Modeling of DC Motor and Choosing the Best Gains for PID Controller (original) (raw)
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PID controller design for DC motor
Contemporary Engineering Sciences, 2018
The analysis of a DC machine (DC motor) is presented starting from a third order model of said system. The parameters of a commercial machine are also used with which the stability of the model is studied initially and then the design of a PID controller is presented to control the speed ω of the motor rotor.
Comparison Of Different DC Motor Modeling Techniques
Journal of Electronic Research and Application, 2018
A DC motor is the most widely used actuator in the industry, especially for robotic applications such as position control of robot manipulators. When motor is used in high performance close loop motion control systems, an accurate model of motor is required for control system design [1,2]. Mathematical description of DC motor is divided into two subsystems: Electrical and mechanical subsystems. Electrical subsystem of a DC motor is simple. It consist of a resistor, an inductor and a back-EMF source. Nowadays, digital RLC meters can be found in nearly all labs. This paper study the reliability of model obtained by using a digital RLC meter. Results shows that although RLC meters can measure impedances easily and quickly, obtained values are not precious because RLC meter's output current is in the range of mA while motor works with several Ampers.
DC Motor Angular Position Control using PID Controller with Friction Compensation
International Journal of Scientific and Research Publications (IJSRP), 2018
This paper finds to get the precision of angular position control for DC geared motor using PID controller. The Arduino microcontroller board is mainly used to control the 12V brushed Namiki DC motor. L298N dual H-bridge motor driver is applied to execute the pulse width modulation (PWM) signal and to drive the direction control. The implementation code is considered to generate the PWM output using PID (proportional, integral and derivative) tuning algorithms. According to the PID tuning method, errors are not only solved but also taken to its minimal value with very low amount of error oscillations. In this work, step input, sine input and potentiometer input are tested to analyze the system performance. The results were clearly seen, the controller output response curve is very well-matched to approach the desired position. But, it has a few errors when the orientation of changes angle because they are not fast to reach the desired position. Therefore, friction compensation according to the velocity effect is considered. After compensating the friction effect, the PID output results were very precise to get the desired angle. This stability performance using PID controller can be applied for robotic arm position control system and other industrial applications.
Ultima Computing : Jurnal Sistem Komputer, 2021
DC motor is a motor that is easy to apply. Its application in robotic DC motor control often occurs errors due to the existing load, so that the DC motor becomes inaccurate. The control used is PID (proportional integral differential). This PID control system works by processing calculations based on the control variables Kp, Ki, and Kd to achieve the conditions according to the expected setpoint. To make a DC motor position control device can be controlled with a PID controller. In practice, the variable to be controlled in this research is position control in the form of degrees. With the Arduino Mega controller, the motor driver as a DC motor rotation controller, the DC motor is given feedback in the form of an encoder sensor, the software used is the Arduino IDE. The results showed that PID control can correct errors and transient responses with a time constant value of 1.50 seconds, a rise time of 1.60 seconds, a settling time of 2.30 seconds and a delay time of 1.20 seconds an...
IJERT-Comparative Analysis of Speed Control Techniques of DC Motors with Matlab
International Journal of Engineering Research and Technology (IJERT), 2015
https://www.ijert.org/comparative-analysis-of-speed-control-techniques-of-dc-motors-with-matlab https://www.ijert.org/research/comparative-analysis-of-speed-control-techniques-of-dc-motors-with-matlab-IJERTV4IS050798.pdf In this paper, various speed control techniques for a dc shunt motor namely conventional method without using any controller, using a PID controller and speed control by Fuzzy Logic Controller have been discussed and a comparative analysis have been done between them. The models have been developed using MATLAB SIMULINK and the comparative analysis is based on the speed responses obtained by simulation of the models. Keywords-Speed Control, PID Controller, Fuzzy logic Controller, MATLAB, SIMULINK I INTRODUCTION DC motor is a power actuator which converts electrical energy into mechanical energy. DC motor is used in applications where wide speed ranges are required. The greatest advantage of dc motors is speed control. The term speed control stands for intentional change of the drive speed to a value required for performing the specific work process. Speed control is either done manually by the operator or by means of some automatic control device. DC motors are most suitable for wide range speed control and are therefore used in many adjustable speed drives. Since speed is directly proportional to armature voltage and inversely proportional to magnetic flux produced by the poles, adjusting the armature voltage or the field current will change the rotor speed. Thus the conventional speed control techniques include the control of speed by three methods (i) By varying the flux per pole. This is known as flux control method. (ii) By varying the resistance in the armature circuit. This is known as armature control method. (iii) By varying the applied voltage V. This is known as voltage control method. Other than these, various controllers are used to have a better speed response of the DC motor. Proportional-Integral-Derivative (PID) controller has been used for several decades in industries for process control applications. 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. These controllers are extremely popular because they can usually provide good closed-loop response characteristics. Though they give satisfactory results, an overshoot is observed and the settling time is more. Therefore manual tuning of PID controller is necessary. For further improvement of the speed response characteristics of the DC motor, another controller called Fuzzy Logic Controller (FLC) has been developed. Fuzzy logic control is a linguistic control algorithm which uses general statements instead of the mathematical equations to define the control scheme of the responses. Due to this technique, a wide range of values are included in the set which leads to better rise time, less speed fluctuations and overshoots. With fuzzy logic controller, manual tuning is eliminated and intelligent tuning takes the centre stage with satisfactory performance. DC motors is used in many industrial applications such as electric vehicles, steel rolling mills, electric cranes and robotic manipulators due to precise, wide, simple and continuous control characteristics. II MODELLING OF DC MOTOR The expression for speed of a DC motor is given as N= [V-I a (R a + R)]/k φ Therefore speed of DC motor can be varied by controlling the following quantities: (i) External resistance in armature circuit R (ii) Flux per pole φ (iii) Voltage of the armature V Fig1: DC Motor Model