DC motors are used extensively in industrial variable speed applications because of most demanding speed-torque characteristics and are simple in controlling aspects. This paper presents a DC motor speed controlling technique under varying load condition. The linear system model of separately excited DC motor with Torque-variation is designed using PID controller. A Matlab simulation of proposed system with no-Load and full-load condition is performed on Simulink platform to observe the system response. The motor speed is kept constant in this experiment. The simulation result of the experiment shows that a motor is running approximately at a constant speed regardless of a motor load. The Simulink results show that the speed of the motor is slow down only for about 270 rpm (9%) in 980 milliseconds under the effect of full load. However, the motor speed is hunting about 200 rpm (6.66%) in 900 milliseconds on unloading condition. It is concluded that a PID controller is successful tool for controlling the motor speed in presence of load disturbances.
In this presentation, basic study of Control of DC motor , study of MATLAB/Simulink, Simulation of entitled project and problem associate with dc motor.
This presentation has been submitted to Mr.Anurag Agrawal and submitted by Munesh Singh, Anitya Shukla, Devendra Kumar and Aditya Vikram Singh in May 2012 to Kanpur institute of Technology,Kanpur India.
Control of a DC motor using BS2 on a Professional Development Board supplied by Parallax Inc.is attempted. All the control modes like P, PD and PID are carried. The Pulse Width Modulated signal is used to drive the motor at desired speeds.
This is a part of the Mechatronics course offered by Mechanical and Aerospace Engg. Dept. in Spring 2010.
Speed control of single phase induction motor with variable frequency voltage...SHAHRUKH ALAM
A PROJECT ON SPEED CONTROL OF SINGLE PHASE INDUCTION MOTOR WITH VARIABLE FREQUENCY VOLTAGE SOURCE INVERTER(VSI) special thanks-:1.Abhishek Srivastav(Coer) 2.Kushal Setia(Coer) 3.Ankit Raj(Coer)
Updated field oriented control of induction motor.pptxMohit Sharma
It is a simulation work project done on a 5hp,440V/5A and 1440rpm Induction motor.It explains the control of induction motor using matlab-simulink algorithm by PI control as well as Fuzzy logic control.
In this presentation, basic study of Control of DC motor , study of MATLAB/Simulink, Simulation of entitled project and problem associate with dc motor.
This presentation has been submitted to Mr.Anurag Agrawal and submitted by Munesh Singh, Anitya Shukla, Devendra Kumar and Aditya Vikram Singh in May 2012 to Kanpur institute of Technology,Kanpur India.
Control of a DC motor using BS2 on a Professional Development Board supplied by Parallax Inc.is attempted. All the control modes like P, PD and PID are carried. The Pulse Width Modulated signal is used to drive the motor at desired speeds.
This is a part of the Mechatronics course offered by Mechanical and Aerospace Engg. Dept. in Spring 2010.
Speed control of single phase induction motor with variable frequency voltage...SHAHRUKH ALAM
A PROJECT ON SPEED CONTROL OF SINGLE PHASE INDUCTION MOTOR WITH VARIABLE FREQUENCY VOLTAGE SOURCE INVERTER(VSI) special thanks-:1.Abhishek Srivastav(Coer) 2.Kushal Setia(Coer) 3.Ankit Raj(Coer)
Updated field oriented control of induction motor.pptxMohit Sharma
It is a simulation work project done on a 5hp,440V/5A and 1440rpm Induction motor.It explains the control of induction motor using matlab-simulink algorithm by PI control as well as Fuzzy logic control.
In this project we will be controlling the speed of Dc motor using Arduino controller. Dc motor is drive by using PWM technique and then using encoder to sense the rpm of DC motor. Encoder produces pulses in the output, which is feed into Arduino and Arduino controls the speed of DC motor. So we have implemented the feedback system which controls the speed of DC motor.
Matrix Converter based Direct Torque Control of Induction MotorNeehar NLN
This topic falls under the area of speed control of induction motor. The using of advanced power electronic converters provides better response. In this case, a AC/AC converter is used to control the induction motor.
Simulation of Direct Torque Control of Induction motor using Space Vector Mo...IJMER
This paper presents simulation of Direct Torque Control (DTC) of Induction Motor using Space
Vector Modulation (SVM). Direct Torque Control is a control strategy used for high performance torque
control of Induction Motor. This SVM based DTC technique reduces torque ripple and improves torque
response. The performance is explained using simulation in MATLAB environment. Result of the
simulation done in the paper shows improvement in flux and torque. These results verifies the merits of
DTC- SVM over conventional Direct Torque Control technique.
Project Report submitted By Munesh Kumar Singh, Aditya Vikram Singh, Anitya Kumar Shukla and Devendra Kumar for the award of B.Tech in Electrical and Electronics Engineering at Kanpur Institute of Technology, Kanpur in 2012.
