2nd IEEE International Conference on Engineering and Technology (ICETECH), 17th & 18th March 2016, Coimbatore,
TN, India.
SPEED CONTROL OF DC MOTOR USING
OPTIMIZATION TECHNIQUES BASED PID
CONTROLLER
Santosh Kumar Suman
M.Tech Research Scholar,
Department of Electrical Engineering,
Madan Mohan Malviya University of Technology,
Gorakhpur, UP, India
sksumanee@gmail.com
Abstract- The point of this paper is to illustration a speed
Controller of a DC motor by decision of a PID parameters using
Genetic Algorithm (GAs), the DC motor is widely used as a part
of various applications, for example, steel plants, electric trains,
cranes and significantly more. DC could be spoken to by a
nonlinear model when nonlinearities, for example, interesting
dissemination is considered. To give successful control,
nonlinearities and instabilities in the model must be considered
in the control plan .the DC motor is considered as third request
framework. Target of this paper a arrange of tuning strategies
for PID parameters. In this paper a freely invigorated DC motor
using MATLAB showing, has been sketched out whose speed
may be analyzed using the Proportional, Integral, Derivative
(KP, KI , KD) expansion of the PID controller. Subsequent to,
built up controllers PID are fail to control the drive when weight
parameters be in like manner changed The standard purpose of
this paper is to analyze the execution of Optimization
procedures viz. The Genetic Algorithm (GA) for improve PID
controllers parameters for speed control of DC and rundown
their purposes of enthusiasm over the customary tuning
techniques.. The results got from GA figuring’s were
differentiated and that got from conventional system. It was
establish that the Optimization systems thump pattern tuning
practices of customary PID controllers.
Keyword- DC motor, PID controller, Optimization techniques
Genetic algorithm (GA), Objective function, IAE.
I. INTRODUCTION
The DC motor has been generally utilized as a section of
industry notwithstanding despite the way that it’s up keep
charge is higher than the inciting. Relating Integral Derivative
(PID) controllers have been generally utilizes for speed and
position control of DC motor framework. The paper
accomplishment is to design a control inspiration utilizing
Genetic Algorithm with taking into consideration of non
linearity capable of for the construction. Acquired Algorithm
or in diminutive (genetic algorithm) GA is a stochastic
compute making an allowance for the models of standard
978-1-4673-9916-6/16/$31.00 ©2016 IEEE
Vinod Kumar Giri
Professor,
Department of Electrical Engineering
Madan Mohan Malviya University of Technology,
Gorakhpur, UP, India
girivkmmm@gmail.com
determination and Hereditary qualities. The Genetic
Algorithms (GAs) are a stochastic general pursue procedure
that imitates the strategy of standard change. Utilizing
acquired figuring's to perform the tuning of the controller will
understand the ideal. The change of psyche blowing torque
execution the drives is astoundingly enter expanded and
storing up utilized and other reason applications, for case,
electric trains steel moving assembling plants, and, misshapen
controllers [1]. The purpose of this paper is to control the
velocity of dc motor for the reason that dc motor has been all
things considered utilized as a small section of monetarily
paying little respect to the way that its support expenses are
higher than different motor. By and large, an expansive
torque execution the dc motor drive must have ruling part
speed control taking after and load variable to perform
undertaking. The DC motor drives, as an outcome of their
straightforwardness, ease of utilization, high immovability,
remarkable expense and adaptabilities have for a long time
been a spine of gathering applications, and private
contraptions where position control and speed control of
motor are required. The DC motor drives are regularly less
noteworthy for most compel rating. In barely second days,
Speed control of DC motor has pulled in astonishing explores
and distinctive methodology has advanced. For rate control of
DC motor, generally used controllers are standard PID [2].
Ordinarily, the DC motor drive frameworks have uncertain
and nonlinear sort which exacerbate execution of controllers.
In context of these reasons Proportional-Integral-Derivative
(PID) controllers have been feasibly utilized as a bit of
control applications since 1940s and are the generally
regularly utilized mechanical controllers today[3]. PID
controllers spread diverse vital sorts. It gives data. As PD
enhances Transient reaction (i.e. it can expect the
developments amidst subordinate activity) and PI enhances
execution of unsurprising state reaction (i.e. lessen
proceeding with state balance amidst significant activity or
law), mix of two might be utilized to impel general time
reaction of the structure. Notwithstanding this, PID
controllers have exceptionally uncomplicated control
2nd IEEE International Conference on Engineering and Technology (ICETECH), 17th & 18th March 2016, Coimbatore,
TN, India.

