IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE)

e-ISSN: 2278-1676,p-ISSN: 2320-3331, Volume 9, Issue 2 Ver. VII (Mar – Apr. 2014), PP 04-08
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Speed Control of DC Motor Using PSO Tuned PI Controller

Atulit Patel1Kapil Parikh2
Abstract:The control of DC motor system is difficult and mathematically tedious due to their high non linearity
property. To overcome this difficulty, a new approach has been required. This paper presented a systematic
procedure to develop PI based speed controller for DC motor. The designing of speed controller through state
estimation approaches. The optimal parameter of PI controller is finding out by using PSO algorithms.The
performances and characteristics of DC motor are observed. The simulation results verify that steady state
error is reduced, the rising time is improved and the disturbances affect is reduced hence the better
performances of DC motor.
Keywords: -DC motor, Linear, Particle Swarm Optimization, State Estimation, Speed Controller

I. Introduction
The DC motors are in general much more adaptable speed drives than AC motors which are associated
with a constant speed rotating field. It is observed that most of the industry is operating under stress condition
further load parameter and control variable exhibit uncertainness in real practice and in fact these are random
variables. Calculated values of load variable normally contain various inaccuracies.
It has been observed that error may vary in the range of 5-10%. A few percentage error may be
required tolerable in the area of the load speed controlling where these inaccuracies in the entire controller. In
such situation minor inaccuracy in speed control are of little concern. Further the speed controller can always be
designed to have sufficiently low effect on the non linearity of DC motor; so as to worst effect of parameter
uncertainty can be accounted. In real time operation, the situation is different; design controller may encounter
situation never imagined by designer before it took its present shape. Hence, in real time operation condition,
risk of affecting nonlinearity of motor is always present. Here it is designed a controller which not affects the
nonlinearity in DC motor.

II. DcMotor
The stator of the DC motor has poles, which are excited by DC current to produce Magnetic fields. The
rotor has a ring-shaped laminated iron-core with slots. Coils with several turns are placed in the slots. The
distance between the two legs of the coil is about 180 electric degrees. DC motors are characterized by their
versatility. By means of various combinations of shunt, series and separately excited field winding they can be
designed to display a wide variety of volt ampere or speed torque characteristics for both dynamic and steady
state operation. The separately excited dc motor model is chosen for its good electrical and mechanical
performances rather than other DC motor models. The DC motor is driven by applied voltage. In DC motor, the
torque may be controlled by varying the armature current or field current. One of these is varied to control the
torque while the other is held constant.

Fig. 1: Basic diagram of DC motor

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 Speed Control Of DC Motor Using PSO Tuned PI Controller

Dynamic behavior of DC motor followed by:

dia
= V/La – Kbω/La – Ra ia/La .....(1)
dt
dω
=-B1ω/J + Kmia/J – TL/J .....(2)
dt

State-space equation for dc motor:

dx
= Ax + Bu , y = Cx + Du ....(3)
dt
𝑅𝑎 −𝐾𝑏
− 1
𝐿𝑎 𝐿𝑎
𝐴= , 𝐵 = 𝐿𝑎
𝐾𝑚 −𝐵1
0
𝐽 𝐽
C = [0 1], D = [0 0] .....(4)

III. State Estimation

A state feedback control law u = −Kx utilized for finding the complete system state x, When the
complete state is not available for feedback. If the system is observable, then we can design a state estimator, an
artificial dynamical system whose state converges to the actual system state. Consider the LTI state equation
𝑥 = 𝐴𝑥 + 𝐵𝑢 .....(5)
If A is Hurwitz (i.e., its eigenvalues lies in the open left half plane). Assuming that these equations describe the
system dynamics, define the fictitious system
𝑥 = 𝐴𝑥 + 𝐵𝑢 .....(6)
Where x represents the state estimate. The state estimate is therefore available for use by the controller. Even if
the initial state of the estimator disagrees with the actual initial state, the state estimate will converge to the true
state because the state matrix is Hurwitz. To see this, define the error coordinate are –
𝑒 =𝑥−𝑥 .....(7)
IV. Observer Design
The model of a DC motor is given by:

𝑅 −𝐾𝑏
− 𝐿𝑎 1 0
𝐼𝑎 = 𝑎 𝐿𝑎 𝐼𝑎
𝐾𝑚 −𝐵1 + 𝐿𝑎 𝑉 + −1 𝑇𝐿 .....(8)
⍵ ⍵ 0 𝐽
𝐽 𝐽
Where ω, ia, and V are rotor speed, armature current and armature voltage respectively, TLis load torque, Raand
Laare armature resistance and inductance,Km is torque constant, which is equal to back emf constant Kb, and
B1and J are dynamic friction constant and inertia respectively. Based on the fact that the states of two DC servo
motors with identical parameters converge to the same trajectories under the same input voltage and load torque
regardless of their initial conditions, an observer which is exactly in the same form as the actual motor model
can be designed without using any feedback as
𝑅 −𝐾𝑏
− 𝐿𝑎 1 0
𝐼 𝑎 𝐿𝑎 𝐼𝑎 + 𝐿 𝑉 +
= 𝐾𝑚 −𝐵1 𝑎 −1 𝑇𝐿 .....(9)
𝜔 ⍵ 0 𝐽
𝐽 𝐽
Where the observer variables and parameters are shown with the addition of tilde (~) to their symbols in the
actual system. Such a system is called anobserver.