V/F Control of Squirrel Cage Induction Motor Drives Without Flux or Torque Me...Waqas Tariq
Based on the popular constant volts per hertz principle, two improvement techniques are presented: keeping maximum torque constant or keeping magnetic flux constant. An open-loop inverter-three-phase squirrel-cage induction motor drive system that provides constant maximum torque or increased maximum torque and reduced slip speed at frequencies below the nominal frequency has been modeled, simulated and tested. Load performance analysis of the proposed system under different operation conditions was provided. These principles of operation are extended to the case of operation from variable frequency or variable voltage control method. Finally, the effects of the non-sinusoidal voltage and/or current wave shapes are covered. The results show that both suggested improvement techniques (constant torque or constant flux) improve the steady-state performance A.C. drive system with squirrel cage induction motors. The slip speed has been decreased and the starting torque and maximum torque have been increased, which means that the suggested control techniques can be used in drive systems with short time operating mode under light loads.
SPEED AND TORQUE CONTROL OF AN INDUCTION MOTOR WITH ANN BASED DTCijics
Due to advantages such as fast dynamic response, simple and robust control structure, direct torque
control (DTC) is commonly used method in high performance control method for induction motors. Despite
mentioned advantages, there are some chronically disadvantages with this method like high torque and
current ripples, variable switching behaviour and control problems at low speed rates. On the other hand,
artificial neural network (ANN) based control algorithms are getting increasingly popular in recent years
due to their positive contribution to the system performance. The purpose of this paper is investigating of
the effects of ANN integrated DTC method on induction motor performance by numerical simulations. For
this purpose, two different ANN models have been designed, trained and implemented for the same DTC
model. The first ANN model was designed to select optimum inverter and the second model was designed to
use in the determination of the flux vector position. Matlab/Simulink model of the proposed ANN based
DTC method was created in order to compare with the conventional DTC and the proposed DTC methods.
The simulation studies proved that the induction motor torque ripples have been reduced remarkably with
the proposed method and this approach can be a good alternative to the conventional DTC method for
induction motor control.
Closed Loop Speed Control of a BLDC Motor Drive Using Adaptive Fuzzy Tuned PI...IJERA Editor
Brushless DC Motors are widely used for many industrial applications because of their high efficiency, high
torque and low volume. This paper proposed an improved Adaptive Fuzzy PI controller to control the speed of
BLDC motor. This paper provides an overview of different tuning methods of PID Controller applied to control
the speed of the transfer function model of the BLDC motor drive and then to the mathematical model of the
BLDC motor drive. It is difficult to tune the parameters and get satisfied control characteristics by using normal
conventional PI controller. The experimental results verify that Adaptive Fuzzy PI controller has better control
performance than the conventional PI controller. The modeling, control and simulation of the BLDC motor have
been done using the MATLAB/SIMULINK software. Also, the dynamic characteristics of the BLDC motor (i.e.
speed and torque) as well as currents and voltages of the inverter components are observed by using the
developed model.
In this project we will be controlling the speed of Dc motor using Arduino controller. Dc motor is drive by using PWM technique and then using encoder to sense the rpm of DC motor. Encoder produces pulses in the output, which is feed into Arduino and Arduino controls the speed of DC motor. So we have implemented the feedback system which controls the speed of DC motor.
Matrix Converter based Direct Torque Control of Induction MotorNeehar NLN
This topic falls under the area of speed control of induction motor. The using of advanced power electronic converters provides better response. In this case, a AC/AC converter is used to control the induction motor.
Simulation of Direct Torque Control of Induction motor using Space Vector Mo...IJMER
This paper presents simulation of Direct Torque Control (DTC) of Induction Motor using Space
Vector Modulation (SVM). Direct Torque Control is a control strategy used for high performance torque
control of Induction Motor. This SVM based DTC technique reduces torque ripple and improves torque
response. The performance is explained using simulation in MATLAB environment. Result of the
simulation done in the paper shows improvement in flux and torque. These results verifies the merits of
DTC- SVM over conventional Direct Torque Control technique.
Project Report submitted By Munesh Kumar Singh, Aditya Vikram Singh, Anitya Kumar Shukla and Devendra Kumar for the award of B.Tech in Electrical and Electronics Engineering at Kanpur Institute of Technology, Kanpur in 2012.
V/F Control of Squirrel Cage Induction Motor Drives Without Flux or Torque Me...Waqas Tariq
Based on the popular constant volts per hertz principle, two improvement techniques are presented: keeping maximum torque constant or keeping magnetic flux constant. An open-loop inverter-three-phase squirrel-cage induction motor drive system that provides constant maximum torque or increased maximum torque and reduced slip speed at frequencies below the nominal frequency has been modeled, simulated and tested. Load performance analysis of the proposed system under different operation conditions was provided. These principles of operation are extended to the case of operation from variable frequency or variable voltage control method. Finally, the effects of the non-sinusoidal voltage and/or current wave shapes are covered. The results show that both suggested improvement techniques (constant torque or constant flux) improve the steady-state performance A.C. drive system with squirrel cage induction motors. The slip speed has been decreased and the starting torque and maximum torque have been increased, which means that the suggested control techniques can be used in drive systems with short time operating mode under light loads.
