Speed control of a dc motor using pid controller in matlab.pdf

Speed control of dc motor is performed on matlab simulink using pid controller.

1. Speed Control of a DC Motor
using PID controller in MATLAB
A Mini Project submitted
in partial fulfilment of the requirement for the Degree of
BACHELOR OF TECHNOLOGY
In
ELECTRICAL ENGINEERING
by
Pratibha Verma (2101100200042)
Amrita Singh (2101100200016)
Rupesh Sahu (2101100200045)
Devvrat (2101100200031)
Under the supervision of
Miss Rajeshwari Sonker
(Assistant Professor)
Department of Electrical Engineering
INSTITUTE OF ENGINEERING & RURAL TECHNOLOGY
PRAYAGRAJ-211002 INDIA
October-2023

2. Contents
Introduction
PID controller
P,I & D Controller
DCMotor
SimulationandResults
Advantages,Disadvantages&
Applications
Conclusion
FutureScopes

3. INTRODUCTION
• This study explores the application of a Proportional-Integral-Derivative (PID) controller in regulating the
spееd of a DC motor.
• DC motors are integral components in numerous industrial and robotic systems, making precise spееd control a
critical aspect of automation.
• The PID controller, a widеly-usеd control algorithm, is introduced, with an emphasis on the thrее cord
components: Proportional, Integral, and Derivative actions, which collectively enable accurate spееd
regulation.

4. Why This project…?

5. WHY THIS PROJECT…?
•In this growing industry, everything going towards automation with a high precision.
•PID controller is one of the suitable controller to control the process according to the desire.
•Key features of PID controller are:
•Accuracy and precision
•Energy Efficiency
•Adaptibility
•Remote Control
•Easy Tuning
•MinimiseSteady State Error
•Response time
•Automation

6. IMPORTANCE OF DC MOTOR IN INDUSTRY
•DC motors are important in industry because they offer precision speed control, which is necessary for
industrial machinery.DC motors can:
•Start,stop,andreverseimmediately
•Developfulltorqueatlowspeed
•Developconstanttorqueoverawidespeedrange
•Becontrolledbychangingthearmatureorfieldvoltage
•Higher starting torque than AC
•Linear speed-torque curve
•No harmonic effect
•Easier installation and maintenance
WHY THIS PROJECT…?

7. KEY COMPONENTS
•PID CONTROLLER
•DC MOTOR

8. BASIC BLOCK DIAGRAM

9. PID CONTROLLER

10. PID CONTROLLER
•AProportional-Integral-Derivative(PID)controllerisacommonlyusedfeedbackcontrolsystemin
engineeringandindustrialapplications.
•Itisdesignedtomaintainorregulateadesiredsetpointbycontinuouslyadjustingaprocesscontrolinput.
•PID controller maintains the output such that there is zero error between the process variable and setpoint/
desired output by closed-loop operations.
• PID uses three basic control behaviours.
•Proportional (P) Controller
•Integral (I) Controller
•Derivative (D) Controller

11. PROPORTIONAL (P) CONTROLLER
•Theproportionalcomponentgeneratesanoutputsignalbasedonthedifferencebetweenthedesiredsetpoint
andthecurrentprocessvariable(PV).Thisdifferenceisknownastheerror(e).
•Theproportionalgain(Kp)isatuningparameterthatdeterminesthesensitivityofthecontrollertotheerror.
AhigherKpvalueresultsinastrongerresponsetoerrors,whilealowervalueleadstoamilderresponse.
•Theproportionaltermtriestoreducetheerrorbyapplyingacontrolactionthatisproportionaltotheerror.It
canquicklyreducelargeerrors,butitmaynoteliminatesteady-stateerrorscompletely.

12. PROPORTIONAL (P) CONTROLLER …Continued
•As we know in proportional controller output is directly proportional to the error signal, writing this
mathematically we have,
Where Kp is proportional constant also known as controller gain.
ADVANTAGES
•Stability
•Simplicity
•Decreases Rise Time
DISADVANTAGES
• Steady-State Error
• Prone to Oscillations
• Inability to Predict Future Error

13. INTEGRAL (I) CONTROLLER
•An integral controller isa type of controller used
in control systems engineering.
•Continuously calculatesthe integral of the error
signal over time.
•The error signal is the difference between the
desired output and the actual output of a system.
•Integral controllers are also called reset
controllers.
•Eliminate the steady-state error that occurs with a
proportional controller.
•The controller's output will continue to change its
value until the error is zero.

