Real Time Speed Control of a DC Motor Based on its Integer and Non-Integer Models Using PWM Signal

A W Nasir,I Kasireddy,A K Singh

doi:10.48084/etasr.1292

Abstract

This paper exploits the advantage of non-integer order modeling of a process over integer order, in those cases where the process model is required for control purpose. The present case deals with speed control of a DC motor. Based on the real time open loop response, DC motor is being modeled as integer and non-integer order first order plus delay system. Both these models are then separately used for determining two sets of Proportional-Integral-Derivative (PID) controller parameters through Ziegler Nichols (ZN) closed loop tuning method. In addition to this, a model based control technique i.e. Internal Model Control (IMC) is also implemented using both integer and non-integer model respectively. For carrying out the real time speed control of DC motor, LabVIEW platform has been used. After going through the results, it is observed that the controller performance considerably improves, if non-integer order model is used for controller design rather than integer order model.

Highlights

DC motor is having a prominent role in almost all industrial and robotic applications
Ziegler Nichols (ZN)-PID & Internal Model Control (IMC) control technique is used to meet the control objective. Since both these aforesaid control techniques require model of the process for controller design, integer and non-integer order model is determined from open loop step response of the DC motor
Two different control techniques, PID and IMC have been implemented for the real time speed control of a DC motor

Summary

Introduction

DC motor is having a prominent role in almost all industrial and robotic applications. Due to increasing interest in this among researchers in recent decades [1,2,3], the solutions of various problems incorporating non-integer order integro-differential operator are available making its application feasible in various fields of science and technology. These non-integer order fundamental operators, where ‘α’ is the operator order and ‘a’ & ‘t’ give the limits of the operator is defined as follows: aDt d

Objectives

Methods

Results

Conclusion