International Journal of Engineering Research and Development

ISSN: 2278-067X, Volume 1, Issue 6 (June 2012), PP.61-66

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61
Integrated Speed Position Tracking with Trajectory
Generation and Synchronization for 2 Axis DC Motion
Control
Vinayak Mhase, K. R. Sudarshan, Onkarsingh Pardeshi, Prasheel V.
Suryawanshi

Maharashtra Academy of Engineering, Alandi (D), Pune 412105, INDIA


AbstractThis paper describes an integrated speed-position control mechanism for 2 axis of DC motors with precise
synchronization. The trajectory for each axis is generated by setting acceleration and velocity. The speed control is
adopted in an inner loop to ensure robustness of position of each axis against disturbances. The performance of speed and
position control is tested in presence of load and variation in power supply voltage. The speed controllers are
implemented using Proportional-Integral-Derivative (PID) algorithm; while position controllers are implemented using
Proportional-Derivative (PD) algorithm. The integrated speed-position control is used to reduce position synchronization
error caused by different motor dynamics. The results demonstrate the effectiveness of the proposed control for 2-axis
position synchronous control.

KeywordsTrajectory, Position Synchronization, Motion Control, Integrated Speed-Position, PID Control

I. INTRODUCTION
Industry requires speed and position control of DC motor to carry out particular task. Many applications require
linear or circular simultaneous movement along X-axis, Y-axis, Z-axis etc. Manufacturing of product also needs various
actions along different axis by Robots and Machinery, with proper. It is important to have precise synchronization of
motion along different axis in motion control. Small error in speed and position may lead to defects in product or waste
of raw material. The multi axis motion normally finds applications in car manufacturing and assembling, painting
equipments, robotics, etc. Multi axis, coordinated trajectory following is important in CNC machines and metal cutting
tools [1].
The analysis and design of integrated control for multi axis system is done using zero phase-error tracking
control and cross-coupled control structure [2] [3]. The servo controllers are individually designed for each of the motion
axis. The position command for each of the axis is generated independently. The motion control system is tested for
circular motion [4]. A generalized synchronization controller for multi axis motion system is developed by incorporating
cross-coupling technology into the optimal control architecture [5][6]. Although many earlier studies deal with position
synchronous control of multi axis system, it is observed that they usually consider ideal state i.e. no load conditions. The
overall purpose of this paper is to present trajectory generation for each axis individually as per the requirements of
acceleration, and velocity to the respective axis. The precise position synchronization of two axes is achieved by
integrated speed-position control approach. The integrated control algorithm is used for each axis. The speed controller
inside a position controller maintains the speed of motors in a trapezoidal shape to achieve its position. In control
algorithm, speed control is utilized in the inner loop to quickly suppress load disturbances. The system architecture is
shown in fig 1.

Fig. 1. Block Diagram of System

Integrated Speed Position Tracking with Trajectory Generation and Synchronization
62
The organization of this paper is as follows; The system modelling and identification is introduced in section 2.
The section 3 describes the trajectory generation. Section 4 details the implementation of DC motion control system for
2-axes along with synchronization. The robustness of control system is considered in presence of load. Section 5
discusses the tracking performance and synchronization of axes. Section 6 presents the conclusion.

II. SYSTEM MODELLING AND IDENTIFICATION
A DC motor can be characterized [7][8][9][10] as;


( )
( ) ( ) ( )
t
t e
K s
E s Js B Ls R K K
e
=
+ + +
(1)


( )
( ) [( ) ( ) ]
t
t e
K s
E s s Js B Ls R K K
u
=
+ + +
(2)
where e and u are angular speed and angular position respectively for applied voltage E .
A SIMULINK model of motor is shown in figure 2.

Fig. 2. DC Motor Model

The parameters of DC motor parameters are identified experimentally and are tabulated in Table 1.
TABLE I : DC MOTOR PARAMETERS BY EXPERIMENTAL IDENTIFICATION
Parameter Symbol Value
Motor armature impedance Z 8.88 ohms
Motor armature resistance R 7 ohms
Motor armature inductance L 17.3 mH
Motor voltage constant Ke 0.02277 V/rpm
Motor torque constant Kt 0.2174 Nm/A
Motor inertia J 4.843 x10
4
Kg m
2

Viscous friction coefficient B 8.693 x10
6
Nm:s/rad
III. TRAJECTORY GENERATION
The trajectory generator inside the controller decides position, velocity and acceleration for each axis. As
sudden changes in velocity of motor may produce jerk, this can cause error in position control. To avoid this, the speed of
DC motor should increase slowly, before it achieves a maximum constant speed for a stipulated time. The speed should
then decrease slowly before reaching the final position, where the speed should attain zero value. This approach of
trajectory generation reduces error in tracking position and synchronization of axis. This approach gives more stability to
plant and improves the performance. This also increases the robustness of system. To generate such velocity profile, a
smooth position profile is generated. The velocity profile is generated by (3) and position profile is generated by (4)
V U AT = + (3)

2
0
0.5 S S UT AT = + + (4)
where ,
V is final velocity,
U is initial velocity,
A is acceleration,
S is final position,
0
S is initial position and
T is time.
Integrated Speed Position Tracking with Trajectory Generation and Synchronization
63

