Speed control of a dc motor using pid controller in matlab.pdf
- 1. Speed Control of a DC Motor using PID controller in MATLAB A Mini Project submitted in partial fulfilment of the requirement for the Degree of BACHELOR OF TECHNOLOGY In ELECTRICAL ENGINEERING by Pratibha Verma (2101100200042) Amrita Singh (2101100200016) Rupesh Sahu (2101100200045) Devvrat (2101100200031) Under the supervision of Miss Rajeshwari Sonker (Assistant Professor) Department of Electrical Engineering INSTITUTE OF ENGINEERING & RURAL TECHNOLOGY PRAYAGRAJ-211002 INDIA October-2023
- 2. Contents Introduction PID controller P, I & D Controller DC Motor Simulation and Results Advantages, Disadvantages & Applications Conclusion Future Scopes
- 3. INTRODUCTION • This study explores the application of a Proportional-Integral-Derivative (PID) controller in regulating the spееd of a DC motor. • DC motors are integral components in numerous industrial and robotic systems, making precise spееd control a critical aspect of automation. • The PID controller, a widеly-usеd control algorithm, is introduced, with an emphasis on the thrее cord components: Proportional, Integral, and Derivative actions, which collectively enable accurate spееd regulation.
- 5. WHY THIS PROJECT…? • In this growing industry, everything going towards automation with a high precision. • PID controller is one of the suitable controller to control the process according to the desire. • Key features of PID controller are: •Accuracy and precision •Energy Efficiency •Adaptibility •Remote Control •Easy Tuning •Minimise Steady State Error •Response time •Automation
- 6. IMPORTANCE OF DC MOTOR IN INDUSTRY • DC motors are important in industry because they offer precision speed control, which is necessary for industrial machinery. DC motors can: • Start, stop, and reverse immediately • Develop full torque at low speed • Develop constant torque over a wide speed range • Be controlled by changing the armature or field voltage •Higher starting torque than AC • Linear speed-torque curve • No harmonic effect • Easier installation and maintenance WHY THIS PROJECT…?
- 7. KEY COMPONENTS • PID CONTROLLER • DC MOTOR
- 10. PID CONTROLLER • A Proportional-Integral-Derivative (PID) controller is a commonly used feedback control system in engineering and industrial applications. • It is designed to maintain or regulate a desired setpoint by continuously adjusting a process control input. • PID controller maintains the output such that there is zero error between the process variable and setpoint/ desired output by closed-loop operations. • PID uses three basic control behaviours. • Proportional (P) Controller • Integral (I) Controller • Derivative (D) Controller
- 11. PROPORTIONAL (P) CONTROLLER • The proportional component generates an output signal based on the difference between the desired setpoint and the current process variable (PV). This difference is known as the error (e). • The proportional gain (Kp) is a tuning parameter that determines the sensitivity of the controller to the error. A higher Kp value results in a stronger response to errors, while a lower value leads to a milder response. • The proportional term tries to reduce the error by applying a control action that is proportional to the error. It can quickly reduce large errors, but it may not eliminate steady-state errors completely.
- 12. PROPORTIONAL (P) CONTROLLER …Continued •As we know in proportional controller output is directly proportional to the error signal, writing this mathematically we have, Where Kp is proportional constant also known as controller gain. ADVANTAGES • Stability • Simplicity • Decreases Rise Time DISADVANTAGES • Steady-State Error • Prone to Oscillations • Inability to Predict Future Error
- 13. INTEGRAL (I) CONTROLLER • An integral controller is a type of controller used in control systems engineering. • Continuously calculates the integral of the error signal over time. • The error signal is the difference between the desired output and the actual output of a system. • Integral controllers are also called reset controllers. • Eliminate the steady-state error that occurs with a proportional controller. •The controller's output will continue to change its value until the error is zero.
- 14. INTEGRAL (I) CONTROLLER …Continued • The integral controller produces an output, which is integral of the error signal. Mathematically, we have: Where, KI is the integral constant. ADVANTAGES •Eliminating steady-state error • Robustness • Returning the controlled variable to the set point DISADVANTAGES • Overcoming Transient Response • Integration of Noise • Tuning Challenges
- 15. DERIVATIVE (D) CONTROLLER •A derivative controller is a type of controller used in closed-loop control systems. • Uses the rate of change of the error signal to adjust the input signal. • The output of the controller is proportional to the rate of change of the error signal. • Derivative controllers can help to improve the stability and response time of a system. •They can also be used to make an unstable control system stable. Derivative controllers work by: • Monitoring the rate at which the process is changing. • Adjusting the input signal based on the rate of change of the error signal. • Providing an immediate control signal. • Maintaining zero error in the output.
