1st International Conference on Engineering and Innovative Technology, SU-ICEIT 2016, April 12-14, 2016, Salahaddin University-Erbil, Kurdistan,

Iraq

Controling DC Motor Position, Using PID Controller

Made by PIC Microcontroller

Seyed Yahya Moradi Enayatallah Saeedi

Department of Biomedical Engineering Department of Electronic Engineering
Faculty of Engineering, University of Isfahan Faculty of Electrical Engineering, Sahand University of
Isfahan, IRAN Technology
[email protected] Tabriz, IRAN
[email protected]

Abstract — The Proportional Integral Derivative (PID) controller processing applications[4]. If the PID parameters are tuned
is the most common form of feedback used in the control systems. properly they provide robust and reliable performance for most
It can be used for various Industrial functions. One of the
applications used here is to control the position of the DC motor. systems. In this paper, PID controller is used to control the
Controlling the position of a DC motor is very significant in that position of DC Motor. As PID controllers require mathematical
any small change can lead to instability of the closed loop system. models of the system to be controlled, hence mathematical
Conventional PID controllers are used to control the DC motor for models of DC motor is derived[5, 6].
various industrial processes for many years due to their simplicity
in operation. PID controllers require mathematical models to
control the plant of different control processing applications. This DC Motor’s Model
paper seeks to focus on controlling the position of DC motors using
PID controller made by PIC microcontroller. Consequently DC Motor plays a crucial role in research, industry and
hardware has been designed and produced which in practice laboratory experiments because of their low cost[6, 7]. The
worked well.
position of the motor can be controlled by three methods
Keywords- PID Controller, PIC Microcontroller, Position namely terminal voltage control method, armature rheostat
Controlling. control method and flux control method. Here in this paper
terminal voltage control method is employed. A control system
is an interconnection of components forming a system
INTRODUCTION
configuration that will provide a desired system response[2, 8].
DC machine is a highly versatile and flexible machine. It can
satisfy the demands of load requiring high starting, accelerating
and retarding torques[1]. A DC machine is also easily adaptable
for drives with range of speed control and fast reversal. They
are widely used in industrial applications. The DC motors are
used in rolling mills, in traction and in overhead cranes[2]. They
are also used in many control applications as actuators and as
speed or position sensors. In such applications, as that of
position sensors and robotics, drives performance must
precisely follow the desired performance. A number of control
schemes such as proportional (P), proportional integral (PI),
proportional derivative integral (PID), PWM, adaptive and
fuzzy logic controller (FLCs) are used for control of speed and Figure 1: Components of DC Motor
Position of DC motors. The proposed controller system uses the
PID control scheme for position control of DC motor[1, 3, 4]. In armature voltage control scheme for DC motors, voltage
PID controllers due to their simplicity are widely used in applied to armature is varied without varying the voltage
industrial applications for speed and position control of DC applied to the field[1, 4]. Equivalent model of DC motor is
motor for several years. Due to its simplicity, clear shown in following figure (Figure 2).
functionality, applicability and ease of use offered, PID
controllers are used in more than 95% of the industrial control
1st International Conference on Engineering and Innovative Technology, SU-ICEIT 2016, April 12-14, 2016, Salahaddin University-Erbil, Kurdistan, Iraq

𝑑𝑖𝑎 (𝑡)
𝑣𝑎 = 𝑅𝑎 𝑖𝑎 (𝑡) + 𝐿𝑎 + 𝐾𝑏 . 𝑤(𝑡) (5)
𝑑𝑡

𝑑𝑤(𝑡)
𝐾𝑡 . 𝑖𝑎 (𝑡) = 𝐽𝑚 + 𝐵𝑚 . 𝑤 (𝑡) (6)
𝑑𝑡

Laplace transforms and then the transfer function between shaft

position and armature voltage at no-load is:

Figure 2: DC Motor Model

𝜃(𝑠) 𝐾𝑡
=
𝑣𝑎 (𝑠) [𝐿𝑎 . 𝐽𝑚 . 𝑠 3 + (𝑅𝑎 . 𝐽𝑚 + 𝐿𝑎 . 𝐵𝑚 )𝑠 2 + (𝑅𝑎 . 𝐵𝑚 + 𝐾𝑏 . 𝐾𝑡 )𝑠]
𝑑𝑖𝑎 (𝑡)
𝑣𝑎 = 𝑅𝑎 𝑖𝑎 (𝑡) + 𝐿𝑎 + 𝑒𝑏 (𝑡) (1)
𝑑𝑡 Equation 7: DC Motor Transfer Function

𝑒𝑏 (𝑡) = 𝐾𝑏 . 𝑤 (𝑡) (2)

PID controllers

A proportional–integral–derivative controller (PID controller)

