Tuning of PID controller using

Ziegler-Nichols method for speed

control of DC motor

Mubashir Rasool
191830
Abstract:

• In this paper, a weighted tuning methods of a PID speed controller for

separately excited Direct current motor is presented, based on
Empirical Ziegler-Nichols tuning formula and modified Ziegler-Nichol
PID tuning formula.
• Both these methods are compared on the basis of output response,
minimum settling time, and minimum overshoot for speed demand
application of DC motor.
• Computer simulation shows that the performance of PID controller
using Modified Ziegler-Nichols technique is better than that of
traditional Ziegler-Nichols technique.
Introduction:
• DC motors are finding great applications in these days inspite of
power electronics development

• The speed of DC motor can be adjusted to a great extent as to provide

controllability and high performance

• The controllers of the speed are conceived for goal to control the
speed of DC motor to execute one variety of tasks
DC MOTOR:
• DC motor system is a separately excited DC motor
• This paper focuses on the study of DC motor linear speed control,
therefore, the separately excited DC motor is adopted.
• Armature voltage control method to control the DC motor velocity.
Continue..
Controllers for DC Motors:

1. PID Controller
2. Fuzzy Logic Controller
3. Genetic Algorithm technique
4. Particle Swarm Optimization technique
5. Fuzzy-Neural Networks
6. Fuzzy-Genetic Algorithm
7. Fuzzy-Ants Colony
8. Fuzzy-Swarm
 PID CONTROLLER:
• A PID controller continuously calculates an error value e(t) the
difference between a desired set-point (SP) and a measured process
variable (PV) and applies a correction based on proportional, integral,
and derivative terms (denoted P, I, and D respectively).Here we
Control the armature voltage of the Dc motor to control its speed.

•
Ziegler-Nichols method
• This method is applied to plants with step responses.
• The response is characterized by two parameters, L the delay time
and T ,the time constant.
• These are found by drawing a tangent to the step response at its
point of inflection and noting its intersections with the time axis and
the steady state value. The plant model is
PID WITH Ziegler-Nichols method:
Disadvantages:
• Heuristic Method( Not guaranteed to be optimal, Perfect)

• Aggressive Overshoot

• Lack of selection of parameters

• Large Values of rise time, overshoot and settling time.

Objectives:
1. Minimize the rise time

2. Minimize the maximum overshoot

3. Minimize the settling time

Modified Ziegler-Nichols Tuning Method

• Modified Ziegler-Nichols tuning using Chien-Hrones-Reswick (CHR)

tuning algorithm emphasizes on set-point regulation.
• In addition one qualitative specification on the response speed and
overshoot can be accommodated.
• CHR method uses the time constant T of the plant explicitly.
Continue..
• Basically we design a Compensator based on Chien–Hrones–Reswick
(CHR) tuning algorithm which uses the time constant T, delay time L
and gain k.
• a = kL/T
Simulation and Analysis:
 Results Motor 1:
(a) Step response with Traditional Ziegler-Nichols method.

(b) (b) Step response with Modified Ziegler-Nicolas method.

Results Motor 2:

(a) Step response with Traditional Ziegler-Nichols method.

(b) Step response with Modified Ziegler-Nicolas method
 Results Motor 3:

(a) Step response with Traditional Ziegler-Nichols method.

(b) Step response with Modified Ziegler-Nicolas method
Conclusion:
• Modified Ziegler-Nichols tuned PID controller efficiently is better than
the traditional Ziegler-Nichols.
• Modified Ziegler-Nichols is the best controller which presented
satisfactory performances for the objectives (i.e Minimum rise time,
Minimum overshoot, and Minimum settling time)