V. Full Order Observer

A state observer estimates the state variables based on the measurement of the output and control variables.
State observer can be designed if and only if the observability condition is satisfied which is –

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 Speed Control Of DC Motor Using PSO Tuned PI Controller

𝐶
−−−
𝐶𝐴
−−−
𝑊𝑜 = . .....(10)
.
.
−−−
𝐶𝐴𝑛−1
Assume that the state X is to be approximated by the state 𝑥 of the dynamic model
𝑥 = 𝐴 − 𝐾𝑒 𝐶 𝑥 + 𝐵𝑢 + 𝐾𝑒 𝑦 .....(11)
Which represent the state observer the state observer has y and u as input and 𝑥 as output and Ke is the observer
gain

.
Fig. 2: Matlab model of observer

VI. PI Controller
PID tuning is a complex problem, even though there are only three parameters and in principle is easy
to evaluate, because it must satisfy complex criteria within the limitations of PID control. PI control with its two
term functionality covering treatment to both transient and steady state response, offers the simplest and yet
most efficient solution to many real world control problems. In spite of the simple structure and robustness of
this controller, optimally tuning gains of PI controllers have been quite difficult. When the control problem is to
regulate the process output around a set point, it is natural to consider error as an input, and it follows that the
integral of the error.

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 Speed Control Of DC Motor Using PSO Tuned PI Controller

Fig. 3: PI Controller

VII. Particle Swarm Optimization

PSO is a population-based optimization method first proposed by Eberhart and Colleagues. Some of
the attractive features of PSO include the ease of implementation and the fact that no gradient information is
required. It can be used to solve a wide array of different optimization problems. Like evolutionary algorithms,
PSO technique conducts search using a population of particles, corresponding to individuals. Each particle
represents a candidate solution to the problem at hand. In a PSO system, particles change their positions by
flying around in a multidimensional search space until computational limitations are exceeded. Concept of
modification of a searching point by PSO is shown in Fig. 4.

Fig. 4: Parameter Searching by PSO algorithm.

Where-
Xk : Current Position, Vk+1 : Modified velocity
Xk+1 : Modified position VPbest : Velocity based on Pbest
Vk : Current Velocity VGbest : Velocity based on Gbest

VIII. Simulation & Results

The DC motor model as defined in equations above is simulated by using MATLAB. Results show the
good performance of the proposed PSO tuning method. The PI controller is introduced in system and
performance is observed.

Fig. 5: Speed waveform of dc motor without observer

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 Speed Control Of DC Motor Using PSO Tuned PI Controller

Fig. 6: Speed waveform of dc motor with observer

Fig. 7: Speed waveform of state feedback controller with PSO tuned PI controller

IX. Conclusion
The behavior of DC motor with PSO tuned PI controller is studied. PSO algorithm is used for optimum
tuning of PI controller. This model presented to find out optimal parameter of PI controller using the PSO. The
results show that the proposed PI controller can perform an efficient performance for speed controlling of DC
motor. This model can improve the dynamic performance of the system in a better way. The PI-PSO controller
is the best which presented satisfactory performances and possesses good robustness (no overshoot, minimal rise
& peak time, Steady state error = 0).

.References
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Motion Control, 1993.
[2]. P. B. Schmidt and R. D. Lorenz "Design principles and implementation of acceleration feedback to improve performance of dc
drives", IEEE Trans. Industrial Applications, vol. 28, pp.594 -599, 1992.
[3]. W. Leonhard, Control of Electrical Drives 1985.
[4]. M. Iwasaki , K. Seki and Y. Maeda "High-precision motion control techniques: A promising approach to improving motion
performance", IEEE Ind. Electron. Mag., vol. 6, no. 1, pp.32 -40 2012.
[5]. Y. Dong, J. Tang, B. Xu and D. Wang," An Application of swarm optimization to Non-Linear programming", Computers and
Mathematics with applications 49 (2005), ELSVIER LTD, pp. 1655-1668, 2005.
[6]. J. C. Basilio and S. R. Matos, "Design of PI and PID Controllers With Transient Performance Specification", IEEE Trans.
Education, vol. 45, Issue No. 4, pp. 364-370, 2002.

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