.

Figure 14. Comparison of unit step response of PID and FLC controllers.
8 Md Akram Ahmad et al.: Speed Control of a DC Motor Using Controllers

Fig 15. Comparison of unit step response of IMC and FLC controllers.

7. Result and Discussion

To evaluate the performance of the different controllers, References
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