The control of dc motor system is difficult and mathematically tedious due to their high non linearity property. The speed of dc motor is controlled using arduino programming platform and matlabs simulink coder. Measure position and speed control of a dc motor using an. 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. Separately excited dc motor speed control of using various tuning.
Brushless dc motor speed control using both pi controller and. The performance of the smc is judged via matlab simulations using linear model of the dc motor and known disturbance. May 02, 20 pid controller for dc motor speed control modeled in matlab based on arduino uno duration. In case of motor speed control, using the derivative part increase the effect of noise, so the most industrial applications didnt use any derivative parts in the controllers, so in most industrial applications a pi controller is used to come over the noise issue and increase the system stability. In this tutorial we will control the speed of a dc motor using raspberry pi and pwm technique. Manjusha patil, modelling and simulation of dc drive using pi and pid controller ijireeice vol. So, lets get started with dc motor speed control using arduino uno. To design the pid controller and tune it using matlabsimulink. In figure7, a simulink diagram of the fractional order pi controller for speed control is illustrated.
We can control the speed of a dc motor using pid controller in two different methods. The variable speed drives, which can control the speed of a. In closedloop control variations in motor load or power supply voltage are automatically compensated for. The results are compared with controller tuned by pi, pid and ziegler. In fact, fine speed control is one of the reasons for the strong competitive position of d. We have discussed about pwm in the previous tutorial. This paper presents the speed control methodology by varying armature voltage of the dc motor. Such a fine speed control is generally not possible with a. This module uses the pwm method to control the speed of dc motors. The l298n module has a very famous l298 motor driver ic which is the main part of this module. Pdf microcontroller based dc motor speed control using. You can control fan of your room according to the weather outside as you know the use of sensors with rpi. Speed control of dc servo motor using pi controller youtube.
Dc motor speed control using arduino the engineering projects. To control the speed of dc motor with pid controller using matlabsimulink application. Use of application examples application examples illustrate the solution of automation tasks through an interaction of several components in the form of text, graphics andor software modules. You can also write arduino programs for different purpose. Dc motor position control using pid this post is the second installment of my advanced arduino series, where i will be continuing the trend of applying reallife engineering concepts into an arduino concept. Controlling dc motors with arduino arduino l298n tutorial. Modelling and simulation of speed control of dc motor using. Pwm pulse width modulation is a method used for getting variable voltage out of constant power source.
Chopper fed speed control of dc motor using pi controller. A good thing about l293d is, that it comes with build in kickback protection which prevents your raspberry pi from damage. Dc motor speed control using pid controller implementation by. Complete matlab code, after editing it for dc motor control, is given at the end of this project. Speed control of dc servo motor using pid controller. In this lesson we use pulses to control the speed of a regular dc motor and the l293d motor control chip to reverse the direction of the current. Essentially, a dc motor consists of a stator, a rotor and a commutator. Arduino is basically an amazing micro controller and is very easy to use because it is an open source device. Pdf speed control of dc motor using pid controller based on.
Pulsewidth modulation, pi control, pole placement, steadystate error, disturbance rejection, saturation, integrator windup, embedded control. 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. With pid control, the speed of a motor can be archived exactly. Position and speed control of a dc motor using analog pid controller. Dc motor speed control using pic microcontroller pwm method. It will be helpful to vary the speed of the dc motor in either clockwise or in anti clockwise direction. The aim of this exercise is to show students how to the raspberry pi may be used in conjunction with a l293d chip to control the direction of rotation a dc motor, and how the speed of a dc motor may be controlled using pulse width modulation pwm. Pi controller for simple applications optimum motor. Based on this data pi controller controls the duty cycles of the pwm pulses which corresponds to the voltage change required to maintain the speed. Raspberry pi control dc motor speed and direction with. To see how to tune the pid controller, please see the video demo andor read the blog post. The difference between actual and required speeds is given as input to the controller.
