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

Volume 6 Issue 5, July-August 2022 Available Online: www.ijtsrd.com e-ISSN: 2456 – 6470

DC Motor Speed Control using PID Controller

Khalid Wasim, Muhammad Shahid
Department of Electrical and Electronics Engineering, Al-Falah Univesity, Dhauj, Faridabad, Haryana, India

ABSTRACT How to cite this paper: Khalid Wasim |

DC motors are widely used in variable speed applications in industry Muhammad Shahid "DC Motor Speed
due to their simple control aspects and characteristics including their Control using PID
high speed torque. A research study describes a technique for Controller"
controlling the speed of a DC motor using a PID controller. Industrial Published in
International Journal
processes are subject to parameter disturbances and parameter
of Trend in
fluctuations. In this study, we will select the PID parameter to Scientific Research
regulate speed of DC motor. This paper describes the construction of and Development IJTSRD50566
a PID controller and the selection of PID parameters depending on (ijtsrd), ISSN: 2456-
the system response. A PID controller is used to control the speed of 6470, Volume-6 | Issue-5, August 2022,
the DC motor, and the Matlab program is used for calculations and pp.839-845, URL:
simulations. The parameter has been shown in several contrast www.ijtsrd.com/papers/ijtsrd50566.pdf
experiments and explains how to adjust the value of the PID
parameter. Copyright © 2022 by author (s) and
International Journal of Trend in
KEYWORDS: PID controller, DC motor, Matlab representation, P Scientific Research and Development
control, PI control, PID control Journal. This is an
Open Access article
distributed under the
terms of the Creative Commons
Attribution License (CC BY 4.0)
(http://creativecommons.org/licenses/by/4.0)

INTRODUCTION
Over the years, DC motors have been used in many However, this controller can be used with other things
domestic and industrial applications due to their wide like space rockets and kitchen ovens. This is an
speed control limitations. Feedback control loops example of motor loop control. It is often used in
react slowly but are absolutely necessary for better robotic applications. In today's world, the second case
and desirable system performance. We use control is the most important, since PIDs are also
strategies to provide feedback solutions for control implemented on microswitches. The written code
systems for faster response (Bansal & Narvey, 2013). pleases the program part loaded into the
For best performance, the DC motor must control the microcontroller. The microcontroller board receives a
speed correctly. In recent years, controllers such as command from the microcontroller and applies that
Proportional Integral (PI), Fuzzy Logic Controllers, command to the motor as a current signal. This
Proportional Derivative (PD) Controllers, Neutral includes a closed-loop system that includes a
Grid Controllers, and PID Controllers have proven feedback control system that uses a fixed point to
useful in manipulating and automating the speed of generate an error signal to evaluate the feedback
DC motors[1]. DC motors are highly controllable variables. Otherwise, the procedure continues until
electric drives used in robotic manipulators, steel the error reaches zero and the value of the fixed point
mills, overhead cranes, cutting tools, and tracking equals the value of the feedback variable. The figure
electric guided vehicles. However, DC cars are below (Fig-1) shows a feedback system in which the
cheaper and simpler[2]. speed of the DC motor in the device is precisely
controlled[3].

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Fig- 1 PID controller with motor

Block diagram of armature-controlled DC motor: Armature-controlled DC motors are preferred over field-
controlled DC motors because they use closed-loop systems compared to field-controlled DC motors which use
open-loop systems. Field driven DC motors are advantageous due to their small size and require very little
power due to their small armature and are driven by expensive constant current amplifiers. For large motors, it is
cheaper to use armature control because the back EMF provides additional tipping in addition to the load
friction[4].

