686

Self Tuned PID Based Speed Control of PMDC

Drive
E.Gowthaman1 C.Dinesh Balaji2
1 2
PG Scholar, Dept. of Electrical and Electronics Engg. Asst.Professor, Dept. of Electrical and Electronics Engg.
Paavai Engineering College Paavai Engineering College
Namakkal, Tamilnadu, India Namakkal, Tamilnadu, India
gowthameie@gmail.com mail_2dinesh@yahoo.com

II. MODELING OF DC MOTOR

Abstract The main core of this paper is to design a speed
control system to control the Permanent Magnet DC (PMDC)
Motor speed at desired speed (set point) through the technique of
soft computing based self tuning of Proportional Integral-
Derivative controller which is designed in the platform of
LabVIEW program, and the real - time Speed control of the DC
motor was realized by using DAQ (Data Acquisition) device. The
application of soft computing (Fuzzy Logic) to the PID controller
imparts it the ability of tuning itself automatically in an on-line
process while the application of LabVIEW to the PID controller
makes it give an Desired Speed by searching for the best set of
solutions for the PID parameters. Simulated results in LabVIEW
using Fuzzy- PID toolkit and also the same has been implemented
and tested for a 12volt DC motor.

Keywords DC Drives, Data acquisition, Closed loop Fig. 1. Equivalent circuit diagram of DC Motor

According to working principle of Motor, Due to the

I. INTRODUCTION
movement of the armature in the magnetic field a back-emf
A Permanent-Magnet DC (PMDC) motor is similar to DC voltage is generated. The back emf E b produced by the motor
shunt motor in which stationary field winding is replaced by
permanent magnet. DC motors are used extensively in is directly proportional to the angular frequency
adjustable speed drives and position control applications. DC E b = K b (s) (1)
Motor plays a crucial role in research, laboratory experiments
and Electric traction, high speed tools applications in an For motor Armature Voltage Va
industry because of their simplicity and low cost. Therefore, di
the speed of DC motor can be controlled by varying flux/pole, L dta +R a I a +E b =Va (2)
Armature resistance and applied voltage. Here, PMDC motor By taking Laplace transform for the above equation
speed adjusted by varying the terminal voltage [1]. In order to
adjust the speed of the given motor Fuzzy based self tuning of we can find Ia(s) .Therefore, armature current is given by,
PID controller is used. This closed loop speed control scheme
is implemented with PMDC motor which has voltage rating of I a (s) =
 Va (S) - E b (s)  (3)
12V, current rating 1.5Amp and rated RPM of 1500. (LS + R a )
The structure of Speed control consists of the following Then The Torque equation is given by,
three major stages involved in which the first one is Fuzzy-PID J d
dt = -K f + K t I a (4)
with self tuning technique that used to provide necessary action
to achieve optimal response through the Auto-selection of PID Similarly by taking Laplace transform above equation will be
controller parameters .The second one is IF and THEN fuzzy (JS + K f )(S) = K t I a (S) (5)
control or rule base according to the Error and change in error
that provides the system with the necessary decision making Substitute the value of I a (s) in equation 5, we can obtain
logic based on the rule base that determine the control policy. transfer function of DC motor in terms of Speed of rotation
The third Data Acquisition (DAQ) which combines the action
(Torque) and applied voltage which is given below:
that acquiring signal from speed sensor and generate analog
signal to the PMDC motor driver circuit for sending voltage to (S) Kt
adjust speed to meet desired speed. = (6)
Va (S) ((LS + R a )(JS + K f ) + K b K t ))

