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Speed Control of DC Motor Using Particle Swarm Optimization Technique by PSO

Tunned PID and FOPID

Article in International Journal of Engineering Trends and Technology · October 2014

DOI: 10.14445/22315381/IJETT-V16P216

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 International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 2 – Oct 2014

Speed Control of DC Motor Using Particle

Swarm Optimization Technique by PSO
Tunned PID and FOPID
1
Anupam Aggrawal, 2Akhilesh Kumar Mishra*, 3Abdul Zeeshan
1
M.tech Scholar, 2,3, Assistant Professor
1.2.3
Department of Electrical Engineering, United College of Engineering & Research, Naini, Allahabad,Uttar
Pradesh,India.

Abstract-The objective of this work is to design a speed problems and a comprehensive view of applications of ABC
controller of a DC motor by finding of PID and FOPID can be found in [1]. The main advantage of PSO over other
parameters using bio-inspired optimization technique of swarm intelligent methods is its simplicity in
Particle Swarm Optimization (PSO). Here, model of a DC implementation, followed by a well-organized exploitation
motor is considered as a second order system for speed control.
In this work bio-inspired optimization technique in controllers
and exploration phases. These characteristics enabled ABC
and their advantages over conventional methods is discussed to be a superior contender among various evolutionary or
using MATLAB/Simulink. This proposed optimization swarm algorithms. In our current research, ABC has been
methods could be applied for higher order system also to chosen as optimization algorithm for finding the optimal
provide better system performance with minimum errors. The parametric gains of FOPID controller. The design method
main aim is to apply PSO technique to design and tune focuses on minimization of time domain based objective
parameters of PID controller to get an output with better function. In parallel we also designed optimal PID controller
dynamic and static performance. The application of PSO to the and analysis was made for both PID and FOPID controllers
PID and FOPID controller imparts it the ability of tuning itself in terms of time domain indices and also via frequency
automatically in an on-line process while the application of
domain stability.
optimization algorithm to the PID controller makes it to give
an optimum output by searching for the best set of solutions The significance of fractional order control is that it is a
for the PID and FOPID parameters. generalization of conventional integral order control theory,
which could lead to much adequate modeling and more
robust control performance. The advantages of fractional
Keywords: - Particle Swarm Optimization; PID controller,
FOPID controller; Parameter tuning. order control in modeling and control design motivated
renewed interest in various applications of fractional order
control [6].Some MATLAB tools of the fractional order
I. INTRODUCTION
dynamic system modeling, control and filtering can be
Because of to the excellent speed control behavior of a DC found in [7]. Reference [8] gives a fractional order PID
motor, it has been widely used in industry, in spite of its controller by minimizing the integral of the error squares.
maintenance costs are higher than the induction motor. As a
Some numerical examples of the fractional order were
result, researchers have paid attention to position control of
DC motor and founded several methods to control speed of presented in [9]. In reference [10], a controller was designed
such motors. Proportional–Integral-Derivative (PID) to ensure that the closed-loop system is robust to gain
controllers have been widely used for speed and position variations and the step responses exhibit aniso-damping
control. In a FOPID controller, apart from the proportional property. For speed control of two-inertia systems, some
(KP), Integral (KI) and derivative (KD) constants, there are experimental results were presented in [11] by using a
two more constants i.e, order of derivative (µ) and order of fractional order PIαD controller. A comparative introduction
integral (λ). Hence, designing an optimum FOPID
of four fractional order controllers can be foundin [12].
controller requires fine tuning of parametric gains {KP, KI,
KD, λ, µ}, which in return calls for real parameter
optimization in five-dimensional hyperspace. To carry out The concept of FOPID controllers was proposed by
this optimization task, we chose a recently evolved swarm Podlubny in 1997 (Podlubny et al., 1997; Podlubny, 1999a).
intelligent based Particle swarm optimization (PSO) He also demonstrated the better response of this type of
Algorithm. Since its introduction, PSO has shown controller, in comparison with the classical PID controller,
remarkable performances on wide variety of optimization when used for the control of fractional order systems.

