DC Control Motor Speed with Genetic Algorithm

Optimization Methods
Nugroho Surya Dwi Putra Jepri Iswantoro
Jurusan Teknik Elektro, Fakultas Teknik Jurusan Teknik Elektro, Fakultas Teknik
Universitas Negeri Surabaya Universitas Negeri Surabaya
Surabaya, Indonesia Surabaya, Indonesia
nugrohoputra16050874026@mhs.unesa.ac.id jepriiswantoro16050874022@mhs.unesa.ac.id

Puja Awwalia Rohmah Riztan Hanif Abdillah

Jurusan Teknik Elektro, Fakultas Teknik Jurusan Teknik Elektro, Fakultas Teknik
Universitas Negeri Surabaya Universitas Negeri Surabaya
Surabaya, Indonesia Surabaya, Indonesia
pujarohmah16050874031@mhs.unesa.ac.id riztanabdilah16050874004@mhs.unesa.ac.id

Abstract— Even though the DC motor has a fast

response, it still has a steady-state error so a
In this research, DC motor speed control is done by
control system such as PID (Proportional-
turning on the DC motor circuit on DIGIAC 1750 to then
be connected to NI ELVIS. The next step is to draw a Integral-Derivative) is needed. PID has several
block diagram with the LabVIEW application and then tunings that can be used to control the speed of
also connected with NI ELVIS which functions to a DC motor. In practice this time, multi-objective
retrieve real-time speed data on a DC motor. After that, optimization problem difficult to be solved as its
real-time data will be transferred to Microsoft Excel, objective generally conflict with each other and
consisting of time, response, speed, and set point.
its solution is not in the form of a single solution
Furthermore, all response and speed data are transferred
into the MATLAB application which is then reprocessed
but a set of solutions [3]. We also need algorithm
to calculate the Kc and Ti values according to the optimization from some speed data obtained to
controller used, namely the PI controller with GA determine the speed with the best system
(Genetic Algorithm) optimization method. In this response. The type of optimization algorithm
experiment, the Genetic Algorithm optimization used in this experiment is Genetic Algorithm
calculation method has obtained a good system (GA).
response, with a Kc value of 0.491 while a Ti value of
0.216.
II. SYSTEM OF DC CONTROL MOTOR SPEED
Keywords—MATLAB, Motor DC, NI ELVIS, Genetic
Algorithm In the DC motor control system practicum,
we use DIGIAC 1750, NI-ELVIS, and LabVIEW
I. INTRODUCTION as HMI.
The control system has become one of the 1) DIGIAC 1750
fields that are very much needed in today's
modern era. The complex structure of a plant
makes the field of control systems increasingly
developed. One control system that is often used
is DC motor control[1].
DC motor is one motor that is often used in
the industrial world for the purposes of speed Figure 1. DIGIAC 1750
regulation. Compared to AC motors, the speed
of a DC motor is more easily regulated in a wide The DIGIAC 1750 unit is a
speed range[2]. comprehensive transducer and
 instrumentation trainer with examples of a
full range of input and output transducers,
signal conditioning circuits and display
devices in DIGIAC itself which is one device
that is able to allow the characteristics of
individual devices to be learned. The
connection from DIGIAC itself is also
capable of making a complete closed-loop
system [4].
DIGIAC 1750 consists of several
components including:
2) Motor DC
Figure 2. Brushless DC Motor
DC motor is a direct current motor that
converts electrical energy into kinetic
energy. Two terminals on a DC motor
require direct current to rotate.
Based on the reversible polarity, DC
motors can be directed clockwise or
counterclockwise and produce revolutions
per minute or commonly referred to as RPM
(Revolutions per Minute) [5].
3) Power Amplifier
A power amplifier is one of the
electronic components that serve to regulate
the electrical power that is flowed into the
load. In a DC circuit, the power amplifier is
often used to stabilize the voltage or current.
With its function, the power amplifier is able
to provide sufficient voltage or current for
several components so as to avoid damage.
Although with that function, the power
amplifier also has a voltage capacity that can
be passed.
4) Tachogenerator
Tachogenerator is one component of
the control system that produces a voltage
proportional to the axis.In DC motor speed
control systems, tachogenerator is used to
measure the speed of a DC motor by turning
on the tachometer[6].
Currently, the tachogenerator uses
permanent magnets, so if we have to
measure the speed of a DC motor, the
tachogenerator has a rotating armature. The
end of the armature is attached to the engine
shaft to be able to measure speed.
5) NI-ELVIS II
Figure 3. NI-ELVIS II
The NI Engineering Laboratory Virtual
Instrumentation Suite (NI ELVIS) II is a
modular engineering educational laboratory
device developed specifically for academia.
With its hands-on approach, educators can
help students learn practical, experimental
skills. NI ELVIS II features one compact
form factor integrated with 12 of the most
commonly used instruments in the
laboratory, including an oscilloscope, digital
multimeter, function generator, variable
power supply, and Bode analyzer. We can
connect the PC to these various
measurements through USB plug-and-play
capabilities and build circuits on a
detachable protoboard [7].
6) LabVIEW 2014