Dc motor with speed and current closed loops, driven by. Our next task is to control a dc motor using python script and gpio headers on raspberry pi and this will create a picture of how robot works in our mind. The first part is concern on the simulation using matlab simulink where the dc motor is modeled and pi controller is. I cannot understand the relation between dc link vdc and inverter output rms line voltage. Pid controller design for a dc motor file exchange. Design the speed controller for a bandwidth of 10hz 62. Speed control of brushless dc motor by using fuzzy logic pi. Todays industries are increasingly demanding process automation in all sectors. Speed control of dc motor the speed of a dc motor is given by i. Dc motor, pid controller, existing tuning, steady state error, fuzzy logic, fuzzy controller, simulink. May 07, 2017 the l293d is a dual hbridge motor driver for dc or stepper motors, which means you can drive two dc motors bidirectionally, or one stepper motor.
In particular, we will choose and tune the gains of a pi. Experiment 5 dc motor speed control walter scott, jr. Implementation of pid controller for dc motor speed control is done using zn and mzn tuning method. The arduino pro mini is used to store motor controls, pid algorithms, and to communicate with the pc. The speed control of dc motor is done using pi and pid controllers. For pso algorithm technique, pi controller is used to improve the performance of dc motor speed control system. Pdf the aim of this paper is to design a speed controller of a dc motor by selection of a pid parameters using genetic algorithm ga and adaptive. The circuit diagram of dc motor speed control based pid controller is shown in figure 4. In lesson 8, we used the pi to generate pulses to control the position of a servo motor. Dc motor position control using pid controller duration. This paper contains introduction to using an arduino board and simulink pi controller in closed loop system. Pid controller design for a dc motor file exchange matlab. Microcontroller based dc motor speed control using pwm technique conference paper pdf available december 2012 with 14,158 reads how we measure reads. Brushless dc motor speed control using both pi controller.
Pdf this paper describes the speed control of a dc shunt motor using conventional controllers pid, imc and fuzzy logic controller based on matlab. Follow the procedure described in 8 7 2 1 to design the speed control loop, using the. The application examples are a free service by siemens ag andor a subsidiary of siemens ag siemens. Speed control of dc motor using pso tuned pi controller. Control tutorials for matlab and simulink pi control of dc. Controlling direction and speed of dc motor using raspberry pi. We are using speed control of dc motor using pi control the speed easily control increase. Pdf speed control of a dc motor using controllers researchgate. Analysis of direct action fuzzy pid controller structures.
In this paper, sliding mode control smc technique is used to control the speed of dc motor. Dc motor speed control system the speed control of a motor is frequently required in industrial applications, robotics, home. In this lesson we use pulses to control the speed of a regular dc motor and the l293d motor control chip to reverse the direction of the current through the motor and hence the direction in which it turns. This application note comes complete with design files which can be found in the references section. Dc motor with speed and current closed loops, driven by etpu on mcf523x, rev. To compare and analyze the result between the simulation result using a dc motor mathematical model in matlabsimulink and the experimental result using the actual motor.
Never connect a motor directly to your raspberry pi. Even a small 5v dc motor draws a high initial current of around 300 400 ma. Concepts of dc motor for there are two types of motor. Jun 28, 2015 since the induction motor rms line voltage is specified as 220v, the vdc should be 1. The aim of this paper is to design a speed controller of a dc motor by selection of a pid parameters using genetic algorithm ga and adaptive. Dc motor with speed and current closed loops, driven by etpu. Mathematical modeling of brushless dc motor and its speed. Here we are using 12v dc motor and average dc value delivered to motor can be varied by varying the duty ratio of the pwm. The speed response of dc motor is drawn for a bove circuit see fig. Follow the procedure described in 8 7 2 1 to design the speed control loop, using the motor parameters determined in earlier experiment. Design of plc based speed control of dc motor using pi. For example, it has applications in electric cars, trucks, and aircraft. There are many applications of dc motors, where we need a variable speed of dc motor. The reason behind using pi controller is it removes the delay and provides fast.
The dc motor whose speed is to be controlled using the pid controller in the fig. You can also visit the web page with resources for designing and tuning pid controllers. Pid control simulink of bldc motor free pdf file sharing. Since the induction motor rms line voltage is specified as 220v, the vdc should be 1. Dc motor speed control using pid controller implementation. Understanding pi controller, optionally control speed with. Abstract the thesis describes about the concept of dc motor and speed control separately excited dc motor. Arduino, lcd, protious, ir sensor, pi controller, dc motor.