978-1-4673-5090-7/13/$31.00 2013 IEEE

 687

III. DESIGN AND IMPLEMENTATION OF PID CONTROLLER
For closed loop system PID control is the most common
control algorithm accepted in industrial control. The main use
of PID controller for the purpose of providing robust
performance for all operating conditions and all complicated
process in order to achieve desired output perfectly other than
two mode controller like PI and PD Controller.
A. PID Controller
Proportional Integral-Derivative controller (PID controller)
is a generic control loop feedback mechanism (controller)
widely used in industrial control systems. A PID controller
calculates an "error" value (SP-PV) as the difference between a
measured process variable (PV) and a desired setpoint (SP).
PID Controller will eliminate the steady state error of any
process through the integral action on error and expectation
output changes through derivative action on the error with
respect to the set point of process.
From PID Controller algorithm the output y(t) and error input
e(t) are related by the following equation
(de(t))
y(t) = K p e(t) + K i e(t) dt + K d
dt
1 performance than the conventional PID controller.
Where, K i = and K d = Td
Ti
In this developed approach fuzzy based rule introduced to
modify PID Controller parameter to achieve setpoint speed
with shortest rise and settling time response than the
conventional PID controller by searching for the best set of
solutions for the PID parameters.
B. Tuning of PID Controller by soft computing technique
There are several methods available for tuning the three
mode controller parameters (Proportional gain, Integral gain,
Derivative gain). Presently, In order to adjust the system to the
desired response the parameters of three mode (P + I + D)
controllers to be changed by the manual tuning methods like
Ziegler Nichols method for closed loop system and Process
reaction curve method for open loop system.
The above mentioned common methods are applicable for
manual tuning with some mathematical analysis. Even though
selecting precise value of controller parameters these manual
tuning are not agreeable for will eliminate the steady state error
of any process through the integral action on error and
expectation output changes through derivative action on the
error with respect to the set point of process.
In this paper, to avoid these problems we combined natural
systems with intelligent machines effectively with the help of
soft-computing methods. Self Tuning Fuzzy PID controller is
developed for precise and faster optimal response than the
conventional PID Controller. Fuzzy self-tuning PID controller
works on the Control rules designed on the basis of theoretical
and experience analysis. Therefore, fuzzy based rule base will
(7) tune the controller parameters with auto selection of best set
of parameter selection. This approach gives a better

TABLE I. VARIOUS TUNING METHODS

Tuning by Software tool Advantages Disadvantages

Process upset, some

Proven method, trial-and-error, Fig. 2. Basic Block of Fuzzy self Tuning of PID
ZieglerNichols
online. Very aggressive
tuning.
While comparing with other manual tuning methods fuzzy
Some mathematical
based Self-tuning which takes error and change-in-error as the
Good process inputs to the controller makes use of the fuzzy control rules to
analysis ,Offline
CohenCoon models.
Only good for first- modify PID parameters on-line.
order processes.
Should have
Programming
Allows simulation knowledge.
MATLAB, Embedded,
before Hybrid technology
DSP Tool
downloading. should be used for
hardware & result.

Online monitoring
(Lab VIEW + Fuzzy) through DAQ, Some cost and training
Easy involved.
Troubleshooting
Fig. 3. Basic structure of Fuzzy self Tuning of PID
 688

C. Design and structure of self-tuning fuzzy PID controller TABLE IV. FUZZY RULES FOR K d '
The self-tuning of the PID controller provides relation
between three mode controller parameters like Proportional, e /ec NEB NEM NES ZEO POS POM POB
integral and derivative gain with fuzzy inputs error and change NEB POS NES NEB NEB NEB NEM POS
in error. By the principle of fuzzy self tuning above mentioned
NEM POS NES NEB NEM NEM NES ZEO
three parameters modified in order to achieve control actions
for control parameters when error and change in error are NES ZEO NES NEM NEM NES NES ZEO
different for different setpoint or desired output values. The ZEO ZEO NES NES NES NES NES ZEO
error and change in error values are determined from previous POS ZEO ZEO ZEO ZEO ZEO ZEO ZEO
setpoint values and present setpoint values to perform good POM POB NES POS POS POS POS POB
dynamic, steady state and static performance without
POB POB POM POM POM POS POS POB
disturbances. Selected the language variables from input
parameters are e,e c and output parameters are K p , K i , K d . From fuzzy inputs error e and change in error ec the
PID controller parameters will be modified according to the
Choosing seven fuzzy values (NEB, NEM, NES, ZEO, equation 8, 9 and 10. The forty nine rules formulated for the
POS, POM, and POB). Here (NEB, NEM, NES, ZEO, POS, developed fuzzy logic control system. Few of rules are listed
POM, POB) is the set of linguistic values which respectively below.
represent Negative, Positive and Zero. In positive and Negative Rule1. IF Error E is Negative Big NEB and Change in
cases, there are three regions available i.e. Small(S), Medium Error also NEB THEN Change in proportional gain value Kp'
(M) and Big (B). is Positive Big POB and Change in Integral gain value Ki' is
In the developed fuzzy system, the PID control parameters Negative Big NEB and Change in Derivative gain value Kd' is
will be modified as Positive Small POS.
This rule expresses that when the output is at R1, then the
K p = K p ' + K p (8) measured speed is more than the setpoint speed, So the DAQ
Provides changes in analog voltage to the driver circuit. Due to
K i = K i ' + K i (9) this the steady state error will be minimized which makes
K d = K d ' + K d (10) reference speed is close to the measured speed.
R2. IF e is NEB and ec is NEM THEN Kp' is POB and
Here, K p ' , K i ' and K d ' are representing the previous gain
Ki' is NEB and Kd' is NES.
values by the self tuned PID controller actions. R3. IF e is NEB and ec is NES THEN Kp' is POM and
Ki' is NEM and Kd' is NEB.
TABLE II. FUZZY RULES FOR K p ' R4. IF e is NEB and ec is ZEO THEN Kp' is POM and
Ki' is NEM and Kd' is NEB.
e /ec NEB NEM NES ZEO POS POM POB R5. IF e is NEB and ec is POS THEN Kp' is POS and
NEB POB POB POM POM POS ZEO ZEO Ki' is NES and Kd' is NEB.
NEM POB POB POM POS POS ZEO NES
R6. IF e is NEB and ec is POM THEN Kp' is ZEO and
Ki' is ZEO and Kd' is NEM.
NES POM POM POM POS ZEO NES NES
R7. IF e is NEB and ec is POB THEN Kp' is ZEO and
ZEO POM POM POS ZEO NES NEM NEM
Ki' is ZEO and Kd' is POS.
POS POS POS ZEO NES NES NEM NEM
Similarly, totally forty nine rules are framed. Finally, the
POM POS ZEO NES NEM NEM NEM NEB
fuzzy output variables (K p , K i , K d ) are converted into
POB ZEO ZEO NEM NEM NEM NEB NEB
real value output (analog voltage).Many defuzzification
methods are available. But, most preferred method is center of
TABLE III. FUZZY RULES FOR K i ' gravity method because this method requires less computation
time while implementing with data acquisition system. The
e /ec NEB NEM NES ZEO POS POM POB formula of center of gravity is given by
n
NEB NEB NEB NEM NEM NES ZEO ZEO
(x)X
NEM NEB NEB NEM NES NES ZEO ZEO z =
x=1 (11)
n
NES NEB NEM NES NES ZEO POS POS (x)
x=1
ZEO NEM NEM NES ZEO POS POM POM
Where z is the crisp value and (x) is the membership value of
POS NEM NEM NES ZEO POS POM POM member x. This value provides control to conduction of
POS NEM NES ZEO POS POS POM POB switches in order to control the output voltage of driver circuit.
The speed motor will be adjusted with selection of PID
POM ZEO ZEO POS POS POM POB POB
parameter through proper fuzzification and defuzzification.

