Motor DC Control System Using PID Controller

Ken Bagas Nandito Panjaitan1 , Enrike Pasaribu2 , Daniel Fernando Purba3

Electrical Engineering
Del Institute of Technology, Laguboti
els14003@students.del.ac.id, els14017@students.del.ac.id, els14020@students.del.ac.id
Abstract- This paper discusses the control of DC motors using
second-order PID controllers in order to design a DC motor
speed control which includes the mass of regulated motor
speed and the power of motor speed. DC motor is a device
that converts electrical energy into kinetic or motion. This DC
motor can also be referred to as Direct Current Motor. The
DC motor is widely used as a part of various applications, for
example, steel plants, electric trains, cranes and significantly
more. The point of this paper is to illustration a speed
Controller of a DC motor by the decision of PID parameters
using Kenridan technique.
Keywords: PID controller, DC motor. Kenridan.
I. INTRODUCTION
DC motor drives are widely used in applications
requiring adjustable speed, good speed regulations
and frequent starting, braking and reversing. Some
important applications are rolling mills, paper mills,
mine winders, hoists, machine tools, traction,
printing presses, textile mills, excavators, and
cranes.
Fractional horsepower DC motors are widely
used as servo motors for positioning and tracking.
Although, it is being predicted that AC drives will
replace DC drives, however, even today the variable
speed applications are dominated by DC drives
because of lower cost, reliability and simple control.
As per the control of DC motor, there are a lot of
methods to control the speed and position of the
motor.
robustness, a wide range of applicability and near-
optimal performance are some of the reasons that
have made PID controller so popular in the academic
and industry sectors. Recently, it has been noticed
that PID controllers are often poorly tuned and some
efforts have been made to systematically resolve this
matter.
PID control has been an active research topic for
many years; since many process plants controlled by
PID controllers have similar dynamics it has been
found possible to set satisfactory controller
parameters from less plant information than a
complete mathematical model. These techniques
came about because of the desire to adjust controller
parameters with a minimum of effort, and also
because of the possible difficulty and poor cost
benefit of obtaining mathematical models.
II. MATHEMATICAL ANALYSIS
OF DC MOTOR
In armature control of separately excited DC
motors, the voltage applied to the armature of the
motor is adjusted without changing the voltage
applied to the field. Figure 1 shows a DC motor
equivalent model.

The purpose of a motor speed controller is to

take a signal representing the demanded speed and
to drive a motor at that speed.

PID (proportional-integral-derivative) control

Fig.1 DC motor model
is one of the earlier control strategies. It has a simple
control structure which was understood by plant Some useful relations are :
operators and which they found relatively easy to 𝑉𝑎 (𝑡) = 𝑅𝑎 𝑖𝑎 (𝑡) + 𝐿𝑎 𝑑𝑖𝑎 /𝑑𝑡 + 𝐸𝑏 (𝑡) (1)
tune. Since many control systems using. PID control 𝐸𝑏 (𝑡) = 𝐾𝑏 𝜔(𝑡) (2)
have proved satisfactory, it still has a wide range of 𝑇𝑚 (𝑡) = 𝐾𝑡 𝑖𝑎 (𝑡) (3)
applications in industrial control. 𝑇𝑚 (𝑡) − 𝑇𝐿 (𝑡) = 𝑗𝑚 𝑑𝜔(𝑡)/𝑑𝑡 + 𝐵𝑚 𝜔(𝑡) (4)

