Position Control of DC Servo Drive

Using Fuzzy Logic Controller

R.Manikandan
Department of EEE
The Kavery Engineering College
Salem, Tamil Nadu.
electricmani@yahoo.co.in
Abstract- This paper presents the position control
scheme of DC servo motor drive. The fuzzy PI controller is
developed for controlling the position of DC servo motor
drive. The DC servo motors are highly preferred because
of high power rating and speed of the motor. The
proposed technique is a closed loop real time control
scheme where the position control is obtained through
position sensor, it is coupled with the motor shaft for
provide a feedback position signal. The position control
scheme of DC servo motor drive incorporating the fuzzy
logic control which is experimentally implemented using a
digital signal peripheral interface controller dspic
30F2010. The performances of the proposed fuzzy logic
controller based DC servo motor drive were investigated
and it is compared with conventional PI controller based
drive. The simulated and experimental results of
conventional and fuzzy controller is compared and results
illustrates that the FLC gives better dynamic performance
also it is more robust for industrial position control drive
applications.
Keywords - DC servo motor, position control, fuzzy logic
controller, PI controller, dspic, MATLAB.
I. INTRODUCTION

R.Arulmozhiyal
Department of EEE
Sona College of Technology
Salem, Tamil Nadu.
arulmozhiyal@gmail.com
The first section gives the introduction and importance
about the paper. The second section of the paper discuss about
the DC position servo drive concept. Design of speed/position
controller with conventional and fuzzy technique is discussed
in the third section of the paper. The fourth section deal with
the simulation work carried through MATLAB environment.
The fifth section explains the experimental implementation.
The sixth section is about the results and discussions. The
final section present in this paper is the conclusion.
II. DC POSITION SERVO DRIVE
The DC position servo drive is depicted in the fig1. The
position and speed control is obtained with conventional or
fuzzy logic controller. The block diagram consists of four
quadrant chopper with bidirectional control drive it drives the
dc servo motor. The supply to the 4-quadrant chopper is
derived from the diode rectifier. The chopper circuit contains
four MOSFETs. The gate pulse for the MOSFET is obtained
from PWM generator. Device 1&2 is for forward direction,
3&4is for reverse direction of the motor. So that the motor can
able to run in 4-quadrants such as forward motoring, forward
braking, reverse motoring, and reverse braking.

n recent years DC motors are used in high performance

drive system because of its advantages. A DC servo motor
which is usually a DC motor of low power rating is used as an
actuator to drive a load. It is having high ratio of starting
torque to inertia and faster dynamic response. Because of their
high reliability, flexibility and low cost, DC servo motors are
widely used in industrial applications, robot manipulators and
home appliances where speed and position control of motor
are required [1-4]. It is a common actuator in control system,
it is directly provides the rotary and transitional motion. In
this paper permanent magnet DC motor is preferred.
Here the field excitation is by permanent magnet and
remains constant under all operating conditions. DC servo
drive systems normally use the full four quadrant operations
which allow bidirectional speed control with regenerative
braking capabilities [5-8]. This paper demonstrates the
position control based drive by conventional and fuzzy PI
controller.
The conventional methods have the following difficulties, it
depends on the accuracy of the mathematical model of the
system and the expected performance is not met due to the
load disturbances. The classical linear control shows good
performance only at one operating speeds. Fuzzy logic is a
technique to embody human like thinking into a control
system [9-12]. Fuzzy control has been primarily applied to the
control of processes through fuzzy linguistic performances.
The fuzzy controller gives the better dynamic performance as
well as error reduction.

Fig 1 Block diagram of DC position servo drive

The block diagram shows the shaft of the motor is coupled
with the position sensor. The position sensor is used to obtain
the actual position of the motor. It is then compared to set
position, the difference between two generates an error. If the
set position is greater than the actual position then the position
error output of the comparator is positive else it will be
negative. The position error so obtained is processed in
position PI controller and its output sets the position angle
then it is fed to limiter. It controls the speed range from higher
to lower limited value, here the carrier and reference signal
are controlled and modulated up to desired values. This PWM
pulses is fed to the four quadrant chopper.
By varying the duty cycle of the pulses the motor voltage
can be varied. The position of the motor is obtained by

Where,

= dt

(1)

e= s r
(2)
The above equations describes e- position error, s -set
position, r -actual position of the motor.
By varying the duty cycle of the chopper, the output
voltage gets controlled. The output voltage of the chopper is
given as,
(3)
Vo= Vdc*(Ton-Toff)/T
If the duty cycle is 50%, both on and off time same so the
motor is not in operating condition. At same time if we
increasing or decreasing the pulse width the drive will
operates either in forward or reverse manner.
III. DESIGN OF POSITION / SPEED CONTROLLER
A. conventional position/speed controller
The conventional PI controller block model is given in fig
2. It is one of the most common approaches for position/speed
control in industrial electrical drives. in general, because of its
simplicity, and the clear relationship existing between its
parameters and the system response specifications a very
common method to determine the Kp and Ki constants of the
PI controller is the method of Ziegler-Nichols.