SPEED AND TORQUE CONTROL OF AN INDUCTION MOTOR WITH ANN BASED DTCijics
Due to advantages such as fast dynamic response, simple and robust control structure, direct torque
control (DTC) is commonly used method in high performance control method for induction motors. Despite
mentioned advantages, there are some chronically disadvantages with this method like high torque and
current ripples, variable switching behaviour and control problems at low speed rates. On the other hand,
artificial neural network (ANN) based control algorithms are getting increasingly popular in recent years
due to their positive contribution to the system performance. The purpose of this paper is investigating of
the effects of ANN integrated DTC method on induction motor performance by numerical simulations. For
this purpose, two different ANN models have been designed, trained and implemented for the same DTC
model. The first ANN model was designed to select optimum inverter and the second model was designed to
use in the determination of the flux vector position. Matlab/Simulink model of the proposed ANN based
DTC method was created in order to compare with the conventional DTC and the proposed DTC methods.
The simulation studies proved that the induction motor torque ripples have been reduced remarkably with
the proposed method and this approach can be a good alternative to the conventional DTC method for
induction motor control.
Closed Loop Speed Control of a BLDC Motor Drive Using Adaptive Fuzzy Tuned PI...IJERA Editor
Brushless DC Motors are widely used for many industrial applications because of their high efficiency, high
torque and low volume. This paper proposed an improved Adaptive Fuzzy PI controller to control the speed of
BLDC motor. This paper provides an overview of different tuning methods of PID Controller applied to control
the speed of the transfer function model of the BLDC motor drive and then to the mathematical model of the
BLDC motor drive. It is difficult to tune the parameters and get satisfied control characteristics by using normal
conventional PI controller. The experimental results verify that Adaptive Fuzzy PI controller has better control
performance than the conventional PI controller. The modeling, control and simulation of the BLDC motor have
been done using the MATLAB/SIMULINK software. Also, the dynamic characteristics of the BLDC motor (i.e.
speed and torque) as well as currents and voltages of the inverter components are observed by using the
developed model.
Modelling and Simulation of DC-Motor Electric Drive Control System with Varia...IDES Editor
This work represents a mathematical analysis and
simulation of dc-motor electric drive control system with
variable moment of inertia. A separately-excited dc motor is
used in this control system. A mathematical model for this
motor has been simulated and tested in Matlab/Simulink. A
closed-loop control system for this dc electric drive system is
proposed. The proposed control system is based on the
technical optimum method of design. The controlled variable
of this system is the load angular speed. In this control system
the moment of inertia is considered to be variable. It varies as
a function of time. A speed controller and a current controller
are designed for the suggested model to meet the desired
performance specifications by using the technical optimum
method. These controllers are attached to the control system
and the closed-loop response is observed by simulation and
testing this model. The results show the high-performance of
the designed control system.
6. performance analysis of pd, pid controllers for speed control of dc motork srikanth
Aim of this paper different Proportional-Integral- Derivative (PID) controller fine-tuning techniques are investigated for speed control of DC motor. At the start PID controller parameters for different tuning techniques are involved and then applied to the DC motor model for motion (speed) control. Simulation results are display, using these controllers, objective of this paper, the performance of a choose dc motor controlled by a proportional-integral-derivative (PID) controller is below the similar transient conditions and performances are compared.
In this paper, we first write a description of the operation of DC motors taking into account which parameters the speed depends on thereof. The PID (Proportional-Integral-Derivative) controllers are then briefly described, and then applied to the motor speed control already described , that is, as an electronic controller (PID), which is often referred to as a DC motor. The closed loop speed control of a Brush DC motor is developed applying the well-known PID control algorithm. The objective of this work is to designed and simulate a new control system to keep the speed of the DC motor constant before variations of the load (disturbances), automatically depending to the PID controller. The system was designed and implementation by using MATLAB/SIMULINK and DC motor.
A Flexible Closed Loop PMDC Motor Speed Control System for Precise PositioningWaqas Tariq
The speed control of DC motor is very significant especially in applications where precision is of great importance. Due to its ease of controllability the DC motor is used in many industrial applications requiring variable speed and load characteristics. So the precise speed control of a DC motor is very crucial in industry. In this case microcontrollers play a vital role for the flexible control of DC motors. This current research work investigates the implementation of an ATmega8L microcontroller for the speed control of DC motor fed by a DC chopper. The chopper is driven by a high frequency PWM signal. Controlling the PWM duty cycle is equivalent to controlling the motor terminal voltage, which in turn adjusts directly the motor speed. H-bridge circuit is implemented for the bi-directional control of the motor. A prototype of permanent magnet DC motor speed control system using the microcontroller is developed and tested.
