International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169

Volume: 5 Issue: 9 35 – 38
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PID Controller based DC Motor Speed Control

V. V. Kulkarni Dr. V. A. Kulkarni Romharshal Talele

Assistant Professor Associate Professor ME – II
Electrical Engineering Department Electrical Engineering Department Electrical Engineering Department
AISSMS COE Pune Govt. College of Engineeringg, AISSMS COE Pune
Pune Aurangabad Pune
e-mail: vvkulkarni@aissmscoe.com e-mail: ku1111@rediffmail.com e-mail: romtalele@gmail.com

Abstract – Due to extensive use of motion control system in industry, there has been growing research on proportional-integral-derivative (PID)
controllers. DC motors are widely used various areas of industrial applications. The aim of this paper is to implement efficient method for
controlling speed of DC motor using a PID controller based. Proposed system is implemented using arduino microcontroller and PID controller.
Motor speed is controlled through PID based revolutions per minute of the motor. This encoder data will be send through microcontroller to
Personal Computer with PID controller implemented in MATLAB. Results shows that PID controllers used provide efficient controlling of DC
motor.
Keywords – DC Motor; Control System; PID Controller; MATLAB Simulation: Arduino

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I. INTRODUCTION Closed Loop Control System

In closed Loop Control System, it can correct the variation
PID controller is becoming very important since in last few
in output automatically. In these systems the output remains
years its demand is increasing from various industries as it
constant for a changing input signal. The measured
gives the consistency and maintains the output even if its input
response of the system is compared with a desired
is changed. The DC motor are also popular in the industry
response of the system. The difference between two response
control applications since long time, they have good
gives the actual response of the system[1].
characteristic such as high response performance, high start
This paper is organized as follows: Section II gives
torque characteristics, and easy for linear control. DC motor
introduction to the PID controllers and importance of the DC
gives good speed control respond. They have wide speed
motor. Proposed work and system flow is given Section III.
control range and they are used in speed control systems which
Software design, Hardware components and its implementation
needs high control requirements like high precision digital
is discussed in Section IV. Section V describes results of
tools, rolling mill, double-hulled tanker etc[1]. For example,
proposed system. Finally, conclusion is given in Section VI.
suppose DC motor is used in a robot, constant power is applied
to each motor on a robot, in this case poor robot cannot II. PROPOSED WORK
maintain a steady speed. It goes slower over carpet, faster over A. Block Diagram of the Proposed system
smooth flooring, slower up hill, faster downhill, etc. So, it is
important to take into account a controller to control the speed Figure 1 shows the block diagram of the proposed work.
of DC motor in desired speed [2].
Many control schemes such as proportional, integral,
derivative, proportional integral, PID, adaptive, and FLCs are
used for speed control of dc motors. For controlling speed of
the DC motor, voltage to the armature of dc motor is varied
[3].Control system is a system which controls other system.

Open Loop Control System

In Open Loop Control System, it cannot correct the
variation in output automatically. In these systems the output
remains constant for a constant input signal. By
approximately changing input output may change to desired Fig.1 Block Diagram of the Proposed System
value and variations in external Conditions may cause the
Proposed system consists of Arduino mega controller
output to change [1].
development board, DC motor driver, servomotor and PC with
MATLAB code. In proposed system speed of the DC motor is
controlled through PID controller using MATLAB. The
system works in the form of closed loop. Feedback about the
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IJRITCC | September 2017, Available @ http://www.ijritcc.org
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International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 5 Issue: 9 35 – 38
_______________________________________________________________________________________________
status about the RPM of the motor is given to microcontroller III. PID CONTROLLER
then data is send to PC through serial communication. PID A. PID Controller
controller is implemented in MATLAB it receives data and
give command to arduino controller according to the set PID controller algorithm provides control action for the
threshold. Microcontroller gives command to dc motor driver designed process according to requirements[1]. Figure 3
through PWM. It drives the servomotor according to the shows the block diagram of PID Controller.
command received.
B. System Flow
Algorithm
1. Start and initialize the system
2. Read motor data through microcontroller
3. Send this data to PC and take decision using PID
controller
4. Send this data back to microcontroller and send command
to motor driver Fig.3 Blocks of PID Controller
5. Motor speed is controlled
The response of the controller can be described in
System implementation flow is shown in Fig. 2. terms of the responsiveness of the controller the degree to
which the controller overshoots the set-point ,to an error and
the degree of system oscillation. PID Controller is the
Start combination of Proportional, Derivative and Integral
controllers. PID controller works in a closed-loop system as
shown in figure 3. The transfer function of the PID controller is
Initialize the system given below:

𝐾𝐼 𝐾 𝐷 𝑆 2 +𝐾𝑃 𝑆+𝐾𝐼
𝐾𝑃 + + 𝐾𝐷 𝑆 = …… (1)
𝑆 𝑆
Read motor data through6.microcontroller
Where,
KP = Proportional gain
Send this data to PC
KI = Integral gain
KD = Derivative gain

The desired input value is represented as (R) and the actual

output is represented as a (Y). The difference between desired
Motor RPM Keep motor input and actual output is represented by variable (e) called as
Yes =Set running
Threshold
tracking error. This error signal (e) is send to the PID
controller, and the controller computes the derivative and the
integral of this error signal. The signal (u) just pass the
controller is now equal to the proportional gain (KP) times the
magnitude of the error plus the integral gain (KI) times the
No
integral of the error plus the derivative gain (KD) times the
Send command to microcontroller derivative of the error as given in equation (2).