D. Fuzzy selftuning PID flowchart
For achieving desired speed the PID Controller parameters
should be changed according to the setpoint speed value by
tuning algorithm. In this paper the tuning of PID parameters is
enhanced by fuzzy rule base.
Fig. 4. Block Diagram of Experimental Setup
From the above block diagram we can understand the
overview of proposed speed control of PMDC motor which is
based on Lab VIEW. The proposed system will provide the DC
motor Control with the real parameters which is related to the
motor design, DAQ design. This proposed system satisfies all
the problems which are encountered in existing system. The
following flow chart will explain the workflow of PMDC
motor speed control system with all conditions.
Fig. 5. Flowchart of PMDC Drive system
689
IV. EXPERIMENTAL SETUP
A. Labview Based Simulation of PMDC Motor Control
LabVIEW based PMDC Control Simulation result provides
the comparison of conventional PID and Fuzzy based self
tuned PID performance. This section represents following
simulation
Fig. 6. Self tuned PID Simulation- Block Diagram Window
The above figure 6 represents block diagram window of
simulation of Fuzzy based self-tuning PID Speed control of
PMDC motor. It represents designed motor model parameters
as transfer function through the Fuzzy rule based PID
Controller along with their parameters Proportional gain (Kp),
integral time (Ti) and derivative time (Td) .
The FL Fuzzy controller contains the membership functions
and rule viewer with input, output variable. Fuzzy controller
suitable for SISO, SIMO, MISO and MIMO process.
B. Hardware setup
The Proposed Model is implemented for a speed control
system to control the PMDC Motor speed at desired speed
through the technique of fuzzy based self tuning of
Proportional + Integral+ Derivative controller which is
designed in the platform of LabVIEW, and online Speed
control of the DC motor was realized by using DAQ device.
Here, Simulated results in LabVIEW and also the same has
been implemented & tested for a 12volt PMDC motor.
Fig. 7. Process flow of hardware implementation
 690

1) Optical Encoder:

Fig. 8. Optical Encoder Circuit Operation

Tested motor uses optical encoder for the purpose sensing

rotor position with the help of photo electric devices. The
optical encoder is made up of Light Dependent Resistor and a Fig. 9. Block Diagram Window of Hardware Implementation
phototransistor. Both are placed between shaft slots. When
voltage is applied to the LED it emits light like an electric The above LabVIEW Block diagram indicates the graphical
bulb. However, the LED used in an encoder emits an infrared programming language with the controllers, indicators which
light beam which is invisible. Operating voltage of optical is are interconnected by various tool blocks to perform real time
from 3V to 6V. speed control of motor through DAQ Device. The setpoint
2) NI-USB 6009 DAQ Device: speed is entered by user and the actual motor speed is
measured by speed sensing unit through DAQ card. The
The purpose of DAQ device is used for gathering signals desired speed can be achieved by self tuned PID Controller
from measurement sources (Optical encoder circuit and motor actions for sending output voltage in the range from 0 to 2.4 V.
driver circuit) and digitalizing the signal for representation, and
analysis on a PC with the platform of LabVIEW. DAQ device
is used for sending voltage to driver circuit Analog voltage
(range from 0 to 2.4V). The actual motor speed is measured
through DAQ device from speed sensing unit with the function
of digital counter. The rotating speed of motor is measured by
optical encoder circuit through the DAQ system with the Pulse
Counting circuit by following equation 12.
No.of Pulses per second u 60
1 RPM = (12)
No.of Shaft Slots
No. of Pulses per second is varied according to the setpoint
speed but, No. of slots in the shaft always 9.

3) Motor Driver Circuit:

According to the setpoint and PID Controller parameters
(Proportional gain, Integral time and Derivative time)
controller output is given as an analog signal of range 0-2.4V
through the motor driving circuitry. This circuit has 2 stages.
Op-Amp is used to amplify the voltage signal which is received
from DAQ card in the range of 0-2.4V to 0-12V range to meet
the voltage specification of the PMDC motor is given in
Appendix. Similarly, the current range of DAQ device is in the
range of milli Amperes. Hence, we need to amplify the current
for driving the motor to meet the current specification of the Fig. 10. Block Diagram Hardware Setup
PMDC motor is given in Appendix. This amplification is done
by connecting the BC147 NPN power transistor.
 691

C. Results and Discussions
LabVIEW based PMDC Control Simulation result
provides the comparison of conventional PID and FPID
performance. This section describes following simulation
results.
The fuzzy self tuned controller adjusted the
K p , K i and K d gains of the PID controller according to speed
error and change in speed error. From the simulation and
hardware results it is concluded that, Fuzzy self-tuning PID
parameters controller automatically can tune PID parameters
according to speed error and the rate of speed error-change
Hence, Self tuned PID provides optimal and adaptive
response.

TABLE V. EXPERIMENTAL RESULTS OF PID CONTROLLER BASED

PMDC DRIVE
Settling Rising Dead Steady
Setpoint
time ts time tr time td State
speed
(ms) (ms) (ms) Error

25 % of
900 150 350 60 rpm
Rated Speed

50 % of
750 300 200 60 rpm
Rated Speed

Fig. 11. Conventional PID based Speed control response 75 % of

400 450 150 60 rpm
Rated Speed
The Conventional PID controller response represents that,
it requires more time to settle at set point speed than the fuzzy 100 % of
250 600 50 60 rpm
based self tuned PID Controller when manually calculating Rated Speed
PID controller parameters and applying to the process. Front
Panel shows that the comparison of set point speed and
desired speed. The Conventional PID controller response is TABLE VI. EXPERIMENTAL RESULTS OF FUZZY SELF TUNED PID
drawn between motor speed and Simulation time. Here the set CONTROLLER BASED PMDC DRIVE
point speed value is 770 RPM; the desired output speed is
Settling time Rising Dead Steady
attained More than 30 sec due to manually selected PID Setpoint
ts time tr time td State
Controller parameters. speed
(ms) (ms) (ms) Error
25 % of
400 25 200 6 rpm
Rated Speed
50 % of
200 50 150 6 rpm
Rated Speed
75 % of
100 75 75 6 rpm
Rated Speed
100 % of
50 100 50 6 rpm
Rated Speed

TABLE VII. COMPARISON OF PID AND FUZZY SELF TUNED PID BASED
PMDC DRIVE

Performance
Conventional PID Fuzzy self tuned PID
Index
Manual Tuning of Self Tuning with IF
Tuning of Parameters PID parameters and THEN fuzzy
Fig. 12. Fuzzy self tuned PID based Speed control response
( Kp,Ki and Kd. ) Rule access.
More than 30 sec
1-5 Sec for All
The above figure 12 shows that front panel of fuzzy PID Settling Time ( Ts ) for All Speed range
Speed range
Closed loop speed control of PMDC motor response. It
provides comparison of Set point speed and desired speed. 0% due to Integral 0% due to Integral
The FPID controller response is drawn between Motor speed Overshoot (%)
action action
and Simulation time. Here the set point speed value is 830
RPM. The desired output speed is attained after 1sec with 1 Sec for All Speed 3/4th Sec for All Speed
Rise time ( Tr )
fuzzy rule based selection of PID Controller parameters. range range
 692

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