Adaptive Variable Structure Controller Application to Induction Motor DriveIJERA Editor
Variable structure control is an adaptive control that gives robust performance of a drive with parameter variation and load torque disturbance. Variable control structure is a robust control scheme based on the concept of changing the structure of the controller in response to the changing state of the system in order to obtain a desired response. The control is nonlinear and can be applied to the linear or nonlinear plant. A high speed switching control action is used to switch between different structures of the controller and the trajectory of the system is forced to move along a chosen switching manifold in the state space. The controller detects the deviation of the actual trajectory from the reference trajectory and corresponding changes the switching strategy to restore the tracking. Prominent characteristics such as invariance, robustness, order reduction, and control chattering are discussed in detail. Methods for coping with chattering are presented. Both linear and nonlinear systems are considered. By using Variable structure controller to control the step change in reference speed and drive system under load torque variations.
A comparative study of performance of AC and DC electric drive control system...journalBEEI
In electric drive control systems, the main goal is to maintain the driving motor speed to meet the mechanism’s requirements. In some practical industrial applications the mechanically-coupled load to the motor shaft has a varying mass during the system operation. Therefore, the change of mass changes the value of the moment of inertia of the system. The moment of inertia impacts the system operation, particularly the transient performance. Therefore, the variation of moment of inertia on the motor shaft during its operation creates additional challenges to accomplish a high-quality speed control. The main purpose of the current work is to study the impact of the variation of moment of inertia on the performance of both AC and DC electric drive control systems and to make a comparison between them. A mathematical analysis and simulations of the control system models had been presented; one time with three-phase induction motor and another time with DC motor, both with variable moment of inertia. A simulation of both systems had been accomplished using the Simulink software in MATLAB. The simulation results of operation of these systems have been analysed in order to get useful conclusions and recommendations for the electric drive control system designer.
Simulation DC Motor Speed Control System by using PID Controllerijtsrd
Speed control system is the most common control algorithm used in industry and has been universally accepted in industrial control. One of the applications used here is to control the speed of the DC motor. Controlling the speed of a DC motor is very important as any small change can lead to instability of the closed loop system. The aim of this thesis is to show how DC motor can be controlled by using PID controller in MATLAB. The development of the PID controller with the mathematical model of DC motor is done using automatic tuning method. The PID parameter is to be test with an actual motor also with the PID controller in MATLAB Simulink. In this paper describe the results to demonstrate the effectiveness and the proposed of this PID controller produce significant improvement control performance and advantages of the control system DC motor. Mrs Khin Ei Ei Khine | Mrs Win Mote Mote Htwe | Mrs Yin Yin Mon ""Simulation DC Motor Speed Control System by using PID Controller"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd25114.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/25114/simulation-dc-motor-speed-control-system-by-using-pid-controller/mrs-khin-ei-ei-khine
Speed Control of Three Phase Induction Motor Using PLC under Open and Closed ...IJERA Editor
In today’s world industries demand process automation in all sectors, because automation results in better quality, increased production and reduced costs. The variable speed drives which can control the speed of AC/DC motors are indispensable controlling elements in automation systems. Depending on the application some of them are fixed speed and some of them are variable speed drives. The objective of the work is to monitor and control the speed of an Induction motor under various operating conditions such as no load and on load driven by AC Drive using programmable logic controller.
Speed control of Separately Excited DC Motor using various Conventional Contr...IJERA Editor
This paper presents comparative study of various conventional controllers such as Proportional (P), Proportional
Derivative (PD), Proportional integral (PI) and Proportional Integral Derivative (PID) controller for a speed
control of a Separately Excited Direct Current (SEDC) motor by using MATLAB / SIMULINK. All controllers
have their specific function for a particular task. The speed control normally done by feedback loop or closed
loop. The aim of development of this paper is towards providing efficient and simple method for controlling the
speed. The auto - tuning method are used to for this paper to control the speed. Among all this controllers PI
controller are frequently utilized in industries as compared to PID because Derivative action are sensitive to
noise, though PID controller will improve the steady state error. Additionally it produces less overshoot,
decreasing rise time and settling time. The MATLAB simulation are analysed and compared by using the auto
tuning method.
Keywords - Proportional (P), Proportional – Derivative (PD), Proportional - Integral (PI), Proportional –
International Journal of Engineering Research and Applications (IJERA) aims to cover the latest outstanding developments in the field of all Engineering Technologies & science.
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
Analysis of Induction Motor Speed Control Using SCADA Based Drive Operated Sy...IJSRD
This Paper represents the analysis of induction motor speed control using VFD (Variable Frequency Drive) system operated by PLC-SCADA system. The main aim of the paper is to dealt with the concept of speed control of a three-phase induction motor with energy saving. To do so, a VFD (Variable Frequency Drive) is used for controlling the speed of a three-phase induction motor with variable load attached to the motor. It certainly leads to the best performance and high efficiency of the induction motor. Programmable Logic Controller (PLC) and Supervisory Control And Data Acquisition (SCADA) are two new systems to control a Variable Frequency Drive (VFD) whose output is given to a three-phase induction motor and driving a conveyor belt. The conveyor belt has three sensors are inputs which senses a passing object and carries out the necessary instructions programmed in ladder logic programming of the PLC through the computer (PC). The SCADA software installed in the PC in turn enables the human operator to control the entire operation away from the plant and just by using the virtual inputs designated on his computer screen.
