A

Seminar Report
on

SPEED CONTROL OF DC MACHINE

USING
PID CONTROLLERS
submitted towards partial fulfillment of the requirements
for the degree of Bachelors of Technology in
Electrical & Electronics Engineering
in the Academic year of
2019

DEPARTMENT OF ELECTRICAL ENGINEERING & EEE

VEER SURENDRA SAI UNIVERSITY OF TECHNOLOGY, BURLA,
ODISHA
By,
SWAPNIL BEHERA
(Regn. No. 15010295)

Under the guidance of

Dr. Gyan Ranjan Biswal
(Dept. of Electrical Engineering & EEE)
 CERTIFICATE

This is to certify that this seminar report titled “SPEED CONTROL OF

DC MACHINE USING PID CONTROLLERS” is the work of SWAPNIL BEHERA
with Regn. No.15010295, submitted for partial fulfillment of the course work
requirement for B.Tech. Program in the Department of ELECTRICAL &
ELECTRONICS ENGINEERING, Veer Surendra Sai University of
Technology, Burla. This project has been completed by them as minor
project. The work has been found quite satisfactory.

Head of the Department Seminar Guide

Dr. BANAJA MOHANTY Dr. Gyan Ranjan Biswal

Associate Professor and HOD Associate Professor
Department of EE & EEE Department of EE & EEE

Veer Surendra Sai Veer Surendra Sai

University of Technology, University of Technology
Burla. Burla.
 ACKNOWLEDGEMENT
We are immensely grateful to Dr. Gyan Ranjan Biswal, Associate Professor,
Electrical & Electronics Engineering Dept. for his kind support and guidance
for conducting and evaluating our Seminar with dedication. I am honored to
give a Seminar on this topic in his esteemed presence.
I would also like to thank the Vice Chancellor and HOD of Electrical &
Electronic Engineering Dept. Veer Surendra Sai University of Technology,
Burla for giving me this opportunity to participate in order to showcase our
Communication and Interpersonal skills in the Seminar as a part of our
curriculum.

Swapnil Behera
(Regn. No. 15010295)

Date:
Place: Veer Surendra Sai University of Technology, Burla
Dept. of Electrical & Electronics Engineering.
 DECLARATION

We hereby declare that all information in this document has been

obtained and presented in accordance with academic rules and ethical
conduct. We also declare that, as required by these rules and conduct, we
have fully cited and referenced all material and result that are original to this
work.

SWAPNIL BEHERA
(Regn. No. 15010295)

Date:
 ABSTRACT

The PID controller design and choosing PID parameters according to

system response are proposed in this report. Here PID controller is
employed to control DC motor speed and MATLAB program is used for
calculation and simulation. Choosing PID parameters are demonstrated by
several contrast experiments and a way for setting PID parameters values is
discussed.

This report mainly focusses on determining the values of PID

parameters for a controller design which meets the requirement of the
specified DC motor for the desired output i.e. speed control. The value of
parameters may vary between different motor models even having same
specifications and ratings.

Keywords:
 PID controller
 DC motor
 Speed control
 MATLAB
 CONTENTS
1. INTRODUCTION 1
2. PID CONTROLLER 3
a. Types of Controllers 4
i. Proportional Controller
ii. Derivative Controller
iii. Integral Controller
iv. Proportional Derivative (PD) Controller
v. Proportional Integral (PI) Controller
vi. Proportional Integral Derivative (PID) Controller
b. The Characteristics of P, I, and D controllers 8
c. Effect of increasing the individual gain 8
3. DC MOTOR SPEED CONTROL: PID CONTROLLER DESIGN 9
a. Physical setup and system equation 9
b. Transfer function 10
c. Design Requirements 10
d. MATLAB Representation and System Response 11
i. Open loop Response
ii. Closed Loop Response
iii. Tuning of the controller
4. CONCLUSION 16
5. REFERENCES 17
 INTRODUCTION

Important Terms:
Control System: A control system manages, commands, directs, or regulates
the behavior of other devices or systems using control loops. It can range
from a single home heating controller using a thermostat controlling a
domestic boiler to large Industrial control systems which are used for
controlling processes or machines. For continuously modulated control, a
feedback controller is used to automatically control a process or operation.
The control system compares the value or status of the process variable (PV)
being controlled with the desired value or setpoint (SP), and applies the
difference as a control signal to bring the process variable output of the plant
to the same value as the setpoint. Types:- Open-loop and Closed-loop Control
System

Open Loop Control System: Output is not fed-back to the input. The control
action is independent of the desired output.

