Project - Speed Control of a Direct Current (DC) motor

Speed control of a DC motor.

Mathematical model for DC motor:

w(s)/Vs(s) = Kt/[J*La*s^2 + (J*Ka + B*La)*s + (B*Ra + kt*km)]

DC motor parameters:

J = 0.01; % moment of inertia of the rotor in kg-m^2

B = 0.1; % motor viscus friction constant in N-m-s

Km = 0.01; % back emf constant in v/rad/s

kt = 0.01; % motor torque constant in N-m/amp

Ra = 1.0; % resistance of the armature circuit in ohms

La = 0.5; % inductunce of the armature circuit in henries

DC Motor design

Plot result of the DC Motor

PID Controller is used to maintain and control the speed of the DC motor with kp, kd and ki.

DC Motor with PID controller design.

For the gains

kp = 16200;

kd = 1000;

ki = 61700;

Plot result.

For the gain

kp = 950;

kd = -120;

ki = 2300;

Plot result.

Conclusion :

The DC motor speed is maintained and controlled by using the PID controller.