A REVIEW :MODELLING OF BRUSHED DC MOTOR AND VARIOUS TYPE OF CONTROL METHODSJournal For Research
This Review Paper introducing the modeling of Brushed DC motor and different PID control techniques. A brushed DC motor is commutated an internally which is electric motor designed to be run by a direct current power supply. A Brushed motors were the first commercially important application for convert electric power to driving mechanical loads, and DC power distribution systems were used for more than 100 years to operate motors in commercial and industrial Applications. A conventional brushed DC Motor consist basically two parts,first one is the stationary body of the motor called the Stator and the other one is inner part which rotates producing the movement called the Rotor or“ Armature†for DC motors. For the motion control of DC motor in almost applications, PID controller is used. The PID controllers have a long history in control engineering and they have been proven to be robust, simple and stable for many real world applications. Roughly, P action is related to the present error, I action is based on the past history of error, and D action is related to the future behavior of the error. From estimation point of view P, D, and I correspond to filtering, smoothing and prediction problems respectively.This control mode is combination of the Proportional, the Integral, and the Derivative mode. This is most powerful but complex controller mode. It provides accurate and stable control of the three controller mode. It is recommended in system where the load changes frequently. The Three-term , PID controllers are probably the most widely used industrial controller. An Even complex industrial control systems may comprises a control network whose main control building block is a PID control module. The three-term PID controller has had a long history of use and has survived the changes of technology from the analogue era in to the digital computer control system age quite satisfactorily. It was the first controller to be mass produced for the high- range volume market that existed in the process industries.
Speed Control of Brushless Dc Motor Using Fuzzy Logic Controlleriosrjce
This paper presents a control scheme of a fuzzy logic for the brushless direct current (BLDC)
permanent magnet motor drives. The mathematical model of BLDC motor and fuzzy logic algorithm is derived.
The controller is designed to tracks variations of speed references and stabilizes the output speed during load
variations. The BLDC has some advantages compare to the others type of motors, however the nonlinearity of
the BLDC motor drive characteristics, because it is difficult to handle by using conventional proportionalintegral
(PI) controller. The BLDC motor is fed from the inverter where the rotor position and current
controller is the input. In order to overcome this main problem, the fuzzy logic control is learned continuously
and gradually becomes the main effective control. The effectiveness of the proposed method is verified by
develop simulation model in MATLAB-Simulink program. The simulation results show that the proposed fuzzy
logic controller (FLC) produce significant improvement control performance compare to the PI controller for
both condition controlling speed reference variations and load disturbance variations. Fuzzy logic is introduced
in order to suppressing the chattering and enhancing the robustness of the controlled system. Fuzzy boundary
layer is developed to provide smother transition to the equivalent control. Smaller overshoot in the speed
response and much better disturbance rejecting capabilities.
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Speed Control of DC Motor under Varying Load Using PID Controller
1. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 38
Speed Control of DC Motor under Varying Load Using PID
Controller
Muhammad Rafay Khan engr.muhammad.rafay@gmail.com
Electronic Engineering Department
Sir Syed University of Engineering & Technology
Karachi, 75300, Pakistan
Aleem Ahmed Khan aaleem.engineer@gmail.com
Electronic Engineering Department
Sir Syed University of Engineering & Technology
Karachi, 75300, Pakistan
Umer Ghazali umerghazali3@gmail.com
Electronic Engineering Department
Sir Syed University of Engineering & Technology
Karachi, 75300, Pakistan
Abstract
DC motors are used extensively in industrial variable speed applications because of most
demanding speed-torque characteristics and are simple in controlling aspects. This paper
presents a DC motor speed controlling technique under varying load condition. The linear system
model of separately excited DC motor with Torque-variation is designed using PID controller. A
Matlab simulation of proposed system with no-Load and full-load condition is performed on
Simulink platform to observe the system response. The motor speed is kept constant in this
experiment. The simulation result of the experiment shows that a motor is running approximately
at a constant speed regardless of a motor load. The Simulink results show that the speed of the
motor is slow down only for about 270 rpm (9%) in 980 milliseconds under the effect of full load.
However, the motor speed is hunting about 200 rpm (6.66%) in 900 milliseconds on unloading
condition. It is concluded that a PID controller is successful tool for controlling the motor speed in
presence of load disturbances.
Keywords: Speed Control, DC Motor Model, PID Control, Closed Loop, Load Disturbance.
1. INTRODUCTION
For the last many years, the DC motors are extensively used in the industrial control applications.
