See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/346564242

Speed Control for Servo DC Motor with Different Tuning PID Controller with
LABVIEW

Article in Journal of Mechanical Engineering Research and Developments · January 2021

CITATIONS READS

4 2,299

1 author:

Liqaa Mezher
Al-Mustansiriya University
12 PUBLICATIONS 52 CITATIONS

SEE PROFILE

All content following this page was uploaded by Liqaa Mezher on 10 December 2020.

The user has requested enhancement of the downloaded file.

Journal of Mechanical Engineering Research and Developments
ISSN: 1024-1752
CODEN: JERDFO
Vol. 44, No. 1, pp. 294-303
Published Year 2021

SPEED CONTROL FOR SERVO DC MOTOR WITH DIFFERENT

TUNING PID CONTROLLER WITH LABVIEW
Liqaa Saadi Mezher
Electrical Engineering Department, Mustansiriayah University, Baghdad, Iraq

*Corresponding Author Email: [email protected] , [email protected]

ABSTRACT: Servo DC Motor is electric device that converts electrical energy into mechanical energy, At any
device it contain advantage and disadvantage that trying to overcome these problem within speed problem. In this
paper the speed control of the DC motor was done by using PID controller. The PID controllers use a three basic
demeanor kinds or processes: P - Proportional, I - Integrative and D - Derivative. While proportional and
integrative methods are also used as single control modes, a derivative style is seldom used on its own in control
systems. Groups such as PI and PD control are very often in practical systems, and using LABVIEW program

KEYWORDS: Speed Control, Servo DC Motor, Tuning PID Controller and LABVIEW

INTRODUCTION

Direct current movements (DC) are the most basic kind of electrical motors 0-[4]. In any electric motor, the
process depends on simple electromagnetism [5][7]. A DC motor is a device that exchange electrical energy into
mechanical energy [8]-[11]. Operating principle of DC motor it’s important that we have a clear understanding of
the left hand base of Fleming to determine the direction of force that operates on the armature conductors of dc
motor [12][16].

LABVIEW, the laboratory virtualization architecture platform, is a hardware computing, system design, and
signal processing environment [17].

In this paper used LABVIEW version (2013), we show some computer simulation results for DC motor using
different PID controller PID controller structure. In these simulations, several input are tested to illustrate
performance of these methods. Three classical PID controllers are used, the first one is Proportional Controller (P
Controller), and the second one is Proportional- Integrative controller (PI Controller), and the third one is
Proportional-Integrative -Derivative controller (PID Controller) [18]-[21].

MATHEMATICAL MODEL

In general use the sample of each section in paper: V= Armature Voltage (V), Kt= Motor Torque Constant
(Nm/A), La= Motor inductance (H), Jm= Armature moment of inertia (Kg – m2), Ra = Armature Resistance (Ω),
Bm =Viscous – Friction Coefficient (N-m/Rad/Sec), ϕ= Field Flux, Kb = Back EMF Constant (V/Rad/Sec).

Speed Control of Servo DC Motor without Controller: (Close Loop)

The transfer function or the speed of Servo DC Motor without Controller for close loop as shown in figure (1):

Figure 1. The Servo DC Motor without Controller for Close Loop

294
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

Gp (s)
T. F =
1 + GP (s). H(s)

After simplifying the above motor model, the overall transfer function will be:
Kt
T. F =
(La . Jm )S 2 + (R a . Jm + La . Bm )S + (R a . Bm ) + K t K b

Speed Control of Servo DC Motor with PID Controller: (Close Loop)

The PID control is one of the design methods of the control system for the longest date. The PID controller is
mainly to adjust an appropriate proportional gain (Kp), the integrated gain (Ki), the differential gain (Kd) to
achieve the optimal control performance [22]-[27]. These functions were sufficient for most control operations,
the speed of Servo DC Motor with a controller for close loop as shown in figure (2& 3):

Figure 2. PID Controller

Figure 3. The Servo DC Motor with Controller for Close Loop

Gc (s). Gp (s)
T. F =
1 + Gc (s). Gp (s). H(s)