structure and are less expensive [4]. The target of this paper is
to look at the execution of Genetic Algorithm (GA) for
flawless tuning of PID controllers parameters and number A. The Dc Motor Model
their reasons of excitement over the basic tuning framework
Genetic Algorithms (GA) are adaptable heuristic solicitation
considering transformative contemplations of conventional
choice and inherent qualities. Characteristic Algorithms are
proficient and clever decisions under the best conditions
game-plan among the rate of each achievable blueprint. The
Genetic Algorithms were utilized to overview the ideal PID
controller extension values where execution records, IAE
were utilized as far as possible. It was probably settled that
the Integral of Absolute Magnitude of the error (IAE)
execution foundation delivers the best PID controller when
contrasted and other execution paradigm. The proposed
procedures were confirmed utilizing a second request
physical model of plant as DC motor (separately excited DC
motor) where tuning calculations were driven for the most
part by the obtained framework information and the coveted Fig.1. the schematic diagram OF DC motor
execution parameters determined by the client are effectively
fulfilled. Resultant upgrades on the stride reaction conduct of
DC motor speed control framework are appeared for two ( )
cases. This paper is composed as takes after: system V (t) = R i (t) + L + e (t) (1)
modelling of DC motor is displayed in Section II, PID
controller brief describe in section III, brief prologue to e (t) = K . ω (t) (2)
genetic algorithm is talked about in Section IV, main work of
this paper describe in section V as a tuned methodology and T = K . i (t) (3)
last two Section VI and VII individually describe simulation
result and conclusion of this paper speed control of dc motor. T (t) = J .
( )
+ B . ω (t) (4)

( )
II. SEPARATRLY EXCITED DC MOTOR = (5)
( ) . ( . . ) ( . . ).

( )
The section diagram of an independently energized DC ( )
= ( ).
(6)
. ( . . ) . .
motor drive speed control framework with a PID controller is
appeared in Fig.3.The SEDC motor drive system structure θ(s) = ω(s) (7)
through armature control and the voltage apply to armature of
the is instantly recognizable without rearrangement the
voltage productive to the field. Fig.1. shows a generously Where
breathed life into DC climbs to outline (SEDC). It is create of R = armature resistance (Ω- ohm).
L = armature inductance (H-henry).
the circuit model of dc using MATLAB/Simulink as showed
= armature current (A).
up in Figure.2.In this uncommon case through the supply V (t)= armature voltage (V).
gave an energetically to armature winding and field winding. = back emf (V).
The tenet another or demanding make-up in these sorts of dc ω = angular speed (rad/s).
motor is with the key foundation taking after the field = motor torque (N m).
reshaping in does not stream the armature current in light of θ = angular position of rotor shaft (rad).
the way that, the field winding is displeased from another = rotor inertia (kg m2).
outside source of dc current. DC motor gives astounding rate = viscous friction coefficient ( s/rad).
= motor torque constant (Nm/A).
for motor of control require of their regulation parameters, for
= back emf constant (V s/rad).
outline, position, speed, broadening pace thus on [5]. DC
motor is a world class drive. The DC motor drive relies on
upon the key, while a in attendance departing on conductor is
to be found in a involving with fields, it experience a force
which tends to move. This is known as motoring
improvement or turning limit, when drawing in field and
electric field group up they make a mechanical force.
2nd IEEE International Conference on Engineering and Technology (ICETECH), 17th & 18th March 2016, Coimbatore,
TN, India.

• Gradually build the corresponding coefficient from

zero to until the framework just starts to sway
B. Simulink Modelling of Dc Motor persistently (maintained wavering) KU

The relative coefficient as of right now is known as a

definitive addition the distinctive reactions of a DC motor, for
instance, scattering and creation can corrupt the execution of
standard controllers [6].

