EXPERIMENT:- 08

AIM-: To study the speed control of DC motor using PID controller.

INSTRUMENTS-: MALAB Software

THEORY-:
Part 1-: DC motor transfer function.

Figure 8.1

DC motor -: a)schematic b)block diagram

In Figure 8.1(a) a magnetic field is developed by stationary permanent

magnets or a stationary electromagnet called the fixed field. A rotating
circuit
called the armature, through which current ia(t) flows, passes through this
magnetic field at right angles and feels a force, F = Blia(t), where B is the
magnetic field strength and /is the length of the conductor. The resulting
torque turns the rotor, the rotating member of the motor.

There is another phenomenon that occurs in the motor: A conductor moving

at
right angles to a magnetic field generates a voltage at the terminals of the
conductor equal to e = Blv, where e is the voltage and v is the velocity of the
conductor normal to the magnetic field. Since the current-carrying armature
is rotating in a magnetic field, its voltage is proportional to speed. Thus,

(8.1)
We call vb(t) the back electromotive force (back emf); Kb is a constant of
proportionality called the back emf constant; and d0m(t)/dt = wm(t) is the
angular velocity of the motor. Taking the Laplace transform, we get

(8.2)
The relationship between the armature current, ia(t), the applied armature
voltage, ea(t), and the back emf, vb(t), is found by writing a loop equation
around the Laplace transformed armature circuit (see Figure 8.1(a)):

(8.3)

The torque developed by the motor is proportional to the armature current;

thus,

(8.4)

where Tm is the torque developed by the motor, and Kt is a constant of

proportionality, called the motor torque constant, which depends on the
motor and magnetic field characteristics. In a consistent set of units, the
value of Kt is equal to the value of Kb. Rearranging Eq. (8.4) yields

(8.5)

To find the transfer function of the motor, we first substitute Eqs. (8.2) and
(8.5) into (8.4), yielding

(8.6)
Now we must find Tm(s) in terms of 0m(s) if we are to separate the input and
output variables and obtain the transfer function, 6m(s)/Ea(s).

Figure 8.2 Typical equivalent mechanical loading on a motor

Figure 8.2 shows a typical equivalent mechanical loading on a motor. Jm is

the equivalent inertia at the armature and includes both the armature inertia
and as we will see later, the load inertia reflected to the armature.

Dm is the equivalent viscous damping at the armature and includes both the
armature viscous damping and, as we will see later, the load viscous
damping
reflected to the armature. From Figure 8.2,

(8.7)

Substituting Eq. (8.7) into Eq. (8.6) yields

(8.8)

Now by taking derivation w.r.t t, we get

Fundamental operation of PID Controller

A PID controller continuously calculates an error value e(t) as the difference between a
desired setpoint and a measured process variable and applies a correction based
on proportional, integral, and derivative terms. The controller attempts to minimize the error over
time by adjustment of a control variable u(t) such as the position of a control valve, a damper, or
the power supplied to a heating element, to a new value determined by a weighted sum:

where Kp Ki and Kd all non-negative, denote the coefficients for

the proportional, integral, and derivative terms, respectively (sometimes
denoted P, I, and D). In this model:

P accounts for present values of the error.

I accounts for past values of the error.

D accounts for possible future trends of the error, based on its current rate of change.

Where
Kp is the proportional gain, a tuning parameter, Ki is the integral gain, a tuning
parameter,
Kd is the derivative gain, a tuning parameter,

is the error (SP is the setpoint, and PV(t) is the process variable),
t is the time or instantaneous time (the present), is the variable of
integration
Equivalently, the transfer function in the Laplace domain of the PID controller is

where s is the complex frequency.

Proportional term

The proportional term produces an output value that is proportional to the current error value.
The proportional response can be adjusted by multiplying the error by a constant Kp, called the
proportional gain constant.

The proportional term is given by

Steady-state error
Because a non-zero error is required to drive it, a proportional controller generally operates with
a so-called steady-state error. Steady-state error (SSE) is proportional to the process gain and
inversely proportional to proportional gain.
Integral term

The contribution from the integral term is proportional to both the magnitude of the error and the
duration of the error. The integral in a PID controller is the sum of the instantaneous error over
time and gives the accumulated offset that should have been corrected previously.

The integral term is given by

Derivative term

The derivative of the process error is calculated by determining the slope of the error over time
and multiplying this rate of change by the derivative gain Kd. The magnitude of the contribution
of the derivative term to the overall control action is termed the derivative gain, Kd. The

derivative term is given by

PART 3: Motor Speed using PID Controller:
a) In this, we use Transfer Function of DC Motor and apply PID Controler
Method for Speed Control of DC Motor.

b) The back emf, e, is proportional to the angular velocity of the shaft by

a constant factor Ke.

c) From the figure above, we can derive the following governing

equations based on Newton's 2nd law and Kirchhoff's voltage law.

d) Applying the Laplace transform, the above modeling equations can be

expressed in terms of the Laplace variable s.

e) Eliminating I(s), we obtain Transfer Function as

Output:

Conclusion: Thus, we have performed speed control of DC Motor using PID

algorithm and
studied the transfer function of DC Motor and its properties.