After simplifying the above motor model, the overall transfer function will be:

(K p S + K i + K d S 2 ). K t
T. F =
(La . Jm )S 3 + (R a . Jm + La . Bm + K t . K d )S 2 + (R a . Bm + K t . K P + K t . K 𝑏 )S + K t . K i

LABVIEW PROGRAM

LABVIEW (Virtual Machine Engineering Laboratory Workbench) is a graphical programming language

developed by National Instruments. The purpose of this tutorial is to familiarize you with LABVIEW and give
you a simulation experiment of dynamic systems disturbance, in Table 12.3 (SEM), Log on to a PC computer.
Click start > National Instruments > LABVIEW, Open LABVIEW (Note: As of LABVIEW 8.6), the control
design and simulation console is also supported for Mac. Many of the symbols used in this paper are:
295
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

: Step Response (Transfer Function).

: CD Draw Transfer Function Equation (Transfer Function Model) to exctect the signal.

Signal response graph.

SIMULATIONS AND RESULTS

CASE STUDY

In this section, the DC Motor without controller and with different controller is tested by different inputs. The
parameter for DC Motor and PID controller are given in table (1):

Table 1. DC Motor and PID Parameters.

J b K R L Kp Ki Kd

3.2284E-6 3.5077E-6 0.0274 4 2.75E-6 1.7 20 0.15

DC motor system without controller

The LABVIEW control and simulation connection for DC motor without controller for close loop as shown in
figure (4) (a) , and the implementation the system DC motor without controller for close loop in math script as
shown in in figure (4) (b).

(a)
296
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

(b)

Figure 4. DC motor without controller for close loop in LABVIEW

(a)Control and Simulation, (b) Math Script

The characteristics for DC Motor without controller for close loop as shown in table (2):

Table 2. The characteristics for DC Motor without controller for close loop

Peak response Settling time Rise time Steady state Overshoot

1.07 0.18 0.024 1 7.16%

The result for DC system without any controller as shown in fig (5):

Figure 5. The results of DC Motor for close loop in LABVIEW

DC motor system P Controller

297
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

The LABVIEW control and simulation connection for DC motor with P controller for close loop as shown in
figure (6) (a) , and the implementation the system DC motor with P controller for close loop in math script as
shown in in figure (6) (b).

(a)

(b)

Figure 6. DC motor with P controller for close loop in LABVIEW

(a)Control and Simulation, (b) Math Script

The characteristics for DC Motor with P controller for close loop as shown in table (3):

Table 3. The characteristics for DC Motor with P controller for close loop

Peak response Settling time Rise time Steady state Overshoot

1.17 0.135 0.0271 1 16.9

The result for DC system with P controller as shown in fig (7):

298
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

Figure 7. The results of DC Motor with P controller for close loop in LABVIEW

DC motor system PI Controller

The LABVIEW control and simulation connection for DC motor with PI controller for close loop as shown in
figure (8) (a) , and the implementation the system DC motor with PI controller for close loop in math script as
shown in in figure (8) (b).

(a)

(b)

Figure 8. DC motor with PI controller for close loop in LABVIEW

(a)Control and Simulation, (b) Math Script

299
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

The characteristics for DC Motor with PI controller for close loop as shown in table (4):

Table 4. The characteristics for DC Motor with PI controller for close loop

Peak response Settling time Rise time Steady state Overshoot

1.41 --- 0.0231 1 40.8%

The result for DC system with PI controller as shown in fig (9):

Figure 9. The results of DC Motor with PI controller for close loop in LABVIEW

DC motor system PID Controller

The LABVIEW control and simulation connection for DC motor with PID controller for close loop as shown in
figure (10) (a) , and the implementation the system DC motor with PID controller for close loop in math script as
shown in in figure (10) (b).

