Tuning PID controlling parameters for DC motor speed regulation

Abstract

Modern 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.