Tuning PID controlling parameters for DC motor speed regulation
AbstractModern robots are sophisticated and complex systems, composed of: sensors, high-speed processors and actuators. Different size DC electrical motors are used as actuators, converting electrical energy into mechanical movement. Without them, robots can’t perform movements, what is completely on the contrary on modern robotics concepts. Motor speed regulation is an important engineering task. Having appropriately tuned the controller, the desired speed is reached in a short time interval, with minimum speed overshoot. Tuning motor speed controlling parameters in order to reach the desired speed within a short time interval, keeping speed’s overshoot as small as possible is discussed in this paper. The paper demonstrates how the general Black-Box methodology can be applied for that purpose. Speed’s simulations are performed in Matlab, having connected PID controller and DC electrical motor in a closed-loop unity feedback control system.
A. Callendar, D.R. Hartree and A. Porter (1935): Time-lag in a control system. Phil. Trans. Royal Society of London Series A 235, pp. 415-444.
A. Callendar (1934): Preliminary notes on automatic control, File No. R.525/15/3. I.C.I. Alkali Ltd.
B. Nguyen and J. Ryu (2009): Direct Current Measurement Based Steer-By-Wire Systems for Realistic Driving Feeling. Proceedings of the IEEE International Symposium on Industrial Electronics, pp. 1023-1028.
H. Takatsu and T. Itoh (1999): Future needs for control theory in industry – report of the control technology survey of Japanese industry. IEEE Trans. Control Syst. Tech. 7(3), pp. 298-305.
K. H. Ang, G. Chong and Y. Li (2005): PID Control System Analysis, Design and Technology. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 13(4), pp. 559-576.
S. C. Won, D. J. Lim and D. H. Chyung (1985): D-C motor driven robotic manipulator control. IEEE Decision and Control 24, pp. 330-333.