rule does in fact correlate to the function relating voltage and

current to angle.
Fig3 shows the block model of fuzzy PI controller the
position/speed error is calculated with comparison between
reference speed/position. Speed error and speed error
changing are fuzzy controller inputs. The Input variables are
normalized with a range of membership functions specified
and the normalization factors are named as K1, K2 and K3 is
the denormalization factor. These factors play a vital role for
the FLC. The factors K1and K2 are chosen to normalize the
speed errore and the change of speed error ce. K3 are
chosen denormalize the PWM width.
The fuzzy logic controller initially converts the crisp error
and change in error variables into fuzzy variables and then are
mapped into linguistic labels. Membership functions of input
e, ce and pwm are shown in fig 4 which consist of two
inputs and one output. The triangular membership functions
are used for all the fuzzy set of the input and output vectors.
There are seven MFs for the input e, ce, and output u as pwm.
All the MFs are symmetrical for positive and negative values
of the variables. The linguistic labels are divided into seven
groups.
1
Degree of membership

indirect form of measurement by integrating the speed of the

motor.

nl

nm

ns

ps

pm

pl

0.8
0.6
0.4
0.2
0
-1

-0.8

-0.6

-0.4

-0.2

0.2

0.4

0.6

0.8

Fig.4 Membership Functions of e ce u

Fig.2 Conventional PI controller

Based on the rules Ziegler-Nichols, the values of Kp and Ki
are found out as 0.5 and 0.05 respectively. The main
drawback in this controller it depends on the accuracy of the
mathematical model of the system and also the expected
performance is not met due to the load disturbance. To
overcome this drawback we are going to implement the fuzzy
controller in the proposed technique.

They are nl - negative large, nm - negative medium, ns negative small, z- zero, ps- positive small, pm - positive
medium, pl - positive large.
The fuzzy-rule-based matrix used for the proposed DC
servo motor specific FLC algorithm is shown in table I. The
top row and left column of the matrix indicate the fuzzy set of
the variables e and ce respectively, and the MFs of the
output variable pwm are shown in the body of the matrix.
There are 7*7=49 possible rules in the matrix. Mamdani type
inference is used for inference engine. The surface view of the
fuzzy PI controller is shown in Fig5, where as the x-axis is
error e and y-axis change is error ce and z-axis is output
u as command PWM.

B. Fuzzy PI controller

TABLE I- Fuzzy rule-based matrix

e
nl

nm

ns

ps

pm

pl

ce
nl

nl

nl

nl

nl

nm

ns

nm

nl

nl

nl

nm

ns

ps

Fig.3 Fuzzy PI controller

ns

nl

nl

nm

ns

ps

pm

To determine a fuzzy rule from each input-output data pair,

the first step is to find the degree of each data value in every
membership region of its corresponding fuzzy domain. The
variable is then assigned to the region with the maximum
degree, when each new rule is generated from the input-output
data pairs, a rule degree or truth is assigned to that rule, where
this rule degree is defined as the degree of confidence that the

nl

nm

ns

ps

pm

pl

ps

nm

ns

ps

pm

pl

pl

pm

ns

ps

pm

pl

pl

pl

pl

ps

pm

pl

pl

pl

pl

The fuzzy logic controller initially converts the crisp error

and change in error variables into fuzzy variables. There are
two input e, ce and only one output as u for PWM. The
triangular membership functions are used to generate the
control signals in this proposed technique.

1
0.5

0
-0.5
-1
1
0.5

1
0.5

-0.5

-0.5
-1

ce

-1

Fig.5 Surface View

IV. SIMULATION
The name MATLAB stands for matrix laboratory
MATLAB is a high performance language for technical
computing. It integrates computation, visualization, and
programming in an easy-to-use environment where problems
and solutions are expressed in familiar mathematical notation.
Simulink model for the position control of DC servo motor
drive is depicted in fig 6.It elucidate the overall operation of
this module. The circuit model has a DC motor drive with Hbridge. Fig 7 a and b demonstrates the subsystem block for
conventional and fuzzy PI Speed/Position controller. It is
controlled by manual switch as below in block model.

V. EXPERIMENTAL IMPLEMENTATION
The proposed FLC based position control of DC servo
motor drive is experimentally implemented using dspic
30F2010 through both hardware and Matlab software. Fig 8
shows the block diagram of such hardware implementation. It
has two potentiometers, one is coupled with the motor shaft to
sense the actual position of the motor, and another one is used
for set position. The difference between two are compared in
the dspic controller. It produces the PWM pulse signal. These
PWM signals are fed to the bi-directional drive. The
bidirectional drive contains four MOSFETS. These devices
are triggered by PWM signals generated by the dspic
controller to operate the drive in required modes.
+12V
+5V
PWM PULSE
+5V

+5V
BI-DIRECTIONAL
DRIVE
(H-BRIDGE)

DSPIC
CONTROLLER

POT

POT

POT=10K

Discrete,
Ts = 2e-006 s.

