DESIGN AND IMPLEMENTATION OF A PID CONTROLLER

ANALOG FOR UNIVERSAL MOTOR

Jhon Alexander Acevedo Diaz, Freddy Muoz Enrique Barragan.
Students from IX Semester
University of Cundinamarca Faculty of Electronic Engineering
jade7700@gmail.com - Freddy5500@gmail.com

Abstract: In this paper a PID controller for a universal motor, place to see how this type of
controllers, the simplest being can reach control system optimally, based on the parameters as
designer wants obtained, this in order to make the end of the course a comparison of these
drivers with respect to a fuzzy control.
I. INTRODUCTION
Regarding the issue is control, the controller
easier to design and implement control is
ON / OFF, however this type of control is
not to adequate for most systems, that is
why most often spoken of PID controllers
because they are simple, practical and very
effective. One advantage of the control is
that there is great variety of techniques to
carry out the design mimes, in this case we
speak of the PID as very simple to design
drivers, however there are other control
techniques such as be compensating,
adaptive control networks Neural, fuzzy
control and combinations them, although
often with just enough Simple PID, but you
cannot always fix everything a controller of
this type
II. APPROACH
For this laboratory has been defined that
conduct a PID controller for a universal
motor, this engine will have to work
connected directly to the network power, i.e.
it will work in the AC mode. The overall

system diagram is what is It aims to reach is

as follows

Figure 1: general block diagram of the

system
III. PRACTICE DEVELOPMENT
To begin the design of the controller, which
first must be obtained is the function of
transfer system, however for this we that
identify the linearity of the system, i.e. there
to determine what part or part until the
system is linear and based on this work the
system within this range, this is done because
as know, a PID controller only works for
linear systems. To carry out the test and can
determine the reaction curve of the plant is
taken into Consider the following block
diagram.

Figure 4 is a functional block diagram of the

loop plant closed.

Figure 2: Block diagram of the open loop

system.
For a better understanding of what to do for
obtaining said parameters in Figure 3 the
functional diagram of the system is
presented in loop opened.

Figure 3: Functional Block Diagram loop

system opened
The figure above is the plant in open loop
and this is the representation of the plant
itself when the characteristic curves of the
same are made. To complete the closed loop
only needs the adder between the
measurement provided by the sensor and the
point reference and control system "PID"
which receives as input the sum between the
reference point and sensor signal, and
transmits a signal as such for control
plant. Note in Figure 4 the functional block
diagram of the closed-loop plant

A. System Linearity
The first thing to look at is the linearity of
Mr. and whether the entire system (Figure 3)
to determine if the system is linear or range
of linearity, has entered an input voltage
actuator gradually to observe the voltage and
output data obtained are presented in Then
in the following table
Vin PWM
1.2
1.4
1.6
1.8
2.0
2.2
2.4
2.6
2.8
3.0
3.2
3.4
3.6
3.8
4

Vout F/V
0.58
1.9
3.1
3.8
4.3
4.6
4.7
4.7
4.7
4.7
4.7
4.7
4.7
4.7
4.8

Table 1 Relationship between input voltage

output voltage Vs for determine the range of
linearity of the system
Based on the above table was obtained as
follows graphic:

3.2
7600
3.4
7600
3.6
7600
3.8
7600
4
7900
Table 2:Relationship between input voltage
output Vs RPMs for determining the
rotational speed versus voltage
Based on the above table was obtained as
follows graphic
Figure 5: Relationship Vs input voltage to
output voltage determine the range of
linearity of the system
As could see both Figure 5 and Table 1, the
system is linear over a very small range so
which means that you can only work with a
step of 1.2V to 2.2V, however this did you
can have a good analysis. Also another
important parameter to determining engine
speed is relative of entered voltage because
what matters to a user is controlling a
particular speed engine, which is why we
also made a relationship between input
voltage and RPMs that delivers the engine,
the results can be seen below in Table2.
Vin PWM
1.2
1.4
1.6
1.8
2.0
2.2
2.4
2.6
2.8
3.0

RPM
980
3000
5000
6300
7100
7600
7600
7600
7600
7600

Figure 6 Relationship between input voltage

output Vs RPM determining the rotational
speed versus voltage

As seen in the previous figure also the

voltage / RPM regarding the small range of
linearity of the system because the engine is
not largely linear, therefore there is nothing
to do because the nature of the plant is that
so much work is required just that little
range
B. Transfer function of the system
Once determined the range of work is
continued obtaining a transfer function
System as PID controller cannot performed

if not have this function, i.e. the function

transfer of the plant is the parameter most
important in this type of controllers. For this
function must be obtained curve reaction of
the plant in the same way that determine the
linearity of the system, except that you must
performing an instantaneous voltage change,
in other words must generate a unit step
voltage at the input of the actuator. Once
this is done, is obtained the curve shown in
Figure 7. For the transfer function by
reaction curve, the first thing you have to is
whether the system is first or second
order. At first glance (Figure 7) the system
seems to first order, however, may be a
system second-order damped. To determine
the order of the system is used the Van Der
Grinten method which is based on find a
constant "a" and compare. To this has
filtered signal and adjusted the curve to the
point. Reference 0-0, on this basis is
obtained as shown in Figure 8

Figure 8: Van Der Grinten method applied

to the curve Motor reaction
The method used to determine the function
of transfer takes into account the following
criteria

Where

Taken into account the above equations and

Figure 8 is determined as follows.

