International Journal of Trend in Scientific Research and Development (IJTSRD)

Volume: 3 | Issue: 4 | May-Jun 2019 Available Online: www.ijtsrd.com e-ISSN: 2456 - 6470

Simulation DC Motor Speed Control

System by using PID Controller
Mrs Khin Ei Ei Khine, Mrs Win Mote Mote Htwe, Mrs Yin Yin Mon
Master of Engineering, Technological University (Hmawbi), Yangon, Myanmar

How to cite this paper: Mrs Khin Ei Ei ABSTRACT

Khine | Mrs Win Mote Mote Htwe | Mrs Speed control system is the most common control algorithm used in industry
Yin Yin Mon "Simulation DC Motor and has been universally accepted in industrial control. One of the applications
Speed Control System by using PID used here is to control the speed of the DC motor. Controlling the speed of a DC
Controller" Published in International motor is very important as any small change can lead to instability of the closed
Journal of Trend in Scientific Research loop system. The aim of this thesis is to show how DC motor can be controlled by
and Development using PID controller in MATLAB. The development of the PID controller with the
(ijtsrd), ISSN: 2456- mathematical model of DC motor is done using automatic tuning method. The
6470, Volume-3 | PID parameter is to be test with an actual motor also with the PID controller in
Issue-4, June 2019, MATLAB/Simulink. In this paper describe the results to demonstrate the
pp.1418-1423, URL: effectiveness and the proposed of this PID controller produce significant
https://www.ijtsrd.c improvement control performance and advantages of the control system DC
om/papers/ijtsrd25 IJTSRD25114 motor.
114.pdf

Copyright © 2019 by author(s) and Keywords: DC motor, PID controller, MATLAB/Simulink

International Journal of Trend in
Scientific Research and Development I. INTRODUCTION
Journal. This is an DC motors are widely used in industrial applications, robot manipulators and
Open Access article home appliances, because of their high reliability, flexibility and low cost, where
distributed under speed and position control of motor are required. DC motor is a power actuator
the terms of the Creative Commons which converts electrical energy into mechanical energy. There are several types
Attribution License (CC BY 4.0) of applications where the load on the DC motor varies over a speed range. The
(http://creativecommons.org/licenses/ greatest advantage of dc motors may be speed control.
by/4.0)
DC motors are most suitable for sample range speed control The speed control system was implemented for a DC motor.
and are therefore used in many adjustable speed drives. Speed control of DC motor is by two main methods.
Because speed is directly proportional to armature voltage 1. Armature control method
and inversely proportional to magnetic flux induced by the 2. Field control method
poles, adjusting the armature voltage or the field current will
Field Control
vary the rotor speed. The purpose to control the speed of DC In this method, the field current or current through
motor is to overcome the problem in industry like to avoid stator is varied to control the speed of the motor.
machines damages and to avoid slow rise time and high
Armature Control
overshoot. This is because when the starting voltage is high, In this method, the armature voltage is varied to
it is not suitable for machine and can make machine control the speed of the motor.
damages. So, a controller likes PID is developed to overcome
this problem. Despite all the progress in advanced control, B. Physical Setup of DC Motor
the PID remains the most popular controller.
The PID controller is based on very simple ideas. As
illustrated in the idealized formula below, the controller
output is a combination of three terms. The proportional
term reacts to current errors. Past errors are accounted for
by the integral term. The derivative term anticipates future
errors by linear extrapolation of the error. This thesis is to
design a PID controller that can be used to control the speed
of a DC motor. Simulate the PID controller with the
modelling of the DC motor to have a settling time less than
2seconds and a step response with overshoot of less than
5%. The DC motor speed control system with PID controller
by using MATLAB/Simulink. Fig.1 The electric equivalent circuit of the rotor [8]
II. Dc Motor Speed Control System The electric equivalent circuit of the armature and the free-
A. Method of DC Motor Speed Control body diagram of the rotor are shown in the following figure