The Ziegler-Nichols Tuning Rule are then obtained from

the following Table (II),

TABLE. II.ZIEGLER-NICHOLS TUNING RULE BASED

Controller KP KI KD
Type

PID Ku /1.7 Tu/2 Tu/8

Fig.2. Simulink Modelling of DC Motor

TABLE I. DC MOTOR OF PARAMETERS

The PID controller taking an attempt at the adjustment in
Parameters
Value misunderstanding its usefulness, to control the structure all
jointly such with the motive for the chaos up is reductions.
Armature inductance (Henry) L = 0.1215H Tuning of PID give complete data about the suspicion and
Armature resistance (ohm) R = 11.2 Ω controllers [7].The goal of the tuning technique is to pick the
Rotor inertia (kg m2) = 0.02215 kgm2
Armature voltage (Volt) V (t)= 240V
PID controller parameters that fulfill the execution purposes
Viscous friction coefficient( = 0.002953 s/rad of liveliness of the controlled configuration, for case, the
s/rad) = 1.28 Nm/A rising time, the most stagger overshot, the settling time and
Motor torque constant (Nm/A) = 1.28 V s/rad
Back emf constant (V s/rad) ω = 1500rpm the steady condition commit an error . Regardless, it is hard
Speed to get the boggling estimations of these requirements for the
moment. As appeared in Table I, for case, more principal
estimations of relative change results in speedier reaction
while overshoot is opened up. In this way, an immaculate
III.TUNING OF PID CONTROLLER USING
tuning method is of amazing criticalness. PID Controller is a
basic control circle of information instrument and is
There are two strategies for determination of the parameters
extensively used as a touch of control framework. The novel
of PID controllers called Ziegler-Nichols tuning rules. Be
signs of the DC motor, for instance, spreading and change can
with the purpose of as it may, the broadly acknowledged
decay the execution of standard controllers [8. PID controller
strategy for tuning the PID controller is clear technique. In
is all around called the three-term of standard controller
the first place, set the controller to P mode as it were. Next,
parameter, whose trade most distant point is routinely made
set the gain of the controller (KP) to a little esteem. If KP the
in the parallel structure given by relationship (12) or the ideal
off chance that is low the reaction should be Sluggish.
structure is given by numerical representation (2) [9].An
Increment KP by a component of two and Continue expanding
undertaking PID controller is things being what they are
KP(by a component of two) until the reaction gets to be
known as the three-term of key controller parameter, whose
oscillatory. At long last, change until a reaction is acquire that
exchange most remote point is ordinarily made in the parallel
creates nonstop motion. This is known as a definitive addition
structure given by examination (12) or the perfect structure is
(KU) or. Note that the time of the motions is known as
given by exploratory declaration (2). General kind of the
extreme period (TU).
Transfer furthest reaches of a PID controller is given as,
The strides compulsory for the technique are given
( )= + + (12)
underneath: -

• The necessary and subordinate coefficients need to

set (increases) to zero.
+ = (13)
2nd IEEE International Conference on Engineering and Technology (ICETECH), 17th & 18th March 2016, Coimbatore,
TN, India.

= (1 + + ) (14) ordinary choice [10]. ]. hereditary calculation fit in with the

more noteworthy class of transformative computations, which
produce answers for improvement issues using techniques
pushed by standard headway, for instance, legacy, change,
quality of brain, and crossover [11].The GAs were at essential
proposed by John Holland in 1970 [12]. As a way to deal
with find uncommon reactions for issues that were all around
computationally unmanageable. Holland's piece hypothesis,
this theory is in like methodology called the principal
hypothesis of hereditary calculations, is thoroughly taken to
be the foundation for elucidations of the power of procured
numbers. It says that short, low demand schemata with
above-standard wellbeing growth exponentially in component
times [9].In this paper,, GA is utilized to pick the ideal
estimations of the PID controller parameters that fulfil the
required segment execution attributes of the DC motor drive
system. Fig. 3 demonstrates the movements of system GA
based tuning of PID controller parameters. In the key, GA is
introduced. By then, it makes starting individuals of PID
Figure.3 .PID Controller with System controller parameters. The general population are made
recklessly, covering the whole degree of conceivable
arrangements. The general population are made out of
Where e = Error signal chromosomes. Every chromosome is a contender reaction for
Kp = Proportional Constant the issue. Fig.4 demonstrates the chromosome structure, in
Ki= Integral Constant which the three parameters (Kp, Ki and Kd) are melded. The
Kd = Derivative Constant chromosomes are related in the DC drive system and the
dynamic execution qualities of the structure are resolved for
( ) every chromosome. By then, the wellbeing respect for every
υ(τ) = ( ) + ( )+ (15) chromosome is assessed utilizing as far as possible. In light of
the wellbeing estimations of the initial, a get-together of best
chromosomes is made the going with masses. After choice,
TABLE II cream and change are connected with these surviving
EFFECTS OF INCREASING THE PID CONTROLLER PARAMETERS
individuals to enhance the going with time [13]. The
Parameter Rise Overshoot Settling Steady framework proceeds until the end standard is capable or the
Time time state measure of times is gone to its most significant worth.
error Acquired estimation is in like way examined to some degree
Kp 3 the stream chart of GA is appeared in figure (5). Making the
Decrease Increase Small Decrease
change
beginning masses is the initial step of GAs. The masses are
KI made out of the chromosomes that are parallel piece string.
Decrease Increase Increase Reduce The relating examination of masses is known as the
(wellbeing work) the wellbeing quality is more noticeable and
KD the execution is better.
Small Decrease Decrease Small
change change

KP KI KD
From the above reaction, we can break down the framework.
We can examine the accompanying parameters:
• Maximum Overshoot(Mp) Fig. 4.Chromosome structure
• Settling time(ts)
The system of Maximum Overshoot (Mp) of is
Approximately 47.4%. And The Settling times are is relation to
0.0837sec.on or after the analysis on top of, the system has not
been tuned to its optimum. So we have gone to for another as
genetic algorithm Approach.

