Scribd
Upload
188 views

PID Example DC Motor Speed Control

The document describes designing a PID controller for a DC motor speed control system. It involves: 1) Modeling the DC motor system and determining the open-loop transfer function. 2) Implementing proportional, PI, and PID controllers in MATLAB code and analyzing the step responses to tune the controller gains. 3) Finding that a PID controller with gains of Kp=100, Ki=200, Kd=10 meets the design requirements of settling time less than 2 seconds, overshoot less than 5%, and steady-state error less than 1%.

Uploaded by

idealparrot
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
188 views

PID Example DC Motor Speed Control

The document describes designing a PID controller for a DC motor speed control system. It involves: 1) Modeling the DC motor system and determining the open-loop transfer function. 2) Implementing proportional, PI, and PID controllers in MATLAB code and analyzing the step responses to tune the controller gains. 3) Finding that a PID controller with gains of Kp=100, Ki=200, Kd=10 meets the design requirements of settling time less than 2 seconds, overshoot less than 5%, and steady-state error less than 1%.

Uploaded by

idealparrot
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 5

PID Example: DC Motor Speed Control

From the main problem, the dynamic equations and the open-loop transfer function of the DC Motor are:

and the system schematic looks like:

With a 1 rad/sec step input, the design criteria are:


Settling time less than 2 seconds Overshoot less than 5% Steady-stage error less than 1%

Now let's design a PID controller and add it into the system. First create a new m-file and type in the following commands
J=0.01; b=0.1; K=0.01; R=1; L=0.5; num=K; den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)];

Recall that the transfer function for a PID controller is:

Proportional control
Let's first try using a proportional controller with a gain of 100. Add the following code to the end of your m-file:
Kp=100; numa=Kp*num; dena=den;

To determine the closed-loop transfer function, we use the cloop command. Add the following line to your m-file:
[numac,denac]=cloop(numa,dena); Note that numac and denac are the numerator and the denominator of the overall closed-

loop transfer function. Now let's see how the step response looks, add the following to the end of your m-file, and run it in the command window:
t=0:0.01:5; step (numac,denac,t) title('Step response with Proportion Control')

You should get the following plot:

PID control
From the plot above we see that both the steady-state error and the overshoot are too large. Let's try a PID controller with small Ki and Kd. Change your m-file so it looks like the following. Running this new m-file gives you the following plot.
J=0.01; b=0.1; K=0.01; R=1; L=0.5; num=K; den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)]; Kp=100; Ki=1; Kd=1; numc=[Kd, Kp, Ki]; denc=[1 0]; numa=conv(num,numc); dena=conv(den,denc); [numac,denac]=cloop(numa,dena); step(numac,denac) title('PID Control with small Ki and Kd')

Tuning the gains


Now the settling time is too long. Let's increase Ki to reduce the settling time. Go back to your m-file and change Ki to 200. Rerun the file and you should get the plot like this:

Now we see that the response is much faster than before, but the large Ki has worsened the transient response (big overshoot). Let's increase Kd to reduce the overshoot. Go back to the m-file and change Kd to 10. Rerun it and you should get this plot:

So now we know that if we use a PID controller with Kp=100, Ki=200, Kd=10, all of our design requirements will be satisfied.

You might also like