DC motors are highly versatile and flexible in aspects of speed control. High performance DC
motor drives are popular in industrial applications for its enormous good characteristics such as
high starting, accelerating and retard torque, high response performance, rapid braking and
easier to be linear control etc. DC motor is a highly controllable electrical actuator and is widely
used for robotic manipulators, guided vehicles, steel rolling mills, cutting tool, overhead cranes,
electrical traction and other application etc. In comparison to AC drive, DC motor drives are
simple and less expensive [1].
Mostly, the feedback control loop is indispensable for the desired and better performance of the
system. However, this feedback system has slow response. For the fast dynamic response of the
system, many control strategies have been deployed in various feedback control systems. The
vital role of controls in a drive system include precise and quick tracking for reference speed with
minimum overshoot or undershoot and having little or eliminated steady state error. The
conventional (proportional integral- derivative).PID controllers have become very popular and
2. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 39
widely used in industrial control applications due to their features like simple mathematical
modeling, easy to operate, good robustness, high reliability, stabilization and eliminating steady
state error [2]. PID controller is used to attain the desired torque-speed characteristics of DC
motor. However, the optimization and tuning task of these controllers is very time consuming and
challenging, mainly under the varying load conditions, parameter variations, in abnormal
operating modes etc.
DC motors are considered as adjustable speed machine. Separately excited DC motor drive is
the most suitable configuration used for variable speed applications for a long time due to its
accurate speed control, controllable torque, high reliability and simplicity [1]. In Separately excited
DC motor, the power supply is directly connected to the field winding of the motor. There are
three speed control techniques used commonly; named as field resistance control, armature
resistance control and armature voltage control. The field current kept constant & variable voltage
applied to the armature in armature voltage control method. The basic working principle of an
armature controlled DC drive is that the speed of a separately excited DC motor is directly
proportional to the applied armature voltage of the DC motor. DC motor speed is controllable over
wide range via the proper proportional adjustment of terminal voltages. There have been so many
schemes such as using PI, PID controller, Fuzzy Logic controller, Artificial Intelligence
techniques, applied to control the separately excited DC motor through proper tuned regulation of
terminal voltages [7-12]. Besides the DC motor speed, its various loading effect is also a focal
consideration in the running operation of the DC motor. In this paper, the principle of DC motor
speed control under varying load using armature voltage control technique is presented.
In the experiment, the motor speed is kept constant and the load is varying from zero to peak
torque. The motor speed keeping constant under varying load condition is an attractive approach
to control the motor under varying load condition. By using this approach, PID controller is
employed in this system to overcome the unwanted undershoot of motor speed due to varying
load impact at certain abnormal conditions. The proposed system model using PID control
scheme, is designed on Matlab and simulations performed on Simulink platform.
In this paper, the speed control technique of separately excited DC motor under varying load
condition is presented with simulations. The DC motor model is developed and Matlab simulation
has been done under disturbing load conditions on Simulink platform. PID controller is employed
in this control system in order to get desired response of the system. The operation and tuning
rules of PID controller is also discussed. At the end, experimental result is presented and
discussed.
2. SYSTEM DESCRIPTION
This In this section, the entire system is described. This section is divided into two sub-parts. In
the first part, the dynamic model of DC motor speed control is presented. In the second part, the
proposed controlled system is presented and simulations have been done with Matlab on
Simulink platform.
2.1 Dynamic Model of DC Motor
This part presents the dynamic model of closed loop armature controlled DC motor speed control
system. The simulation of armature controlled DC motor has been performed on Simulink/ Matlab
software. The separately excited DC motor dynamic model and its design parameters have been
taken from Carnegie Mellon, Control Laboratory of University of Michigan, US [3]. This system
model consist of a armature controlled separately excited DC motor in which speed is being
controlled by the applied armature voltage Va and the field current If is held constant. The
armature controlled DC motor model is depicted in figure 1.
The speed range of separately excited dc motor can be from zero to rated speed. This
performance is mostly achieved by the variable armature voltage applied in the constant torque
condition. The input voltage is applied to the armature terminals of the motor. The three
3. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 40
parameters of motor are involved in to drive a mechanical load, such as inertia J, friction
coefficient Tf, and load torque TL. The dc motor specifications are as follows:
Where;
Shaft power of the motor = 5 hp
Rated voltage of the motor = 240 V
Ra = 0.6, Resistance of armature, (Ohm),
La = 0.012, Inductance of armature winding, (Henry),
Rf = 240 ohm; Field resistance,
Lf = 120 H; Field inductance,
Ia = Armature current of the motor (ampere),
If = Field current of the motor (ampere),
Va = Armature voltage applied to the motor,
Tf = 0 Nm, Coulomb friction torque
eb = back emf, (volt),
Tm = Torque of the motor (N.m),
θ =Angular displacement of motor shaft, (radian),
ω = Angular Velocity of motor-shaft,
J = 1 Km2, Equivalent moment of inertia of motor and load referred to motor shaft, (Kg.m2),
B = 0.02 Nm, Equivalent viscous-friction coefficient of the motor and load referred to the motor
shaft, (N.m / rad / sec).