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 International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 2 – Oct 2014

Design of fractional-order controllers based on optimization scouts. First half of the colony consists of the employed
methods is one of the intensively developed methods of the artificial bees and the second half includes the onlookers.
present time. There are several quality control criterions to For every food source, there is only one employed bee. In
other words, the number of employed bees is equal to the
check the controller performance and to design the
number of food sources around the hive. The employed bee
controller parameters by optimization methods. All of these whose the food source has been abandoned by the bees
objective functions are almost always multimodal in this becomes a scout. The position of a food source represents a
case - so they have too complex geometric surface with possible solution to the optimization problem and the nectar
many local extrema. In this context the choice of the amount of a food source corresponds to the quality (fitness)
optimization method is very important. A great contribution of the associated solution. The number of the employed bees
to this area have been the works (Chen, 2003; Nonje, 2005; or the onlooker bees is equal to the number of solutions in
the population. In proposed ABC-PID controller, ABC
Bettou, 2006; Cao, 2006; etc.), oriented toward the
algorithm is used to optimize the gains and the values are
optimization-based design (Zelinka, 2002; Laciak, Kostúr, applied into the controller of the plant. The objective of this
2000; etc.). There are several quality control criterions to algorithm is to optimize the gains of the PID controller for
evaluate the controller performance and to design the the given plant. The proportional gain makes the controller
controller parameters by optimization. All objective respond to the error while the integral derivative gain help to
functions have too complex geometric surface with many eliminate steady state error and prevent overshoot
local extrema. In this context the choice of the optimization respectively.
method is very important. The methods based on classical
deterministic linear or nonlinear function minimization often II. MATHEMATICAL ANALYSIS OF DC MOTOR
failed (Dorčák, 2006/a, 2006/b).The requirement for the no In armature control of separately excited DC motors, the
steady-state error can be fulfilled by properly implementing voltage applied to the armature of the motor is adjusted
the fractional order integrator in the controller, which without changing the voltage applied to the field. Figure 1
provides the steady-state error cancellation. The other shows a DC motor equivalent model.
requirements constitute the main optimized function and the
optimization constrains.
since many process plants controlled by PID controllers
have similar dynamics it has been found possible to set
satisfactory controller parameters from less plant
information than a complete mathematical model. These
techniques came about because of the desire to adjust
controller parameters with a minimum of effort, and also
because of the possible difficulty and poor cost benefit of
obtaining mathematical models.

The PID controller calculation (algorithm) involves

three separate parameters, and is accordingly sometimes
Fig. 1. D.C. motor circuit model
called three-term control: the proportional, the integral and
derivative values, denoted P, I, and D. The proportional
value determines the reaction to the current error, the Some useful relations are:
integral value determines the reaction based on the sum of
recent errors, and the derivative value determines the Va(t) = Raia(t) + La +Eb (t) (1)
reaction based on the rate at which the error has been
changing. The weighted sum of these three actions is used to Eb (t) = Kbω(t) (2)
adjust the process via a control element. By tuning the three
constants in the PID controller algorithm, the controller can Tm(t) = Ktia(t) (3)
provide control action designed for specific process
requirements. The response of the controller can be Tm(t) - TL(t) = jm + Bmω(t) (4)
described in terms of the responsiveness of the controller to
an error, the degree to which the controller overshoots the A separately excited DC Motor mainly consists of field
set point and the degree of system oscillation. winding and armature winding with an independent supply.
Field windings are used to excite the flux [2, 8]. A
In Bees Algorithm, the colony of artificial bees consists separately excited DC motor is excited by a field current If
of three groups of bees: employed bees, onlookers and and as a consequence an armature current Ia flows in the
circuit. As a result motor develops a back EMF and a torque

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 International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 2 – Oct 2014

to balance the load torque at a particular speed level. and when Va =0.
Figure.1 showing the basic block diagram of DC motor
model including their transfer functions. Va is the input
supply, TL is load torque and ω is angular speed.
where Va= armature voltage (Volts); Eb= Motor back Emf
(Volts); Ia= armature current (Amps); Ra= armature
resistance(ohm); La= armature inductance (H); TL= load
torque (N-m); Td= developed torque (Td); J = Moment of
Inertia (Kg/m2); B =friction coefficient of motor;  angular
velocity (rad/sec).

