Speed Control of DC Servo motor using PID Controller

by:
Balendu Shekhar Priyadarshi
(15/IEE/061)
Under The Guidance Of
Dr. C.B. Vishawakarma
Department of Electrical Engineering
School of Engineering
Gautam Buddha University
Gautam Budh Nagar UP, India
CONTENTS
• OBJECTIVE
• INTRODUCTION
• SERVO MOTOR AND APPLICATION
• ADVANTAGES
• TYPE OF SERVO MOTOR
• WORKING PRINCIPLE OF DC SERVO MOTOR
• BLOCK DIAGRAM DC SERVO MOTOR
• PID CONTROLLER
• PARAMETER OF DC SERVO MOTOR
• SIMULINK MODEL OF DC SERVO MOTOR
(WITHOUT PID, WITH PID, COMPARISION WITH PID AND WITHOUT PID)
• CONCLUSION
• REFERENCE
Objective
Study and analysis of Speed Control of DC Servo motor using PID Controller.
 INTRODUCTION

A servomotor is a rotray actuator or linear actuator that allows for precise control
of angular or linear position velocity and acceleration.
Servomotors are used in a variety of applications in industrial electronics and
robotics that includes precision positioning as well as speed control Servomotors
use feedback controller to control the speed or the position.
Servo Motor
• A servomotor is a rotary actuator or linear actuator that allows for precise control
of angular or linear position velocity and acceleration.

Application
• The servo motor is used in solar tracking system to correct the angle of the panel.
• The servo motor is used in radar tracking and guidance system process controller.
• The Servo motor is used in automatic door openers to control the door in public
places like supermarkets, hospitals and theatres.
Advantages
• High speed operation is possible.
• High efficiency.
• Servo motor achieve high speed at high torque value.
• Resonance and vibration free operation.
Type of Servo Motor
• AC servo motor
• DC servo motor
AC servo motor-
• There are two winding, one fixed or reference winding is supplied with a fixed
voltage and frequency from a constant voltage source.
• Second winding is called control winding, with variable supply voltage of same
frequency.
• The stator has two distributed windings displaced 90 electrical degree apart.
DC servo motor-
• DC servo motor generally have a separate DC source in the field of winding and
armature winding .
• Speed can be controlled by armature control method.
Working principle of DC servo motor
• In DC operation servomotors are usually respond to error signal suddenly and
accelerate the load quickly.
• A DC servo motor is actually an assembly of four separate component namely.
1. DC motor
2. Gear assembly
3. Position sensing device
4. Control circuit
Block diagram of DC servo motor

• PID controller that can be use to control the speed of a DC servo motor.
PID Controller
• The combination of proportional, integral and derivative control action is called
PID control action.
• PID controllers are commonly used to regulate the time-domain behavior of
many different types of dynamic plants.

• The PID controller is placed in the forward path, so that its output becomes the
voltage applied to the motor's armature the feedback signal is a velocity,
measured by a tachometer.
PROPORTIONAL CONTROLLER:
• In proportional control system the actuating signal is proportional to the error
signal.
• The error signal being difference between the reference input and feedback signal
obtained from the output of the system.

INTEGRAL CONTROLLER:
• In integral control system the actuating signal is proportional to the integral of error
signal.

DERIVATIVE CONTROLLER:
• In derivative control system the actuating signal is proportional to the derivative of
error signal.
DC servo motor parameter value
Parameter Value

Moment of Inertia(J) 0.001 Nms²/rad

Damping Coefficient(B) 0.1 Nms/rad

Torque constant (Kt) 0.01Nm/A

Electromotive force constant (Ke) 0.01 Vs/rad

Electrical Resistance (R) 1 Ohms

Electrical Inductance(L) 0.5 Henry

Simulink Model Of DC Servo Motor Control
Without PID
Fig-Response on without PID
With PID
Fig- Response on with PID
Comparison with PID and without PID
Fig-Response on with PID and without PID
CONCLUSION:

• The working principle of DC servo motor has been studied.

• This dissertation presents study on MATLAB based control of the DC servo motor
using PID controller. So, the need for a closed loop control system was realized.
REFERENCE
• Praveen Kumar Nambisan.T.M, Dr.B.N.Sarkar. Study of speed control of DC series
motor using DC chopper Vol. 3, Issue 8, August 2014.
• V M Venkateswara Rao , “Performance Analysis Of Speed Control Of Dc Motor
Using P, PI, PD And PID Controllers” International Journal of Engineering Research
& Technology (IJERT) Vol. 2 Issue 5, May - 2013.
• K. Sailan and K.D. Kuhnert, “DC Motor Angular Position Control using PID
Controller.
• Krunal Shah, Vidhi Shah,Deepak Mistry, Chopper based speed control of DC
motor, Vol. 3, Issue 1 Month: January - March 2015.
Thank You