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
1. The input of the system is the voltage source (V) applied to The following open-loop transfer function by eliminating I(s)
the motor's armature, while the output is the rotational between the two above equations, where the rotational
speed of the shaft . The rotor and shaft are assumed to be speed is considered the output and the armature voltage is
considered the input
rigid. A viscous friction model, that is, the friction torque is
proportional to shaft angular velocity. (rad/sec/V) (7)

TABLE1. The physical parameters for dc motor are:

(8)
Moment of inertia of the rotor (J) 0.01 kg.m2
Motor viscous friction constant (b) 0.1 N.m.s
Electromotive force constant (Ke) 0.01 V/rad/sec (9)
Motor torque constant (Kt) 0.01 N.m/Amp
Electric resistance (R) 1 Ohm Feedback control systems are often referred to as closed-
Electric inductance (L) 0.5 H loop control systems. In a closed-loop control system the
actuating error signal, which is the difference between the
C. Transfer Function Equation of Feedback Control System input signal and the feedback signal is fed to the controller
The torque generated by a DC motor is proportional to the so as to reduce the error and bring the output of the system
armature current and the strength of the magnetic field. In to a desired value. The term closed-loop control always
this example we will assume that the magnetic field is implies the use of feedback control action in order to reduce
constant. Therefore, the motor torque is proportional to only system error.
the armature current i by a constant factor Kt as shown in
the equation below. This is referred to as an armature- Closed loop system:
controlled motor.
(10)
T=Kt i (1)

Where: An easy way to comply with the conference paper formatting

T = torque requirements is to use this document as a template and
Kt = constant factor simply type your text into it.
i = armature current
III. Proportional-Integral-Derivative Controller
The back emf, e, is proportional to the angular velocity of the The PID circuit is often utilized as a control feedback loop
controller and is very commonly used for many forms of
shaft by a constant factor K e . servo circuits. PID represents the three control settings of a
(2) PID circuit. The purpose of any servo circuit is to hold the
system at a predetermined value (set point) for long periods
of time.
Where:
e = back e.m.f The PID circuit actively controls the system so as to hold it at
Ke = constant factor the set point by generating an error signal that is essentially
= angular velocity the difference between the set point and the current value.
The three controls relate to the time-dependent error signal;
In SI units, the motor torque and back e.m.f constants are at its simplest, this can be thought of as follows: Proportional
equal, that is, Kt= Ke ; therefore, we will use K to represent is dependent upon the present error, Integral is dependent
both the motor torque constant and the back e.m.f constant. upon the accumulation of past error, and Derivative is the
From the figure above, we can derive the following prediction of future error.
governing equations based on Newton's 2nd law and
Kirchhoff's voltage law. The results of each of the controls are then adjusts the
output of the circuit, u(t). This output is fed into a control
(3) device, its value is fed back into the circuit, and the process is
allowed to actively stabilize the circuit’s output to reach and
(4) hold at the set point value. The block diagram below
illustrates very simply the action of a PID circuit. One or
Where: more of the controls can be utilized in any servo circuit
J = moment of inertia of the rotor depending on system demand and requirement (i.e., P, I, PI,
B = motor viscous friction constant or PID).
Ki= constant factor
L = electric inductance
R = electric resistance
V = voltage source

Applying the Laplace transform, the above modelling

equations can be expressed in terms of the Laplace variable.
(5)

(6)
Fig.2 Block Diagram of PID Controller

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
The output of the PID control circuit, u(t), is given as
(11)

Where:
u(t) = Manipulated Variable
Kp = Proportional Gain
Ki = Integral Gain
Kd = Derivative Gain
e(t) = Error

A. PID Function
PID is a control method or mode that has three functions or
variables. The proportional action dampens process
response. The integral corrects for droop. Droop is the Fig.4 Response of A Closed Loop System with Dead-
difference in process variable between the process set point Time
and the actual process output. The set point is the desired
value of process variable. The derivatives minimize the Mathematically, the PID controller can be expressed as in
amounts of overshoot and undershoot. Overshoot is the Equation 3.5.
amount of process variable that exceeds the set point value  1 
t
de(t )  
before the process stabilizes. Process stabilization is u (t ) = K c  e(t ) + ∫ e τ (τ ) + Td  (12)
achieved when the set point and process variable value are  Ti 0  dt  
equal over a defined period of time. Undershoot is the
amount of process variable that falls below the set point  t
 de(t )  
value before the process stabilizes.[4] u (t ) = K c  e(t ) + K i ∫ e  τ (τ ) + K d   (13)
0 
 dt  