Fig. 4. Block diagram D.C. motor model when Va = 0

Figure 4 shows the DC motor model when supply voltage

(Va) is 0 and the transfer function of ω(s) is with respect to
TL(s).
Fig. 2. Block diagram of D.C. motor model
Here, the relation between motor speed and load torque is
given by the transfer function,
Speed Control of DC Motor
Substitute (3) in (2) and (4) in (5), we get = (10)

Va(t) = Raia(t) + La +Kbω (t) …(5) III. SPEED CONTROL USING CLASSICAL PID
TUNING METHODS
Ktia(t)= jm +Bmω(t) …(6)
The PID controller is the most common general purpose
Taking Laplace transform of equation (6) and (5), controller in the today’s industries. It can be used as a single
unit or it can be a part of a distributed computer control
system.
Va(s) = Raia(s) + sLa Ia (s ) +Kbωs …(7)

KtIa(s)= s jm ω(s) + Bmω(s) …(8) After implementing the PID controller, now we have to
tune the controller; and there are different approaches to
tune the PID parameters like P, I and D. The Proportional
There are two possible conditions:
(P) part is responsible for following the desired set-point
When TL = 0 while the Integral (I) and Derivative (D) part account for the
accumulation of past errors and the rate of change of error in
the process or plant, respectively.

PID controller consists of three types of control i.e.

Proportional, Integral and Derivative control

Fig. 3. Block diagram D.C. motor model when TL = 0

Figure 3 shows that the DC motor is running under no-

load condition (ideal) i.e. TL = 0. Now find the transfer
function of (s) with respect to Va(s).

So, the relation between motor speed and applied voltage

is given by the transfer function, = (9)
Fig. 5. Schematic of PID controller

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 International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 2 – Oct 2014

The system transfer function in continuous s-domain are

given as
For P  K p , I  Ki / s and D  Kd s
Ki
Gc  s   P  I  D  K p   Kd s …(11)
s
Fig. 6. Block diagram of plant with variable output
 1 
Gc  s   K p 1   Td s  ..(12)
Tuning rules based on a measured step response are also
 Ti s 
Where K p is the proportional gain, Ki is the integration called process reaction curve methods. The first (and most
well-known) tuning rule of this type was suggested in
coefficient and Kd is the derivative coefficient.
1942 [3]; in this method, the process is modeled by a
Ti is known as the integral action time or reset time and Td
is the derivative action time or rate time. FOPDT process model with
the model parameters estimated using a tangent and point
method, as indicated in Figure 4.3. Simple formulae are
Fractional order control systems are described by used to define tuning parameters for PI and PID
fractional order differential equations. The FOPID controller controllers. The PI controller settings are given by of the
is the expansion of the conventional PID controller based on
system response is obtained as shown in the figure:
fractional calculus.

A fractional PID controller therefore has the transfer

function:

Gc(s) = Kp + Tis-λ+ Tdsδ

The orders of integration and differentiation are

respectively λ and δ (both positive real numbers, not
necessarily integers). Taking λ=1 and δ=1, we will have an
integer order PID controller. So we see that the integer order
PID controller has three parameters, while the fractional
order PID controller has five

There are various tuning strategies based on an open-

loop step response. While they all follow the same basic
idea, they differ in slightly in how they extract the model
parameters from the recorded response, and also differ
slightly as to relate appropriate tuning constants to the
model parameters. There are different methods, the classic
Ziegler-Nichols test, and Cohen- Coon test. Naturally if the
response is not sigmoid or ‘S’ shaped and exhibits
overshoot, or an integrator, then this tuning method is not Fig. 7. System responses for first order time delay transfer
function
applicable.
From figure we can calculate the time delay (θ) and time
This method implicitly assumes the plant can be
adequately approximated by a first order transfer function constant (T) and maximum response (K=Dc gain), we can
with time delay. find the parameter of PID controller.