(a)

300
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

(b)

Figure 10. DC motor with PID controller for close loop in LABVIEW

(a) Control and Simulation, (b) Math Script

The characteristics for DC Motor with PID controller for close loop as shown in table (5):

Table 5. The characteristics for DC Motor with PID controller for close loop

Peak response Settling time Rise time Steady state Overshoot

1.18 1.18 0.0051 1 7.8%

The result for DC system with PID controller as shown in fig (11):

Figure 11. The results of DC Motor with PID controller for close loop in LABVIEW

CONCLUSIONS

In this paper, different PID controllers are suggested for controlling a DC Motor system. Different desired
reference input is used to test these controllers with DC Motor. From the simulation results are concluded: The
close loop system without controller is stable, but there are many problems in output performance. When using
PI controller with DC Motor system the output response follow the input with error steady state zero and settling
time (tr=0.0321sec) and over shoot increase (Mp=40.8%), table (4). When using PID controller the output
response follow the input with error steady state zero and settling time (ts=0.12sec) and over shoot reduce
(Mp=7.8%), table (5).
301
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

ACKNOWLEDGEMENT

Assistant lecturer Liqaa Saadi Mezher, Master Sc. in Computer Engineering, B. Sc. in Computer & Software
Engineering, she has 14 years of teaching experience. She published 6 research papers at International level.
Worked in Al-Mustansiriyah University, Baghdad, Iraq.

REFERENCES

[1] Mishra, K Raj, S Srishti, and H Md Asif. “Fuzzy Logic based PID Controller Tuning for Speed Control of
DC Servo Motor”. No. 4056. EasyChair, 2020.

[2] Rajkumar, M Santosh, C Sayan, and Dr Dey. "Development of Embedded Speed Control System for DC
Servo Motor using Wireless Communication." arXiv preprint arXiv: 1912.00337, 2019.

[3] Mani, Geetha, "Implementation of ACO Tuned Modified PI-like Position and Speed Control of DC Motor:
An Application to Electric Vehicle", In Soft Computing for Problem Solving. Springer, Singapore, pp. 629-
645, 2020.

[4] Karlina, L Diyajeng, and I Katherin, "Fault Tolerant Control for Speed Sensorless of DC Motor",
International Conference on Smart Technology and Applications (ICoSTA), pp. 1-5, IEEE, 2020.

[5] KR Anil, MN Sandhya Rani, SN Syed, and KT Suresh, “Speed Control of DC Motor using Fuzzy Logic
Controller by PCI 6221 with MATLAB”, 1st International Conference on Sustainable Energy and Future
Electric Transportation, E3S Web of Conferences, Vol. 87, P. 6, February, 2019.

[6] Miry, A Hussien, AH Mary, and MH Miry. "Mixed robust controller with optimized weighted selection for
a DC servo motor." In Proceedings of the International Conference on Information and Communication
Technology, pp. 178-183, 2019.

[7] Alset, Utkarsh, A Apte, and H Mehta, "Implementation of Fuzzy Logic based High Performance Speed
Control System for PMDC motor using ATMEGA-328P-PU Micro-controller", International Conference
on Electronics, Computing and Communication Technologies (CONECCT), pp. 1-5, IEEE, 2020.

[8] A Khazaee, AA Zarchi, GA Markadeh,” Loss model based efficiency optimized control of brushless DC
motor drive”, ISA Transactions, Vol. 86, Pp. 238-248, March, 2019.

[9] Kanojiya, G. Rohit, and P. M. Meshram, "Optimal tuning of PI controller for speed control of DC motor
drive using particle swarm optimization", International conference on advances in power conversion and
energy technologies (APCET), pp. 1-6, IEEE, 2012.

[10] S. J, Mija, "Design and performance evaluation of robust SMC schemes for speed control of DC motor",
International Conference on Advanced Communications, Control and Computing Technologies, pp. 88-
92, IEEE, 2014.

[11] Hekimoğlu, Baran, "Optimal tuning of fractional order PID controller for DC motor speed control via
chaotic atom search optimization algorithm", IEEE, Vol. 7, pp. 38100-38114, 2019.

