Nov 20, 2012 this paper presents the implementation of motor speed control using proportional integral derrivative pid controller using programmable logic controller plc. I had done my own code to control dc motor speed using pid. From the main problem, the dynamic equations in the laplace domain and the openloop transfer function of the dc motor are the following. Dc motor is a machine that widely used due to excellence speed control for acceleration and deceleration. Pdf design and implementation of pid controller in programmable. The firing angle is controlled by pid controller and is given to thyristor. The implementation of pid is based on the digital design. Abstract the thesis describes about the concept of dc motor and speed control separately excited dc motor. Software pid control of an inverted pendulum using the pic16f684. The speed control using pi and pid control modes is explained and an implementation of the controller using opamps is given. Control system design the pid controller is designed to control motor speed based on incoming information of system and auto tuning and its parameters have been tuned for receiving best stability and overshoot and settling time. In this activity we will design and implement a speed controller for a simple dc motor. Mitsumi dc encoder motor controlled by pid dc servo driver duration. To supply power to the dcmotor and perform measurements of motor angles, we use a board with an arduino microcontroller which runs the autogenerated code.
Speed control of dc servo motor using pid controller. Speed control of a dc motor using pd and pwm controllers. Implementation of motor speed control using pid control in programmable logic controller. Xilinx kintex 7 fpga based speed controller of brushless dc motor system. Pid for the positional pid control system, figure 4 is used to model the system. Thus by varying the pulsewidth, we can vary the average voltage across a dc motor and hence its speed. To supply power to the dc motor and perform measurements of motor angles, we use a board with an arduino micro controller which runs the autogenerated code. Chapter 5 concludes and discusses the project finding. Control speed dc motor using pid controller youtube. Speed control of dc motor using programmable logic controller.
Secondly when the encoder disc of the motor attached to the optical sensor the disc rotate only once and then stop then continue rotate once and stop. Real time dc motor speed control using pid controller in. It also communicates with the desktop computer and thus allows us to look at the measurements. Arduino motor pid speed control arduino project hub. With pid control, the speed of a motor can be archived exactly. Data transmission to control the motor was provided by the plc and the distributed io via ethernet cable modules, as shown in fig. The motor we experiment with is a simple dc motor with a wheel and an arm attached. Pdf the aim of this paper is to design a speed controller of a dc motor by selection of a pid parameters using. Dc motor speed control using pid controller implementation by simulink and practical 45 the open loop characteristics of voltage speed and torque speed relationship are shown in table 2 and 3. Control tutorials for matlab and simulink pi control of dc. Pdf design and plc implementation for speed control of dc. Speed control of dc motor using pid controller implementation with. Pdf implementation of motor speed control using pid. Pid control rc servo pid for line following robot 80c196kb an80c196kb robot arm circuit diagram and code using assembly language encoder optical 5310 ac motor speed control circuit diagram dc servo motor pittman encoder.
Speed control of a dc motor using controllers science. Speed control of dc motor by programmable logic control with. The circuit of a simple speed controller for a mini dc motor, such as. This paper proposed an improved adaptive fuzzy pid controller to control speed of bldcm. The motor is modeled as a rst order system and its response is studied. An ac motor is used in the research together with the plc, encoder and proface touch screen.
Dc motor speed control using pid controller implementation by simulink and practical 45 the open loop characteristics of voltagespeed and torquespeed relationship are shown in table 2 and 3. The used of plc in this project will help to reduce complexity and easy to troubleshoot. Chapter 4 shows and discusses the result of the speed control dc motor system using pid controller. Assistance professor joseph, closed loop speed control of dc motor using pid controller, instrumentation and control engineering. Bidirectional motor control can be done using an hbridge circuit with pulsewidth modulation pwm from a microcontroller to vary the speed.
What are the best ways to control the speed of dc motor. The close loop system controls the speed of threephase brushless direct current bldc motor, by using feedback from three hall sensors. Implementing a pid controller can be done with analog components microcontroller is much more flexible pick a good sampling time. Newer control schemes have the pid algorithm executing in the plc with other programs and controlling complicated processes with good success. As a result, a plc based process control system is widely used in industry. The motor is modeled as a first order system and its response is studied.