𝑇𝑚 (𝑡) = 𝐾𝑡 . 𝑖𝑎 (𝑡) (3)
is a generic control loop feedback mechanism (controller)
widely used in industrial control systems. A PID controller
𝑑𝑤(𝑡) calculates an "error" value as the difference between a
𝑇𝑚 (𝑡) = 𝐽𝑚 + 𝐵𝑚 . 𝑤(𝑡) (4) measured process variable and a desired set point. The
𝑑𝑡
controller attempts to minimize the error by adjusting the
Where [1, 9, 10] process control inputs [1, 3]. A PID controller consists of a
proportional element, an Integral element and a derivative
𝑣𝑎 = Armature Voltage (V) element, all three connected in parallel. All of them take the
error as input. Kp, Ki, Kd are the gains of P, I and D elements
𝑅𝑎 = Armature Resistance (Ω) respectively. In Figure 1 a schematic of a system with a PID
controller is shown [1, 10]. The PID controller compares the
𝐿𝑎 = Armature Inductance (H) measured process value with a reference set point value. The
difference or error, “e”, is then processed to calculate a new
𝑖𝑎 = Armature Current (A)
input process. This input will try to adjust the measured process
𝑒𝑏 = Back EMF (V) value back to the desired set point. The alternative to a closed
loop control scheme such as the PID controller is an open loop
𝜔= Angular Speed (rad/s) controller. Open loop control (no feedback) is in many cases not
satisfactory, and is often impossible due to the system
𝑇𝑚 = Motor Torque (Nm) properties. By adding feedback from the system output,
performance can be improved [2].
θ = Angular Position of Rotor Shaft (rad)

𝐽𝑚 = Inertia of Rotor (Kg-m2)

𝐵𝑚 = Viscous Friction Coefficient (Nms/rad)

𝐾𝑡 = Torque Constant (N-m/A)

𝐾𝑏 = Back EMF Constant (V/rad)

Let us combine the upper equations together:

Figure 3: Closed Loop System with PID controller
1st International Conference on Engineering and Innovative Technology, SU-ICEIT 2016, April 12-14, 2016, Salahaddin University-Erbil, Kurdistan, Iraq

EASE OF USE
Unlike a simple proportional control algorithm, the PID A. HARDWARE
controller is able to manipulate the input processes based on the First, we describe the hardware of system and its features.
history and the rate of change of the signal. This gives a more This project will require following hardware:
accurate and stable control method [1, 5, 11]. The basic idea is
a. PIC16F876A
that the controller reads the system state by a sensor. Then it
b. PR24 Printed Circuit Board (PCB)
subtracts the measurement from a desired reference to generate
c. LCD (2x16 character)
the error value. The error will be managed in three ways, to: 1.
d. L293D Driver
Handle the present, through the proportional term, 2. Recover
e. DC Motor SPG20-50K
from the past, using the integral term, 3. Anticipate the future,
f. 22mm Precision Wire wound potentiometer
through the derivative term. In this paper we will use a basic
g. Related electronic components
open loop system and a closed loop system with PID system to
control the DC motor [8].
Interface LCD (2x 16 Characters) with PIC16F877A

To use the LCD display, users have to solder 16 pin header pin
PIC Microcontroller (PIC16F876A)
to the LCD display. LCD used in this project is JHD162A.
This powerful (200 nanosecond instruction execution) easy-to- Figure 5 is a 2*16 character LCD and table 1 is all PIN and
program (only 35 single word instructions) CMOS FLASH- connectors.
based 8-bit microcontroller packs powerful Microchips, PIC®
architecture into an 28-pin package and is upwards compatible Table 1: LCD PIN Fuction and Connection
with the PIC16C5X, PIC12CXXX and PIC16C7X devices.[12]
Pin Name Pin Function Connection
Feature of the device:
256 bytes of EEPROM data memory Self programming 1 VSS Ground GND
ICD (In Circuit Debugging function) 2 VCC Positive Supply 5V
2 Comparators
5 channels of 10-bit Analog-to-Digital (A/D) converter 3 VEE Brightness -
capture/compare/PWM functions 4 RS Select Register RB7
The synchronous serial port can be configured as either 3-wire
Serial Peripheral Interface (SPI™) or the 2-wire Inter-
5 R/W Select GND
Integrated Circuit (I²C™) bus Read/Write
Universal Asynchronous Receiver Transmitter (USART)[13]
6 E Start Read/Write RB6
All of these features make it ideal for more advanced level A/D 7 DB0 Data Bus PIN RB5
applications in automotive, industrial, appliances and consumer
8 DB1 Data Bus PIN RB4
applications. Figure 4 shows the PIC16F876A.
9 DB2 Data Bus PIN RB3
10 DB3 Data Bus PIN RB2
11 DB4 Data Bus PIN RB1
12 DB5 Data Bus PIN RC5
13 DB6 Data Bus PIN RC4
14 DB7 Data Bus PIN RC3
15 LED+ Backlight + 5V
16 LED- Backlight - GND

Figure 4: Closed Loop System with PID controller

1st International Conference on Engineering and Innovative Technology, SU-ICEIT 2016, April 12-14, 2016, Salahaddin University-Erbil, Kurdistan, Iraq

Refer to Figure 7 the D1 is used to protect the circuit from

wrong polarity supply. C1 and C2 are used to stabilize the
voltage at the input side of the LM7805 voltage regulator, while
the C3 and C4 are used to stabilize the voltage at the output side
of the LM7805 voltage supply. LED is to indicate the power
status of the circuit. R1 is a resistor to protect LED from over
current that will burn the LED.