IV. GENETIC ALGORITHM

The genetic algorithm is a strategy for illustrative both

obliged and unconstrained update issues that depends on upon
2nd IEEE International Conference on Engineering and Technology (ICETECH), 17th & 18th March 2016, Coimbatore,
TN, India.

Fig.6. Step input of uncontrolled DC motor drive system

B. GA-based optimization

The fitness function is the best approach to use the Genetic

Algorithm [14]. The most key stride in applying GA tuning
method is to accept the target work that is utilized to review
the health assessment of every chromosome. In this paper,
target limits are utilized and their execution is looked at. The
key depends endless integral of the absolute error (IAE)
Fig.5. Flowchart of GA for PID tuning document and these papers in target work additionally
organize through the MATLAB coding. The parameters of
V. TUNING METHODOLOGY GAs in this study are set as in Table IV. The GA progress
process based IAE record Fig. 6. For every case, the PID
controller parameters are resolved. The objective function
A. Conventional PID controller Tuning Method (target limit) is given as:
Remembering the finished objective to choose the parameters
of the standard PID controller using sensitive figuring tuning
as a part of a MATLAB is made. The step response of the
ΙΑΕ= | ( )| (16)
uncontrolled DC motor drive is showed up in Fig. 6. It is
clear that the uncontrolled DC motor has a sensible step
TABLE III SETTINGS OF GA PARAMETERS VALUES
response since the settling time is exceptionally poor and not
appropriate working condition second of the reference speed. Parameter Value
At that point applying PID controller whose velocity might be Lower bound [Kp Ki Kd] [0 0 0]
explored utilizing the Proportional, Integral, Derivative (KP, Upper bound [Kp Ki Kd] [100 100 100]
KI, and KD) addition of the PID controller. Since, established Populations 20
Generations 50
controllers PID are neglecting to control the drive when load Population type Double vector
parameters are additionally changed [16]. We have dissect, Ranges of PID parameters 0-500
for example, most extreme overshoot around 47.40% and the Crossover fraction 0.8
settling time is about0.0837sec from the underneath Fig.7. Mutation rate 0.01
The framework has not been tuned to its ideal. So we need to Elite count 5
go for hereditary calculations approach. The primary point of Selection function Tournament
Plot function Best fitness, Best individual
this paper is to break down the execution of Evolutionary
Computation (EC) procedures viz. genetic Algorithm (GA)
for upgrade PID controllers parameters for pace control of dc
and count their points of interest over the ordinary tuning
procedures. The accentuation point is determined, the
straying line is drawn.
2nd IEEE International Conference on Engineering and Technology (ICETECH), 17th & 18th March 2016, Coimbatore,
TN, India.

VI. SIMULATION RESULTS AND DISCUSSION

This paper in objective function a devoted programming
utilizing "C" programming dialect is created for this issue in
MATLAB. The extent of.Kp, Ki and Kd is picked between
(0-100) separately. Estimations of Kp, Ki and Kd are plotted
through a the objective function in Fig.6. demonstrates the
variety of the wellness of the best arrangement with era,
where best arrangement is characterized as the one which
gives least ascent time, settling time, zero overshoot and
almost zero consistent zero steady state error in the wellness
of the best arrangement in every era until it achieves a most
extreme conceivable worth can be credited to the novel
choice strategy embraced to be specific blend of Tournament
choice with Elitism.

Fig.7. Step input of controlled DC motor drive system

TABLE IV
PERFORMANCE COMPARISON OF PARAMETERS PID & WITH GA

Tuning
method
Genetic
Algorithm
Parameters Conventional PID IAE
KP 14.7312 5.0196
KI 105.15 80.8051
KD 0.547 0.0549
Rise time(sec) 0.00622 0.0763
Settling time(sec) 0.0837 0.116
Overshoot (%) 47.4% 0%
Peak 1.41 1.02

Fig. 6 GA optimization progression based objective function
(IAE) index
VII. CONCLUSIONS
It is clear result that the ordinary PID controller is not getting
the exact result but rather through the developmental
calculation procedures to the ideal tuning of PID controller
prompted an agreeable close circle reaction for the framework
under thought. Examination of the outcomes as appeared in
Table IV and Fig.7. This paper exhibits another tuning
technique for velocity control of DC motor utilizing genetic
algorithm (GA) based The PID controller. Target of this
paper of PID parameters upgrade through the genetic
algorithm based distinctive target work, this tuning technique
keeping in mind the end goal to accomplish least ascent time,
settling time overshoot and almost zero steady state error. The
final results show in Fig.7.that gives more enhanced
execution when contrasted with traditional PID controller for
the considered system and thus, demonstrated the prevalence
of the genetic algorithms.
2nd IEEE International Conference on Engineering and Technology (ICETECH), 17th & 18th March 2016, Coimbatore,
TN, India.

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