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Figure 2 - Experimental setup

a. Experimental tuning of PID controller for DC motor
There are several methods for tuning a PID loop. The most effective methods generally involve the
development of some form of a process model and then choosing Kp, Ki, and Kd, based on the
dynamic model parameters. Manual tuning methods can be relatively time-consuming. However, the
idea of this device is to use it as a demonstration device. A trial and error technique was used to tune
the PID and the output RPM of the motor was observed with respect to the set RPM value. Results
are shown in Figure 3 and Figure 4.

Figure 3 – Step Input and Motor RPM output curves

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Figure 4 - Step Input and Motor RPM output curves

b. Controlling motor speed over an increasing and decreasing function of RPM.
To evaluate the performance of the controller after tuning the Kp, Ki and Kd values, the motor speed
was controlled over an increasing and decreasing function of RPM and the output was observed.
Results are shown in Figure 5.

Figure 5 – RPM vs Time Curve of DC Motor

4. CONCLUSION AND FUTURE WORK
In this paper a real time application of a PID Controller was demonstrated and different results suggest
that the PID algorithm behaves accordingly. The tuning of the PID controller was done using a trial
and error method. The PID controller works well on SISO (single input- single output) systems,
where a desired set point can be supplied to the system control input. This device can be used to
demonstrate PID tuning methods and the characteristics of a PID controller.
As future work a MATLAB/SIMULINK simulation model for the same DC motor can be developed
and a comparison of hardware implementation results and simulation results can be done.
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Furthermore, a manual method to adjust the Kp, Ki and Kd values can be implemented and a user
interface (UI) can be developed to ease demonstration purposes.

5. REFERENCES

Balamurugan, S. and Umarani, A. (2020). “Study of Discrete PID Controller for DC Motor Speed
Control Using MATLAB,” in 2020 International Conference on Computing and Information
Technology (ICCIT-1441), Sep. 2020, no. 1, pp. 1–6, doi: 10.1109/ICCIT-
144147971.2020.9213780.

Das K. R., Das, D., and Das, J. (2015). “Optimal tuning of PID controller using GWO algorithm for
speed control in DC motor,” in 2015 International Conference on Soft Computing Techniques
and Implementations (ICSCTI), Oct. 2015, pp. 108–112, doi: 10.1109/ICSCTI.2015.7489575.

Iswanto, A. M., Raharja, N. M., Rosyady P. A., Baswara, A. R. C. and Nuryono, A. A. (2020).
“Control of DC Motor Using Proportional Integral Derivative (PID): Arduino Hardware
Implementation,” Proceeding - 2020 2nd Int. Conf. Ind. Electr. Electron. ICIEE 2020, pp. 74–78,
2020, doi: 10.1109/ICIEE49813.2020.9277258.

Jing, J., Wang, Y., and Huang, Y. (2016). “The fuzzy-PID control of brushless DC motor,” in 2016
IEEE International Conference on Mechatronics and Automation, Aug. 2016, no. 2, pp. 1440–
1444, doi: 10.1109/ICMA.2016.7558775.

Liu, Y., Zhou, C. and Xiang, W. (2016). “DE Algorithm Fuzzy Control of Super-Heated Steam
Temperature,” Proc. - 2016 9th Int. Symp. Comput. Intell. Des. Isc. 2016, vol. 1, pp. 282–285,
2016, doi: 10.1109/ISCID.2016.1071.

Qiao, X., Luo, F. and Xu, Y. (2016). “Robust PID controller design using genetic algorithm for
wastewater treatment process,” in 2016 IEEE Advanced Information Management,
Communicates, Electronic and Automation Control Conference (IMCEC), Oct. 2016, pp. 1081–
1086, doi: 10.1109/IMCEC.2016.7867378.

Sahputro, S. D., Fadilah, F., Wicaksono, N. A., and Yusivar, F. (2017).“Design and implementation
of adaptive PID controller for speed control of DC motor,” in 2017 15th International Conference
on Quality in Research (QiR) : International Symposium on Electrical and Computer Engineering,
Jul. 2017, vol. 2017-Decem, no. 1, pp. 179–183, doi: 10.1109/QIR.2017.8168478.

Yadav, V. and Tayal, V. K. (2018). “Optimal Controller Design for a DC Motor using PID Tuner,”
in 2018 International Conference on Power Energy, Environment and Intelligent Control
(PEEIC), Apr. 2018, pp. 442–445, doi: 10.1109/PEEIC.2018.8665658.

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NOTES

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Contact Details

Research Unit,
Institute of Technology University of Moratuwa,
Diyagama,
Homagama,
Sri Lanka.

Tel: 011-212-4000
E-mail: [email protected]
Website: www.rs.itum.mrt.ac.lk

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