Speed Control Simulation of DC Servomotor Using

Hybrid PID-Fuzzy with ITAE Polynomials

Initialization
Oyas Wahyunggoro Hari Wibawa
Departement of Electrical Engineering and Information Departement of Electrical Engineering and Information
Technology Technology
Universitas Gadjah Mada Universitas Gadjah Mada
Yogyakarta, Indonesia Yogyakarta, Indonesia
[email protected] [email protected]
Adha Imam Cahyadi
Departement of Electrical Engineering and Information Technology
Universitas Gadjah Mada
Yogyakarta, Indonesia
[email protected]

Abstract— DC motor is widely used in industrial process, Various applications requiring a constant speed or
which includes automation and robotics process. DC motor adjustable speed and constant torque rely on DC motors. Thus,
has many advantages than AC motor, such as: it has wide in order DC Motor operates optimally, some methods are
range controllable speed without influences its quality input needed to regulate and control DC motor speed [1]. The
of power, it has high output torque, simpler construction commonly used controller for speed regulator systems is PID
than AC motor, it does not result lossless of reactive power, controller tuned using the Ziegler Nichols method [2] and PID
and it does not yield harmonic to the supplying system. In controller tuned using Transient Response Specification. As
order to produce optimal operation, the speed of DC motor mention in [3], Ziegler Nichols has good disturbance rejection,
however, it has high percent overshoot and control signal that
must be controlled. The speed can be controlled using some
causes saturation in the actuator and this is undesirable.
methods, such as: conventional PID, Ziegler Nichols based
Another method is Transient Response Specification based
PID controller, Transient Response Specification based PID PID that produces minimum overshoot and low control signal
controller, and Hybrid PID-Fuzzy. The aim of this research [3]. These PID tuning methods are not adaptive enough. To
is to analyze the speed control of DC Motor using Hybrid overcome this PID controller weakness, Prof. Zadeh proposed
PID-Fuzzy method and compares its output performance a fuzzy theory on control system in 1968. Fuzzy system is
with conventional PID method. The output performance capable to handle complex, non-linear, and dynamic system.
among these method will be compared using calculation of However, fuzzy system has slower response than PID
their ITAE polynomials output. Modeling and simulation controller. So, it is expected that hybrid of PID and fuzzy logic
have been done in MATLAB-Simulink and it shows the can overcome both problems from PID Controller and Fuzzy
better performance compared with classical PID method. Systems. In this paper, the proposed method is Hybrid PID-
Fuzzy which is initialized with ITAE polynomial. The
Keyword: PID; Hybrid PID-Fuzzy; ITAE Polynomial; DC experiment aims at tuning the hybrid PID-Fuzzy parameters
Motor. such that it has the best performance and comparing the
performance to the nature PID which is initialized with the
I. INTRODUCTION same ITAE polynomials.
DC Motor is kind of electric machine which is widely used
in automation and industrial process. The application of DC II. PID TUNING METHODS
motor on both fields can be found in many machines, such as
conveyor, elevator, cranes, ski lifts, mixer, dynamo, and many A. PID Controller
others machine that require adjustable speed and high torque PID controller structure consists of three main parameters,
for their operation. DC Motor has more practical advantages i.e: Proportional Controller, Integral Controller, and
than AC Motor. These advantages are: wide range controllable Derivative Controller. Proportional Controller, which is
speed, high full range torque at low speed, low inertia that denoted by Kp, is used to decrease the error and speed up the
make DC motor has more rapid acceleration and deceleration, time response. Integral Controller, which is denoted by Ki, is
simple and smaller construction, it does not yield lossless of used to eliminate steady state error. Derivative Controller,
reactive power, and it does not yield harmonic to the system denoted by Kd, is used to anticipate input changes. PID
that supplies it. controller can be expressed as following equation [4]:
 called Fuzzifier. Membership function is needed in conversion
(1) process. There are three kinds of Fuzzifier that is frequently
used in automation process: Singleton Fuzzifier, Gaussian
Fuzzifier, and Triangular Fuzzifier [6].
(2) Fuzzy model, which is in the form of logic table fuzzy,
process inputs from Fuzzifier. Output from fuzzy logic table is
converted again to numerical value or real value by
Defuzzifier.
Kp, Ki, and Kd are PID parameters, u(t) is control signal,
and e(t) is error value between reference value and output In this paper, the model of fuzzy control system which is
signal value. Three PID parameters have to be determined used to control the speed of DC motor as shown in Fig. 1.
appropriately in order to produce an optimal transient
response. Thus, the proper strategy or method is needed. As
mentioned in Section I, the most popular and widely used for
tuning PID method in industrial process is Ziegler Nichols.
PID parameter tuning according to Ziegler Nichols Method is
based on the system frequency response and use the closed
loop control system with proportional controller Kp.
Increasing value of Kp from zero to a critical value Kcr at Figure 1. Block Diagram of Fuzzy Control System for
which the output exhibits sustained oscillation, and then Speed Control [8]
measure the critical period Pcr of the output. Then, set
Fuzzy Control system in Fig. 1 has two inputs: error and
parameter Kp, Ti, and Td according to Table 1.
change of error. Then, the output of this fuzzy control is fed to
PID controller to control the speed of DC motor.
TABLE I. TUNING OF PID PARAMETER ACCORDING TO ZIEGLER
NICHOLS METHOD (ULTIMATE CYCLE) [3]
III. HYBRID PID FUZZZY CONTROLLER DESIGN AND
Controller Kp Ti Td IMPLEMENTATION
P
PI
A. Fuzzification
PID
Fuzzification in this simulation experiment uses two
inputs: error and change of error. These two inputs must be
There is another method to tune PID parameter in addition defined in terms of linguistic variables. Both of inputs are
to Ziegler Nichols. The other method is Transient Response expressed in similar membership function over the interval
Specification. Its tuning process consists of these steps [3]: from -1 to 1. There are three linguistic variables in both of
them: Negative (N), Zero (Z), and Positive (P). This
• Apply to the plant a step signal and record its output
membership function is shown in following Fig. 2.
step response y(t)
• Compute the steady state value y(t) and obtain gain K
and time response τ
• Set the PID controller parameter using the equation:

(3)

• Change, increase or decrease, Kp in order to change Figure 2. Membership function for error e(t) and change of
transient response of compensated system. error Δe(t) [8]

B. Fuzzy Rule Base and Fuzzy Inference

B. Fuzzy Controller
Fuzzy system output is denoted by h. This output is
Fuzzy control system is a kind of smart advanced control defined in two terms linguistic variables, they are small (S)
system that is able to handle complex, non-linear, adaptive, and
dynamic plant. Fuzzy control system lays its work on Fuzzy and big (B) over interval -1 to 1. Its membership function is
Logic which is introduced by Profesor Lotfi Zadeh in 1964 [5]. shown in Fig. 3 and the rule base for this output is given in
Generally, fuzzy logic consists of four main parts: Fuzzifier, Table II.
Fuzzy Rule Base, Fuzzy Inference Engine, and Defuzzifier.
In fuzzy control system, input in the form of numerical
value from real world is converted to fuzzy set that can be
interpreted by fuzzy controller. This part of the fuzzy system is
 Figure 3. Membership function for output h.

TABLE II. RULE BASE FOR OUTPUT h [8]

Change of Error Figure 4. Hybrid PID-Fuzzy Model [9]

Error N Z P
N S B S TABLE III. THE VALUES OF PID PARAMETERS OF PID TUNING
Z S B S METHODS [9]
P S B S Controller Kp Ki Kd
N = Negative; Z = Zero; P = Positive; S = Small; B = Big
PID-ZN 1.92 5.12 0.18
Value of Kp, Ki, and Kd for hybrid controllers are obtained
PID-TPS 0.6613 2.3384 0.0449
from the formula in (4)

