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Control of DC Servo Motor

Research · March 2018

DOI: 10.30684/etj.36.3A.7

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Manal Jasim
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Engineering and Technology Journal Vol. 36, Part A, No. 3, 2018
DOI: http://dx.doi.org/10.30684/etj.36.3A.7
Manal H. Jasim Tuning of a PID Controller by Bacterial
Electrical Eng. Dept.
University of Technology. Foraging Algorithm for Position Control of DC
Baghdad, Iraq Servo Motor
[email protected]

Abstract- Controlling the position of Direct Current servo motor is the first aim
of this paper, by Bacterial Foraging Algorithm (BFA), the best Proportional –
Received on: 31/01/2017
Accepted on: 20/07/2017
Integral - Derivative (PID) controller parameters were obtained through Mat-
Lab application, including the simulation and modeling of Direct Current
servo motor, BFA controller and conventional PID Controller as benchmark to
the performance of BFA. Proportional – Integral - Derivative controller is a
closed loop system, the error made by the Direct Current motor was corrected
and determine the correct position to the desired point were controlled By
integrating the Proportional – Integral - Derivative controller. Kp, Ki and Kd
parameters was tuned to the find best values, which make the Direct Current
Motor reached quickly the accurate position without any mistake.

Keywords- DC servo motor, position control, PID, BFA.

How to cite this article: M.H. Jasim, “Tuning of a PID Controller by Bacterial Foraging Algorithm for Position
Control of DC Servo Motor,” Engineering and Technology Journal, Vol. 36, Part A, No. 3, pp. 287-294, 2018.

1. Introduction consuming nutrient can be viewed as the

Direct Current motor is widely used because it controller because it depend on the point that
comes in many shapes and sizes, so that its animals try to obtained and consume nutrient by
application is quite easy and flexible, and high maximizing the power which obtain from nutrient
reliabilities and low cost. Speed and position sources for each unify time spent for foraging,
control are required in industrial applications, and the environment and reminder organism as a
robot manipulators and home appliances [1]. ‘plant’[3]. Animals in foraging perform non-
Because of accurate and efficient tuning of gradient optimization for ‘search’, because they
parameters for PID controller, it has become very conducted an optimization without analytical
important for the Process industries, it is simple expression for the gradient, because it is
structure, good stability, and high reliability. impossible for them to know how the nutrient
Changing the controller parameters is difficult in concentration will change depending on the
custom application due to the non-linearity, time– variation in location, since there is no
changeability, and time slow down, furthermore, reminiscence to amass on it and there is a lot of
parameters and structure of the system can differ uncertainty about the surrounding live in [3]. In
due to the time and location from time to time, so this paper, the optimizing and analyzing of model
that tuning of the PID parameters customary is E. coli Bacterial Foraging was achieved to
not appropriately in some complex calculations controlling the position of Direct current Servo
[2]. In industrial process like pneumatic systems, Motor by tuning the parameters of Proportional –
the control system action is poor in characteristics Integral - Derivative (PID) controller.
and unstable because they effected to the unstable
in the values of parameters, so to improve this 2. System Model
case it must tuned the controller parameters to A mathematical relationship between voltage
synchronized the controller with the controlled input to the Direct Current motor and the shaft
variable, this make the process to be in the correct angular position can be derived physically.
operation condition at a suitable tuning constant, Direct current servomotor can be considered as
so that there is a need to provide automatic tuning multi-input system, the field coil of Direct
and continuously updating the controller Current servomotors separately with the
parameters [3]. In case of simple structure, armature, controlling the speed and position is
optimal tuning of PID controllers gains are very very good in this motor because there is no
difficult, recently, intelligence computational relation between armature and playing field
proposed bacterial foraging (BF) technique [4]. current of one more, this is show in Figure1
The mechanism of the animals in finding and

Copyright © 2018by UOT, IRAQ 287

Engineering and Technology Journal Vol. 36, Part A, No. 3, 2018

Dynamic behavior of the Direct Current motor

analyzed mathematically as below:
Ea(s) = Ra Ia (s) + La sI a(s) + Eb(s)
Tm(s) = Kt Ia
Eb(s) = Kb s θ (s)
Tm(s) = (Jm s2 + Dm s) θ (s)
The block diagram of the equation above is
illustrated in Figure.2.