Push Button as input for PIC microcontroller

Figure 5: 2*16 character LCD One I/O pin (RB0) is needed for one push button as input (or
interrupt) of PIC microcontroller. Another push button is used
for RESET and connected to MCLR pin. The connections are
shown in Figure 8. The pins should be pulling up to 5V using a
Figure 6 shows the connection of LCD display. LCD
resistor (with value range 1K-10K) and this configuration will
connection pin and function of each pin is shown:
result an active-low input. When the button is being pressed,
reading of I/O pin will be in logic 0, while when the button is
not pressed, reading of that I/O pin will be logic 1.

Figure 6: Connection of LCD

Power supply for the circuit

Figure 8: Push Button for the circuit
User can choose either AC to DC adaptors (not included in the
DIY project set) or 12V batteries (not included in the DIY
project set) to power up the circuit. Higher input voltage will ICSP for programming PIC microcontroller
produce more heat at LM7805 voltage regulator. Typical
MCLR, RB6 and RB7 need to be connected to the USB in
voltage is 12V. Anyhow, LM7805 will still generate some heat
Circuit Programmer (UIC00A) to program the PIC
at 12V. There are two type of power connector for the circuit,
microcontroller. The programmer (UIC00A) is not included in
DC plug (J1) and 2510-02 (Power Connector). Normally AC to
DIY project set since it can be used several time for different
DC adaptor can be plugged to J1 type connector.
project set. User can also choose other type of PIC programmer
to load the program.

Figure 7: Power supply for the circuit

Figure 9: ICSP for programming circuit

1st International Conference on Engineering and Innovative Technology, SU-ICEIT 2016, April 12-14, 2016, Salahaddin University-Erbil, Kurdistan, Iraq

interface with other devices (For example, show the output of

Interface L293D with PIC16F876A this system to the screen of computer). Figure 12 shows the
connection.
L293D is used as motor driver in this project, RC2 is connected
to enable pin (EN1) to give the PWM signal to L293D. RC0
and RC1 are connected to IN2 and IN1 respectively to give
control on motor direction. OUT1 and OUT2 are connected to
DC motor. Figure 13 demonstrates the connection.

Figure 12: Potentiometer circuit

At the end the designed schematic and PCB are presented:

Figure 10: L293D circuit

Interface PID Gains and Angle Adjusters with PIC16F876A

Four analog I/O pins are needed for P, I, D and Angle value
adjuster. RA0 is responsible for Angle value, RA2 is
responsible for P value, RA3 is responsible for I value, and RA5
is responsible for D value. Figure 11 demonstrates the
connection.

Figure 13: Schematic of the system

Figure 11: PID Gains and Angle Adjusters circuit

Interface 22mm Precision Wire wound Potentiometer with

PIC16F876A

RC6 and RC7 which serve as TX and RX pins in PIC16F876A

are used for UART interface. 5V and ground are connected to
provide power to the module. User can use this connector for
Figure 14: PCB of the system
1st International Conference on Engineering and Innovative Technology, SU-ICEIT 2016, April 12-14, 2016, Salahaddin University-Erbil, Kurdistan, Iraq

For more elaboration two examples of Main Function code and

Function for LCD code are presented:

//main function

void main (void)

unsigned long rec_data=0;

//set I/O input output

TRISB =0b00000001;

TRISC =0b00000000;
Figure 15: Designed Hardware
TRISA =0b11111111;

B. CODE AND SOFT WARE

// configure lcd
The most code of the system has been written according the
following flowchart: send_config (0b00000001);

send_config (0b00000010);

send_config (0b00000110);

send_config (0b00001100);

send_config (0b00111000);

//LCD display

lcd_clr();

lcd_goto(0);

send_string("ANGLE=");

lcd_goto (11);

send_string("P=");

lcd_goto(20);

send_string("I=");

lcd_goto(26);

Program (code) written to the system includes: send_string("D=");

Include library and Configure PIC
Define while(1)
Declare and initialize global variable
Main Function {
Functions for motor rec_data=(unsigned long) aiRead(0)*3600/225;
Function for LCD
Function for analog input lcd_goto(6);
Interrupt Function send-dec(rec-data,4);
1st International Conference on Engineering and Innovative Technology, SU-ICEIT 2016, April 12-14, 2016, Salahaddin University-Erbil, Kurdistan, Iraq

kp=ai_read(2); REFERENCES
lcd_goto (13); 1. Xue, D., C. Zhao, and Y. Chen. Fractional order PID
control of a DC-motor with elastic shaft: a case study.
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2. Saranya, M. and D. Pamela, A real time IMC tuned
PID controller for DC motor. International Journal of
ki=ai_read(3);
Recent Technology and Engineering, 2012. 1(1): p.
lcd_goto(22); 65-70.
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Computers & chemical engineering, 2004. 28(3): p.
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