Closed Loop Control System: Output is fed-back to the input. The control
action is dependent on the desired output.

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 Open Loop Control Systems Closed Loop Control Systems

Control action is independent of the desired Control action is dependent of the desired
output. output.

Feedback path is not present. Feedback path is present.

These are also called as non-feedback control These are also called as feedback control
systems. systems.

Easy to design. Difficult to design.

These are economical. These are costlier.

Inaccurate. Accurate.

Table 1

Controller: In control theory, a controller is a device, historically using

mechanical, hydraulic, pneumatic or electronic techniques often in
combination, but more recently in the form of a microprocessor or
computer, which monitors and physically alters the operating conditions of
a given dynamical system. Typical applications of controllers are to hold
settings for temperature, pressure, flow or speed. The principle operation of
Controller is one which compares controlled values with the desired values
and has a function to correct the deviation produced.
The various types of controllers are used to improve the performance of
control systems. Here we will discuss the basic controller such as the
proportional-derivative-integral controller.

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 PID CONTROLLER
A Proportional–Integral–Derivative controller (PID controller or three-
term controller) is a control loop feedback mechanism widely used in
industrial control systems and a variety of other applications requiring
continuously modulated control. A PID controller continuously calculates an
error value e(t) as the difference between a desired setpoint(SP) and a
measured process variable(PV) and applies a correction based on
proportional, integral, and derivative terms (denoted P, I, and D
respectively), hence the name.
In practical terms it automatically applies accurate and responsive
correction to a control function. An everyday example is the cruise control
on a car, where ascending a hill would lower speed if only constant engine
power is applied. The controller's PID algorithm restores the measured
speed to the desired speed with minimal delay and overshoot, by increasing
the power output of the engine.

Fig. 1 A block diagram of a PID controller in a feedback loop. r(t) is the desired process value or
setpoint (SP), and y(t) is the measured process value (PV).

The distinguishing feature of the PID controller is the ability to use the
three control terms of proportional, integral and derivative influence on
the controller output to apply accurate and optimal control. The block
diagram in Fig. 1 above shows the principles of how these terms are
generated and applied. It shows a PID controller, which continuously
calculates an error value e(t) as the difference between a desired setpoint
SP=r(t) and a measured process variable PV=y(t), and applies a correction
based on proportional, integral, and derivative terms. The controller
attempts to minimize the error over time by adjustment of a control variable
u(t), such as the opening of a control valve, to a new value determined by a
weighted sum of the control terms.

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Types of Controllers
1. Proportional Controller
The proportional controller produces an output, which is proportional
to error signal.
u(t)∝e(t)
⇒u(t) = KP e(t)
Apply Laplace transform on both the sides -
U(s) = KP E(s)
U(s)/E(s) = KP
Therefore, the transfer function of the proportional controller is KP.
Where,
U(s) is the Laplace transform of the actuating signal u(t)
E(s) is the Laplace transform of the error signal e(t)
Kp is the proportionality constant
The block diagram of the unity negative feedback closed loop control system
along with the proportional controller is shown in the following figure.

Fig. 2 Proportional Controller

2. Derivative Controller
The derivative controller produces an output, which is derivative of
the error signal.
u(t) = KD de(t)/dt
Apply Laplace transform on both sides.
U(s) = KD s E(s)
U(s)/E(s) = KD s
Therefore, the transfer function of the derivative controller is KD s.
Where, KD is the derivative constant.

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The block diagram of the unity negative feedback closed loop control
system along with the derivative controller is shown in the following figure.

Fig. 3 Derivative Controller

The derivative controller is used to make the unstable control system into a
stable one.

