Comparative Analysis of Speed Control Techniques of DC Motors With Matlab
Comparative Analysis of Speed Control Techniques of DC Motors With Matlab
Comparative Analysis of Speed Control Techniques of DC Motors With Matlab
ISSN: 2278-0181
Vol. 4 Issue 05, May-2015
Abstract In this paper, various speed control techniques overshoot is observed and the settling time is more.
for a dc shunt motor namely conventional method without Therefore manual tuning of PID controller is necessary.
using any controller, using a PID controller and speed control
by Fuzzy Logic Controller have been discussed and a For further improvement of the speed response
comparative analysis have been done between them. The
characteristics of the DC motor, another controller called
models have been developed using MATLAB SIMULINK and
the comparative analysis is based on the speed responses Fuzzy Logic Controller (FLC) has been developed. Fuzzy
obtained by simulation of the models. logic control is a linguistic control algorithm which uses
general statements instead of the mathematical equations to
Keywords Speed Control, PID Controller, Fuzzy logic define the control scheme of the responses. Due to this
Controller, MATLAB, SIMULINK technique, a wide range of values are included in the set
I INTRODUCTION which leads to better rise time, less speed fluctuations and
overshoots. With fuzzy logic controller, manual tuning is
DC motor is a power actuator which converts eliminated and intelligent tuning takes the centre stage with
electrical energy into mechanical energy. DC motor is used satisfactory performance.
in applications where wide speed ranges are required. The
greatest advantage of dc motors is speed control. The term DC motors is used in many industrial applications
speed control stands for intentional change of the drive such as electric vehicles, steel rolling mills, electric cranes
speed to a value required for performing the specific work and robotic manipulators due to precise, wide, simple and
process. Speed control is either done manually by the continuous control characteristics.
operator or by means of some automatic control device. DC
motors are most suitable for wide range speed control and II MODELLING OF DC MOTOR
are therefore used in many adjustable speed drives. Since
speed is directly proportional to armature voltage and The expression for speed of a DC motor is given as
inversely proportional to magnetic flux produced by the N= [V-Ia(Ra + R)]/k
poles, adjusting the armature voltage or the field current
will change the rotor speed. Thus the conventional speed Therefore speed of DC motor can be varied by
control techniques include the control of speed by three controlling the following quantities:
methods (i) External resistance in armature circuit R
(i) By varying the flux per pole. This is known as flux
control method. (ii) Flux per pole
(ii) By varying the resistance in the armature circuit. This is (iii) Voltage of the armature V
known as armature control method.
(iii) By varying the applied voltage V. This is known as
voltage control method.
Here we assume that the input of the system is that III INCORPORATING PI CONTROLLER IN SIMULINK
voltage source (V) applied to the motor's armature, while MODEL OF DC MOTOR
the output is the rotational speed of the shaft d()/dt. The
rotor and shaft are assumed to be rigid. We further The combination of proportional, integral and derivative
assume a viscous friction model, that is, the friction control action is called PID control action. PID controllers are
torque is proportional to shaft angular velocity. commonly used to regulate the time-domain behavior of many
different types of dynamic plants.
In general, the torque generated by a DC motor is
proportional to the armature current and the strength of These controllers are extremely popular because they can
the magnetic field. In this example we will assume that usually provide good closed-loop response characteristics.
the magnetic field is constant and therefore, that the The block diagram incorporation PID controller to the
motor torque is proportional to only the armature current existing dc motor model is shown below:
i by a constant Kt. This is referred to as an armature-
controlled motor.
(s)/Va(s) = k/ (LaJms2 + RaJms + k22 ) (3) Here by varying the values of the parameters of the PID
controller Kp, Kd and Ki, different responses are obtained for
the system.
For the DC motor with certain given parameters, the
overall transfer function of the system is obtained as: III FUZZY LOGIC CONTROLLER (FLC)
(s)/Va(s) = 0.5/ (0.002s2 + 0.050s + 0.629) (4) Fuzzy logic is a method of rule-based decision making
used for expert systems and process control that emulates
the thought process of human beings. The basis of fuzzy
Using the above transfer function the SIMULINK logic is fuzzy set theory which was developed by Lotfi
model of dc motor has been designed as below: Zadeh in the 1960s.
outputs. The rules are in If Then format and formally the V RESULTS OBTAINED
If side is called the conditions and the Then side is called
the conclusion. A rule base controller is easy to understand For the purpose of comparative analysis of the various
and easy to maintain for a non- specialist end user and an speed responses of the DC motors, we simulate all the three
equivalent controller could be implemented using Simulink models i.e. without using any controller, using PI
conventional techniques. controller and using FLC. Then we combine all the three
responses in a single plot.
Defuzzification is a process in which crisp output is
obtained by the fuzzy output. Two of the most common By considering a 1rad/sec step reference, the response
techniques are the CENTROID and MAXIMUM methods. obtained by the DC motor speed analysis is shown below:
In the CENTROID method, the crisp value of the output
variable is computed by finding the variable value of the
centre of gravity of the membership function for the fuzzy
value. In the MAXIMUM method, one of the variable
values at which the fuzzy subset has its maximum truth.
Here we have considered two inputs to the fuzzy
controller, input1(e) and input2(ce). We consider the output
as output1. We have used three triangular membership
functions for each of the input and output variables namely:
Low(L), Medium(M), High(H). The input1 variables
range from 0 to 0.2, input2 variables range from 0 to 0.8,
output1 variable range from 0 to 0.8.
Fig5: Speed Responses Combined on a Single Plot
The fuzzy rules are now defined as If (input1 is L)
and (input2 is L) then (output1 is L) which can be From the graph, the following results can be obtained
depicted in the rule table below:
Table1: Fuzzy Inference Rule Table Table2: Comparative Analysis
e/ec L M H Rise Settling % Overshoot Steady-state
Time(s) Time(s) value
L L M M
Without 0.121 0.337 3.46 0.795
any
M L M H controller
With PID 0.4183 1.417 4.8 1
H M M H
With 0.120 0.3748 3.7 1
FLC