Gp = (13) A: Ziegler-Nichols Tuning Method

The PID tuning parameters as a function of the open
Where K is gain,  is the dead time or time delay, and T is loop model parameters K, T and  from the Process
the open loop process time constant. Once we have recorded reaction curve derived by Ziegler-Nichols [2-5].
the open loop input/output data, and subsequently measured
the times T and , the PID tuning parameters can be They often form the basis for tuning procedures used by
obtained directly from the given tables for different classical controller manufacturers and process industry. The methods
methods. are based on determination of some features of process
dynamics. The controller parameters are then expressed in
terms of the features by simple formulas. The method

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 International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 2 – Oct 2014

presented by Ziegler and Nichols is based on a registration IV. PARTICLE SWARM OPTIMIZATION (PSO)
of the open-loop step response of the system, which is
characterized by two parameters. First determined, and the 3
tangent at this point is drawn. The intersections between the James Kennedy an American Social Psychologist
tangent and the coordinate axes give the parameters T along with Russell C.Eberhart innovated a new evolutionary
and. A model of the process to be controlled was derived computational technique termed as Particle Swarm
from these parameters. This corresponds to modeling a Optimization in 1995.The approach is suitable for solving
process by an integrator and a time delay. Ziegler and nonlinear problem. The approach is based on the swarm
Nichols have given PID parameters directly as functions of behavior such as birds finding food by flocking. A basic
variant of the PSO algorithm works by having population
T and. The behavior of the controller is as can be
(called a swarm) of candidate solution (called particles).
expected. The decay ratio for the step response is close to
These particles are moved around in the search-space
one quarter. It is
according to a few simple formulae. The movements of the
smaller for the load disturbance. The overshoot in the set particles are guided by their own best known position in the
search-space as well as the entire swarm's best known
point response is too large.
position. When improved positions are being discovered
TABLE I Ziegler Nichols open loop method these will then come to guide the movements of the swarm.
Controller Kp Ti Td The process is repeated and by doing so it is hoped, but not
guaranteed, that a satisfactory solution will eventually be
Ziegler- P T/Kθ - - discovered. Here in this technique a set of particles are put
Nichols in d-dimensional search space with randomly choosing
Method velocity and position. The initial position of the particle is
(Open PI 0.9T/Kθ θ/0.3 - taken as the best position for the start and then the velocity
Loop) of the particle is updated based on the experience of other
particles of the swarming population.
PID 1.2T/Kθ 2θ 0.5θ
TABLE III Parameter for ABC
Parameter Values
No. of Particles 10
B: Cohen-Coon Tuning Method
No. of Iterations 30
Cohen and Coon based the controller settings on the Velocity constant C1 1.5
three parameters, T and K of the open loop step response. Inertia(weighing ) .5 to .9
The main design criterion is rejection of load disturbances. Velocity constant C2 2.5
The method attempts to position closed loop poles such that
a quarter decay ration is achieved. PSO Flowchart
The flowchart of the Artificial Bee Colony Optimization
The PID tuning parameters as a function of the open based PID control system is shown in figure 8.
loop model parameters K, T and  from equation (14) as
derived by Cohen-Coon:

TABLE II Cohen Coon open loop method

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 International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 2 – Oct 2014

The Simulink model of various tuning method for speed

control of DC motor using PID controller is shown in Fig
10.

Fig. 8. Flowchart of Artificial Bee Colony Optimization

Fig.10. Simulink model of various tuning methods

V. SIMULINK MODEL OF DC MOTOR

The Simulink model of DC motor using is shown in Fig 8. The parameters used to describe the electrical and
electromechanical systems are given below.