This article mainly introduces making a program for the arduino pro mini on your computer using visual studio to control motor speed by a pid algorithm. Pid control system model the desired set point rt of this system. The below circuit shows interfacing l293d with pic microcontroller to control a dc motor. Dc motor speed control using pid controller implementation by. Plc for dc drive, aiml 06 international conference. Pid controller to control the speed of the dc motor using programmable logic controller plc implementation. Pdf dc motor speed control using pid controllers semantic. Pid controller, conveyor system, plc, dc motor, automation. First, a mathematical model of the dc motor is introduced. Next, section 3 explains control the improvements applying sensorless techniques, describing the motor controller model and the most important techniques based on backemf sensing. Pid controller design for a dc motor file exchange.
This paper describes the speed control of a dc shunt motor using conventional controllers pid, imc and fuzzy logic controller based on matlab simulation program. Dec 01, 2014 this paper describes the speed control of a dc shunt motor using conventional controllers pid, imc and fuzzy logic controller based on matlab simulation program. In this article, a speed controller for dc motor is designed and illustrated using fuzzy logicbased programmable logic controller plc. The pid controller used to control the speed and position of dc motor system is also explained in this chapter. The code could calculate the speed of rpm unfortunately not giving a correct number. This example shows two dc motor control techniques for reducing the sensitivity of w to load variations changes in the torque opposed by the motor load. The maximum duty cycle can be 100%, which is equivalent to a dc waveform. You can also visit the web page with resources for designing and tuning pid controllers.
Im having trouble finding examples or tutorials of how to take encoder data as an input to maintain stable speed by adjusting pwm output to the dc motor when its. A mathematical model of the process has been developed using real plant data and then conventional controllers and fuzzy logic controller has been designed. A comparative analysis of performance evaluation of all controllers has. The controller is usually just one part of a temperature control system, and the whole system should be analyzed and considered in. The hardware implementation of speed control consist the motor driver circuit plc software and dc motor which speed we are going to control.
In this paper, a simplified approach for speed control of dc motor using programmable logic controller plc is presented. Pwm control of an hbridge an hbridge circuit consists of four transistors usually two pmos. Pdf pid voltage control for dc motor using matlab simulink. The dc motor is an attractive part of electrical equipment. This paper presents the implementation of motor speed control using proportional integral derrivative pid controller using programmable logic controller plc. Position and speed control of brushless dc motors using. The pid controller is employed to control the output voltage of three phase controlled rectifier to run a dc motor. An964 ds00964apage 2 2004 microchip technology inc. Realtime implementation of model predictive control on a 16bit microcontroller for speed control of a dc motor free download abstract. Pdf design and plc implementation for speed control of. In the control section, plc is used as real time controller and fuzzy logic. Dc motor position control using pid controller duration. Speed control of dc motor using pid controller based on artificial intelligence techniques.
For controller design, two methods, namely the frequency shaping method and pwm control, are used. The motor we experiment with is a simple dcmotor with a wheel and an arm attached. It is difficult to tune the parameters and get satisfied control characteristics by using normal conventional pid controller. The aim is to control the speed of the dc motor using the low cost data acquisition board i. For more information on the controller board, see the schematics in appendix a. Closed loop speed control of dc motor using pid controller.
This paper provides an overview of performance conventional pid controller, fuzzy pid controller and adaptive fuzzy pid controller. Motor speed is controlled with pid controller and first system is checked without controller on loaded and. To see how to tune the pid controller, please see the video demo andor read the blog post. The dynamic characteristics of bldc motor speed and torque and as well as current and voltages of the inverter components are easily observed and analysed by using developed model. The objective of this project is to use the algorithm of proportional integral derivative pid controller to control the speed of the dc motor using programmable logic controller plc implementation. In this article, a speed control of dc motor is designed and illustrated using fuzzy. Network based speed controller for implementation on. Kanojiya, tuning of pid controller using zieglernichols method for speed control. The modelling, control and simulation of this research has been implemented by using matlab simulink software version 20a. Pdf speed control of dc motor using pid controller based. Pid controller is used to control a simple dc motor modeled in simulink. Pid control rc servo pid for line following robot 80c196kb an80c196kb robot arm circuit diagram and code using assembly language encoder optical 5310 ac motor speed control circuit diagram dc.