Where u is the control variable and e is the control error (e =

y - r). The control variable is thus a sum of three terms:
proportional, integral, and derivative. The controller
parameters are proportional gain KP, integral time Ti,
integral gain Ki, derivative time Td, and derivative gain Kd.
This PID algorithm can also be represented by the transfer
function as in Equation 14.

 1 
G ( s) = K c 1 + + sTd  (14)
 sTi 
Fig.3 Response of A Typical PID Closed Loop System

B. The Characteristics of PID Controller

The general effects of each controller parameter (KP,Ki ,Kd) on a closed-loop system are summarized in the table below. Note,
these guidelines hold in many cases, but not all. If want to know the effect of tuning the individual gains, that will have to do
more analysis, or will have to perform testing on the actual system.[4]
TABLE 2 Characteristic of PID Controller
CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR
KP Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Decrease
Kd Small Change Decrease Decrease No Change
C. Design Requirements
First consider that motor at 0.1 rad/sec in steady state for an input voltage of 1 volt. Since the most basic requirement of a
motor is that it should rotate at the desired speed, that the steady-state error of the motor speed be less than 1%. Another
performance requirement for our motor is that it must accelerate to its steady state speed as soon as it turns on. In this case, to
have a settling time less than 2 seconds. Also, since a speed faster than the reference may damage the equipment, to have a step
response with overshoot of less than 5%.
In summary, for a unit step command in motor speed, the control system’s output should meet the following requirements.
1. Settling time less than 2 seconds
2. Overshoot less than 5%
3. Steady-state error less than 1%
IV. Simulation Result of Dc Motor Speed Control By Using PID Controller
PID controller is one of the most popular control methods. In this paper, DC motor speed is controlled by using PID controller.
The speed of the open loop DC motor without PID is investigated firstly. And the speed of the closed-loop DC motor is
examined. Finally, the DC motor with P Controller, PI Controller and PID Controller were tested in MATLAB Software.

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
A. Simulink Model of DC Motor Speed Control with PID Controller

Fig.5 Simulink model of DC Motor control with PID Controller

For this paper, speeds control of DC motor use with PID controller. In Figure 5 was modeled using MATLAB/ Simulink. In
simulation, step input is 1 second and output is stable in 3 seconds.

B. Model of DC Motor

Fig.6 Model of DC Motor

C. Simulink Result of DC Motor Control with PID Controller

Fig.7 Simulink result of DC Motor control with PID Controller

The above figure was simulated for step input time is 1 second, output time was stable in 3 seconds.

D. Closed Loop Response of DC Motor

Fig.8 Closed Loop Response of DC Motor

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
TABLE.3 Closed Loop Response of DC Motor
Controller Gain Rise Time(sec) Maximum Overshoot (%) Settle time(sec) Peak Amplitude
- - 0 - 0.0196

In a closed-loop control system the actuating error signal, which is the difference between the input signal and the feedback
signal, is fed to the controller so as to reduce the error and bring the output of the system to a desired value. The term closed-
loop control always implies the use of feedback control action in order to reduce system error.

E. DC Motor with P Controller of PID

TABLE 4 DC Motor with P Controller of PID
Controller Gain Rise Time(sec) Maximum Overshoot (%) Settle time(sec) Peak Amplitude
KP=64.43 0.132 17.2 0.665 1

Fig.9 DC Motor with P Controller of PID

When DC motor speed is controlled with only P controller, overshoot and settling time are over 5% and 2 second.

F. F.DC Motor with PI Controller of PID

Fig.10 DC Motor with PI Controller of PID

When DC motor speed is controlled with PI controller, overshoot is under 5% but there is no settling time.