The structure of the control system has the form shown in the figure below. Pi controller for dc motor speed realized with arduino and. Pdf microcontroller based dc motor speed control using pwm. Optimal tuning of pi controller for speed control of dc. Two push button switches are provided to control the speed of the motor. Its output then controls the average voltage sent to the motor. Apr 10, 2017 in this tutorial, i have controlled its speed as well by providing different voltage levels at the enable pin of the dc motor control driver l298. The crossover frequency is chosen as 60 hz, which is 110 the crossover frequency of. In this example project dc motor is interfaced with pic microcontroller using l293d motor driver. And it is widely used in speed control systems which need high control requirements, such as rolling mill, doublehulled tanker, high precision digital tools and etc 4. Moustafa hassan, speed control of dc motor using pid controller based on artificial intelligence techniques ieee 20. When controlling dc motor with speed, dont just stop motor but make its speed zero. An onboard tachometer converts the motor speed into a speed signal which can be read as an analog voltage or also used by the board for pi speed control.
The speed control using pi and pid control modes is explained and an implementation of the controller using opamps is given. The module will allow you to control the speed and direction of two dc motors. From the main problem, the dynamic equations in the laplace domain and the openloop transfer function of the dc motor are the following. Automation results into better quality, increased production an reduced costs.
The response of the controller to load variations is looked at. In this tutorial, i will make a simple program to do the dc motor direction control using arduino. Speed control of dc motor using pso tuned pi controller atulit patel1kapil parikh2 abstract. Dc motor direction control using arduino the engineering. Pid controller is used to control a simple dc motor modeled in simulink. Pdf speed control of dc motor by using pwm technique. Apr 08, 2017 dc motor direction control using arduino. Introduction todays industries are increasingly demanding process automation in all sectors.
Masood nazir, design of plc based speed control of dc motor using pi controller, international journal of scientific and technical advancements, volume 4, issue 1, pp. The main principle in controlling a dc motor with raspberry pi lies with the motor driver. May 02, 20 1967 shelby gt500 barn find and appraisal that buyer uses to pay widow price revealed duration. The chopper gives variable voltage to the armature of the motor for achieving desired speed using proportional integral pi controller. 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. Aug 11, 2016 raspberry pi controlling a motor via gpio. The first part is concern on the simulation using matlab simulink where the dc motor is modeled and pi controller is tuned using zieglernichols rules and software tuning. Closedloop motor control setting jumper j3 to the pi position with the jumper cap farther from the potiometer, feeds the 5bit setpoint signal and the measured motor speed to a proportionalintegral controller. Modeling and simulation of p, pi and pid controller for speed control. Control speed dc motor using pid controller youtube. Closed loop speed control of induction motor pi control.
Controlling a dc motor with raspberry pi and python. The l293d is a dual hbridge motor driver for dc or stepper motors, which means you can drive two dc motors bidirectionally, or one stepper motor. Keywordposition control, pi controller, separately excited dc motor, pi speed controller and pi torque controller. Arduino motor pid speed control arduino project hub. To overcome this difficulty, a new approach has been required. Speed control of dc motor under varying load using pid controller. Raspberry pi control dc motor speed and direction with java. Introduction in general on the basis of dc motor excitation the dc motor are classified into two types. Ghent university, department of electrical energy, systems. Speed control, dc motor model, pid control, closed loop, load. This tutorial is about dc motor speed control with a pic microcontroller using the pwm method.
In this tutorial, you are going to learn about arduino l298n motor driver module interfacing. Bode diagram for the continuous and discrete models of the dc motor for position control. Dc motor speed control using pwm with pic microcontroller. In this section, the speed of the motor is controlled using a pi controller. This lesson describes how to control both the speed and direction of a dc motor using python and a l293d chip. Matlab simulation of proposed system with noload and fullload condition is. In this activity we will design and implement a speed controller for a simple dc motor. Speed control of dc motor using pid controller based on artificial. It will be described how to program arduino with simulink coder and in the end we. The ampl itude of the appl ied voltage is adjusted using the pwm technique.