The Fig. 3 shows velocity and position profile generated using the algorithm elucidated

Fig. 3a. Desired Trajectory (Velocity)

Fig. 3b. Desired Trajectory (Position)

IV. IMPLEMENTATION
The PID controller [7] can be characterized as,

0
1 ( )
( ) ( ) ( )
t
p d
i
de t
P t K e t e t dt T
T dt
(
= + + (
(

}
(5)
where ( ) P t is the controller output for the error ( ) e t .
p
K is proportional gain,
i
T is integral time and
d
T is derivative
time.
The equation (5) is discretized for digital implementation. A forward-rectangular method for integration and 2-
point difference method for derivative is used for discretization. The complete discrete PID control algorithm is given as;

0
1 ( ) ( 1)
( ) ( ) ( )
i
p s d
i s k
e i e i
P i K e i e k T T
T T
=
(

= + +
(
(

(6)

The figure 4 shows designed, modelled and implemented PID controller in SIMULINK.

Fig. 4. Modelling of PID in SIMULINK
Integrated Speed Position Tracking with Trajectory Generation and Synchronization
64
A. Speed Control
The PID control algorithm is used to control the speed of DC motor. The speed control is achieved in
MATLAB & SIMULINK. A random noise generator block is used to add error in PID controller output. Indirectly it tells
about loading effect and plant disturbances. The robustness is checked in presence of load. Also, the source power supply
voltage is varied between 12V to 24V. The tuning of PID controller is done by Ziegler-Nichols method [11].
B. Position Control
The PD algorithm is used to control the position of DC motor. The position control of DC motor is achieved in
SIMULINK. The robustness of position controller is checked similar to the speed controller. The position of motor is
controlled in terms of degrees and number of rotation of shaft. The position controller is used to achieve linear position of
object by converting circular motion of DC motor into linear motion.
C. Integrated Speed Position Control
The integrated speed position control is achieved by combining PD and PID algorithm. The trajectory generator
generates position profile as input to PD controller. The output of this acts as set-point for PID algorithm i.e. speed
controller. In order to suppress the load disturbances and to reduce error the speed controller (PID) is used inside PD loop
as shown in Fig 5. The PID controller takes care of velocity profile of interest. The integrated speed position control
works for both axis simultaneously. The actual speed of DC motor is given as feedback to speed controller and actual
position of motor is given as feedback to position controller as shown in Fig 5. The Fig. 5 shows block diagram of
integrated speed position control system for single axis.

Fig. 5. Integrated Speed-Position Control Block
D. Synchronization
Synchronization of two or more axes requires a definite relationship between one axis and the others. In many
machines, the synchronization requires coordination of starting and stopping. The position and velocity relationship
between the axes will often be important to the proper operation of the machine. For example, if there are interlocking
moving parts on a machine, position coordination during motion may be required to avoid collision. The trajectory
generator gives two position profiles to each axis. The random noise generators are taken to check the performance of
system in presence of disturbances. The trajectory generator plays important role in synchronization. The synchronization
can be done in many ways. In this paper the two types of synchronization are considered. First, certain position achieved
on one axis will be the signal to start motion on another axis. The second is when first motor achieves its mid-position
along axis one, then the second motor on axis second starts. Programmable acceleration and deceleration allow very
smooth and controlled starts and stops to individual axis of motion. The smoothness reduces machine wear and makes
machine run more quietly. The control gives better precision in the axis synchronization.
V. RESULTS AND ANALYSIS
A. Tracking Performance
Figure 6 and Fig. 7 shows speed tracking with and without effect of load. Position tracking is shown in Fig. 8
and Fig. 9. The results demonstrate that speed and position control is robust against load disturbances.









Fig. 6. Speed Tracking Fig. 7. Speed Tracking with Load Disturbance

Integrated Speed Position Tracking with Trajectory Generation and Synchronization
65









Fig. 8. Position Tracking Fig. 9. Position Tracking with Load Disturbance
B. Synchronization
Figure 10 and Fig. 11 shows the synchronization between two axes. When first motor achieves its position, it
stops and at same instant second motor starts. The effect of load is considered in Fig. 11. Fig. 12 and Fig. 13 shows that
when first motor achieves its mid-position second motor starts. The loading is considered in Fig. 13.
The inner speed controller and trajectory generator reduces the synchronization error. The system also works
well in presence of load disturbances.


Fig. 10. Synchronization of Axes Fig. 11. Synchronization of Axes with Load Disturbances


Fig. 12. Synchronization of Axes Fig. 13. Synchronization of Axes with Load Disturbances
Integrated Speed Position Tracking with Trajectory Generation and Synchronization
66
VI. CONCLUSIONS
This paper completely covers modeling, analysis, simulation and experimental verification of the speed-
position control system. The different trajectories can be realized easily for individual axis by setting velocity and
acceleration. Simulations & experiments have shown that synchronization error between axes reduces with smooth
trajectory generation. The performance & robustness for the speed control are investigated both analytically &
experimentally under load disturbances. Finally, the simulations & experiments demonstrate that the speed and position
control offers high dynamic stiffness against load disturbances.
VII. ACKNOWLEDGMENT
The authors wish to thank AICTE, New Delhi for the funding received through MODROBS Project vide, F. No.
RID/BOR/MOD-705/2009-10.
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