Review Article Global Journal of Technology and Optimization

Volume 13:1, 2022

ISSN: 2229-8711 Open Access

Speed Control of DC Motor using PID Controller

Ramesh Chandra Chourasia, Navneet Verma*, Puranjan Singh and Shashi Kant
Department of Electrical Engineering, Meerut Institute of Engineering and Technology, Meerut, Uttar Pradesh, India

Abstract
The purpose of this paper is to design a speed controller for a dc car. DC car is widely used in various applications, such as cranes, milling
machines, elevators, lathe machines, blowers, fans, drilling rigs, etc. This paper proposes the construction of a PID controller and the selection of
PID control parameters. Here, the PID controller is used to control the speed of the DC vehicle and to simulate and calculate MATLAB is used. The
selection of PID parameters is indicated by several ongoing tests and the PID parameter setting method is discussed.
Key words: Milling machines • PID • MATLAB • Horsepower

Introduction eb (t ) = K b . w(t ) (2)

The PID (Proportional-Integral-derivative) controller is a well-known

Tm (t ) = KT .ia (t ) (3)
controller for its simple and powerful operation in a wide range of operating
dw(t )
conditions. The design of such a control that requires the specification of three Tm = J m . + Bm .w(t ) (4)
parameters for a limited time, a limited time period and a time from the other dt
[1]. Setting the PID parameter is called tuning. PID control adjustment using
a variety of methods. In the Ziegler Nicholas Tuning method, the integrated Then,
and derivative method is maintained consistently, the constant equivalent
of the various simulations of the performance of your identity in this method dθ 2 (t ) dθ (t )
Tm = J m . + Bm. (5)
was Parliament overshoot and time Ts defined. The genetic algorithm is
repeated several times until the best values come from Mp and Ts. There are
dt dt
three categories in this algorithm, namely selection, crossover and genetic Now, the transfer function will become:
modification. PID controller parameters kp, ki and kd can be controlled to
generate various response curves from a given process [2].
Where,
Literature Review Va = armature voltage (V) Ra = armature resistance
La = armature inductance (H) Ta = armature current (A)
The DC motor model
Eb = back emf ω = angular speed
A DC motor is any of a class of rotary electrical motors that converts direct
current electrical energy into mechanical energy. It is used for a wide variety of The DC motor under study has the following specifications and parameters
industrial, commercial and residential operations [3].

Figure 1 shows the connection of the shunt car type dc. It consists of
a shunt field connected similarly to the armature. The shunt field curve is
constructed with several turns of a small gauge fence and has a low current
flow and very high compared to a series fence field. Therefore, these types of
motors have excellent speed and position control. These motors are therefore
widely used in applications that require five or more horsepower. The Figure 2
describes the dynamic performance of a DC car based on a scheme diagram.
dia (t )
Va = Ra . ia (t ) + La . + eb (t ) (1)
dt
Figure 1. Daigram of DC shunt motor.
*Address for Correspondence: Navneet Verma, Department of Electrical
Engineering, Meerut Institute of Engineering and Technology, Meerut, Uttar
Pradesh, India; E-mail: [email protected]
Copyright: © 2022 Verma N, et al. This is an open-access article distributed
under the terms of the Creative Commons Attribution License, which permits
unrestricted use, distribution, and reproduction in any medium, provided the
original author and source are credited.
Received: 28 July, 2021, Manuscript No. gjto-21-38111; Editor assigned: 30
July, 2021, PreQC No. P-38111; Reviewed: 13 January, 2022, QC No. Q-38111;
Revised: 18 January, 2022, Manuscript No. R-38111; Published: 23 January,
2022, DOI: 10.37421/2229-8711.2022.13.274 Figure 2. The schematic diagram of DC motor.
Verma N, et al. Global J Technol Optim, Volume 13:1, 2022

(Table 1). Table 1. Shows the parameters taken for the DC motor.

Simulink modeling of DC motor: Simulink modeling of DC motor was Parameters Value

shown in Figure 3. Armature inductance (Henry) La = 0.1215 H
Armature resistance (ohm) Ra = 11.2 Ω
Tuining of PID controller using different methods
Rotor inertia (kg m2 ) Jm = 0.002953 Nms/rad
Ziegler-Nichols tuning method: The Ziegler-Nichols Act is a PID Armature Voltage (Volt) Va(t) = 240 V
amendment law that seeks to produce fair values for the three parameters of Viscous friction coefficient (Nms/rad) Bm = 0.002953 Nms/rad
obtaining a PID: Motor Torque constant (Nm/A) Km = 1.28 Nm/A
Kp - is the advantage of the control system Back emf constant (V s/rad) Kb = 1.28 Vs/rad
Speed W = 1500 rpm
Ti - is the integration time of the controller
Td - is the time from the controller
Given the two parameters for measuring the measured response obtained
from the ratings:
• Tu time of oscillation frequency at the intensity level
• The margin gain loop stability
For the purpose of obtaining good regulation (refusal to be disturbed):
Ziegler-Nichols law considers that the system has a transfer function of
the following form:
Figure 3. Simulink modelling of DC motor.

Table 2. Shows the values taken for the controller.

Controller Type PID

The model is similar to the system response to 0 waves and the
Kp Ku/1.7
stability limit, with everything else almost done below. If the actual system is
Ki Tu/2
straightforward, looks isolated and lazy, it does not make much difference that
Kd Tu/8
the model is fake, and the results are good enough.
The necessary steps for this approach are: Table 3. Shows effects of increasing the PID controller parameters.

