PID CONTROLLER DESIGN FOR CONTROLLING DC MOTOR …

1 PID CONTROLLER DESIGN FOR CONTROLLING DC MOTOR SPEED USING MATLAB APPLICATION MOHAMED FARID BIN MOHAMED FARUQ UNIVERSITI MALAYSIA PAHANG I hereby acknowledge that the scope and quality of this thesis is qualified for the award of the Bachelor Degree of Electrical Engineering (Power System) Signature : _____ Name : AHMAD NOR KASRUDDIN BIN NASIR Date : 11 NOVEMBER 2008 PID CONTROLLER DESIGN FOR CONTROLLING DC MOTOR SPEED USING MATLAB APPLICATION MOHAMED FARID BIN MOHAMED FARUQ This thesis is submitted as partial fulfillment of the requirements for the award of the Bachelor of Electrical Engineering (Power System) Faculty of Electrical & Electronics Engineering Universiti Malaysia Pahang NOVEMBER, 2008 ii All the trademark and copyrights use herein are property of their respective owner.

2 References of information from other sources are quoted accordingly; otherwise the information presented in this report is solely work of the author. Signature : _____ Author : MOHAMED FARID BIN MOHAMED FARUQ Date : 11 NOVEMBER 2008 iii To my beloved mother, father and sister iv ACKNOWLEDGEMENT In preparing this thesis, I was in contact with many people, researchers, academicians, and practitioners. They have contributed towards my understanding and thoughts. In particular, I wish to express my sincere appreciation to my thesis supervisor, Mr. Ahmad Nor Kasruddin Bin Nasir, for encouragement, guidance, critics and friendship. Without his continued support and interest, this thesis would not have been the same as presented here. I would like to give my sincere appreciation to all my friends and others who have provided assistance at various occasions.

3 Their views and tips are useful indeed. Unfortunately, it is not possible to list all of them in this limited space. Finally to all my family members where without them I would not be here. v ABSTRACT This project is a simulation and experimental investigation into the development of PID CONTROLLER using MATLAB/SIMULINK software. The simulation development of the PID CONTROLLER with the mathematical model of DC MOTOR is done using Ziegler Nichols method and trial and error method. The PID parameter is to be tested with an actual MOTOR also with the PID CONTROLLER in MATLAB/SIMULINK software. In order to implement the PID CONTROLLER from the software to the actual DC MOTOR data acquisition is used. From the simulation and the experiment, the result performance of the PID CONTROLLER is compared in term of response and the assessment is presented.

4 Vi ABSTRAK Project in adalah penyelidikan secara simulasi dan eksperimen dalam pembangunan pengawal PID mengunakan perisian MATLAB/SIMULINK. Pembangunan simulasi pengawal PID dengan model matematik MOTOR DC mengunankan kaedah Ziegler Nichols dan kaedah cuba dan jaya. Parameter pengawal PID akan diuji dengan MOTOR sebenar juga dengan pengawal PID mengunakan perisian MATLAB/SIMULIN. Bagi mengaplikasikan pengawal PID dari perisian kepada MOTOR DC sebenar, data acquisition card di gunakan. Dari simulasi dan eksperimen, keputusan kecekapan dari pengawal PID dibandingkan dari segi respon dan analisis di lakukan dan dibentangkan. vii TABLE OF CONTENTS CHAPTER TITLE PAGE TITLE PAGE i DECLARATION ii DEDICATION iii ACKNOWLEDGEMENT iv ABSTRACT v ABSTRAK vi TABLE OF CONTENTS vii LIST OF

5 TABLES x LIST OF FIGURES xi LIST OF SYMBOLS xv LIST OF APPENDICES xvi I INTRODUCTION Background of Project 1 Objective 2 Scope of Work 2 Problem Statement 3 viii II LITERATURE REVIEW Permanent Magnet Direct Current MOTOR 4 Control Theory 5 Closed-Loop Transfer Function 6 PID CONTROLLER 8 Pulse Width Modulation 9 MATLAB and SIMULINK 11 III METHODOLOGY System Description 15 Mathematical Model 19 Data Acquisition 22 PCI-1710HG 24 Specification 25 Installation Guide 29 Real Time Computing 31

6 Real Time Window Target 32 Setup and Configuration 34 Compiler 34 Kernel Setup 35 Testing the Installation 37 Creating a Real Time Application 39 Entering Configuration Parameters for 47 Simulink Entering Simulation Parameters for 49 Real-Time Workshop Creating a Real-Time Application 51 Running a Real-Time Application 52 Driver 53 Geckodrive G340 54 ix Alternative Driver IR2109 55 Project Planning 56 IV RESULT AND DISCUSSION CONTROLLER DESIGN 57 PID CONTROLLER 58 Zeigler Nichols Method 58 Trial and Error Method 59 Simulation without PID CONTROLLER 60 Simulation with PID CONTROLLER 61 Experiment without PID CONTROLLER 62 Experiments with PID CONTROLLER 66 V CONCLUSION AND RECOMENDATION

7 Conclusion 70 Future Recommendation 71 REFERENCES 73 APPENDICES APPENDIX A 76 APPENDIX B 77 APPENDIX C 78 x LIST OF TABLES TABLE NO. TITLE PAGE Typical Values of Proportional, Integral, and Derivative 59 feedback Coefficient for PID-type CONTROLLER Speed and Voltage for every 10% duty cycle 65 xi LIST OF FIGURE FIGURE NO.

8 TITLE PAGE Concept of the Feedback Loop to Control the Dynamic 5 Behavior of the Reference Closed-Loop CONTROLLER or Feedback CONTROLLER 7 A Square Wave, Showing the Definitions of ymin, ymax 9 and D PWM Pulse Generate from Comparing Sinewave and 10 Sawtooth MATLAB Default Command Windows 12 SIMULINK Running a Simulation of a Thermostat- 14 Controlled Heating System Block Diagram of the System 15 Geckodrive G340 16 Alternative Driver (IR2109) 16 xii Power Supply 16 Oscilloscope 16 Data Acquisition Card (PCI-1710HG) 16 Industrial Wiring Terminal Board with CJC Circuit 17 (PCLD-8710)

9 Personal Computer 17 Litton - Clifton Precision servo DC MOTOR JDH-2250 18 Schematic Diagram of the DC MOTOR 19 Block Diagram of the Open-Loop Permanent-Magnet 21 DC MOTOR Block Diagram of the Open-Loop servo Actuated by 21 Permanent-Magnet DC MOTOR Block Diagram of the Closed-Loop servo with PID 22 CONTROLLER Pin Assignment 27 Block Diagram of PCI-1710HG 28 PCI-1710HG Installation Flow Chart 30 Simulink Model 37 xiii Output Signal 39 Simulink Library Browser 40 Empty Simulink Windows 40 Signal Generator Block Parameter 41 Analog Output Block Parameter 42 Board Test OK Dialog 43 Scope Parameters Dialog Box 45 Scope Window 46

10 Scope Properties: axis 1 46 Completed Simulink Block Diagram 47 Configuration Parameter (Solver) Windows. 48 Configuration Parameter (Hardware Implementation) 49 Windows System Target File Browsers. 50 Configuration Parameter (Real-Time Workshop) 50 Windows Connect To Target and Start Real-Time Code 52 Geckodrive G340 Block Diagram 54 xiv Typical Connections for IR2109 55 Flow Chart of Project 56 Simulink Block of PID CONTROLLER 58 Detailed Simulink Block of the System 60 Output of DC MOTOR without PID CONTROLLER