Laboratory Virtual Instrument
Engineering Workbench (LabVIEW) is a
system-design platform and development
environment for a visual programming
language from National Instruments.
LabVIEW is commonly used for data
acquisition, instrument control, and
industrial automation on a variety of
operating systems (OSs) including Microsoft
Windows, various versions of Unix, Linux,
and MacOS[8].
These program scan display a graph of
the results of reading a control system by
making a block diagram of the control
system.
III. METHOD OF DC CONTROL MOTOR SPEED
In the control system, there are many
methods that can be used. In this practice, in
regulating the control of the speed of the DC
motor we use the PID controller with Genetic
Algorithm method
1) PID controller
The PID controller is the acronym for
Proportional-Integro-Differential control[9].
We now consider each of the terms,
assuming that the others are zero. With Ki =
Kd = 0, we simply have u(t) = 𝐾𝑝 𝑒(𝑡).
Thus at any instant in time, the control is
proportional to the error. It is a function of
the present value of the error. The larger the
error, the larger the control signal. One way
to look at this term is that the farther away
from the desired point we are, the harder we
try. As we get closer, we don’t try quite as hard.
If we are right on the target, we stop trying. As
can be seen by this analogy, when we are close
to the target, the control essentially does
nothing. Thus, if the system drifts a bit from
the target, the control does almost nothing
to bring it back. Thus enters the integral
term.
Assuming now that Kp = Kd = 0, we simply
have
𝑡
𝑢(𝑡) = 𝐾𝑖 ∫ 𝑒(𝜏)𝑑𝜏
0 achieving convergence is if around 80% or
The addition of this integral makes the
open-loop forward path of Type I. Thus, the
system, if stable, is guaranteed to have zero
steady-state error to a step input. This can
also be viewed as an application of the internal
model principle. If e(t) is non-zero for any
length of time (for example, positive), the
control signal gets larger and large as
time goes on. It thus forces the plant to react
in the event that the plant output starts to
drift. We can think of the integral term as an
accumulation of the past values of the error. It
is not uncommon for the integral gain to be
related to the proportional gain by:
𝐾𝑝
Ki =
𝑇𝑖
Where 𝜏𝑖 is the integral time. Generally, by
itself, the I term is not used. It is more
commonly used with the P term to give a PI
control. The I term tends to slow the system
reactions down. In order to speed up the
system responses, we add the derivative
term.
Assuming now that Kp = Ki = 0, we have
u(t) = 𝐾𝑑
𝑑𝑒(𝑡)
𝑑𝑡
2) Genetic Algorithm Method
Genetic Algorithm (GA) is part of the
Evolutionary Algorithm which is an
algorithm that modeled on the natural
evolutionary process where the main
concept is that the most superior individuals
will survive, whereas weak individuals will
become extinct[10].
GA is one of the algorithms used for the
optimization process. In optimization, the
optimal conditions of the solutions obtained
are the main targets to be achieved. But in
the optimization algorithm, optimum local
optimum conditions often occur. Local
optimum is a condition where the algorithm
reaches the highest or lowest value on some
candidate values of the solution. One of the
local optimum can occur is due to the
population reaching the convergence format
too early premature convergence[11].
According to Rajeev and
Krisnamoorthy [12], the criterion for
85% of the number of chromosomes have
the same gene value. One way to prevent
premature problems is to maintain the
chromosome diversity of a population. In
GA, the chromosome diversity of a
population can be maintained by
implementing the crossover operator and
mutation.
The following is the GA program on matlab:
Figure 4. Genetic Algorithm program on
MATLAB
 In this practice, we used GA
optimization method in order to collect
some PID controller data in the form of Kp,
Ki, and Kd values of DC motor speed with
the aim to get the Kp, Ki, and Kd values that
are appropriate to the system and produce
the best response. After calculating the rules,
Figure 6. Best graph r esults with the
compare the newly calculated controller
second Kp, Ki and Kd values
settings with the ones in the controller, and
ensure that any large differences in numbers
2. Result
are expected and justifiable. Then, insert the
In this study, we compared the results
Kc and Ti value into LabVIEW software so
of responses from the PID controller
that we can get the desired response on the
method where with the value of Kp =
system.
2.948, Ki = 1.965, and Kd = 0.224. The
following results of response as shown
IV. TEST RESULT AND DISCUSSION below:
a. Grafik Of Response with Controller
1. Mathematical modeling of Genetic
Algorithm Optimization Method
To determine the initial value, the
first order step response with the PID is
used to determine the value of Kp, Ki, and
the value of Kd. First, the system starts
with set point 3.5 and without using a
Figure 7. The Result Of Response with
controller to get the PV graph.
Controller
From the PV graph, values have been
obtained automatically: Kp = 2.855, Ki =
b. Grafik of Response using change Set
1.994, Kd = 0, so the results of these values
Point value 1.5, 2.5, 3, and then back to
can be seen in the following graphs:
3.5