1. The combined and derived coefficient must be zero. Steady-state

Parameter Rise Time Overshoot Setting Time Stability
Error
2. The corresponding coefficient increases gradually from zero until the
Kp Decrease Increase Small change Decrease Degrade
system begins to flow continuously. At this point, a coefficient equal to it is
Ki Decrease Increase Increase Eliminate Degrade
called the maximum gain (Ku) and the downtime is called the end time (Tu)
Minor No effect in Improve if
(Table 2). Kd Decrease Decrease
change theory Kd small
If we choose the classical Ziegler-Nichols tuning rule, we can determine
that the PID gains should be:
Loop gain Kp = 0.6 * Ku = 6.7
Integral time constant Ti = 0.5 * Tu = 0.033
Derivative time constant Td = 0.125 * Tu = .0083
Effects of increasing the parameters of PID controller
From the Table 3, we can examine the following parameters:
1. Maximum overshoot (Mp)
2. Setting time (Ts)
The maximum overshoot of the system is approximately 47.4% and the
setting time is in relation to 0.837 sec.
Figure 4. Speed response with PID controller using fixed set point.
The Figure 4 shows the DC motor speed with PID tuining using Ziegler-
nicholas method [4,5]. lake) is represented by a truly equal number or two-dimensional series called a
Genetic algorithm method chromosome. Personal performance is measured and evaluated by purposeful
work, which gives each person a corresponding number called their suitability
Genetic algorithm is a random search method that can be used to solve [6,7]. The proposed PID controller with applying Genetic Algorithm Method is
incompatible mathematical systems and improve complex problems. GA uses given in Figure 6, and also the genetic algorithm gain values for the tuning is
the rules of possible modification instead of determining the rules and regulates given below in Table 4.
the number of possible solutions known as human or chromosomes that change
in sequence. Each duplication of the algorithm is called a generation. The
emergence of solutions is done through solid work with genetic suppliers such Simulation and Discussion
as reproduction, crossover, and genetic modification. The genetic algorithm as
shown in Figure 5 usually starts with a random number. This number (mating The range of Kp, ki and Kd is taken in between (0-100) KP Ki and Kd

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Verma N, et al. Global J Technol Optim, Volume 13:1, 2022

Figure 5. Genetic algorithm method.

Figure 7. Step input of controlled DC motor drive system.

Applications
• Electric bikes
• Electric trains
• Robotic control
• Swing machine
• Drill machines

Conclusion
Figure 6. Response of genetic algorithm based PID controller.
Obviously the PID controller doesn't get the desired result. A good PID
Table 4. Shows the gain values for Kp, Ki and Kd. control calculation setting is shown. The positive result of a closed circle is
displayed. This paper Demonstrates strategies to plan speed control for DC
Gain Parameters Gain Values
vehicles with the use of GA and to improve using GA and to resolve over time
Kp 19.88
and fixed condition error. The end result is further shown to make and reflect
Ki 0.1376 an increase in GA.
Kd 0.5578

Table 5. Shows performance parameters of PID and with GA.

References
Turning Method 1. Elsrorgy, Walaa M., M.A Fkirin and M.A Moustaa Hassan. "Speed control of DC
Parameters Genetic Algorithm motor using PID controller based on artificial intelligent techniques." IEEE (2013).
Conventional PID
IAE 2. Suman, Santosh Kumar and Vinod Kumar Giri. "Speed control of DC motor Using
KP 14.7312 5.0916 optimization techniques based PID controller." 2nd IEEE International Conference
on Engineering and Technology (2016).
KI 105.15 80.8051
KD 0.547 0.0549 3. Ali Y.S.E, Samsul Noor, S.M Bashi and Mohd Khair Hassan. “Microcontroller
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Conference. IEEE (2003).
Settling time(sec) 0.0837 0.116
Overshoot (%) 47.4% 0% 4. Achanta, Ravi Kiran and Vinay Kumar Pamula. “DC motor speed control using PID
Peak 1.41 1.02 controller tuned by Jaya Optimization Algorithm.” IEEE International Conference on
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values are divided by purpose function on Table 5. Figure 7 shows the variation 5. Dani, Siddhesh, Dayaram Sonawane, Deepak Ingole and Sanjay kumar Patil.
of the best order at the time and the best order is given as the one that gives “Performance evaluation of PID, LQR and MPC for DC Motor Speed.” (2017).
the zero and the fixed position error, the zero time and the setting time. With 6. Qi, Wei-min, Qiao-ling Ji, Yuan-chu Cheng and Wei-you Cai. "A design Of non-
a well-planned system throughout the season to the most appropriate level of linear adaptive PID controller based on genetic algorithm." IEEE (2006).
debt conversion has given us the states of honorable electoral strategies in a
7. Hua, Ji and Zhiyong Li. "Design of neural network PID controller based on Brushless
particular election-electing organization with elitism. DC motor." IEEE (2009).

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Verma N, et al. Global J Technol Optim, Volume 13:1, 2022

How to cite this article: Chourasia, Ramesh Chandra, Navneet Verma, Puranjan
Singh and Shashi Kant. “Speed Control of DC Motor using PID Controller.” Global
J Technol Optim 13 (2022): 274.

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