TL
0

Va

-ve

-Vdc

Discrete
DC Machine

dc

+Vdc

Fig.8 Hardware Block Diagram

F+

+ve

Limiter_2

A+

MI

S_U

Limiter_1

TL

S_E

P_U

A-

P_E

Set Position

Speed Controller
PI& Fuzzy PI

Vdc

F-

Position Controller
PI & Fuzzy PI

H-Bridge

rd>rmp

-0.003628

-Krd>rpm
30/pi

<Speed wm (rad/s)>

Gear Ratio
10:1
1/10

rd>deg
1/s

0
Display1

-K-

integrator

Scope2

-1.536
Display

Fig.6 Simulation Circuit for position control

Programming of dspic through Matlab/simulink using

novel technique is depicted in fig 9. It contains ADC input
block which has 2 Analog inputs. It produces +5V signal. In
two analog inputs one is for AN0 is for set value and AN1 for
actual value of position. These signals are fed to the
conversion block. The conversion block must be in double.
Then it is multiplied with gain for getting 360, output
equivalent to 5V signal. When we vary the voltage (0-5v) the
position also varies. Then the converted signal is fed to the
comparator. It evaluates and delivers the error output. Then it
is controlled by fuzzy logic controller to generate PWM
width.
dsPIC MASTER
30f2010
20.00 MIPS

Compile for dsPIC

(double-click)

Master

Generate Code

EN

2000
2000

(a) Block for conventional PI

Periode

PWM_Motor

Gain
AN_0

double

AN_1

double

0.3515625
PWM1

D_2

ADC

D_3
ADC Input

double
0.3515625

uint16
Fuzzy Logic
Controller

D_1

Gain1

Fig.9 Programming dspic through Matlab/Simulink

(b) Block for fuzzy PI controller

Fig.7 Subsystem for Position/Speed Controller

The summer enhances the signal with the constant value

2000. Then this is fed to PWM generating block. When the
two values are equal the motor doesnt rotate. When the value
is positive the motor rotates in forward direction else in
negative direction. From the Investigation of simulation the
fuzzy PI controller is more reliable and accurate than
conventional PI. So that the hardware implementation is made

up of only fuzzy PI controller. Fig10 shows the photo view of

hardware implementation.
Position (Theta)

270
Act-Position
Set-Position

180
90
0
-90

0.2

0.4

0.6

0.8

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

1
1.2
Time (sec)

1.4

1.6

1.8

150

Speed (rpm)

100
50
0
-50
-100
-150

Fig.12Simulation response at position (0-180-0) in

fuzzy PI controller
Fig.10 Experimental setup photo view
VI. RESULTS AND DISCUSSION
Several tests were performed to evaluate the performance
of the proposed FLC based position control of DC servo
motor drive system both simulated and experimentally. To
evaluate the performance of the system, series of
measurements have been accomplished.

TABLE-II Simulation results comparison

Actual position
Set position

270
Position (Theta)

From the above result we understood that the fuzzy PI has

settled earlier when compared to conventional PI. It gives
better dynamic response. The complete comparison shown in
table 2.

Act-Position
Set-Position

180

Conventional PI
Ts (sec)

% of
Error

Ts (sec)

% of
Error

0-180

0.8

0.87

0.5

0.25

180-0

0.8

2.77

0.5

0.25

90
0
-90

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

Fuzzy PI

150

Speed (rpm)

100
50
0
-50
-100
-150

0.2

0.4

0.6

0.8

1
1.2
Time (sec)

1.4

1.6

1.8

Fig.11 Simulation response at position (0-180-0) in

conventional PI
Fig 11 shows the position and speed versus time curve of
motor under no load condition with an angle of (0-180-0)
degrees in conventional PI controller response. From the
response it is understood that the speed increases gradually at
the time of starting and maintain constant maximum set
limited speed until position reaches the desired position then
gets gradually decreases to zero. Conventional PI response
settles the position at 0.8 sec. After 1 second the set position
change to 180 to 0 degree then the speed of motor goes to
reverse tends to reach the zero point of desired position. The
settling time of response 0.8sec and have 2.7% of error.
Fig 12 shows the position and speed versus time curve of
motor under no load condition with an angle of (0-180-0) in
fuzzy PI controller response. From the response it is
understood that the fuzzy PI response settles the position at
0.5 sec. After 1 second the set position change to 180 to 0
degree then settling time of response is again 0.5sec and there
is have very less 0.25% of acceptable error.