14. INTEGRAL (I) CONTROLLER …Continued
• The integral controller produces an output, which is integral of the error signal. Mathematically, we have:
Where, K
I is the integral constant.
ADVANTAGES
•Eliminating steady-state error
•Robustness
•Returning the controlled variable to the set point
DISADVANTAGES
•Overcoming Transient Response
•Integration of Noise
•Tuning Challenges

15. DERIVATIVE (D) CONTROLLER
•A derivative controller isa type of controller used in closed-loop control systems.
•Uses the rate of change of the error signal to adjust the input signal.
•The output of the controller is proportional to the rate of change of the error signal.
•Derivative controllers can help to improve the stability and response time of a system.
•They can also be used to make an unstable control system stable.
Derivative controllers work by:
•Monitoring the rate at which the process is changing.
•Adjusting the input signal based on the rate of change of
the error signal.
•Providing an immediate control signal.
•Maintaining zero error in the output.

16. DERIVATIVE(D) CONTROLLER …Continued
•The derivative controller produces an output, which is derivative of the error signal. Mathematically, we have:
ADVANTAGES
•Improved Stability
•Faster Response
•Enhanced Damping
DISADVANTAGES
•Sensitivity to Noise
•Limited Use in Steady-State Control
•Tuning Complexity

17. The overall control function of PID Controller
Or,
PID CONTROLLER …continued

18. EFFECT OF INCREASING PARAMETERS INDEPENDENTLY
PID CONTROLLER …continued

19. PID CONTROLLER …continued
TUNING METHODS

20. PID CONTROLLER …continued
ADVANTAGES
•Simplicity
• Versatility
• Fast Response
• Stability
• Cost-Effective
DISADVANTAGES
•Tuning Challenges
• Limited Performance for
Nonlinear Systems
• Susceptible to Noise
APPLICATIONS
•Temperature Control
•Motor Speed Control
• Pressure Control
• Flow Control
• Air Conditioning
• Biomedical Applications
• Energy Management
• Waste water Treatment

21. DCMOTOR

22. DC MOTOR
•A DC (Direct Current) motor is an electro-mechanical device that converts electrical energy into mechanical
energy.
• It operates on the principle of the Lorentz force, which is the interaction between a magnetic field and an electric
current
• DC motors are widely used in various applications due to their simplicity, reliability, and ease of control
• Basic Components of a DC Motor:
•Stator
•Rotor
•Armature
•Commutator
•Brushes

23. DC MOTOR …continued
SPEED CONTROL OF DC MOTOR
•Armatureresistancespeedcontrol
•Speedcontrolbyvaryingfieldflux(fieldcontrolmethod)
•SpeedcontrolbyvaryingArmatureflux(VoltageControlmethod)
Speed of DC motor is given by the relationship:
Where,
N= Speed of DC motor
Ø= Armature Flux
I
a= Armature Current
r
a= Armature Resistance
V= Supplied Voltage

24. MATLAB SIMULATION AND RESULTS

25. MATLAB SIMULATION
SIMULATION CIRCUIT

26. RESULTS BEFORE TUNING OF PID CONTROLLER
PARAMETERS BEFORE TUNING

27. Variation in Output Speed when 1000rpm Desired Speed

28. Block Response vs. Tuned Response

29. Controller Parameters after Tuning

30. RESULTS AFTER TUNING OF PID CONTROLLER
Output Speed when 1000rpm Desired speed at 20Nm Torque

31. Output Speed when 800rpm Desired speed at 20Nm Torque

32. Output Speed when 1000rpm Desired speed at 50Nm Torque

33. Output Speed when 1000rpm Desired speed at 150Nm Torque

34. ADVANTAGES OF THE PROJECT
• Precision Speed Control
• Stability
• Adaptability
• Efficiency
DISADVANTAGES OF THE
PROJECT
• Manual Tuning Requirement
• Sensitivity to Parameter Changes
• Initialization Challenges

35. APPLICATIONS
•Heating and Cooling Systems
• Industrial Mixing and Agitation
• Conveyor Systems
• Textile Machines
• Rolling Mills
• Elevator Systems
• Chemical Reactors
• Printing Presses

36. CONCLUSION
•As far as results of the experiment are concerned, it can be 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.
•SimulationresultsoftheproposedsystemprovedthatPIDcontrollerhasa
bettercontrolapproachtocontrolandsustainthespeedofthemotorunder
varyingloadcondition.
•Proper tuning of the PID controller is essential for achieving the desired
performance.
• Tuninginvolvesadjustingtheproportional,integral,andderivativegainsto
balancespeedofresponse,stability,andeliminationofsteady-stateerror.
•APIDcontrollerofferstheabilitytomaintainprecisecontroloverthespeed
ofaDCmotor.
•Theproportional,integral,andderivativecomponentsworktogetherto
minimizeerrorandprovideastableandaccurateresponsetochangesinthe
motor'sspeed.

37. FUTURE SCOPE
•Advanced Algorithms
• IoT Integration
• Industry 4.0
• Energy Efficiency
• Multi-Motor Systems
• Real-time Feedback
• Automated Tuning

38. THANK YOU…