Practical PID controller implementation for the speed control of a motor generator system

Abstract

Windup effect in a PID controller is the condition of cumulative error in the integral action. It saturates the system actuators, letting the system out of control with a higher controller action. Putting a saturator for the controller action, it is limited into a linear range of operating values. However, it does not eliminate the cumulative error of the integral term. This paper presents the speed control of a motor generator system using a digital PID controller with antiwindup scheme to eliminate the cumulative error of the integral term of controller action. Initially, a linear model of the motor generator system was identified. From the linear model of the system, a PID controller was designed using pole placement technique. Controller discrete implementation was perform using the backward difference discretization methodology. PID controller consider the antiwindup scheme. PID controller practical implementation employed Matlab Stateflow and a data acquisition card. Obtained results showed that discrete implementation of the PID controller has a good performance against external disturbances and random noise.