The transfer function of armature controlled separately excited DC motor with an angular
displacement θ(s) to the applied armature voltage Va(s) as an input voltage source without load is
given by equation (1).
= (1)
The transfer function of armature controlled separately Excited DC motor with the speed (an
angular velocity i-e ω(s) = s θ(s) to the applied armature voltage Va(s) as an input voltage source
without load (Td(s) = 0) is given by equation (2). The block diagram of open loop armature
controlled separately excited DC motor without load Torque is shown in Figure 2.
= (2)
FIGURE 1: Armature Controlled DC Motor Model.
4. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 41
FIGURE 2: Simulink diagram of armature controlled DC motor without load.
FIGURE 3: Simulink model of armature controlled DC motor with load.
The transfer function block diagram of armature controlled separately Excited DC motor with the
speed (an angular velocity ω(s) to the applied armature voltage Va(s) with load (Td(s)) is also
depicted in figure 3.
2.2 Proposed System Description
In this part, the proposed model of separately excited DC motor system for speed control under
varying load is presented. The proposed control system consists of a control loops for speed and
armature current. A proportional-integral, Derivative (PID) controller is employed in this control
system in order to get desired response of speed-Torque characteristics and overcome the
problems of motor speed control under the effects of varying load.
The actual motor speed is measured by the armature current necessary for the motor. The actual
speed of the motor is sensed by the feedback control loop and compares this speed with the
preset reference speed in order to determine the required motor’s reference armature current.
The simulation of proposed system model has been accomplished in two steps. In the first one,
actual speed is setup with the reference speed with no-load condition. Next, the speed is setup
with the reference speed under varying load and the speed is kept constant.
The PID controller is very popular and common in process control industry. In the PID
(proportional-integral-derivative) closed control loop controller, the three controllers P,I and D all
have different tuning adjustments which interact all together that’s why its tuning is time
consuming and challenging task [4]. The effects of all three individual controllers (P-I-D) summed
together to produce the output value of the system [2]. Tuning of PID controller is the major task
5. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 42
of this device in order to proper functioning of the PID controller under the given circumstance of
the control system [7]. There are different tuning methods used to tune PID controller such as
Ziegler-Nichols method, manual tuning method and MATLAB tuning method [5]. PID controller is
the best choice for dynamic control system with no-steady state error, fast response, and superior
stability without oscillations. The P-I-D controller can be used for processes with higher order.
The variable e(s) stand for the error signal used to track the reference signal. The variable e(s) is
the difference between the desired reference input set point value r(s) and the actual output ω(s).
This error signal is sent to the PID controller and then controller evaluates the derivative and the
integral of the error signal. The output signal (u) of the controller becomes equal to the
proportional gain (Kp) times the magnitude of the error plus the integral gain (Ki) times the
integral of the error plus the derivative gain (Kd) times the derivative of the error. The signal (u)
will now be sent to the plant, and get the new generated output ω(s).This output will be again
return back to the sensor in order to determine the new error signal e(s). The new error signal will
be again sent to the controller and computes both derivative and integral again. The above
process repeats in the same manner. The signal (u) can be represented as follow [2].
(3)
In this paper, Ziegler-Nichols tuning method has been employed in the first step which overcomes
the overshoot problem of reference speed with the actual speed under no-load and eliminates the
steady state error. By using Ziegler-Nichols tuning method also known as ‘ultimate cycle method’,
determined the parameter values of each controller that is; Kp; proportional gain, Ki; integral gain
and Kd; derivative gain[2]. Ziegler Nichols tuning chart is given in Table 1. In the next step,
manual tuning is accomplished to overcome the undershoot problem of the motor speed under
the loading effect. The Block diagram of armature controlled S.E.DC motor with PID controller
under the effect of the load is illustrated in Figure 4. The output of PID controller is applied as an
input voltage to the armature terminals of the DC motor. The ultimate parameter values for the
‘PID Controller’ are KP = 2500, Ki = 3500 and Kd = 1100.
Kc TI TD
P KU/2
PI KU/2.2 PU/1.2
PID KU/1.7 PU/2 PU/8
TABLE 1: ZIEGLER-NICHOLS Tuning Chart.
FIGURE 4: Block diagram of armature controlled SEDC motor with PID controller under the effect of load.
6. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 43
2.3 The Proposed System Comparative to Previous Control System
There has been lot of research work done and published [11-14] on the same topic but the
approach of speed control technique presented in this paper is quite unique from all other
techniques already presented and published since those are mostly employed with the variation
of the control schemes. However, apart from the control schemes such as PI, PID, Fuzzy and
Sliding Mode Control etc, an idea is presented in this paper for the speed regulation of DC Motor
under varying load condition with the speed kept constant. This idea is experimentally tested on
the simulation software. By using this experiment setup, it will be justified whether the speed
regulation of the DC motor under varying load can be controlled effectively if the speed kept
constant and PID control scheme is employed to achieve this task.