Fig-2 Mathematical model of DC motor

Controlling the speed of DC motor: Voltage regulation is achieved by attaching the appropriate switching
device to the armature. Since the motor is connected to a fluctuating voltage source, the armature voltage can
fluctuate. An increase in speed leads to an increase in voltage and vice versa. Armature control is achieved when
resistance and voltage remain constant. In this case, the velocity is directly proportional to the current (Verma &
Padhy, 2019)[5]. Adding a resistor in series with the armature will cause the voltage to drop and slow it down. In
flux regulation, the speed of the DC motor increases as the pole drops. This means that reducing the speed will
increase the flow rate. A resistor is added in series with the winding to control the magnetic flux more resistance
the more the speed and thus reducing the flux[6].
If the flux is weakened beyond the limit, it will adversely affect the commutator and limit the maximum speed
that can be achieved. Changing the voltage is very easy and unless you are a DC motor winding pro there is little
you can do. Therefore, it requires a current strong enough to supply the various voltages needed to set the speed.
One of the most common ways to stop a DC motor immediately is to use dynamic braking. This involves
shorting the input wires to each other and generating currents exerting opposing forces to quickly stop the motor
from rotating.
The dynamic model of DC motor: This study provided a dynamic engine speed control model. It consists of a
presentation of a closed-loop armature controlled DC motor speed control system. This armature driven DC
motor simulation was done using Matlab software. A self-excited DC motor dynamic model was used, the
design parameters were taken from Carnegie Mellon, and the speed was controlled by individually supplied
armature voltage (Va) and constant excitation current. It consists of a DC motor driven by an armature. This DC
armature control model should look like this:

Fig -3 Mathematical modeling of DC motor

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The PID controller: Elmer Sperry developed the first PID controller in 1991, and in 1933 the Taylor
Instrumental Company introduced an earlier fully adjustable pneumatic controller. The inspection engineer
eliminated the steady-state error found in the proportional controller by backtracking the incorrect value all the
way until there were zero errors. This included a proportional integration controller error. In 1942, Nicholas and
Ziegler presented engineers with instructions for setting up and determining appropriate parameters for PID
controllers, and finally in 1950, automated PID controllers became widely used in industry[7].
The proportional integral derivative is responsible for controlling various process variables such as temperature,
flow and velocity in industrial applications. In PID controllers, loop feedback is used by the controller to
standardize variables in the process. This is the basic system for driving in the direction of the desired location.
A closed feedback loop is used to keep the actual output at a fixed point as much as possible. PID controllers are
used in systems to help overcome unwanted low vehicle speeds due to various anomalous conditions resulting
from load shocks. In this study, the speed control technique of DC motors is clearly stimulated under changing
conditions as shown by simulation. For the best results from the whole system, PID controllers are used [8].
The PID controller allows only two control states, which is absolutely sufficient for target control. The PID
controller holds the output in a manner between the desired output in closed loop mode and the process variable.
It uses basic control behavior including D, PI controller. The P controller makes a comparison between the set
value and the actual feedback value. An output proportional to the current error is available. A multiplication
calculation is performed and the proportionality constant is multiplied by the resulting error to obtain the output.
Controller I will take the necessary steps to remove the persistent error condition. The offset between the process
variable and the setpoint is very important. If a negative error occurs, the integral control will reduce the
performance. Prediction of future operating errors is performed by the D controller. The output of this controller
depends on the rate at which the error changes over time and is multiplied by a constant derivative. This
contributes to starting the output and increases the system's responsiveness[9].
MATLAB /Simulink: A DC motor can be used for speed control. Therefore, you can adjust the torque,
direction of rotation and speed at any time to be fair in the new situation. The figure -4 below shows the free
body of the rotor and armature circuits.

Fig -4 Dynamics of DC motor

LetRa=Armature Resistance,
La=Armature self- inductance caused by armature flux, ia=Armature current,
if= field current,
Eb=Back EMF in armature=Applied voltage,
T=Torque developed by the motor,
θ=Angular displacement to motor shaft,
Ј=Equivalent moment of inertia of motor shaft &load referred to the motor
B=EquivalentCoefficientoffrictionofmotorshaft&loadreferredtothemotor.
DC motors are important in the linear region of the magnetization curve. Therefore, the magnetic flux of the air
gap Ф is proportional to the excitation current. The input signal can be any signal step, ramp or other signal,
depending on the system requirements.

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Fig-5 Block diagram of process controller

Drivers can use different structures and different variable values to achieve the desired level of performance. P,
PI, PID and type controllers can be used with most industrial PID controllers. Assuming that the input is a step
signal, the controller equation is:
u(t)= Kpe(t)+ +

K p = Proportional gain and Ti = Integral time.