Figure1: Schematic Diagram of a Direct Current

Servo motor

Figure 2: Block Diagram Representation of MATLAB/Simulink Direct Current motor

Ra = Armature Confrontation (Ω)

La = Armature Inductance (H)
Ia = Armature Current (A)
Ea = Armature Voltage (V)
Eb = Rear EMF (V)
Kb = Rear EMF constant (V/radians/second)
Kt = Torque Steady (N-m/A)
Tm = Torque urbanized through the motor (N-m)
θ(t) = Beam angular dislocation (radians)
J = Motor instant of inactivity and weight
(Kgm2/radians)
Dm=Motor frictional steady and weight
(Nm/(radians/second)
The transfer function after simplification and
taken the Ɵ(s) / Ea (s) is:
(1)
Figure 3: Position Response without Controller
The final simulation model for position without
controller can be developed in "MATLAB" as 3. PID Controller Algorithm
shown in Figure.3 [5-8].
The transfer function of Direct Current
servomotors is:-
G(s) = (2)
Comparing equation (1) with equation (2) we
have:
a3=LaJm ,
a2=RaJm + LaDm ,
a1=KbKt + RaDm ,

The PID Controller transfer function is:-

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Engineering and Technology Journal Vol. 36, Part A, No. 3, 2018

So that the overall unity feedback systems For solving for three unknowns KP , KI , KD
transfer, function is: will get five equations from comparing (6)
(4) and (7) so that it required to optimize, so that
the technique provide a good starting for the
The transfer function can be calculated as:
initial solution to optimize the results, The
position system model controlled by the PID
(5) controller can be expressed by Figure.4.The PID
controller calculations involve three parameters
The roots of the equation is the actual pole that must be determined for the given process, to
location give the desirable output and the correct
parameters were obtained quickly[8-10].
(6)
The necessary extremity locations are equal to:

(7)

Wn and are transient parameters,

Figure 4: Block Diagram Representation for Direct Current Servo motor with PID Controller

In this paper, to determine the position of servo

Direct Current(DC) motor, test with mistake
technique was used to obtain the most excellent
result for PID controller parameters which are :.
KP=100, KI= 5, and KD= 30.5, that give a
transient system response to the unit step input:
 Settling time = 3 sec.
 Rise time =1.4 sec
 Stable condition mistake = 0 %.
The System output presentation is shown in
Figure.5.

Figure 5: Position Response with PID Control

4. Bacterial Foraging Optimization

Algorithm
BFA is an influential method in optimization
evils. E. coli bacteria attempt to make the most of
the energy eating for each time so that BFA

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Engineering and Technology Journal Vol. 36, Part A, No. 3, 2018

mimics the foraging strategy, in BF-system there θ = θ1, θ2,…, θp = a point in the p dimensional
is four main mechanisms, which are: hunt area.

I. Chemotaxis: III. Reproduction

Is a Simulation of the changing of an E.coli cell The better bacteria asexually tear into two
through swimming and plummeting by means of bacteria, and then located in the similar location
flagella, if: while the least strong bacteria finally die. So that
θi(j,k,l) = i'th bacterium on j'th chemotaxis, k'th the swarm dimension steady
reproductive, l'th elimination-dispersal move.
C( i ) = range of move used randomly which V. Elimination-dispersal
particular through the fall (flow duration It is the event, which takes place for killing, or
element). Bacterium movement during grouped in a new position, all bacteria in the area,
computational chemotaxis is: this due to some changes appear in the
(8) environment of bacterium population.
Size of population 'S': the computational
Δ: random target vector, whose elements be complexity of the algorithm can be significantly
positioned within [-1, 1]. increased by increasing S.
Length of chemotaxis step 'C( i )' : C(i) is a kind
II. Swarming: of a 'movement dimension' for the algorithm.
Through moving up the nutrient inclining a Chemotactic step ‘Ns’: creates a prejudice in the
collection of E. coli cells position themselves and un-regular movement.
a itinerant circle while located amidst a semisolid Reproduction number ‘Nre’: the algorithm may
environment by means of a particular nutrient join impulsively at a small rate of ‘Nre’, when
chemo effecter observed as an interesting group 'Nre' increased the difficult of computational
behavior. In E. coli swarm the cell-to-cell, increase.
signaling is determined by: Elimination - Dispersal number ‘Ned’: selecting
'Ned' appropriately, the algorithm swoop of
restricted optima furthermore addicted to best
worldwide.
Parameters important cell-to-cell attractant
functions 'Jcc': high 'Jcc' incomes the cells to
have a burly tendency to group, small 'Jcc'
incomes a small tendency to group, so that the
equilibrium among the strengths of the cell-to-
cell attractant signals with nutrient concentrations
is extremely significant [11-13].
(9) Figure.6 shows the sequence of BFA Flowchart.
Jcc (θ, P(j, k, l)) = object purpose worth, S = the
sum of bacteria,
P = the sum of variables there in bacterium which
optimizing,

