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LABVIEW PID SPEED CONTROLLER FOR DC MOTOR

EFFIZUL SYAFRIN BIN ABU BAKAR

This project is submitted as partial fulfillment of the requirements for the award of the

Degree of Bachelor of Electrical Engineering (Electronics)

Faculty of Electrical & Electronics Engineering

Universiti Malaysia Pahang

17 NOVEMBER 2008



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“All the trademark and copyrights use are property of their respective owner.

References of information from other sources are quoted accordingly; otherwise

the information presented in this report is solely work of the author.”

Signature : ………………………………..

Author : EFFIZUL SYAFRIN BIN ABU BAKAR

Date : 17 NOVEMBER 2008



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To my beloved parents, sister and brothers who has encouraged me along thejourney of my study



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ACKNOWLEDGMENT

Million of thanks I express to my supervisor, Ms. Haszuraidah Binti Ishak

for all the advices and guidance throughout my project. Without her continued

support and interest, the project may be not as best as it is done.

I also would like to thank all the UMP’s lecturers and staffs for their

corporation in assisting me at various occasions. Their views and tips are useful

indeed.

Not forget to mention the gratitude toward my colleagues, Mohd Aizuddin

Bin Abu Bakar for helping me through the whole two semesters working on this

project.

Lastly, I wish to acknowledge to the people who give the support I needed

whether direct or indirectly. I also would like to thanks to my beloved family for

hoping the best of me. Thank you very, very much.



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ABSTRACT

This project is about developing a PID (proportional-integration-

derivation) controller to control the speed of DC motor. The software used to

design the controller is LabVIEW 8.5. The methodology is divided into two parts

which is software development and hardware implementation. The works insoftware development are calculation of DC motor transfer function, simulation to

determine the parameter value of PID and developing the software controller.

Ziegler-Nichols Closed-Loop Method is used to obtain the value for K p, Ki and

Kd. The last part is to interface the controller with the hardware. After finish both

parts, this system can be tune by using the PID value to do the analysis on it

response.



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ABSTRAK

Tujuan utama projek ini adalah untuk membangunkan sebuah pengawal

PID (proportional-integration-derivation) untuk mengawal kelajuan DC motor.

Perisian yang digunakan adalah LabVIEW 8.5. Metodologi projek ini terbahagi

kepada dua bahagian iaitu pembangunan perisian dan perlaksanaan perkakasan.

Antara kerja-kerja yang dilakukan untuk pembangunan perisian adalah pengiraan

fungsi pindah bagi DC motor simulasi untuk menetukan parameter PID dan

membangunkan pengawal perisian. Kaedah Ziegler-Nicoles Closed-Loop

digunakan untuk menentukan nilai Kp, Ki dan Kd. Bahagian terakhir adalah untuk

berantaramuka antara perisian dan perkakasan. Selepas kedua-dua bahagian ini

selesai, sistem ini akan ditetapkan mengunakan nilai PID untuk menganalisis graf

respon.



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TABLE OF CONTENTS

CHAPTER TITLE

TITLE PAGE

DECLARATION

DEDICATION

ACKNOWLEDGEMENT

ABSTRACT

ABSTRAK

TABLE OF CONTENTS

LIST OF TABLES

LIST OF FIGURES

LIST OF GRAPH

LIST OF SYMBOLS

LIST OF ABBREVIATION

LIST OF APPENDICES

1 INTRODUCTION

1.1Background

1.2 Problem Statement

1.3 Objective

1.4 Scope of project

1.5 Thesis Organization

2 LITERATURE REVIEW 7

2.1 Proportional-Integration-Derivation Controller (PID Controller) 7

2.2 Ziegler-Nichols Method



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2.3 DC Motor

2.4 Data Acquisition (DAQ) Card

2.5 Laboratory Virtual Instrumentation Engineering Workbench

(LabVIEW)

3 METHODOLOGY

3.1 Introduction

3.2 System Flowchart

3.3 Software Development

3.3.1 DC Motor Modeling

3.3.2 Ziegler-Nichols Closed Loop Method

3.3.3 Simulation 3.3.4 LabVIEW Programming

3.4 Hardware Development

3.4.1 DC Motor

3.4.2 DAQ Card

3.4.3 Motor Driver G340

4 RESULTS AND ANALYSIS 40

4.1 Introduction

4.2 Simulation

4.2.1 Result and Analysis of Uncontrolled System

4.2.2 Result and Analysis of Proportional Mode System

4.2.3 Result and Analysis of Proportional-Integration Mode

System

4.2.4 Result and Analysis of

Proportional-Integration-Derivation Mode System

4.3 Summary

5 CONCLUSION AND RECOMMENDATION

5.1 Introduction

5.2 Recommendations



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5.3 Cost and Commercialization

REFERENCES

Appendices A – C



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LIST OF TABLES

TABLE NO. TITLE

2.1 Closed-Loop Calculatioc, Ti and Td 132.2 Open-Loop Calculation c, Ti and Td 14

3.1 Physical Parameter of D

3.2 General Ziegler-Nichols3.3 Tuned PID Controller V

4.1 Analysis of the Respons



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LIST OF FIGURE

FIGURE NO. TITLE

2.1 A Block Diagr

2.2 Block Diagram

3.1 Basic Block D

3.2 Flowchart of S

3.3 DC Motor Mod

3.4 LabVIEW Sim

3.5 LabVIEW PID

3.6 Servo Motor

3.7 USB DAQ Car

3.8 Motor Driver G



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LIST OF GRAPH

GRAPH NO. TITLE

2.1 System Tuned Using the Ziegler-Nichols Closed-Loop

Tuning Method

3.1 Sustain Oscillation Response

4.1 Graph Response without Controller

4.2 Graph Response with P Mode

4.3 Graph Response with PI Mode

4.4 Graph Response with PID Mode



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LIST OF SYMBOLS

Ku - Gain Value

Pu - Period of OscillationTi,Ki - Integral Time

Td,Kd - Derivative Controller

Kp - Proportional Gain

Kcr - Critical Gain

Pcr - Critical Period



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LIST OF ABBREVIATION

PID - proportional-integration-derivationDAQ - data acquisition card

USB - universal serial bus

DC - direct current

EMF - electromagnetic force



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LIST OF APPENDICES

APPENDIX TITLE

A

B

C



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Chapter 1

Introduction

1.1 Background

This project basically is about designing PID controller using LabView

8.5 to control a DC motor speed. PID stands for proportional-integration-

derivative.