3. Integral Controller
The integral controller produces an output, which is integral of the
error signal.
u(t) = KI ∫e(t)dt
Apply Laplace transform on both the sides -
U(s) = KI E(s)/s
U(s)/E(s) = KI /s
Therefore, the transfer function of the integral controller is KI /s.
Where, KI is the integral constant.
The block diagram of the unity negative feedback closed loop control system
along with the integral controller is shown in the following figure.

Fig. 4 Integral Controller

The integral controller is used to decrease the steady state error.

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 4. Proportional Derivative (PD) Controller
The proportional derivative controller produces an output, which is
the combination of the outputs of proportional and derivative controllers.
u(t)= KP e(t)+ KD de(t)/dt
Apply Laplace transform on both sides -
U(s) = (KP + KD s) E(s)
U(s)/E(s) = KP + KD s
Therefore, the transfer function of the proportional derivative controller is
KP + KD s.
The block diagram of the unity negative feedback closed loop control system
along with the proportional derivative controller is shown in the following
figure.

Fig. 5 Proportional Derivative Controller

The proportional derivative controller is used to improve the stability of

control system without affecting the steady state error.

5. Proportional Integral (PI) Controller

The proportional integral controller produces an output, which is the
combination of outputs of the proportional and integral controllers.
u(t) = KP e(t)+ KI ∫e(t)dt
Apply Laplace transform on both sides -
U(s) = (KP + KI /s) E(s)
U(s)/E(s) = KP + KI /s
Therefore, the transfer function of proportional integral controller is
KP + KI /s.
The block diagram of the unity negative feedback closed loop control system
along with the proportional integral controller is shown in the following
figure.

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 Fig. 6 Proportional Integral Controller

The proportional integral controller is used to decrease the steady state

error without affecting the stability of the control system.

6. Proportional Integral Derivative (PID) Controller

The proportional integral derivative controller produces an output, which is
the combination of the outputs of proportional, integral and derivative
controllers.
u(t)= KP e(t)+ KI ∫e(t)dt+ KD de(t)/dt
Apply Laplace transform on both sides -
U(s) = (KP + KI /s + KD s) E(s)
U(s)/E(s) = KP + KI /s + KD s
Therefore, the transfer function of the proportional integral derivative
controller is KP + KI /s + KD s.

Fig. 7 Proportional Integral Derivative (PID) Controller

The block diagram of the unity negative feedback closed loop control system
along with the proportional integral derivative controller is shown in the
following figure.

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The Characteristics of P, I, and D controllers
 A proportional controller (KP) will have the effect of reducing the rise
time and will reduce, but never eliminate, the steady-state error.
 An integral control (KI) will have the effect of eliminating the steady-
state error, but it may make the transient response worse.
 A derivative control (KD) will have the effect of increasing the stability
of the system, reducing the overshoot, and improving the transient
response.
All design specifications can be reached with the PID controller and 100%
desired conditions can be achieved.

Effect of increasing the individual gains:

Table 2

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 DC MOTOR SPEED CONTROL: PID CONTROLLER
DESIGN
1. Physical setup and system equation:
DC motors have speed-control capability, which means that speed, torque
and even direction of rotation can be changed at any time to meet new
conditions. The electric circuit of the armature and the free body diagram of
the rotor are shown in the following figure:

Fig. 8 electric circuit and free body diagram

For this example, we will assume the following values for the physical
parameters.
 Moment of inertia of the rotor (J) = 0.01 kg.m^2/s^2.
 Damping ratio of the mechanical system (b) = 0.1 nms.
 Electromotive force constant (k=ke=kt) = 0.01 nm/amp.
 Electric resistance (R) =1 ohm.
 Electric inductance (L) = 0.5 H.
 Input (v): source voltage.
 Output (theta): position of shaft.
 The rotor and shaft are assumed to be rigid.
The motor torque T, is related to the armature current i, by a constant factor
kt. The back emf, is related to the rotational velocity by the following
equations:

In SI units (which we will use), kt (armature constant) is equal to ke (motor

constant) . From the figure above we can write the following equations based
on Newton’s law combined with kirchhoff`s law:
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 2. Transfer function:
Using Laplace transforms, the above modeling equations can be
expressed in terms of s.

By eliminating i(s) we can get the following open-loop transfer function,

where the rotational speed is the output and the voltage is the input.