(4)
ZN: Ziegler Nichols
This experiment uses Mamdani Product Inference as fuzzy
inference method. TPS: Transient Response Specification
ITAE polynomial can also be used to calculate PID
C. Defuzzification parameters and using the results in [9] is shown in Table IV.
Defuzzification is conversion process that converts fuzzy TABLE IV. THE VALUES OF PID PARAMETERS OF
set control output to real value set. Here is one output h that THE PROPOSED METHOD
will be used to calculate PID parameter Kp, Ki, and Kd in
L Kp Ki Kd
hybrid PID-Fuzzy system. This output h must be converted
into real value crisp through defuzzification methods. There 1 1.4853 4.5509 0.1659
are several methods that can be used in defuzzification 0.95 1.1327 3.7068 0.1166
method. Center average defuzzification and mean maximum 0.9 0.8153 2.9859 0.0698
defuzzification are two most popular methods [7]. In this
experiment, the center average defuzzification method is used. 0.85 0.5313 2.3756 0.0256
0.8 0.2789 1.8641 -0.0161
D. Implementation
Hybrid PID-Fuzzy with ITAE Initialization was designed
in Matlab-Simulink simulation package using inbuilt Fuzzy
IV. SIMULATION RESULTS
Logic toolbox. The hybrid PID-Fuzzy system is shown in Fig.
4. The plant to be controlled was modeled with third order Hybrid PID-Fuzzy controller response for Ziegler Nichols
system that expressed by (5) [9] method is shown in Fig. 5, its response for Transient Response
Specification is shown in Fig. 6, then its response for ITAE
initialization is shown in Fig. 7. Based on these figures, the
(7) output parameter value can be compared in Table V. It is clear
Based on experiment result and calculation according to that the output of hybrid PID-Fuzzy with ITAE initialization
Ziegler Nichols method and Transient Response Specification where L=0.9 has the best performance compare to Ziegler
method in PID tuning that was done before, the values of PID Nichols, Transient Response Specification, and the other value
parameters are given in Table III. of variable L of ITAE initialization. It shows the most
minimum error ITAE, minimum overshoot, minimum steady
state error, and less control energy than Ziegler Nichols
method.
 TABLE V. THE PARAMETER OF PERFORMANCE Based on Table V, the best performance is given by hybrid
Control PID-Fuzzy with ITAE initialization with L = 0.9. The best
Rise Time Signal performance is indicated by the smallest ITAE.
Controllers OS (%) ITAE
(s) Energy
(rpm2.s) Then, the ITAE initialization with L=0.9 is applied to PID
PID-ZN 0.505 0.391 1086 2,249 . 107 Conventional control system. PID conventional response is
PID-TPS 0.451 0.484 218.8 2,152 . 107 compared to the response of hybrid PID-Fuzzy with L = 0.9.
L=1 0.505 0.391 856.6 2,24 . 107 This comparison result is shown in Table VI and its
L = 0.95 1.531 0.384 360 2,218 . 107 performance graphic is shown in Fig. 8. Table VI shows that
L = 0.9 0.505 0.387 123 2,19 . 107 Hybrid PID-Fuzzy has better response than PID conventional.
L = 0.85 0.505 0.469 188.1 2,157 . 107
L = 0.8 0.504 0.623 301.2 2.12 . 107
It has smaller rise time, smaller ITAE, and smaller percent
overshoot. Thus, it has minimum error. Besides, Hybrid PID-
Fuzzy has smaller control signal energy.

TABLE VI. THE PARAMETER OF PERFORMANCE COMPARISON

BETWEEN HYBRID PID-FUZZY AND CONVENTIONAL PID WITH
ITAE INITIALIZATION L=0.9
Control
Controllers Rise Time Signal
OS (%) ITAE
ITAE L=0.9 (s) Energy
(rpm2.s)
Hybrid PID- 0.505 0.387 123 2,190 . 107
Fuzzy
PID 1.531 0.412 131.9 2,198 . 107
Conventional

Figure 5. Ziegler Nichols Response

Figure 8. PID Conventional Response with ITAE L=0.9

Figure 6. Transient Performance Specification Response

V. CONCLUSION
In this paper, simulation using Matlab-Simulink in the
experiment of hybrid PID-fuzzy controller with ITAE
Initialization has been done. Simulation results show that the
proposed method has better performance than Ziegler Nichols
and Transient Response Specification for DC servomotor
control. Another result shows that Hybrid PID-Fuzzy give
better performance than Conventional PID with same value
ITAE Initialization.

ACKNOWLEDGEMENTS
This paper was written in the PUPT Project (No.
2368/UN1.P.III/DIT-LIT/LT/2017). We are thankful to
Direktoral Penelitian UGM for their logistical support and for
Figure 7. Response with ITAE Initialization with L=0.9 providing necessary guidance concerning projects
(the most minimum ITAE value)
implementation. We are also grateful to kemenristekdikti for [6] L. Wang, A Course in Fuzzy System and Control, Upper Saddle River,
New Jersey 07458: Prentice-Hall, Inc, A Division of Simon and
their financial support in this project. Schuster, 1997.
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