INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY RESEARCH VOLUME 1, ISSUE 8, SEPTEMBER 2012 ISSN 2277-8616

Speed Control of D. C. Servo Motor By

Fuzzy Controller
Dipraj, Dr. A. K. Pandey

Abstract—Variable speed drives are nowadays growing and varying very fast. Drives expanse depends on progress in different part of science
like power system, electronic, control methods and so on. Because the fuzzy logic techniques can be used to control any type of system. The
mathematical background and initial assumptions on which the conventional method relies on. On the other hand the fuzzy control is based on
fuzzy logic, a logical system that is much closer to the human thinking and natural language compared with the classical control methods. Usually
the synthesis of controller includes both the controller type selection and the adjustment of its parameters. In some cases the controller's type
might be more complex than a PI (D) type controller. In all the cases, the tuning problem must be satisfactorily solved. These types of situations
can be solved more easily with a fuzzy controller which has made possible the establishment of intelligent control. This study presents efficient
method for speed control of a separately excited D.C motor using fuzzy logic control (FLC). However, the controllers based on fuzzy logic theory
are used only in simple configurations and their analytical knowledge is still poor. In this paper, a quantitative and qualitative study of fuzzy
controller is made.

Index Terms— Control System, Proportional-Integral (P-I) controller, Fuzzy logic control, Speed control, Modeling of System, Separately Excited
D.C. Servo Motor, MATLAB / SIMULINK.
————————————————————

1 INTRODUCTION
Direct Current motor drives have been widely used where
accurate speed control is required. D.C. motor controlled by a
thyristor converter is still a very popular choice in particular
applications. The Proportional-Integral (P-I) controller is one of
the conventional controllers and it has been widely used for
the speed control of dc motor drives [3]. The major features of
the P-I controller are its ability to maintain a zero steady-state
error to a step change in reference. At the same time P-I
controller has some disadvantages namely; the undesirable
speed overshoot, the sluggish response due to sudden
change in load torque and the sensitivity to controller gains K I
and K P have been proposed for the speed control of dc
motors. Recently, fuzzy logic employing the logic of
approximate reasoning continues to grow in importance, as it
provides an inexpensive solution for controlling ill-known
complex systems. Fuzzy controller has already been applied
to phase controlled converter dc drive, linear servo drive, and
induction motor drive [8].
2 LITERATURE REVIEW
2.1 Servo Motor Description
Electric motors can be classified by their functions as
servomotors, gear motors, and so forth, and by their electrical
Configurations as DC (direct current) and AC (alternating
current motors. Servomotor is a motor used for position or
speed control in closed loop control systems.
________________________________
• Dipraj is currently pursuing masters degree program in
Power Electronics & Drive in GBTU, India, PH-0551-
2500161. E-mail: erdipraj_iet05@yahoo.co.in
• Dr. A. K. Pandey Assistant Professor Electrical Engg,
Department M. M. M. Engineering College, Gorakhpur-
273 010 Uttar Pradesh, India.
Mob.-09235500546 E-mail: akp1234@gmail.com
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The requirement from a servomotor is to turnover a wide
range of speeds and also to perform position and speed. DC
servo motors have been used generally at the computers,
numeric control machines, industrial equipments, weapon
industry, and speed control of alternators, control mechanism
of full automatic regulators as the first starter, starting systems
quickly and correctly [4] [6]. Some properties of DC servo
motors are the same, like inertia, physical structure, shaft
resonance and shaft characteristics, their electrical and
physical constants are variable. The velocity and position
tolerance of servo motors which are used at the control
systems are nearly the same. It has implemented proportional
integral, fuzzy logic and adaptive neuro fuzzy inference
system respectively at the variable working situations to the
simulation model which has prepared at the Matlab
programmers for improvement the servo motor performance.
2.2 Fuzzy Logic Controller Description
Fuzzy logic control is a control algorithm based on a linguistic
control strategy, which is derived from expert knowledge into
an automatic control strategy. Fuzzy logic control doesn't need
any difficult mathematical calculation like the others control
system. While the others control system use difficult
mathematical calculation to provide a model of the controlled
plant, it only uses simple mathematical calculation to simulate
the expert knowledge. Although it doesn't need any difficult
mathematical calculation, but it can give good performance in
a control system [8]. Thus, it can be one of the best available
answers today for a broad class of challenging controls
problems. A fuzzy logic control usually consists of the
following:
Fuzzification: This process converts or transforms the
measured inputs called crisp values, into the fuzzy linguistic
values used by the fuzzy reasoning mechanism.
Knowledge Base: A collection of the expert control rules
(knowledge) needed to achieve the control goal.
Fuzzy Reasoning Mechanism: This process will perform
fuzzy logic operations and result the control action according
to the fuzzy inputs.
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Defuzzification unit: This process converts the result of fuzzy Where, K T = K f .i f is torque constant. The back e.m.f. of motor
reasoning mechanism into the required crisp value [7]. is proportional to the speed i.e.

E b (t) = K b . ω m (5)

Where, K b is back e.m.f. constant. In order to create the block

diagram of system initial conditions are zero and Laplace
transform is implemented to the equations. i.e.