Figure 5. First graph results with Kp, Ki and Figure 8. The Result Of Response With
Kd values Change Setpoint

Because the results graph still does c. With Disturbance

not show a good response, so we try to
find some other Kp, Ki, and Kd values,
until finally we find a value that shows a
good system response: Kp = 2.948, Ki =
1.965, and Kd = 0.224

Figure 9. The Result Of Response With

Disturbance
 V. CONCLUSION [6] Kundu, Anubhab. 2015. “What is
This paper discussed about the design of PID Tachogenerator?”, (online),
Controller to control the speed of DC motor. To (https://www.quora.com/What-is-
determine the value of Kp, Ki and Kd is using the tachogenerator, accessed November 10,
GA optimization Method. By using PID controller, 2019)
mathematical model of DC motor using the value [7] National Instruments. 2019. “NI ELVIS II”,
that have been obtained. (Online), (https://www.ni.com/en-
id/support/model.ni-elvis-ii.html, accessed
𝑡 𝑑𝑒(𝑡)
𝑢(𝑡) = 𝐾𝑝𝑒(𝑡) + ∫0 𝑒(𝑡)𝑑(𝑡) + 𝐾𝑑 November 13, 2019).
𝑑𝑡
[8] Wikipedia. 2019. “LabVIEW”, (Online),
So,[13] (https://en.wikipedia.org/wiki/LabVIEW,
accessed November 13, 2019.
𝑑𝑒(𝑡)
𝑢(𝑡) = 2.948 + 1.965 𝑑(𝑡) + 0.224 [9] Robert A. Paz, “The Design of the PID
𝑑𝑡
Controller”, Klipsich School of Electrical
According to the results of the experiments we and Computer Engineering, June 12, 2001.
have done, it can be concluded that the graph has [10] Andries P Engelbrecht, “Fundamentals of
shown a good response system with the value of Kp computational swarm intelligence”, John
= 2.948, Ki = 1.965, and Kd = 0.224. Wiley & Sons, 2006.
[11] Bina Nusantara, “Genetic Algorithm”,
(Online,(https://socs.binus.ac.id/2018/12/
08/genetic-algorithm/, accessed November
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