International Journal of Scientific Engineering and Technology (ISSN : 2277-1581)

Volume No.3 Issue No.3, pp : 235 – 239 1 March 2014

Performances and Analysis of D.C Machine using PID Controller

Kapinjay Ucharia, Himmat Singh
Madhav Institute of Technology and Science Gwalior, India
[email protected]

ABSTRACT: An intelligent PID Controller has been called a three term controller. The basic function of a
developed for speed control DC Motor. The aims of controller is to execute an algorithm based on the control
proposed scheme improve the tracking performance of engineer's input (tuning constants), the operator’s desired
separately excited DC Motor as compared to the operating value (set point) and the current plant process
conventional PID Control strategy. Performance of this value. In most cases, the requirement is for the controller to
new control has been verified through the simulation using act so that the process value is as close to the set point as
MATLAB / Simulink. In the present work of PID concept possible. In a basic process control loop, the control
is applied for both control strategy current control and engineer utilizes the PID algorithms to achieve this.
speed control strategy for DC Separately excited motor.
Excellent result added to the simplicity of the drive system
make the PID Based control strategy suitable for large
number of industries paper mills etc. The performance of
the proposed system has been compared with traditional
one using conventional one controller. The entire system
has been modal by matlab. D.C motors drives are widely
used in application requiring adjustable speed, good speed
regulation and frequent starting, breaking and reversing
applications

Keyword: - D.C. Motor, Controller, Response, Transfer

Function, Simulation. Figure.1 Block Diagram of PID

I INTRODUCTION Brief of PID Controller: With its three-term

functionality covering treatment to both transient and
Direct Current Motor have been widely used in many steady-state responses, proportional-integral-
industrial application such as electric vehicle, steel rolling derivative (PID) control offers the simplest and most
mill, electric crane and robotic manipulator due to precise efficient solution to many real-world control
wide simple and continuous and control characteristic the problems. The PID controllers are usually standard
control liability cheapness higher efficiency, higher current building blocks for industrial automation. The most
carrying capability of static power convertor. The desired basic PID controller has the form:
torque speed characteristics could be achieved by the used
ut   K p et   K i  e d  K d et 
of conventional proportional integral derivative (PID
t d
Controller). PID Controller required exact mathematical
modeling the performance of the system.
0 dt
The PID control algorithm is used for the control of
almost all loops in the process industries, and is also the
Where
basis for many advanced control algorithms and strategies.
u (t ) is the control output and the error
In order for control loops to work properly, the PID loop
must be properly tuned. Standard methods for tuning loops e(t ) is defined as e(t ) = desired value – measured value of
and criteria for judging the loop tuning have been used for quantity being controlled.
many years, but should be reevaluated for use on modern K p , K i , and K d are the control gains.
digital control systems.
Diagrammatically, the PID controller can be represented as
Figure
PID CONTROLLER

The P stands for proportional control, I for integral

control and D for derivative control. This is also what is

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 International Journal of Scientific Engineering and Technology (ISSN : 2277-1581)
Volume No.3 Issue No.3, pp : 235 – 239 1 March 2014

K pe(t )
T( s ) Is 2  Bs (s ) (6)

Where all of the constants have the same meaning as in the

e(t ) u(t ) time-domain differential equations, If is used in place of if
Ki  e(t )dt ∑ and Θ is used in place of θ . By substituting and solving, the
transfer function of the motor is found to be
( s ) Km
de(t )
Kd
dt Vf( s )  
s  m s  1  e s  1  (7)

Figure 2 Structure of PID Controller Where

I
m
II TRANSFER FUNCTIONS B (8)
The mechanical time constant of the motor,
The differential equations and transfer functions of DC
Lf
and AC motors are crucial to the analysis of the control of e
these machines. The transfer functions are derived from the Rf
(9)
differential equations using Laplace transforms, a method all The electrical time constant of the motor, and
too familiar to most engineers. K2
Km
The differential equations and transfer functions for B Rf
(10)
DC motors are more complicated than those of AC motors,
due to the fact that DC motors have time lags because of is another constant . This is the transfer function that
both the armature inductance and the winding, while AC
will be used for the control analysis of the DC motor in the
motors have only a single time constant. DC motors are
next section.
described by three differential equations:
The differential equations and transfer functions for
The developed torque T (t) is described by
AC motors are considerably less complicated than those for
T(t) K2 if(t) DC motors, owing to the fact that AC motors only have a
, (1)
single time constant while DC motors have two. AC motors
Where if(t) is the current through the field and K2 is constant are described by two differential equations:
[2]. The field voltage (vf(t)) is described by The torque (T(t)) is described by
d
vf( t)
d
Rf if( t)  Lf if( t) T( t) K v( t)  m  ( t)
dt dt (11)
, (2)
Where Rf is the field resistance and Lf is the field inductance
[2]. Lastly, the mechanical torque T(t) is described by Where K is a constant, v(t) is the voltage provided to the
motor, θ(t) is the angular position of the motor, and m is
2
d d
T( t ) I  ( t)  B  ( t ) described by
2 dt
dt (3) "stall t orque (at rat ed volt age)"
m
"no-lo ad speed (at rated volt age)" (12)
Where I is the motor’s moment of inertia, B is the motor’s
viscous damping, and θ(t) is the motor’s angular position . Where stall torque (at rated voltage) and no-load speed (at
By assuming zero initial conditions and then Laplace rated voltage) are characteristics of any specific AC motor .
transforming each of these equations, s-domain equations The torque is also described by
are reached. The developed torque is now 2
T(s ) K2 If(s ) d d
T( t ) I  ( t)  B  ( t )
(4) 2 dt
dt (13)
The field voltage is now
Vf(s ) Lfs  RfIf(s) (5)
Which is identical to the third differential equation that
describes DC motors, and has the same meaning [2]. By
equating the two AC motor equations, assuming zero initial
And the mechanical torque is now conditions, and then taking the Laplace transform of the
resultant equation, the transfer function of an AC motor is