[12] P. M., Meshram, and Kanojiya R.G, "Tuning of PID controller using Ziegler-Nichols method for speed
control of DC motor", In IEEE- international conference on advances in engineering, science and
management (ICAESM-2012), pp. 117-122. IEEE, 2012.

[13] Wang, Xiangyu, W. Wang, L. Li, J. Shi, and B. Xie, "Adaptive control of Dc motor servo system with
application to vehicle active steering" , IEEE/ASME Transactions on Mechatronics, Vol. 24, No. 3, pp.
1054-1063, 2019.

[14] George, Moleykutty, "Speed control of separately excited DC motor", American Journal Of Applied
Sciences, Vol.5, No. 3, pp. 227-233, 2008.

[15] Durdu, Akif, and E.H. Dursun, "Sliding mode control for position tracking of servo system with a variable
loaded DC motor", Elektronika ir Elektrotechnika, Vol. 25, No. 4, pp. 8-16,2019.

302
 Speed Control for Servo DC Motor with Different Tuning PID Controller with LABVIEW

[16] Dursun, E. Hasan, and A. Durdu, "Position control by using PD type fuzzy logic: Experimental study on
rotary servo system", 8th International Conference on Electronics, Computers and Artificial Intelligence
(ECAI), pp. 1-6. IEEE, 2016.

[17] M. Ayam, M Liqaa Saadi. and T. H. Raoof, “Speed Control For Separately Excited DC Motor With PID
Controller, GA, And PSO”, International Journal of Recent Scientific Research, Vol. 7, No. 7, pp. 12673-
12678, July, 2016.

[18] Navrátil, Pavel, P Libor, and M Radek. "Control of a Multivariable System Using Optimal Control Pairs:
A Quadruple-Tank Process." IEEE, Vol. 8, Pp. 2537-2563, 2019.

[19] Z Wei, C Yue, D Xiangxin, Y Zhong & W Yagang, “A novel tuning method of differential forward robust
PID controller for integrating systems plus time delay based on direct synthesis method" , International
Journal of Systems Science, 2020.

[20] Fišer, Jaromír, and Z Pavel, "PID Controller Tuning via Dominant Pole Placement in Comparison with
Ziegler-Nichols Tuning", IFAC-PapersOnLine, Vol. 52, No. 18, pp. 43-48, 2019.

[21] P Jirapun; S Xiaojie; Z Huiyan and A Wudhichai, “PID controller autotuning design by a deterministic Q-
SLP algorithm”, IEEE Access, ISSN: 2169-3536, Vol. 8, No. ,PP 50010 - 50021, 2020.

[22] Andrzejewski and Andrzej, "Time-optimal position control of DC motor servo drive", Przegląd
Elektrotechniczny 95, 2019.

[23] Bansal, K Umesh, and N Rakesh, "Speed control of DC motor using fuzzy PID controller", Advance in
Electronic and Electric Engineering, Vol. 3, No. 9, pp. 1209-1220, 2013.

[24] Zhou, Lan, J Fuxi, S Jinhua, and Z Zhu, "Generalized-extended-state-observer-based Repetitive Control
for DC Motor Servo System with Mismatched Disturbances", International Journal of Control,
Automation and Systems, Pp. 1-10, 2020.

[25] K Yusuke; S Ryosuke; M Satoshi; I Katsuhiko, “A Servo Module with DC Motor for Education and R&D
in Robotics", 13th International Conference on Human System Interaction (HSI), IEEE, ISSN: 2158-2246,
2020.

[26] Jiang, Chaoqiang, T C Kwok, H T L Christopher, H Wei, L Wei, and W. H. Lam, "A wireless servo motor
drive with bidirectional motion capability", IEEE Transactions on Power Electronics, Vol. 34, No. 12, pp.
12001-12010, 2019.

[27] Indriawati, Katherin, and S Noboru, "Fault Tolerant Method On Position Cascade Control Of DC Servo
System", Mechatron. Syst. Control, Vol. 48, No. 2, 2020.

303

View publication stats