tishreen university journal for research and scientific ... · analysis of the response of dc motor...
TRANSCRIPT
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Tishreen University Journal for Research and Scientific Studies - Engineering Sciences Series Vol. ( ) No. ( )
PID
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PID
PID
Matlab
PID controllers, D.C motors control methods, time response, Performance
*
PID
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Tishreen University Journal for Research and Scientific Studies - Engineering Sciences Series Vol. ( ) No. ( )
The Proportional, Integral, and Differential (PID) Control of Direct Current (DC) Motors
Dr. Mohsen Daoud*
(Received / / . Accepted / / )
� ABSTRACT �
The choice of an appropriate control algorithm for dynamic systems has always been
a compromise between the quality of control and its cost- hence choosing the simplest control structure. It is worth noting that PID algorithms are widely used in the control systems of DC motors; they are the most useful methods adopted to satisfy control requirements, but they have their own shortcomings. This study offers a comprehensive analysis of the response of DC motor control systems along with the presence of disturbance signals and variation in system parameters. This research shows the advantages and disadvantages of applying PID controllers to the closed-loop control of the DC motor. The DC motor simulation model in this research provides a fast analysis of motor dynamic behavior. In this study, there is a matlab simulation diagram of DC motor control algorithms.
Keywords: PID controllers, DC motor control methods, time response, performance
* Associate Professor, Department of Mechatronics Engineering, Faculty of Mechanical and Electrical Engineering, Tishreen University, Lattakia, Syria.
Tishreen University Journal. Eng. Sciences Series
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Linear quadratic control method [ ]
[ ]
Q,R
[ ] adaptive control algorithms
PID
PID
Matlab
PID
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Tishreen University Journal. Eng. Sciences Series
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Matlab simulink package
( )
Matlab
( )Matlab
Open-loop system
( ) Open-loop system
[ ]
J= kg.m /s , LA = H, RA= Ω , C= N.m.s, Ke= , Kt = , Pn= W
,Vn= V, nn= rpm, sec1260
11528.6
60
.2radl
nn
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1.0
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ss
s
svin
[ ]
Matlab ( )
PID
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( )Matlab
Vin= V, V t= s Td= N.mt= s.
( )
V
Tn= .Pn/n= N.M
( )
Closed-loop system
( )
Torque
Tishreen University Journal. Eng. Sciences Series
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( )
Proportional control.
Proportional plus integral control (PI)
Proportional plus derivative control (PD)
Proportional plus integral and derivative control (PID)
D.C.Motors proportional control (P control)
( )
( )
PID
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( )
(Kp= ) Td
P D.C motor control Kp=200
Mo
tor
sp
ee
d(r
ad
/se
c)
Time(sec)
Step response
Disturbance torqueTd=0.002 N.m
Nominal speed
( )
Rise Time
Overshoot%
Settling Time
Steady-State Error
KP=
KP=
KP=
Tishreen University Journal. Eng. Sciences Series
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KP=
Time rise
ess
dω
d
rt
GsE
K P.1
1)(
Ke
P
ss
1
1
K P
D.C. Motors proportional plus integral and derivative control (PID control)
PID
PID
PID
dt
dedteeu KKK DIP ..
u
e
KP, KI, KD
PID
PID
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PID,PD,PI Matlab
( )
( )PID
( ) PI
(KP= ),(KI= )
PI motor control KP=20,KI=10
Time(sec)
Step responseDisturbance
Td=0.002 Nm
Nominal speed
Moto
r sp
eed(r
ad/s
ec)
Moto
r sp
ee
d(r
ad/s
ec)
Moto
r sp
eed(r
ad/s
ec)
( ) PI
Rise Time
Overshoot%
Settling Time
Steady-State Error
KP= ,KI=
Tishreen University Journal. Eng. Sciences Series
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KP= , KI= - -
KP= , KI= - -
KP= , KI=
( )PI
( ) PD
(KP= ),(KD= )
Moto
r speed(r
ad/s
ec)
Moto
r sp
eed(r
ad/s
ec)
Moto
rsp
eed(r
ad/s
ec)
Moto
r sp
eed(r
ad/s
ec)
( ) PD
Rise Time
Overshoot%
Settling Time
%
Steady-State Error%
KP= ,KD= %
PID
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KP= , KD= % %
KP= , KD=
Td= N.m
KP= , KD=
Td= N.m
( )PD
( ) PID
(KP= , ), (KI= , ), (KD= , )
Moto
r sp
eed
(ra
d/s
ec)
PID motor control KP=50,KI=30,KD=7
Moto
r sp
eed(r
ad/s
ec)
Step responseDisturbance
Td=0.002 Nm
Time(sec)
Nominal speed
( ) PID
( )PID
(KD
(KI
PID
PID
Ziegler-Nichols ,Cohen-Coon[ ]
Tishreen University Journal. Eng. Sciences Series
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P,PI,PD,PID
P,PI,PD,PID
Rise Time
Overshoot
Settling Time
Steady-State Error
KP
KI
KD
P,PI,PD
PID
PIDKP,KI,KD
( )
( )
.
PID
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[ ] MATLAB, SIMULINK Package, Toolboxes, control system Demos.
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