In particular, we will choose and tune the gains of a pi. The power supply unit is needed to convert the mains ac voltage to the low dc voltage necessary for the. Gomah,a simplification technique for an adaptive neural. Speed control of bldc motor using pid controller open. The response of the controller to load variations is looked at. Then, it discusses more complex operations capable of being programmed by the pid control block. One of the most commonly used actuators in industry are dc motors because of their relative control simplicity, small dimensions and a low price. Pdf implementation of motor speed control using pid control in.
Pulsewidth modulation, pi control, pole placement, steadystate error, disturbance rejection, saturation, integrator windup, embedded control. Several design challenges include preventing shootthrough, implementing a snubber circuit, as well as open and closed loop such as pid control mechanisms. Implementation of motor speed control using pid control in. An implementation of pid controllers for the speed control of a dc motor is given in this report. The proposed speed control of dc motor shown in block diagram fig. Chapter 19 uses the pid block to control a simple process. Model predictive control mpc is an optimization based control technique and handles process operational constraints more effectively in comparison to proportional integral and derivative controller pid. To develop the pid controller to control the speed of dc motor ii. Xilinx kintex 7 fpga based speed controller of brushless dc motor system is designed and implemented using pid algorithm. The circuit of a simple speed controller for a mini dc motor, such as that used in tape recorders and toys, is shown in fig.
Speed control of dc motor using pid controller based on artificial intelligence techniques conference paper pdf available january 20 with 1,7 reads how we measure reads. Proportional integral derrivative pid controller is the technique used to actively. Speed control for brushless dc motors using pid algorithm. This approach is based on providing a variable dc voltage to dc motor from a. The l293d can provide bidirectional drive currents of up to 600ma at voltages from 4. Pdf implementation of motor speed control using pid control. Introduction the fuzzy logic, unlike conventional logicsystem, is able to model inaccurate or imprecisemodels. May 02, 20 mitsumi dc encoder motor controlled by pid dc servo driver duration. Concepts of dc motor for there are two types of motor. The brushless direct current bldc motor is efficiently controlled by pid controller.
The paper analyses a dc motor with focus on speed control using two different approaches. System implementation this motor speed control system was designed as an frequency controller, operated by a stored program in the plc. Speed control of dc motor by programmable logic control. Speed control of dc motor using pid controller implementation. Control tutorials for matlab and simulink pi control of. In armaturecontrolled dc motors, the applied voltage va controls the angular velocity w of the shaft. Pdf speed control of dc motor using pid controller based on.
Thus, control methodology such as pid controller is used to limit the maximum overshoot as well as to reduce the starting current of the machine. Ashok suryawanshi4 plc based system for controlling. The dc motor whose speed is to be controlled using the pid controller in the fig. The arduino pro mini is used to store motor controls, pid algorithms, and to communicate with the pc. In developing this project, programmable logic controller plc ladder. May 28, 2016 analog pid speed control for dc motor duration.
The former is relatively insensitive to load inertia and the latter is sensitive to load inertia but allows implementation of a very smooth transition from speed to torque controlso look at your application and take your choice. Controller plc is used due to its advantages, such as fast response, quick and simple troubleshoot, low cost and high reliability. In this paper, section i includes the introduction to control system, dc motor and different controlling techniques of motor. Dc motor speed control using pid controller implementation. Proportional integral derrivative pid controller is the technique used to actively control the speed of the motor. Speed control of bldc motor using adaptive fuzzy pid. A good example of temperature control using pid would be an application where the controller takes an input from a temperature sensor and has an output that is connected to a control element such as a heater or fan. Speed control of dc motor using pulsewidth modulation. The structure of the control system has the form shown in the figure below. Base platform the base platform is a 3point platform, 2 wheels one of which is geared and attached to a dc motor and an audio jack. Speed control of dc motor using programmable logic. Speed control of dc motor using pid controller implementation with plc. Pid controller design for a dc motor file exchange matlab. I have an encoder attached to the shaft of my motor, and it was recommended to me to use the arduino pid library to maintain even speed on the dc motor when its under higher loads.
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