Fig.11 Simulink model of DC Motor

RESULTS AND DISCUSSION

The Simulink model in Fig. 12 & 13 was simulated and

Fig.9. Simulink model of DC motor Fopid Tunned the plots for various tuning method were observed. Fig. 12
and Fig. 13 shows the Speed versus Time plot for
conventional and bio inspired optimization method (PSO)
respectively .

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 International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 2 – Oct 2014
Step Response STE
From: Step To: Out(1) ADY
1.4 STA
LE SETT RISE TE
ZNicolas K MD ME OVERS LING TIM ERR
Cohen-Coon P KI A KD U HOOT TIME E OR
1.2 CLOS N 1.02E 0.919
ED A NA NA NA NA 52.0055 1.8476 +00 2
4.5
System: Cohen-Coon 1.7 1E- 9.91E
1
I/O: Step to Cohen-Coon ZN 15 16.3 NA 02 NA 12.0168 3.2516 -01 0
Rise Time (sec): 0.547
2.8
1.9 3.40E 3E- 6.09E
System: ZNicolas CC 31 +01 NA 01 NA 31.5632 4.502 -01 0
0.8
Am plitude

I/O: Step to Z-Nicolas PIDPS 9.690 0.7 N 2.93E

Rise Time (sec): 0.976 50 4 NA 048 A 0 12.5 -01 0
O
FOPI 0.9 3.51E
DPSO 36 35 1 35 763 1.17 2.96 -02 0
0.6

0.4 Table1. Comparative analysis of various tuning methods

0.2 It can be seen from the above comparison table that

while using the bio-inspired technique (Particle swarm
0 Optimization ) the overshoots obtained is zero as compared
0 1 2 3 4 5 6 7
to the case when the PID Controller is was tuned via
Time (sec)
conventional methods. The settling time is also lesser in
Fig.12. Speed versus Time plot with reference speed for PID tuned case of the Particle swarm Optimization, also the rise time is
with Zeigler Nicholas & Cohen Coon reduced. The Particle swarm Optimization FOPID
controller tends to approach the reference speed faster and
has, comparatively, a zero overshoot. It can be observed
Step Response(Comparative Response including Closed loop) from Fig 11 and 12 that the Conventional PID controller
1.4
have overshoot from the reference speed and attain a
1.2 System: Model
steady state with larger settling time.
I/O: Step to Z-Nicolas
Final Value: 1
1 CONCLUSION

0.8 Performance comparison of different controllers has

Amplitude

been reviewed and it is found that Particle Swarm

0.6
optimization is best among the all methods which are used
for tuning the parameter of PID controller for which settling
0.4
time and rise is found to be less. The conventional
System: Model
0.2
I/O: Step to Closed Loop controllers however are not recommended for higher order
Final Value: 0.0908
and complex systems as they can cause the system to
0
become unstable. Hence, a heuristic approach is required
0 2 4 6 8 10 12 14 16 18 20
for choice of the controller parameters which can be
Time (sec)
provided with the help of Bio inspired methods such as
1.4
Step Response(Comparative response of FOPID and PID Tunned by PSO)
Particle swarm Optimization, where we can define
variables in a subjective way.
1.2

VI. ACKNOWLEDGMENT
1

0.8 This work was supported by Mr. Ashish Tripathi &

Amplitude

Anukaran Khanna , Ajit Yadav( Assistant Professor).

0.6 Special Thanks to all faculty members of Electrical
Engineering of United College of Engineering & Research,
0.4
Allahabad India, Specially Head of Department Mr. Abdul
0.2
Zeeshan & Mr. Vinod Kumar Vishwkarma for their co-
operation.
0
0 5 10 15 20 25
Time (sec)

Fig.13. Speed versus Time plot with reference speed for PID tuned
with Artificial Bee Colony optimization (Step response)

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 International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 2 – Oct 2014

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