TABLE.5 DC Motor with PI Controller of PID

Controller Gain Rise Time(sec) Maximum Overshoot (%) Settle time(sec) Peak Amplitude
KP=64.42 0.132 17.2 0.665 1
Ki= 10.49 0.163 1.83 0 1

G. DC Motor with PID Controller (Before Tuning)

Fig.11 DC Motor with PID Controller (Before Tuning)

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
TABLE.6 DC Motor with PID Controller (Before Tuning)
Controller Gain Rise Time(sec) Maximum Overshoot (%) Settle time(sec) Peak Amplitude
KP=61.09 0.132 17.2 0.665 1
Ki= 186.6 0.163 1.83 0 1
Kd= 4.36 0.177 6.98 0.794 1.07

When DC motor speed is controlled with PID controller, overshoot and settling time are over 5% and 2 second. So, simulation
results to reduce overshoot and settling time by using automatic tuning method.

H. DC Motor with PID Controller (After Tuning)

Fig.12 DC Motor with PID Controller (After Tuning)

Controller Gain Rise Time(sec) Maximum Overshoot (%) Settle time(sec) Peak Amplitude
KP=17.45 0.132 17.2 0.665 1
Ki= 48.49 0.163 1.83 0 1
Kd= 1.507 0.528 4.73 1.67 1.05

After tuning, overshoot and settling time are under 5% and 2 second. When tuning results of controller gain, rise time and peak
amplitude changes. This simulation result is the mathematical simulation of DC Motor speed control system by using PID.

V. Conclusions good willingness to share ideas, helpful suggestions and

The applications of DC motors and drives have used in support. The author wishes to express her paper to all
recent years in the appliance industry and the automotive persons who helped directly or indirectly towards the
industry. This paper has discussed aspects of DC motor successful completion of this paper.
speed control by using PID controller. To examine the speed
control of DC motor, the software package MATLAB/ References
SIMULINK was used to design the block diagrams and run [1] Fatiha Loucif, Department of Electrical Engineering and
the simulations. information, Hunan University, ChangSha, Hunan,
China.
This paper studies the PID controller for the DC motor speed
[2] Modern Control Engineering, 4th Edition, 2002 (Ogata)
control system. For better speed control applications DC
motor can give a better performance than induction motor [3] Modern Control System 11th, Edition (Bishop)
and AC motor. PID Controls are commonly used in the
[4] Ho, W. K., Gan, O. P., Tay, E. B., & Ang, E. L. (1996).
industry. The purpose to control the speed of motor is to
Performance and gain and phase margins of well-
overcome the problem in industry like to avoid machines
known PID tuning formulas. IEEE Transactions on
damages and to avoid slow rise time and high overshoot.
Control Systems Technology.
Graphical representation of program gives which clear
understanding about the structure and data flow. It is better [5] Grassi, E., Tsakalis, K., Dash, S., Gaikwad, S. V.,
for control application while MATLAB is better for data Macarthur, W., & Stein, G. (2001). Integrated system
manipulation. identification and PID controller tuning by frequency
loop-shaping. IEEE Transactions on Control Systems
Acknowledgement Technology.
The author also acknowledges Dr. Kay Thi Lwin, Rector
[6] Md Akram Ahmad, Electronics and Communication
Technological University (Hmawbi), for her kind permission
Engineering Department, Maryland Institute of
to write this paper of Journal of Engineering Educational and
Technology and Management, Jamshedpur, India,
Applied Science. The author is much obligated to Dr. Nay Soe
Kamal Kishor, Electronics and Communication
Shwe, Professor and Head of the Department of Electrical
Engineering Department, Ramgovind Institute of
Power Engineering of the Technological University
Technology, Koderma, India, Pankaj Rai, Electrical
(Hmawbi), for his invaluable advice, helpful suggestions and
Engineering Department, BIT Sindri, Dhanbad, India,
encouragement throughout this study. The author is greatly
indebted to his supervisor, Dr Aung Myo Naing, Professor, [7] http://en.m.wikipedia.org
Department of Electrical Power Engineering of the
Technological University (Hmawbi), for his encouragement, [8] http://www.electricaleasy.com

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