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Engineering and Technology Journal Vol. 36, Part A, No. 3, 2018

Start

N
J(b, K)< J(B, K-1)
Get Sampled Value of B=B+1
Signal

Y
Initialization of
Variables
Swimming, N=N+1
SW(B)=N

Elimination with Dispersal

circle Counter

N
SW(B) < N
Y
Terminate E > No Y Tumble

N N
B>S

Reproduction circle
Counter, R=R+1 Y

Y
R > Nr

Chemotaxis circle
counter, K = K+1

Y
K > Nc

Calculate value of coast

purpose with swarming
every bacterium as J(B,K)

Figure 6: Flowchart of BFA

5. PID Tuning by BFA II. BFA-PID Controller

I. Fitness function Finding the best values for the PID parameters
To calculate the overall response for each of PID controlling the position of the direct current
sets values a fitness evaluation function is needed servomotor using BFA is achieved by this work;
then from the response generating a fitness value Figure.7 shows the system block diagram.
for each set of individual expressed by MATLAB m-File program was linked with
MATLAB/simulation program, to verify the
(10) presentation of the system at each part. PID
Finding a set of PID parameters is important for controller gains, which were obtained with
giving a minimum fitness value over the period Bactria foreign Optimization Algorithm (BFOA),
[0, t] give the smallest amount of fitness function using
Integral Squared Error (ISE) technique, which
gives the best presentation of the system. The
specification of the designed BFA technique is
shown in Table 1

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Engineering and Technology Journal Vol. 36, Part A, No. 3, 2018

Table 1: Specification of the BFA Starting the first bacterium location must be
The amount of Bacteria 10 selected, the significant object at this time be
Total of chemot axis steps 5 presentation (tR , tS , ess , p.o.s). For a look for area
Restrictions the span of a swim 4 BF method replicates the fitness function to be as
Total of reproduction steps 4 little as probable.
Total of elimination dispersal events 2

Every bacterium in the inhabitants has a location,

the location was determined through three
variables which is PID controller gains accordingly
measurement of a look for area is represented
through three variables, p = 3.

Figure7: Simulink model of BPID to the Electro system

6. Analysis of the Results

Through the completion of BFA the gain
principle of PID was optimized in MATLAB, the
parameters, which describe the direct current
servomotor, are [14].

J = 0.01 Kg/m2, b = 0.1 n.m.s, kb = 0.01 V/ °/s,

Km = 0.01 N.m/A, Ra = 1Ω, L= 0.5 H.

So that (11)

The system performance of BFA-PID controller

is shown in Figure.8.
Figure 8: System performance of BFA-PID tuning
method

The BFA algorithm was simulated. The optimum

parameter values that have achieved better
solution are listed in Table 2, which show the
optimal parameters values of the position
controlling system controlled by PID controller
using Bacterial Foraging Optimization algorithm
(BFOA).