- 16. DERIVATIVE (D) CONTROLLER …Continued •The derivative controller produces an output, which is derivative of the error signal. Mathematically, we have: ADVANTAGES • Improved Stability • Faster Response • Enhanced Damping DISADVANTAGES • Sensitivity to Noise • Limited Use in Steady-State Control • Tuning Complexity
- 17. The overall control function of PID Controller Or, PID CONTROLLER …continued
- 18. EFFECT OF INCREASING PARAMETERS INDEPENDENTLY PID CONTROLLER …continued
- 19. PID CONTROLLER …continued TUNING METHODS
- 20. PID CONTROLLER …continued ADVANTAGES • Simplicity • Versatility • Fast Response • Stability • Cost-Effective DISADVANTAGES • Tuning Challenges • Limited Performance for Nonlinear Systems • Susceptible to Noise APPLICATIONS • Temperature Control • Motor Speed Control • Pressure Control • Flow Control • Air Conditioning • Biomedical Applications • Energy Management • Waste water Treatment
- 21. DC MOTOR
- 22. DC MOTOR • A DC (Direct Current) motor is an electro-mechanical device that converts electrical energy into mechanical energy. • It operates on the principle of the Lorentz force, which is the interaction between a magnetic field and an electric current • DC motors are widely used in various applications due to their simplicity, reliability, and ease of control • Basic Components of a DC Motor: •Stator • Rotor • Armature • Commutator • Brushes
- 23. DC MOTOR …continued SPEED CONTROL OF DC MOTOR •Armature resistance speed control •Speed control by varying field flux (field control method) •Speed control by varying Armature flux (Voltage Control method) Speed of DC motor is given by the relationship: Where, N= Speed of DC motor Ø= Armature Flux Ia= Armature Current ra= Armature Resistance V= Supplied Voltage
- 24. MATLAB SIMULATION AND RESULTS
- 26. RESULTS BEFORE TUNING OF PID CONTROLLER PARAMETERS BEFORE TUNING
- 27. Variation in Output Speed when 1000rpm Desired Speed
- 28. Block Response vs. Tuned Response
- 29. Controller Parameters after Tuning
- 30. RESULTS AFTER TUNING OF PID CONTROLLER Output Speed when 1000rpm Desired speed at 20Nm Torque
- 31. Output Speed when 800rpm Desired speed at 20Nm Torque
- 32. Output Speed when 1000rpm Desired speed at 50Nm Torque
- 33. Output Speed when 1000rpm Desired speed at 150Nm Torque
- 34. ADVANTAGES OF THE PROJECT • Precision Speed Control • Stability • Adaptability • Efficiency DISADVANTAGES OF THE PROJECT • Manual Tuning Requirement • Sensitivity to Parameter Changes • Initialization Challenges
- 35. APPLICATIONS • Heating and Cooling Systems • Industrial Mixing and Agitation • Conveyor Systems • Textile Machines • Rolling Mills • Elevator Systems • Chemical Reactors • Printing Presses
- 36. CONCLUSION • As far as results of the experiment are concerned, it can be concluded that PID controller is very effective and powerful controller that is capable of controlling the open-loop speed control of DC motor under varying load condition. •Simulation results of the proposed system proved that PID controller has a better control approach to control and sustain the speed of the motor under varying load condition. •Proper tuning of the PID controller is essential for achieving the desired performance. • Tuning involves adjusting the proportional, integral, and derivative gains to balance speed of response, stability, and elimination of steady-state error. • A PID controller offers the ability to maintain precise control over the speed of a DC motor. •The proportional, integral, and derivative components work together to minimize error and provide a stable and accurate response to changes in the motor's speed.
- 37. FUTURE SCOPE • Advanced Algorithms • IoT Integration • Industry 4.0 • Energy Efficiency • Multi-Motor Systems • Real-time Feedback • Automated Tuning
- 38. THANK YOU…