The simulated results are verified by the experimental

results. Fig 13 shows the position versus time curve of motor
under no load condition with a voltage of (0-5-0) v for angle
of (0-300-0) degree in fuzzy PI controller responses. From the
response it is understood that position is changed 0 to
300degree at 5 sec, the actual position settles after 4 sec for 0
to 5v.
After 14 sec the position is changed from 5-0v which is
equivalent to (300-0)degree the settling time takes same 4sec
that is position reaches zero degree at 18sec.

Fig.13 Experimental response at position (0-300-0) degree

Fig.14 Experimental response at position

(0-150-300-150-0) degree
To verify the full performance the hardware further tested
at different frequent changing positions. Fig.14 shows the
position versus time curve of motor under a condition with a
voltage of (0-2.5-5-2.5-0) v which is equivalent to (0-150300-150-0) degree. From the response curve settling time of
fuzzy PI controller is more or less equal and there is less
considerable error.
TABLE-III Experimental results
Set voltage
(volt)

Set position
(degree)

0-5

Actual position (degree)

Ts (sec)

% of Error

0-300

0.6

5-0

300-0

0.6

0-2.5

0-150

0.6

2.5-0

150-0

0.6

A complete hardware results is given in table III. From the

result we identified % of error and settling time is less in
fuzzy controller. Also reduced amount of settling time is in
fuzzy controller.
VII. CONCLUSION
The fuzzy logic controller based position control of DC
servo motor drive with simulation and real time experimental
implementation using dspic30F2010 controller has been
presented in this paper. It is found that the position of DC
motor can be controlled and return back to desired value
easily. In Fuzzy logic control it is not necessary to change the
control parameters at any conditions. It does not happen in
conventional PI. It is clear that the fuzzy PI controller is more
advantageous than conventional PI because the settling time is
very low compared to the conventional PI Controller. It gives
better dynamic response. This proposed scheme is very
suitable for applications of industrial position control drives.
REFERENCES
[1] Ahmed, N.A., 2005. Modeling and simulation of AC-DC buckboost converter fed dc motor with uniform PWM technique.
Elect. Power syst. Res., 73: 363-372.
[2] Dewan, S. B. And Straughen, A., Power semiconductor circuits,
john Wiley & sons, New York, 1975.

[3] Ong, C.M., 1998. Dynamic simulation of electric machinery:

using MATLAB/SIMULINK. 1st edn. Prentice hall PTR, New
Jersey, ISBN: 0137237855, pp: 626.
[4] Dubey, G.K., Power semiconductor controlled drives, prenticehall international, 1989.
[5] Mohan, N., Undeland, T. M., & Robbins, W.P., Power
electronics: converters, applications & design, john Wiley &
sons, newyork, 2003.
[6] MPLAB IDE, simulator, editor users guide.
[7] L.A.Zadeh,fuzzy sets, Inform. Control, vol.8, pp.338-353,
1965.
[8] Chuen Chien lee, Fuzzy logic in Control systems: fuzzy logic
controller-part1, 21990 IEEE.
[9] Fuzzy logic Toolbox user guide.Natick, MA: Math Works,
1997.
[10] K. Zhou and J. C. Doyle, Essentials of Robust Control. Upper
Saddle River, NJ: Prentice-Hall, 1998.
[11] S. Hara, Y. Yamamoto, T. Omata, and M. Nakano, Repetitive
controlsystem: A new type servo system for repetitive
exogenous signals,IEEE Trans. Automat. Contr, vol. 33, 1988.
[12] R. W. Erickson, Fundamentals of Power Electronics, 2nd ed.
Secaucus,NJ: Kluwer, 2000.

R.Manikandan
was
born
in
salem,Tamilnadu, India in 1986. He
received B.E degree in Electrical and
Electronics Engineering from Mahendra
Engineering College at 2008. and also
M.E degree in power electronics and
drives from Sona College of technology
at 2010. He is now working as an
Assistant Professor at the Kavery engineering college. He is
currently doing Ph.D based on fuzzy logic speed control
drives of BLDC motor drives. He is a life time member of
ISTE.
Dr.R.Arulmozhiyal
was
born in
chennai,Tamilnadu, India in 1973. She
received the B.E. and M.E. degrees in
electrical engineering from University of
the Madras, Anna, India, in 1999 and
2006, respectively. and the Ph.D. degree
in Electrical engineering from Anna
University of technology, Coimabtore,
India, in 2011. Since 1999, She has been
with Department of Electrical and Electronics Engineering,
Faculty of Engineering, Sona College of Technology,
Tamilnadu, India where she is currently a Professor. Her
research interests are in the areas of AC Motor Control, AI
Techniques to Solid State Drives. Mrs. Arulmozhiyal is a
Member in IEEE society, life member in ISTE and member in
IE(I).