3. Design Requirements:
First, our uncompensated motor can only rotate at 0.1 rad/sec with an
input voltage of 1 volt (this will be demonstrated later when the open-loop
response is simulated. since the most basic requirement of a motor is that it
should rotate.
At the desired speed, the steady-state error of the motor speed should be
less than 1% .the other performance requirement is that the motor must
accelerate to its steady-state speed as soon as it turn on. In this case, we want
it to have a settling time of less than 2 seconds. Since a speed faster than the
reference may damage the equipment, we want to have an overshoot of less
than 5%.
If we simulate the reference input(R) by a unit step input, then the motor
speed output should have:
 Settling time less than 2seconds.
 Overshoot less than 5%.
 Steady-state error less than 1%.

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 4. MATLAB Representation and System Response
Open loop Response
Transfer function: we can represent the above transfer function into Matlab
by the numerator and denominator matrices as follows

From the plot we see that when 1 volt applied to the system, the motor can
only achieve a maximum speed of 0.1 rad/sec, ten times smaller than our
desired speed. Also, it takes the motor 3 seconds to reach its steady-state
speed; this does not satisfy our 2 seconds settling time criterion.

Fig. 9 Open Loop Response

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Closed Loop Response
For Closed Loop Response the Program looks like as follows:

Tuning of the controller

a. Proportional Control
Let's first try using a proportional controller; so we set ki=0, kd=0 in
program of closed loop response and we take different values of kp the
calculation results was assumed in Table 3 and the corresponding plots was
gathered in Fig. 10:

Table 3

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We see that the proportional controller kp have the effect of reducing the
rise time; from (0.48sec) for kp=10 to (0.051sec) for kp=300; and will reduce
and never eliminate the steady state error from (0.5) for kp=10 to (0.032)
for kp=300. So, the response becomes more and more faster by increasing
the gain kp. But will increase the maximum overshoot; from (4% to 41%).

Fig. 10 closed loop response with different values of kp.

b. Proportional Integral Control

From the above results we observe that the settling is time still too long we
try now to increase the gain ki with kp=100, all the results are shown in the
Table 4 and the corresponding plot is gathered in Fig. 11.

Table 4

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 Fig. 11 closed loop response with different values of ki.

Now we see that the response is much faster than before; the settling time
becomes (0.774 sec) for ki=200, and the steady-state error becomes very
small and eliminated for ki=200.
c. Proportional-Integral-Derivative control
Now, we increase the gain kd, with kp=100; ki=200. All results are
illustrated in the Table 5 and the corresponding plots are shown in Fig. 12.

Table 5

From the results we see that the settling time reduced from (0.58 sec to
0.257sec) for (kd=1 to kd=10) and the overshoot from (23% to 1.03%) and
there is small change in the rise time.

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 Fig. 12 closed loop response with different values of kd.

So now we know that if we use a pid controller with: kp=100, ki=200 and
kd=10; all our design requirements will be satisfied and the response looks
like:

Fig. 7 system closed loop response with PID control.

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 CONCLUSION

From the experimental results we know that the proportional controller

(kp) will have the effect of reducing the rise time and will reduce; but never
eliminate the steady-state error, an integral control (ki) will have the effect
of eliminating the steady-state error, but it may make the transient response
worse. A derivative control (kd) will have the effect of increasing the stability
of the system, reducing the overshoot, and improving the transient response.

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 REFERENCES

 Zhen-yu zhao, Masayoshi Tomizuka and Satoru Isaka, “Fuzzy gain of

PID controller” Members, IEEE 1392p.
 S.Z.HE1 S.H.TAN and F.L.Xu2 P.Z.Wang3 department of electrical
engineering, NUS10 kent Ridge crescent singapore0511 “PID self-
tuning control using a fuzzy adaptive mechanism,” ,p708.
 Christopher T.kilian “Modern control technology: components and
systems,” 2end edition, p295.
 Robert H.Bishop, “Modern control system Analysis and Design Using
MATLAB”.
 Control System: Controllers, tutorials point.
< https://www.tutorialspoint.com/control_systems/control_systems_controllers.htm >
 Chapter 1: plant process characterization and PID see website
< http://entc462.tamu.edu/ClosedLoopControlS ystem.PDF >.

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