International Journal of Scientific Research Engineering & Technology (IJSRET)

Volume 2 Issue 12 pp 832-834

March 2014

www.ijsret.org

ISSN 2278 0882

DC MOTOR SPEED CONTROL USING MATLAB

1

Assistant Professor,

1,2,3

J.Archana1, P.Suganthini2, C.Malathi3

Department of ICE, Saranathan College of Engineering, Trichy

ABSTRACT

II.

Speed control of DC Motor is vital in many

applications. In this paper, an effort has been made to
control the speed of the DC motor based on LabVIEW
(Laboratory
virtual
Instrument
Engineering
Workbench) program. LabVIEW provides a graphical
programming environment suited for high-level or
system-level design. By LabVIEW aided PID
controller, the parameter are adjusted to control the
motor speed. Design of controller by applying several
methods in analyzing controlled parameters to tune
parameter in order to obtain the best process response.
Tuning the parameters of the PID controller is done
using trial and error method by conducting simulation
on the system model using Mat lab package.

I.

MATHEMATICAL MODEL OF DC
MOTOR

DC motor system is a separately excited DC motor,

which is often used to the velocity tuning and the
position adjustment. The equivalent circuit of the DC
motor using the armature voltage control method is
shown in figure1:

INTRODUCTION

DC Motor plays a fundamental role in research and

laboratory experiments because of their simplicity and
low cost. DC motor is a power actuator which converts
electrical energy into mechanical energy. There are
several types of applications where the load on the DC
motor varies over a speed range. The greatest
advantage of dc motors may be speed control. These
applications may demand high-speed control accuracy
and good dynamic responses. The term speed control
stand for intentional speed variation carried out
manually or mechanically. DC motors are most
suitable for ample range speed control and are
therefore used in many adjustable speed drives.
Because speed is directly proportional to armature
voltage and inversely proportional to magnetic flux
induced by the poles, adjusting the armature voltage or
the field current will vary the rotor speed. So, it is
important to make a controller to control the speed of
DC motor in desired speed. Proportional-IntegralDerivative (PID) controller has been used for several
decades in industries for process control applications.
At the same time PID controller has some
disadvantages namely; the undesirable speed exceed,
idle response and sensitivity The performance of this
controller depends on the precision of system models
and parameters. There are many algorithms/methods
proposed in literature for tuning of PID controller such
as Process reaction curve (Cohen-coon).

Fig 1: Equivalent Circuit of the Dc Motor

G (s)

kT
( S )

Ea ( S ) ( Las Ra )( Js B ) kbkT

Where
Ra : armature resistance ()
La : armature inductance (H)
Ia : armature current (A)
Ea : input voltage (V)
eb : back electromotive force (V)
Tm: motor torque (Nm)
: angular velocity of rotor (rad/s)
J : rotor inertia (kgm2)
B: friction constant (Nms/rad)
Kb: EMF constant (Vs/rad)
KT: torque constant (Nm/A)
Because the back EMF eb is proportional to speed
directly, hence
eb(t) = Kb

d (t ) K (t)
= b
dt

Making use of the KCL voltage law we can get

ea(t) = Raia(t) + La

dia (t )
dt

+ eb(t)

From Newton law, the motor torque can obtain

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International Journal of Scientific Research Engineering & Technology (IJSRET)

Volume 2 Issue 12 pp 832-834

March 2014

ISSN 2278 0882

(KDs2 K p s KI )KT

d 2 (t )
d
Tm(t) = J
+B
= KTia(t)
2
dt
dt

La Js3 (Ra J BLa KD )s2 (Ra B Kb KT KP )s Kb KT

Taking Laplace transform, the above equations can

be formulated as follows:
Eb(s) = Kb(s)
Ea(s) =(Ra + Las)Ia(s) + Eb(s)
Tm(s) = B (s) + Js(s) = K TIa(s)
The DC motor armature control system functional
block diagram from equations (4) to (6) is shown in
Figure 2:

Figure 2: DC motor armature control system functional

block diagram.
The transfer function of DC motor speed with respect
to the input voltage can be written as follows,
G(s) =

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Many industrial applications use PID control to

maintain constant process variable. The output of PID
controllers (proportional- integrative- derivative
controllers) is a linear combination of the input, the
derivative of the input and the integral of the input
therefore it is widely used and enjoys significant
popularity, because of its simplicity, effectiveness and
robustness .Actually, the trial and error tuned PIDs
often perform in a non-optimal way. But even though
further fine tuning is possible and sometimes
necessary to provide a good starting point, their
usefulness is obvious when no model of the plant is
available and thus no analytic means of tuning a
controller exists. This method may also be used when a
model is known. In the work presented in this paper,
experimental investigation is carried out for the
appropriate tuning parameters of the PID controller
that governs the speed of a DC motor using Cohencoon method to obtain the best system response
achievable.
Once the value of process parameter are obtained, the
PID parameter can be calculated from the following
table

KT
( s )
=
E a ( s ) ( La s Ra )( Js B) K b K T

The relationship between the input e(t) and output u(t)

can be formulated in the following,
U(t) = Kpe(t) + KI

( )dt + KD

de(t )
dt

The transfer function is expressed as follows,

C(s) = Kp +

KI
U (s)
KDs
s
E (s)

The PID DC motor speed control system block

diagram is shown in Figure 4:

III.

MATLAB

MATLAB (MATrix LABoratory) is a tool for

numerical computation and visualization. The basic
data element is a matrix, so if you need a program that
manipulates array-based data it is generally fast to
write and run in MATLAB (unless you have very large
arrays or lots of computations, in which case youre
better off using C or Fortran)
Figure 3: PID DC motor speed control system block
diagram

IV.

The closed loop transfer function of DC motor speed

control system expresses as follows,
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ADVANTAGES
It allows quick and easy coding in a very highlevel language.
Rich data types: Complex number, Three
dimensional matrix, structure, cell array, etc

International Journal of Scientific Research Engineering & Technology (IJSRET)

Volume 2 Issue 12 pp 832-834

March 2014

Lots of nice functions and toolboxes:

fminsearch, fsolve, normcdf, norminv, etc; garch,
optimization, symbolic,

Lots of users: economists, mathematicians,

engineers,
High-quality graphics and visualization
facilities are available.
MATLAB M-files are completely portable
across a wide range of platforms.
EXTENSIVE documentation (type helpwin)

V.

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REFERENCES
[1]Ramu Krishnan, Electric motor drives:
modelling, analysis, and Control, Prentice Hall,
London, 2001.
[2] Brian R Copeland, The Design of PID Controllers
using Ziegler Nichols Tuning, (March 2008)
[3] PID Control of Continuous Processes by John W.
Webb Ronald A. Reis.
[4] K.P Ramachandran Control EngineeringWiley
Precise Textbook, 2011.
[5] PID Example: DC Motor Speed Control

SIMULATION RESULTS
COMPARISION OF MPC WITH PID
CONTROLLER:

1.2
1
S
0.8
P
E 0.6
E 0.4
D
0.2

MPC
COHENCOON

0
0

CONTROLLER

50

TIME

100

150

PID

RISE
TIME
59

OVER
SHOOT
0.12

SETTLING
TIME
75

MPC

59

VI.

ISSN 2278 0882

CONCLUSION

In this paper PID controller is designed using

Matlab. Graphical representation of program gives us
clear understanding about the structure and data flow.
It is better for control application while MATLAB is
better for data manipulation. Execution time is better
in Matlab. So we use Matlab for DC motor speed
control. In this performance comparison of PID
controller with that of MPC controller is presented.
Performance comparison are simulated and studied.
The time response characteristics of the three systems
are analysed. The effectiveness of the PID controller
and MPC controller is evaluated in terms of
i. Rise-time
ii. Settling-time

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