𝑑𝑒
µ = 𝐾𝑃 𝑒 + 𝐾𝐼 𝑒 𝑑𝑡 + 𝐾𝐷 ………… (2)
𝑑𝑡
Microcontroller gives command to
Motor
This signal (u) is send to the plant, and it gives the new
output (Y). This new output (Y) will be sent back to the sensor
again to find the new error signal (e).The controller takes this
new error signal and computes its derivative and its integral
Increase/Decrease RPM depending
again. This process will continue[4].
upon the current RPM
Characteristics of P, I, and D controllers
 A proportional controller (KP) reduces the rise time but it
will never eliminate the steady-state error.
End
 An integral control (KI) eliminates the steady-state error,
but it makes the transient response worse.
Fig.2. System Implementation Flow

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IJRITCC | September 2017, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 5 Issue: 9 35 – 38
_______________________________________________________________________________________________
 A derivative control (KD) increases stability of the system,
by reducing the overshoot, and it improves the transient
response of the system [2].
Table No.1 Effects of each of controllers KP, KI, and KD
on a closed-loop system[2]
CL RISE OVERSHOOT SETTLING S-S
RESPONSE TIME TIME ERROR

Kp Decrease Increase Small Decrease

change
Ki Decrease Increase Increase Eliminate

Kd Small Decrease Decrease Small

change change
Fig.4. Implemented Model
PWM pulses for the motor are given through the arduino
board and driver circuit from PC/MATLAB. The loading
IV. SYSTEM DEVELOPMENT arrangement consists of a digital weight, load cell and load cell
amplifier. The output of the load cell amplifier is given as
A. Software Description
feedback to the arduino to measure the pulses and accurate
1. Arduino Compiler weight.
The Arduino Software (IDE) is an open source compiler in V. RESULTS AND DISCUSSIONS
which we can write code and upload it to the board. It runs on
Mac OS X, Linux and Windows. It is based on processing and Figure 5 and 6 shows the MATLAB simulation results of
other open-source software and environment is written in Java. the system. Figure 5 shows the graph of the motor RPM vs
Arduino compiler accepts C and C++ many of the libraries are number of samples, error signal and the control signal for the
written in C++.The Arduino environment performs some small threshold RPM of 1500.Initially RPM is 2500 then at sample
transformations on the code to make sure that the code is 110,170 RPM goes below 1500.Hence, it is seen that error
correct then it gets passed to a compiler, which turns the code signal is present at samples 0,110 and 170. Control signal for
into machine language. the given error signal is shown in figure.
2. MATLAB
MATLAB is a high-performance language its basic data
element is an array that does not require dimensioning. Matrix
and vector formulations allow us to solve many technical
computing problems. It integrates computation with the
programming visualization which gives easy-to-use
environment where problems and solutions can be expressed
in the mathematical notation. Areas in which MATLAB
toolboxes are available include control systems, simulation,
signal processing, neural wavelets, fuzzy logic, and many
others.
B. Hardware Description
The block diagram of the implemented model which is
used in this work is shown below in figure 4. Also the Fig.5 Motor RPM vs Number of Samples for threshold
different parameters of the individual component are explained RPM=1500
below.The motor used in this work is a permanent magnet DC
motor. An encoder is connected to the motor. The encoder is Figure 6 shows the graph of the motor RPM vs number of
of 2000 ppr. The encoder is used to count the output pulses of samples, error signal and the control signal for the threshold
motor. RPM of 2000.Initially RPM is 3500 then at sample 60, 85 RPM
The specifications of the same are listed below. goes below 2000.Hence, it is seen that error signal is present at
samples 0, 60 and 85. Control signal for the given error signal
Rated voltage (V) 24 is shown in figure.
No load speed (rpm) 6600
Rated speed (rpm) 6000
Rated torque (kgcm) 5.2
Stall torque (kgcm) 22
Rotor inertia (Gcm2) 600
Starting current (A) 29.5

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IJRITCC | September 2017, Available @ http://www.ijritcc.org
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International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 5 Issue: 9 35 – 38
_______________________________________________________________________________________________
[9] Saurabh Dubey1, Dr. S.K. Srivastava, “A PID Controlled Real
Time Analysis of DC Motor”, International Journal of
Innovative Research in Computer and Communication
Engineering, Vol. 1, Issue 8, October 2013.
[10] Pikaso Pal , Rajeeb Dey , Raj Kumar Biswas , Shubhashish
Bhakta, “Optimal pid controller design for speed control of a
separately excited dc motor: a firefly based optimization
approach”, International Journal of Soft Computing,
Mathematics and Control (IJSCMC), Vol. 4, No. 4, November
2015.
[11] Safina Al Nisa, Lini Mathew, S Chatterji ,“Comparative
Analysis of Speed Control of DC Motor Using AI Technique”,
International Journal of Engineering Research and Applications,
Vol. 3, Issue 3, May-Jun 2013, pp.1137-1146.
Fig.6 Motor RPM vs Number of Samples for threshold
RPM=2000

VI. CONCLUSION
Proposed system consists of servomotor and PID controller.
System is designed and implemented using MATLAB and
arduino IDE software tools. PID controller collects data from
microcontroller to calculate the error and control the speed
with in operated range Results shows that PID controllers
used provide efficient controlling of DC motor.

REFERENCES
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