3. RESULTS AND DISCUSSION
This section presents the results of the proposed speed control system model’s simulations,
which have been performed on the Simulink platform of Matlab software. The complete step by
step simulation results of DC motor speed control under the effect of load with speed – Torque
characteristic curve have been illustrated in this section.
The block diagram of system model without and with PID controller is developed on the Simulink
platform. First of all, the step response of the system model without PID controller is taken and
illustrated in figure 5. The output voltage reached up to the 0.1v (10% of the final value) when the
1V unit step volt is applied at the input. The rise time is 1.2 seconds, while the settling time is 1.5
seconds. The steady state error is about 90% of the final value.
In the next step of this experiment, the PID controller has been employed in the existing block
diagram of system model in order to attain the desired speed. The step response of PID
controlled system model is shown in figure 6. The output voltage reaches up to the desired value
of 1V. The rise time has been greatly reduced and is only 0.2 second, while the settling time for
PID controlled system is 0.25 second.
After that, the system model has been tested without PID controller with full load condition. The
speed – torque step response is also shown in figure 7. It is obvious that the speed is not attained
to the desired reference value. It has also been observed from the graph that the speed slows
down for about 15000 rpm below the running speed as the load torque changes from 0 to 1500.
Next, once again the PID controller is employed in the existing block diagram of system with load
disturbance. PID controller is used to overcome the current problem of speed control under the
effect of load. The simulation graph of the system model is demonstrated in the figure 8. By using
the same parameter values of PID controller, the response of the system become good with
respect to the desired speed sustainability with zero load torque. However, this speed
sustainability become drastically demolishes as the load torque changes from zero to 1500Nm.
This figure illustrates that the motor speed is tremendously hunted with open loop speed control
in full-load condition.
7. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 44
FIGURE 5: Uncontrolled DC Motor Speed Response.
FIGURE 6: PID Controlled Response of DC Motor.
8. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 45
FIGURE 7: Uncontrolled speed response of DC motor under load disturbance.
FIGURE 8: Partially Tuned PID controlled speed response of DC motor under load disturbance.
Eventually, the manually tuned PID controller has been employed in the system model and tested
for a speed control under the effect of the varying load. The step responses of the system with
no-load to full-load and unloading conditions are illustrated in Figure 9 and 10.
Figure 9 and Figure 10 show the speed response with no-load to full-load and unloading
conditions respectively. It is obvious from these responses that the speed of the motor is slow
down only for about 270 rpm (9%) in 980 milliseconds under the effect of full load. However, the
speed motor is hunting about 200 rpm (6.66%) in 900 milliseconds on unloading condition.
9. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 46
FIGURE 9: Tuned PID controlled DC motor speed response with No-load to Full load condition.
FIGURE 10: Tuned PID controlled DC motor speed response with Unloading condition.
4. CONCLUSION
This paper presented the separately excited DC motor speed control strategy using PID controller
under varying load. The DC motor model was designed with PID controller to control the speed of
the motor under the effect of load. In this experiment, the speed of the motor is kept constant and
the load torque is varying. The proposed system was fruitfully designed and tested. As per results
of the experiment, it is obvious from the above results and hence concluded that PID controller is
very effective and powerful controller that is capable of controlling the open-loop speed control of
DC motor under varying load condition. The ultimate parameter values of PID controller were
setup by using Manual Tuning method. Simulation results of the proposed system proved that
10. Muhammad Rafay Khan, Aleem Ahmed Khan & Umer Ghazali
International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 47
PID controller has better control approach in order to control and sustain the speed of the motor
under varying load condition. The results also confirmed the validation of the PID based closed
loop speed control system under the effects of load disturbance.
5. FUTURE SCOPE
The targeted result is achieved successfully under the given suitable conditions. However, some
improvements can be made in the control aspects of the proposed system design. In this
experiment, the PID controller is well performed for the motor speed control under the loaded
condition while the speed is kept constant. The ultimate parameter values of PID controller were
setup by Manual Tuning method. An Adaptive approach of PID controller may be used in the
prospective development in order of effectively speed control of the motor with reference to input
speed under the effect of load.
6. REFERENCES
[1] P.C. Sen, “Principles of Electrical Machines & Power Electronics”, USA: John Wiley & Sons,
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[2] K. J. Astrom and T. Hagglund,”PID controllers Theory, Design and Tuning”, 2nd edition,
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[3] “PID Design Method for the DC Motor Speed Control”, Internet:
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[4] “WATLOW PID practical guide for process control”, Internet:
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[5] M. Shahrokhi and A. Zomorrodi , “Comparison of PID Controller Tuning Methods”, Internet:
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International Journal of Engineering (IJE), Volume (9) : Issue (3) : 2015 48
[13] Aydemir,S;Sezen,S,Ertunc,H.M, "Fuzzy logic speed control of a DC Motor", Proceedings of
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