ISSN 2349-7815

International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)

Vol. 2, Issue 2, pp: (191-196), Month: April 2015 - June 2015, Available at: www.paperpublications.org

DC Motor Speed Control for a Plant Based On

PID Controller
1

Soniya Kocher, 2Dr. A.K. Kori

PG Scholar, Electrical Department (High Voltage Engineering), JEC, Jabalpur, M.P., India
2
Assistant Professor, Electrical Department, JEC, Jabalpur, M.P., India

Abstract: This paper aims is to design a controller for controlling the speed of DC motor .The effects of the
controller on motor speed is analyzed .Automatic tuning of the controller is also introduce for efficient control of
the process .The tuning is implemented using Ziegler Nichols method and results are compared with Variation in
speed without controller.
Keywords: PID, Tuning, Ziegler Nichols, DC Motor.

1. INTRODUCTION
PID controllers are the most widely-used type of controller for industrial applications. They are structurally simple and
exhibit robust performance over a wide range of operating conditions. In the absence of the complete knowledge of the
process these types of controllers are the most efficient of choices. The three main parameters involved are Proportional
(P), Integral (I) and Derivative (D). The proportional part is responsible for following the desired set-point, while the
integral and derivative part account for the accumulation of past errors and the rate of change of error in the process
respectively.

Fig.1 Block diagram

In above fig. the controller is used in a closed loop unity feedback system . the variables r,e,u and y denotes the input
signal , error signal, controller signal and output.
The transfer function of closed loop system is given by
=
Where Kc is Proportional gain , T i is Integral time constant and Td is Derivative time constant.

Page | 191
Paper Publications

ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 2, pp: (191-196), Month: April 2015 - June 2015, Available at: www.paperpublications.org
Table 1: Effects of KP, KI, KD on plant performance

Closed loop responce

Rise Time

Over shoot

Settling Time

Steady State error

KP

Decreases

Increases

Increases

Decreases

KI

Decreases

Increases

Increases

Eliminate

KD

Small change

Decreases

Decreases

Small change

Tuning Of Pid Controller:

Tuning of a PID controller refers to the tuning of its various parameters (P, I and D) to achieve an optimized value of the
desired response. The basic requirements of the output will be the stability, desired rise time, peak time and overshoot.
Different processes have different requirements of these parameters which can be achieved by meaningful tuning of the
PID parameters. If the system can be taken offline, the tuning method involves analysis of the step input response of the
system to obtain different PID parameters. But in most of the industrial applications, the system must be online and tuning
is achieved manually which requires very experienced personnel and there is always uncertainty due to human error.

2.

PROPOSED METHOD

ZIEGLER NICHOLS: I .ZN Step method: The response of plant to unit step input looks like S shape that characterize
two constant delay time L and Time constant T which are determine by drawing tangents at inflection point.
Table -2: Ziegler Nichols tuning rule based on step response of plant (first Method)

Type of controller
P

KP

PI

Ti

Td
0
0

0.9

PID

2L

0.5 L

II .ZN Frequency Method: Ti and Td =0 is set using Proportional controller only and K p is increased to critical values
Kcr at which output exhibit sustain oscillations Thus critical gain Kcr and Corresponding period Pcr is experimentally
determined.
Table3: ZN tuning rule based on critical gain and critical period

Types of controller

KP

Ti

0.5Kcr

PI

0.45Kcr

0.833Pcr

PID

0.6Kcr

0.5Pcr

3.

Td
0
0
0.125Pcr

SPEED CONTROLLER OF DC MOTOR

DC motor Provide excellent Speed control for both acceleration and deceleration with effective and simple torque control.
When speed control over a wide range is required, combination of armature voltage control and field flux control is used.
This combination permits the ratio of maximum to minimum speed to be 20 to 40. With closed loop control, this range
can be extended up to 200.
The parameters of the PID controller kp, ki and kd (or kp, Ti and Td) can be manipulated to produce various response
Curves. The electric circuit of armature is Shown below.

Page | 192
Paper Publications

ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 2, pp: (191-196), Month: April 2015 - June 2015, Available at: www.paperpublications.org

Fig.2. Armature circuit

Let Ra=Armature Resistance,

La=Armature self inductance caused by armature flux,
ia= Armature current,
if= field current,
Eb=Back EMF in armature,
V =Applied voltage,
T=Torque developed by the motor,

Angular displacement of the motor shaft,

Equivalent moment of inertia of motor shaft & load referred to the motor,
B= Equivalent Coefficient of friction of motor shaft & load referred to the motor

Fig 3. Mathematical model of DC Motor

The transfer function of DC motor speed with respect to the input voltage can be written as follows
(
Where

(
(

is motor gain and

Is motor time constant the following block diagram shows a closed loop system with PID controller
analysis of this system is done by considering the values of K p, KI,KD.

Page | 193
Paper Publications

ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 2, pp: (191-196), Month: April 2015 - June 2015, Available at: www.paperpublications.org

fig4. Model of DC motor with PID Controller

Fig5. Performance characteristics of motor without controller

Now Tuning of the controller is done to find out suitable values of K P ,KI, KD
I. ZN STEP METHOD: Tuning of controller is done by taking delay time L=1 and Time constant T= 5

Fig.6. Values of KP , Ki , Kd obtain from ZN method.

Page | 194
Paper Publications

ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 2, pp: (191-196), Month: April 2015 - June 2015, Available at: www.paperpublications.org
Table. 3. Comparision of performance parameter with different controller and without controller

RISE TIME

SETTLING TIME

%OVERSHOOT

WITHOUT CONTROLLER

0.505 sec

0.913sec

0%

0.0139sec

0.097sec

37.7%

P+I

0.0148sec

0.245sec

33.6%

P+I+D

0.00807sec

0.0098sec

0%

Fig .7. Variation of speed without controller

Above figure shows that the motor is having high rise time and settling time which is not required .our approach is to
reduce this value so controllers are employed.

Fig. 8. Variation in speed with Proportional controller

Page | 195
Paper Publications

ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 2, pp: (191-196), Month: April 2015 - June 2015, Available at: www.paperpublications.org

Fig.9 Variation in speed with Proportional and Integral controller

Fig.10 Variation in speed with PID controller

4.

CONCLUSION

In this paper different controllers are design for motor. Response of motor with and without controller are compared.
Tuning of controller are done by using ZN method and values of Proportional gain ,integral gain and derivative gain are
derived from tuning method and response is studied using MATLAB.
REFERENCES
[1] Shenton, A.T., & Shafiei, Z., Relative stability for control system with adjustable parameters, J. of guidance, Control
and Dynamics 17(1994) 304-310.
[2] Xue Dingyu, Chen Yang Quan and Atherton P. Derek ,"Linear Feedback Control".
[3] Ogata Katsuhiko, Modern control Engineering, fourth edition, 2002.
[4] Kuo C. Benjamin, Automatic Control System, seventh edition, October 2000.
[5] Abdullah, K., W.C. David and E.S. Alice, 2006. Multi-objective optimization using genetic algorithm. Reliab. Eng.
Safety Syst., 91: 992-1007.

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