PID control is a control strategy that has been

successfully used over many years. Simplicity,
 Where :
𝑉𝑎 = armature voltage (V)
𝑅𝑎 = armature resistance (Ω)
𝐿𝑎 = armature inductance (H)
𝐼𝑎 = armature current (A)
𝐸𝑏 = Back emf (V)
𝜔 = angular speed (rad/sec)
𝑇𝑚 = motor torque (Nm)
𝑇𝐿 = load torque (Nm)
𝜃 = angular position of rotor shaft (rad)
𝐽𝑚 = rotor inertia (𝐾𝑔𝑚2 )
𝐵𝑚 = viscous friction coefficient (Nms/rad)
𝐾𝑡 = torque constant (Nm/A)
𝐾𝑏 = Back emf constant (Vs/rad)
Figure 2 showing the basic block diagram
of DC motor model including their transfer
functions. Va is the input supply, TL is load torque
and ω is angular speed.
Fig.2 Block diagram of DC motor model
Subtitute (3) in (2) and (4) in (5), we get
𝑉𝑎(𝑡) = 𝑅𝑎𝑖𝑎 + 𝐿𝑎 𝑑𝑖𝑎 /𝑑𝑡 + 𝐾𝑏 𝜔(𝑡) (5)
𝐾𝑡 𝑖𝑎 (𝑡) = 𝑗𝑚 𝑑𝜔(𝑡)/𝑑𝑡 + 𝐵𝑚 𝜔(𝑡) (6)
Taking Laplace transform of equation (6) and (5),
𝑉𝑎 (𝑠) = 𝑅𝑎 𝑖𝑎 (𝑠) + 𝑠𝐿𝑠 𝐼𝑎 (𝑠) + 𝐾𝑏 𝜔𝑠 (7)
𝐾𝑡 𝐼𝑎 (𝑠) = 𝑠𝐽𝑚 𝜔(𝑠) + 𝐵𝑚 𝜔(𝑠) (8)
There are two possible conditions :
When 𝑇𝐿 = 0
Fig.3 Bock diagram DC motor model when TL = 0
Figure 3 shows that the DC motor is
running under no- load condition (ideal) i.e. 𝑇𝐿 = 0.
Now find the transfer function of 𝜔(𝑠) with respect
to 𝑉𝑎 (𝑠).
So, the relation between motor speed and
applied voltage is given by the transfer function =
𝜔(𝑠) 𝐾𝑡
= (9)
𝑉𝑎(𝑠) 𝐿𝑎 𝐽𝑚 𝑠 2 +(𝑅𝑎 𝐽𝑚 +𝐿𝑎 𝐵𝑚 )𝑠+(𝑅𝑎 𝐵𝑚 +𝐾𝑏 𝐾𝑡 )
And when 𝑉𝑎 = 0.
Fig.4 Block diagram DC motor model when Va = 0
Figure 4 shows the DC motor model when supply
voltage (𝑉𝑎 ) is 0 and the transfer function of 𝜔(𝑠) is
with respect to 𝑇𝐿 (𝑠). Here, the relation between
motor speed and load torque is given by transfer
function,
𝜔(𝑠) −(𝐿𝑎 𝑠+𝑅𝑎 )
= (10)
𝑇𝐿 (𝑠) 𝐿𝑎 𝐽𝑚 𝑠 2 +(𝑅𝑎 𝐽𝑚+𝐿𝑎 𝐵𝑚 )𝑠+(𝑅𝑎 𝐵𝑚 +𝐾𝑏 𝐾𝑡 )
III. SPEED CONTROL USING
CLASICAL PID TUNING
METHODS
The PID controller is the most common general
purpose controller in the today’s industries. It can be
used as a single unit or it can be a part of a distributed
computer control system.
After implementing the PID controller, now we
have to tune the controller; and there are different
approaches to tune the PID parameters like P, I and
D. The Proportional (P) part is responsible for
following the desired set-point while the Integral (I) IV. KENRIDAN METHOD
and Derivative (D) part account for the
The KENRIDAN method presents the
accumulation of past errors and the rate of change of
comparison results of the usual PID method with the
error in the process of plant, respectively.
KENRIDAN method.
PID controller consists of three types of control
i.e. Proportional, Integral and Derivative control.

Fig.8 Block diagram of KENRIDAN method

Fig.5 Block diagram of PID controller V. RESULTS

The system transfer function in continuous s-
domain are given as

For,

𝑃 = 𝐾𝑝 , 𝐼 = 𝐾𝑖 /𝑠, and 𝐷 = 𝐾𝑑 𝑠
𝐾𝑖
𝐺𝑐 (𝑠) = 𝑃 + 𝐼 + 𝐷 = 𝐾𝑃 + + 𝐾𝑑 𝑠 (11)
𝑠

1
𝐺𝑐 (𝑠) = 𝐾𝑝 (1 + + 𝑇𝑑 𝑠) (12)
𝑇𝑖 𝑠

Fig.9 Simuloink motor DC

Where 𝐾𝑝 is the proportional gain, 𝐾𝑖 is the
integration Coefficient and 𝐾𝑑 is the derivative
coefficient. 𝑇𝑖 is known as the integral action time or
reset time and 𝑇𝑑 is the derivative action time or rate
time.
𝐾𝑒 −𝜃𝑠
𝐺𝑃 = (13)
𝑇𝑠+1

Fig.10 Simulink motor DC without load

Fig.6 Block diagram of plant with variable output

Fig.7 System responses for first order time delay transfer

function Fig.11 Simulink motor DC with load
Fig.12 Results of with load and without load

Fig.11 Without KENRIDAN method

VI. CONCLUSION

A real time digital PID has been developed

with kenridan method

Fig.9 General PID

Fig.10 KENRIDAN effect