Here we analyze both controllers P and PI individually and compare them to each other to find the wife of the
unique controller. The PID controller is a combination of three members, the sum of which forms a complete
controller. The output of the PID controller is the sum of the proportional controller, the integral controller and
the derivative controller. There are three controller structures: interactive algorithms, non-interactive algorithms,
and parallel algorithms[10].

Fig-6 DC motor with PID controllar

Fig-6 shows the MATLAB simulink diagram for speed control of DC motor where as fig -7 repersents the step
response of DC motor with PID controller.

Fig-7 DC motor with PID controller step input

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 International Journal of Trend in Scientific Research and Development @ www.ijtsrd.com eISSN: 2456-6470
Result:

Fig-8 Speed of DC motor rad/ sec for P=10,I=50,d=100

Fig-9 Armature current of DC motor rad/ sec for P=10,I=50,d=100

Fig-10 Torque of DC motor rad/ sec for P=10,I=50,d=100

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Fig-11 Step repose of DC motor

Conclusion: Accurate motor performance is a speed control of DC motor, ” Dept. of
desirable feature for any industrial application. Since Electrical Engineering, Madhav Institute of
engine performance deteriorates with age, it is Technology and Science, India, Vol. 03, Issue.
desirable to evaluate engine performance from time to 13 June-2014.
time for efficient operation. The traditional way of
[2] Padmaprakash, Divya K Pai. Assistance
calculating the output power index is very time-
Professor Joseph, “Closed loop speed control of
consuming. The PID-based approach algorithm
dc motor using PID controller,”
performed well in the test system. Important
Instrumentation and Control Engineering. Vol.
observations made during the study are: 1) The
4, Special Issue 2, April 2016.
resolution time of the proposed PID approach is only
a fraction of the time required by traditional [3] Shweta Chaudhary, Sushil Prashar,
algorithms. 2) The proportional controller Kp has the ”Gagandeep Sharma,“ Tuning a PID controller
effect of shortening the rise time and reducing the for a separately excited DC motor, International
steady state errors, but it cannot be completely Journal of Research in Advent Technology,
eliminated. 3) An internal Ki regulator results in the Vol. 2, No. 6, June 2014.
elimination of steady-state errors, but may degrade [4] Fatiha Loucif “DC motor speed control using
the transient response. 4) The Kd differential PID controller” dept. of electrical engg and
controller increases system stability, reduces information, hunan university, Changsha,
overshoot and improves transient response. 5) The hunan, china(Email: fatiha2002@msn. com) in
output power obtained by the normalized PID value is june 2-5 Kintex, Goggin, kora in ICCAS2005.
very close and close to accurate. 6) MATLAB, which
is used to simulate the entire project, is a [5] Mohammed Shoeb Mohiuddin, “Comparative
sophisticated and easy-to-use software. It should be study of PID and fuzzy tuned PID controller for
noted that the efficiency of the speed algorithm can speed control of DC motor,”, Vol. 2, Issue 4,
be improved by using more efficient learning Aug 2013.
techniques and dynamic weight selection algorithms. [6] Dimeas, I., Petras, I., &Psychalinos, C. (2017).
Therefore, it is important to note that the PID New analog implementation technique for
controller is a powerful and efficient controller that fractional-order controller: A DC motor
can control the open-loop speed control system under control. AEU-International Journal of
various conditions of the DC motor. The speed of the Electronics and Communications, 78, 192-200.
DC motor was controlled using MATLAB. The IPD
response of the DC motor controller was verified in [7] Hang Wu; Weihua Su; Zhiguo Liu, "PID
MATLAB. controllers: Design and tuning methods, "
Industrial Electronics and Applications
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[1] P. M. Meshram, Rohit G. Kanojiya. “Tuning of no., pp. 808, 813, 9-11 June 2014.
PID controller using zieglernichols method for

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[8] AdityaPratap Singh, “Speed Control of DC Modulators”. Published in: Proceedings of the
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