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 International Journal of Scientific Engineering and Technology (ISSN : 2277-1581)
Volume No.3 Issue No.3, pp : 235 – 239 1 March 2014

found to be inputs that tend to deflect the plant outputs from their
desired values. They must be calibrated and adjusted at
( s ) Km regular intervals to ensure proper operation.
V( s ) s    s  1 , (14) Closed-loop systems are also called feedback control
systems. Feedback is the property of the closed-loop
Where systems which permits the output to be compared with the
K input of the system so that appropriate control action may be
Km formed as a function of inputs and outputs. Feedback
m B (15) systems have the following features:
is a constant, and Reduced effect of nonlinearities and distortion
I Increased accuracy

m B (16) Increased bandwidth
is the time constant of the motor . This is the transfer Less sensitivity to variation of system parameters
function that will be used for the control analysis of the AC Tendency towards oscillations
motor in the next section. Reduced effects of external disturbances
The general block diagram of a control system is shown
CONTROL below.
A control method which is popular because of its
robustness, its simplicity, and its reusability is PID control.
A PID controller contains a proportional gain, an integrator,
and a differentiator (hence its name), all of which are
summed together to produce the output of the controller.
The transfer function of a PID controller has the form
2
KI KD s  KP s  KI
PID KP   KD s
s s
(17)

Where KP is the proportional gain coefficient, K I is the

integrator coefficient, and KD is the differentiator
coefficient. The proportional gain is used to amplify the Figure2.1 Closed-loop control system
input signal. The integrator is used to improve the accuracy
of the control system, that is, to minimize the steady-state SPEED CONTROL TECHNIQUES IN SEPARATELY
error as much as possible. The differentiator is used to EXCITED DC MOTOR
increase the damping in the system, which will decrease The speed of a motor is given by the relation
both the peak time and the settling time of the system.
Classification of Control Systems
Control systems are basically classified as –
 Open-loop control system
 Closed-loop control system
Where
In open-loop system the control action is independent of
Ra is the armature resistance
output. In closed-loop system control action is somehow
Ia is the armature current
dependent on output. Each system has at least two things in
V is the applied voltage
common, a controller and an actuator. The input to the
K= (60A)/(ZΦP)
controller is called reference input. This signal represents
Φ is the flux
the desired system output.
III SIMULATION RESULT
Open-loop control system is used for very simple In this paper best result may be obtain by the using
applications where inputs are known ahead of time and there the variation of proportional constant gain
is no disturbance. Here the output is sensitive to the changes
in disturbance inputs. Disturbance inputs are undesirable

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 International Journal of Scientific Engineering and Technology (ISSN : 2277-1581)
Volume No.3 Issue No.3, pp : 235 – 239 1 March 2014

The speed response of PID Controller parameters

using particle group optimization strategy is shown in lists
the performance of PID controller
Conventional PI Controller using current and speed
control. In this control strategy current control and speed are
applying for improving the performance of DC Motor drive.
The conventional PID Regulator is a most widely used
control strategy in the industry process because of the
remarkable, effectiveness, simplicity of implementation and
broadly effectiveness.
At first a PID Controller is design with Simulink Figure3.4 Output speed at k=.8
than we should through it have a good performance but it is
not so robust with system parameter deviation and
disturbance and noise.

In1 Out1
Comparision of ref current
and output moter current
speed 28 .73
PID Controller controller gain

output moter current

0.0188 0.0208 1 0.7s+1 14 .5

4.5 2.33 30 0.30
0.0188 s+1 0.0208 s+1 0.00138 s+1 0.000224 s2 +0.10978 s+1 0.7s+1
Step 1 Speed Gain Current Current Converter Converter Moter gain Load output speed
Moter
controller Controller Controller Gain
Gain

0.4

Current Transduser

0.54

Current Transduser

Techogenrater
1
.98
0.002 s+1
Feed back gain

Comparision of ref input

speed and output speed

Figure3.1 SimulinK model of PID Controller Figure3.5 Comparison of ref input speed and output speed

Figure3.2 Comparison of ref current and output motor

Figure3.6 Output speed at k=.8
current

Figure3.3 Output motor current Figure3.7 Output speed at k=.85

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 International Journal of Scientific Engineering and Technology (ISSN : 2277-1581)
Volume No.3 Issue No.3, pp : 235 – 239 1 March 2014

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4.0 RESULTS
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5.0 CONCLUSION
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