E a (s) = R a .Ia (s) + sL a .Ia (s) + E b (s)

Ia (s) = Ea (s) - E b (s) (6)
Fig.1. Fuzzy Logic Controller

3 MODELING OF D. C. SERVO MOTOR sL a + R a

3.1 Mathematical Modeling of D. C. Servo Motor System T m (s) = sJ.ω m (s) + B.ωm (s)
[5] ω m (s) = T m (s) (7)
Fig.2. represented the servo motor model. Let’s consider:- sJ + B
E a (t) =Input voltage
i a (t) =Armature current T m (s) = K T .I a (s) (8)
R a = Armature resistance
L a = Armature inductance
E b (t) =Back e.m.f E b (s) = K b . ω m (s) (9)
T m = Developed Torque
ω m =Motor angular velocity 3.2 Block-diagram
J=Motor moment of inertia
B=Viscous friction coefficient
K b =Back e.m.f constant
K T =Torque constant

i a (t) i f (t)
+

E f (t) Fig.3. Block-Diagram of Separately Excited DC Motor

E a (t)
4 CONTROLLER DESIGN
4.1 D.C. Servo Motor Parameter
E b (t)
_ ωm The motor used in this experiment is a 25V D.C. motor with no
Tm load speed of 4050 rpm.
Parameter Value
Fig.2. Separately Excited DC Motor R-resistance 1 Ω
L-inductance 29.79 mH
J-moment of inertia 0.01 kg.m2
Here, the differential equation of armature circuit is- K t -torque constant 0.052 Nm/A
K b -electromotive force constant 0.1 V/rad/s
E a (t) =R a .i a (t) + L a .di a (t) + E b (t) (1) B-viscous friction coefficient 0.004 N.m/rad/s
dt
The Torque equation is- 4.2 Simulink Model
Block diagram show the simulation model [1].
T m (t) = J.dω m (t) + B.ω m (t) (2)
dt

The torque developed by motor is proportional to the product

of the armature current and field current i.e.

T m (t) = K f .i f .i a (3)

Where, K f is constant. In armature – controlled D.C. motor the

field current (i f ) is kept constant i.e. Fig.4. Simulink Model of D.C. Servo Motor

T m = K T .i a (4)

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4.3 Fuzzy Controller Design 4.4 Rule Viewer

The most important things in fuzzy logic control system
designs are the process design of membership functions for
inputs, outputs and the process design of fuzzy if-then rule
knowledge base [2]. They are very important in fuzzy logic
control. The basic structure of Fuzzy Logic Controller is given
in Fig.5. For the D.C. drive, speed error (E) and change in
speed error (CE) are taken as the two inputs for the fuzzy
controller and one output control input (CI). For this, a three-
member as well as a seven-member rule base is devised. The
rule base for seven membership functions is shown in Tables
I.
Tables I

E NL NM NS Z PS PM PL
CE
NL NL NL NL NM NS NS Z
NM NL NL NM NS NS Z PS
NS NL NM NS NS Z PS PM
Z NM NM NS Z PS PM PM
PS NM NS Z PS PS PM PL Fig.6. Rule View of FLC
PM NS Z PS PS PM PL PL
PL Z PS PS PM PL PL PL
4.5 Surface View

(a) E

Fig.7. Surface View of FLC

(b) CE
5 EXPERIMENTAL RESULTS
The fuzzy logic based control system has been studied by
simulation in order to validate the design and to evaluate the
performance. Simulation result gotten by a fuzzy logic
controller which gives good performance in a constant load
case as shown in fig.8. When one need only design the FLC to
provide control command. It is seen that FLC provides faster
response and less overshoot. Fig.9. Shows the Current
response of D.C. servo motor. Fig.10. Shows the Torque
response of D.C. servo motor
(c) CI

Fig.5. The membership functions of E, CE and CI in

normalized scale.

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7 REFERENCES
[1] “SIMULINK User's Guide”, The Math Works Inc. 1992.

[2] E.H. Mamdani, “Application of Fuzzy Algorithm for Control of

Simple Dynamic Plant”, Proc. IEE121 (12), pp.1585-1588, 1974.

[3] Hans Butler, Ger Honderd, Job Van Amergoen, “ Model

Reference Adaptive Control of a Direct – Drive DC
motor”, IEEE Control System Magazine, pp. 80-84, Jan,
1989.

[4] Gopal K. Dubey, “Fundamental of electrical Drives",

Narosa Publication 2009.
Fig.8. Speed response of D.C. servo motor
[5] I.J. Nagrath & M. Gopal, "Control Systems Engineering,"
New Age Publication 2003.

[6] Dr. Shereen F. Abd-Alkarim, “Application of Fuzzy Logic in

Servo Motor”, Al-Khwarizmi Engineering Journal, Vol.3,
No.2, pp8 -16 (2007).

[7] I. H. Altas and A .M. Sharaf, “A Generalized Direct

Approach for Designing Fuzzy Logic Controllers in
Matlab/Simulink GUI Environment”, International Journal
of Information Technology and Intelligent Computing, Int.
J. IT&IC no.4 vol.1, 2007.
Fig.9. Current response of D.C. servo motor
[8] S.R. Khuntia, K.B. Mohanty, S. Panda and C. Ardil, “A
Comparative Study of P-I, I-P, Fuzzy and Neuro-Fuzzy
Controllers for Speed Control of DC Motor Drive”,
International Journal of Electrical and Computer
Engineering 5:5 2010

Fig.10. Torque response of D.C. servo motor

5.1 Observation
Simulation result Fig.8. Show the speed response of D.C.
servo motor is constant. The maximum overshoot is minimized
up to 0.08%. The rise time is 0.365 sec. to response reach 0 to
100%. The settling time is 0.66 sec. within 2% of desired
value. The peak time is 0.42 sec. to reach maximum positive
deviation of output with respect input response.

6 CONCLUSION
A fuzzy logic based controller for a D.C. servomotor has been
studied. The design of the fuzzy logic controller has been
explained and the performance was evaluated by simulation.
The results show significant improvement in maintaining
performance of approximate zero overshoot, minimum
stabilizing time.

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