Figure 7: curve reaction to a unit step

(1.2VA 2.2v)

Kp=3.839

(5)

a*Kp=0.933

(6)

Figure 9: Comparison Real Vs curve

transfer function mathematically found
second order.

With the result obtained mathematically a

very good result compared to the curve
actual reaction (see Figure 9), however
looking for something a little more precise,
which is why it has "Tuned" the transfer
function to be very similar to the real,
accordingly function transfer that will work
is shown in equation (17), the graphic shown
in Figure :

Figure 10: Comparison Real Vs curve

transfer function second order found for
practice

C. Transfer function of the system

To start with the design of the PID
controller, first you have to observe and
analyze is the behavior of the closed-loop
system so know the system and define the
design parameters to proceed to the
implementation of control. In the Figure 11,
one can observe the behavior of system

closed loop to a unit step in This case arises

that a time stabilization (Te) of 0.224
seconds, envelope peak(Sp) of 0% and
steady-state error (Ess) of 20%

controller that has yielded an Sp 0% a Te of

0.164 seconds and Ess 0% that was what I
was looking for, plus the output the
controller has an amplitude less than 5V and
that you are using a micro-controller for
actuator (PWM synchronized with the
network). According to that in Figures 12
and 13 shown described

Figure 11: Behavior of the closed-loop

system to a unit step input.

D. Design Criteria
According to the above the following
defined design criteria:
Te = approximately equal (the system reacts
fast)
Sp = 0% (this criterion is to be maintained)
Ess = 0% (this is the most important and the
system Driverless closed loop has an error
of 21%)

Figure 12: System with PID controller tuned

according design parameters

As you can see the closed-loop system has

good results, however the only downside is
the steady-state error, which is why all that
you want to change in the design parameters
is this.
E. Design of PID controller
Once done all the above can be further
Controller design, for ease of obtain the
parameters of the PID was used PID
Windup tool and through a small tuning a

Figure 13 Output of the PID controller

tuned
Below in Figure 14 is shown one
comparison of the system with and without
driver

Figure 1: System response with and without

the controller Tuned PID

Driver settings are:

P = 1.7
I = 1.7 / 0.32 = 5.31
D = 1.7 * 0.005 = 0.0085
Thus concludes the controller design, the
next step is the implementation and
realization of the test.

Given the equation of a PID controller

The transfer function is organized so that

these values correspond to equation (22).

F. Implementation of PID controller

For the implementation of the controller is
used circuit shown below:

Thus it must be to determine P, I and D

The following equations are used.

Figure
15
Electrical
circuit
implementing the PID controller

However, the transfer function is negative

therefore necessary to place an inverter
circuit departure. Thus the resistance values
and capacitances for the values of P, I and D

Transfer function of the circuit given by:

for

according controller design that are given

above by:
R1= 664.9 K; R2= 532; C1= 9.4UF;
C2= 4.7uF
G. Analysis of the results
Once the closed loop with the controller was
performed the same test at the beginning of
the document is mean observed system
behavior before a unit step, then shown the
result obtained

Elements have a margin of error and in a

system like this, a slight variation of these
elements may represent a significant change
respect to the output to be obtained. Also
worth to carry out tests disturbances, this
time is applied a power to the motor rotor
thus obtained the following result.

Figure 17 Output voltages applied to a

disturbance in the motor rotor

Figure 16 output voltage with respect to a

unit step applied at the input.

As can be seen in the figure above the result

is not exactly as expected since it has an
envelope peak that had not been
contemplated of approximately 30% and has
a longer stabilization 0.5 seconds, however
was achieved reduce the steady-state error to
0% which is the most important thing in this
type of system, the output voltage follow the
reference or desired value. Faults that may
be obtained at the values used for capacitors,
resistors and operational amplifier because
as you know these

Applying this perturbation was quite large

As can be seen, the system is returned to
stabilize while when applied the step, you
can also see about having a peak almost
equal to that of Figure 16, can therefore say
that the system reacts in a way appropriate
to a disturbance. Thus development ends
and although the practice is not in practice
was able to obtain the desired results the
simulation, the controller obtained is
acceptable.
IV. CONCLUSIONS
The design of PID controllers is a task
relatively simple but it can get to be tedious,
mostly when tuning the controller to
function as desired, without But it is more

complicated to carry design reality and that

often does not get the intended results with
the simulation as was in this case because it
inconveniences occur in practice as it is the
noise generates the motor, the tolerance of
the elements, eddy current, working range of
elements, among other factors, therefore it
should be very careful when implementing
to achieve as much as possible to minimize
these factors unwanted
Bibliography
[1] Richard C. Dorf, Robert H. Bishop,
Systems Modern Control, tenth edition,
Pearson, 2005.
[2] Virginia Mazzone, PID controllers,
Control Auto 1, Automation and Control
National University of Quilmes, March 2002
available
on
the
website:http://www.eng.newcastle.edu.au/jh
b519/teaching/ca
ut1 / Notes / PID.pdf
[3] Ing. Amstegui Mauricio Moreno,
University Mayor De San Andres La Paz Bolivia, notes PID control, pdf file,
available on the website
internet:http://jvr33.free.fr/pdf_laser/03_ele
ctronique/Control
% 20Pid.pdf