LCS CEP Report

LINEAR CONTROL SYSTEM
OPEN ENDED LAB REPORT
Name(s):
Ismail Jawed (EE-1511)
Syed Huzaifa Agmed Hashmi (EE-1523)
Muhammad Shahabuddin (EE-1533)
Muhammad Talha Saleem (EE-1506)
Discipline: Electrical
Section: B1
Subject: Linear Control System
Submitted to: Sir Talha
Table of Contents
PID Control System for DC Motor Speed Control ............................................................................................................. 3
Abstract .......................................................................................................................................................................... 3
Introduction .................................................................................................................................................................... 3
Components: ................................................................................................................................................................. 3
Block Diagram ............................................................................................................................................................... 3
Modelling of the System ................................................................................................................................................ 5
Transfer Function ....................................................................................................................................................... 5
Normal Response of DC Motor without PID Controller ............................................................................................. 6
Gain Calibration with Results ..................................................................................................................................... 6
Conclusion ..................................................................................................................................................................... 7
NATIONAL UNIVERSITY OF SCIENES AND TECHNOLOGY

PID Control System for DC Motor Speed Control
Abstract
This report presents the development and implementation of a PID (Proportional-Integral-Derivative)
controller for the precise speed control of a DC motor. DC motors are integral to numerous applications
where maintaining a specific speed is critical for performance and efficiency. However, due to their
nonlinear nature and susceptibility to disturbances, achieving stable and accurate speed control is
challenging. The absence of a proper control mechanism can lead to significant speed fluctuations, poor
accuracy, slow response to changes, increased mechanical wear, and overall inefficiency. By employing a
PID controller, we can address these issues effectively. The PID controller continuously adjusts the motor's
input to maintain the desired speed, thereby enhancing stability, accuracy, and responsiveness. This report
details the design process, implementation, and performance evaluation of the PID controller,
demonstrating its effectiveness in maintaining precise speed control under varying conditions.
Introduc on
DC motors are widely used in various applications where precise speed control is essential, such as
robotics, industrial automation, and electric vehicles. Achieving accurate speed control is crucial for
maintaining system performance, efficiency, and reliability. However, DC motors are inherently nonlinear
and subject to disturbances, load variations, and other uncertainties, which can lead to unstable and erratic
speed behavior.
Without a PID (Proportional-Integral-Derivative) controller, managing these challenges becomes difficult.
The absence of a PID controller can result in:
Unstable Speed Response: Without proper control, the motor speed can fluctuate significantly, leading to
instability and potential system failure.
Poor Accuracy: Inaccurate speed control can cause deviations from the desired speed, impacting the
precision of the application.
Slow Response to Changes: Without a PID controller, the system may not quickly adapt to changes in load
or other external disturbances, leading to sluggish performance.
Increased Wear and Tear: Erratic speed control can induce mechanical stress and increase wear and tear
on the motor and connected components, reducing their lifespan.
Inefficiency: Inefficient speed control can lead to higher energy consumption and lower overall efficiency of
the system.
Using a PID controller addresses these issues by providing a robust mechanism to maintain the desired
motor speed despite disturbances and nonlinearity. It enhances system stability, accuracy, and
responsiveness, ensuring efficient and reliable operation of the DC motor.
Components:
Following are the essential components required for the controller designing:
 DC Motor
 Arduino Nano
 OLED Display
 Speed Sensor
 MOSFET
 Separate Power Supply

Block Diagram
Here’s a brief block diagram of the controller circuit:
Analysis of the System:

In general, the torque generated by a DC motor is proportional to the armature current and the strength of the
magnetic field. In this example we will assume that the magnetic field is constant and, therefore, that the motor torque
is proportional to only the armature current i by a constant factor Kt as shown in the equation below. This is referred to
as an armature-controlled motor.
(1) T = Kt i
The back emf, e, is proportional to the angular velocity of the shaft by a constant factor Ke.
(2) e = Ke dot(θ)
In SI units, the motor torque and back emf constants are equal, that is, Kt = Ke; therefore, we will use K to represent
both the motor torque constant and the back emf constant.
From the figure above, we can derive the following governing equations based on Newton's 2nd law and Kirchhoff's
voltage law.
(3) J \ d dot { θ } + b \dot{θ} = K i
(4) L di/dt + Ri = V – K \ dot θ

Modelling of the System
Transfer Func on
To find the transfer function of the above system, we need to first take all the important parameters into
account as shown in figure:
And so, the equation would derive as:
This would ultimately lead us to the transfer function as produced in MATLAB environment:

Normal Response of DC Motor without PID Controller
In the absence of a PID controller, the response of the DC motor is quite troublesome. It can be viewed in
the figure provided:
Gain Calibra on with Results

A crucial aspect of implementing a PID controller is the tuning of the proportional (Kp), integral (Ki), and
derivative (Kd) gains. These parameters must be carefully set to achieve the desired control performance.
Proper tuning ensures that the controller responds appropriately to errors, minimizes overshoot, and
maintains stability. This report details the design process, implementation, and performance evaluation of
the PID controller, demonstrating its effectiveness in maintaining precise speed control under varying
conditions. Additionally, it outlines the methods used for tuning the Kp, Ki, and Kd gains to optimize the
controller's performance.

Result:
The overall calibration of the gains can be viewed from the following MATLAB code and the resulting
response of the system:
The results speak for themselves as we are achieving a smooth response.
Conclusion
The implementation of the PID (Proportional-Integral-Derivative) controller has significantly improved the
speed control of the DC motor. By carefully tuning the Kp, Ki, and Kd gains, we achieved a responsive and
stable control system capable of maintaining the desired motor speed with high accuracy. The PID
controller effectively mitigated issues such as speed fluctuations, instability, and slow response to
disturbances. Consequently, the system's efficiency and reliability were greatly enhanced, demonstrating
the critical role of the PID controller in overcoming the inherent challenges of DC motor speed control. This
successful application underscores the importance of precise control mechanisms in ensuring optimal
performance in various industrial and technological applications.

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LINEAR CONTROL SYSTEM

OPEN ENDED LAB REPORT

NATIONAL UNIVERSITY OF SCIENES AND TECHNOLOGY

NATIONAL UNIVERSITY OF SCIENES AND TECHNOLOGY

Analysis of the System:

(3) J \ d dot { θ } + b \dot{θ} = K i

(4) L di/dt + Ri = V – K \ dot θ

NATIONAL UNIVERSITY OF SCIENES AND TECHNOLOGY

And so, the equation would derive as:

NATIONAL UNIVERSITY OF SCIENES AND TECHNOLOGY

Gain Calibra on with Results

NATIONAL UNIVERSITY OF SCIENES AND TECHNOLOGY

The results speak for themselves as we are achieving a smooth response.

NATIONAL UNIVERSITY OF SCIENES AND TECHNOLOGY

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