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Engineering and Technology Journal Vol. 36, Part A, No. 3, 2018

Table 2: The position response gives by the unit step input

Rise Time: 20.6428

Settling Time: 37.3312
Settling Min: 0.9022
Original System without PID Settling Max: 0.9993
Over Shoot: 0
Under Shoot: 0
Peak: 0.9993
Peak Time: 68.6512
Rise Time: 0.2855 Rise Time: 0.3892
Settling Time: 1.0073 Settling Time: 0.6152
KP = 37.2242; Settling Min: 0.9113 KP = 37.6075; Settling Min: 0.9041
Ki = 2.8023; Settling Max: 1.0770 Ki = 1.2336; Settling Max: 1.0009
Kd = 20.6051; Over Shoot: 7.6956 Kd = 20.8703; Over Shoot: 0.0921
Under Shoot: 0 Under Shoot: 0
Peak: 1.0770 Peak: 1.0009
Peak Time: 0.6109 Peak Time: 0.8214
Rise Time: 3.0959 Rise Time: 3.1352
Settling Time: 5.2894 Settling Time: 5.3738
KP = 5.0352 Settling Min: 0.9007 KP = 4.9863 Settling Min: 0.9010
Settling Max: 1.0001 Settling Max: 0.9999
Over Shoot: 0.0080 Over Shoot: 0
Under Shoot: 0 Under Shoot: 0
Peak:1.0001 Peak: 0.9999
Peak Time: 8.7698 Peak Time: 8.7644
Rise Time: 0.4027 Rise Time: 0.4047
Settling Time: 0.6567 Settling Time: 0.6663
KP=36.5617; Settling Min: 0.9063 KP = 36.2932; Settling Min: 0.9040
Kd=20.4094; Settling Max: 0.9994 Kd = 20.4094; Settling Max: 0.9985
Over Shoot: 0 Over Shoot: 0
Under Shoot: 0 Under Shoot: 0
Peak: 0.9994 Peak: 0.9985
Peak Time: 3.0259 Peak Time: 2.4859
Rise Time: 2.9771 Rise Time: 2.6690
Settling Time: 4.7869 Settling Time: 4.2211
KP = 5.0525; Settling Min: 0.9049 KP = 5.5133; Settling Min: 0.9010
Ki = 0.043311; Settling Max: 1.0165 Ki = 0.051302; Settling Max: 1.0182
Over Shoot: 1.6527 Over Shoot: 1.8172
Under Shoot: 0 Under Shoot: 0
Peak: 1.0165 Peak: 1.0182
Peak Time: 9.1075 Peak Time: 6.9353

The position of the Direct Current Motor is with the movement input pace. The Table show
precisely controlled; it could reach the desired that BFA-PID controller exhibits comparatively
location rapidly with no mistake as shown in good presentation through extremely fewer
Figure.8. settling time and passing oscillations.
The simulation was done using m.File and
Simulink package available in MATLAB. The Table 3: The relationship between different
position response is simulated using BFA based controllers
PID controller. Results Without- With BFA-
Con PID-Con PID
7. Assessment of the Consequences Rise 20.64 1.4 0.28
Time(Sec)
Table.3 shows the relationship between different
Settling 37.33 3 1.007
controllers for active performances used for
Time(Sec)
managing location of direct current servo motor.
Comparing between settling time and rise time

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 Engineering and Technology Journal Vol. 36, Part A, No. 3, 2018

8. Conclusion Journal of Scientific Engineering and Applied Science

(IJSEAS) - Volume-1, Issue-3, June 2015.
Position controller for Direct Current servo Motor
by using BFA in controlling the PID controller [9] K.S., K.D. Kushner, “DC Motor Angular Position
Control using PID Controller for the propose of
was proposed in this paper. The model outcome
controlling the Hydraulic Pump,” International
points to that the BFA working efficiently and Conference on Control, Engineering & Information
provides an excellent relation between the PID Technology (CEIT’13), Proceeding Engineering
Controller and active reaction of the scheme to be &Technology-Vol.1, pp22-26, 2013.
controlled. The results show that tuning PID
controller-based BFA provides high performance Author Biography
for the considered system and showed the Manal H. Jasim: Received the B.Sc. degree in 1984 in
superiority of the BFA, which provides the Electronics Engineering from
optimal controller parameters successfully. The University of Technology,
work represents a good fluctuation decrease and Baghdad, Iraq. She is received
the control system in a good way and good the M.Sc. degree in Electronics
response. Engineering from University of
Technology, Baghdad, Iraq in
2001. She is received the Ph.D. in
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