The chosen of PID controller is because it is the simplest controller

available. It used three element; proportional part, integration part and derivative

part. Easy to say, this controller is basically an element of mathematical

expression. In simple language, the controller willis collects the data from the

output of the applications or it is called feedback. Then, it will compare the

feedback with the setpoint (setpoint is a value of a user set initially or desired

output user want). If there is different between the two of them, even it is merely

slightest, the PID controller will try to reduce the error as best as possible to zero

Because there are no perfect controller invented yet, thus to reduce the error

completely is impossible.



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The motor model is Cliffton Percission. There are two things of this

motor that can be controlled; speed and angular movement. This project as it

state before is about controlling the speed. For example, if 12 volts is appointed

to the motor, and it is common sense the output is also 12 volts. However it

doesn’t go that way. The output maybe less, let say 10 volts. The different 2 volts

is what is called error. This error is sends or feedback to the summing point

(some of the part in PID). Then, the PID will do its job.

Before discuss further about the job that the PID done, it is time to

explain about the software needed to develop the PID controller. LabVIEW

version 8.5 is chosen. This software, developed by National Instrument is a

platform and development environment for a visual programming language. The

graphical language is named ―G‖. This programming software used graphical

method rather than coding or whatever language. This made this software is more

understandable to use.

The purpose to design this project is to overcome the problem in industry

like to avoid machines damages and to avoid slow rise time and high overshoot.

This is because when the starting voltage is high, it is not suitable for machine

and can make machine damages. So, a controller likes PID is developed to

overcome this problem.



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1.2 Problem Statement

There are problems when trying to run any application or plant such as to

run DC motor speed, water tank level or others. The problems are or known

better as error; lag of efficiency, loss in terms of speed, rpm or anything regards

to the output of that applications. Thus, in order to eliminate or reduce these

errors, certain controller must be constructed. This controller will try to minimize

the error to get the best output possible.

Application or plant likes machines are tending to damage without

implementation of control methodology in it system. It is known that the

characteristic of control system is specified in term of transient response. The

transient response of a practical control system usually exhibits damped

oscillation before reaching steady state. As for machines, having a high

overshoot is an undesired condition since the starting current is very high. Thus,

control methodology such as PID controller is used to limit the maximumovershoot as well as to reduce the starting current of the machine. Therefore, the

power used can be reduced as well as avoid machine from damaged due to bad

system performance.

A DC motor can be control by computer (any software available) even

without applying the controller. However, it is ineffective and inefficient because

of the slow response system as the desired output is hardly to achieve. So, PID

controller is implemented as a control system to obtain precise numerical

information input, and yet capable of highly adaptive control.



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1.3 Objective(s)

The objectives of the project are:

i. to develop the PID controller to control the speed of DC motor using

LabVIEW,

ii. to evaluate and analyze the performance of the controller.

1.4 Project Scope(s)

The scopes of the project are:

i.

to derive mathematical model of DC motor and develop PID controller

for the motor,

ii. to develop LabVIEW program to applied as the PID controller for the

motor,

iii. perform computer simulation of the PID controller to investigate the

effectiveness of the PID controller.



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1.5 Thesis Organization

This thesis is composed of five chapters consisting introduction, literature

review, methodology, analysis and result and the last chapter is a conclusion and

recommendation in future work.

Chapter 1 explains the background and a simple overview of a

proportional-integration-derivation controller or known as PID controller, and

also LabVIEW. It also consists of the problem statement, objectives and also

scopes of the project.

Chapter 2 discusses recent literature reviews on PID controller, Ziegler-

Nichols method, DC motor, motor driver, DAQ card and LabVIEW. All the

journals and the books that have some attachment to this project are used as areference to guide and help completing this project. Each of this part is explain

based on this finding.

Chapter 3 explains about the methodologies that have been used in order

to complete this project. The methodology consists two part; software and

hardware. The parameters of the PID controller and the tuning methods were

including in this chapter.



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Chapter 4 gives a detail result and analysis on the design aspects for the

systems, which consists the simulation of DC motor and also discussion on PID

controller development using LabVIEW.

Chapter 5 presents the overall conclusion of development of the project.

This chapter also discuss on the suggestion and recommendation for future work

or modification.



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Chapter 2

Literature Review

2.1 Proportional-Integration-Derivative Controller (PID Controller).

A proportional– integral– derivative controller (PID controller) is a generic

control loop feedback mechanism (controller) widely used in industrial control

systems. A PID controller attempts to correct the error between a measured

process variable and a desired setpoint by calculating and then outputting a

corrective action that can adjust the process accordingly.[1][2][4]

Figure 2.1: A block diagram of a PID controller



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The PID controller calculation (algorithm) involves three separate

parameters; the Proportional, the Integral and Derivative values. The

Proportional value determines the reaction to the current error, the Integral value

determines the reaction based on the sum of recent errors, and the Derivative

value determines the reaction based on the rate at which the error has been

changing. The weighted sum of these three actions is used to adjust the process

via a control; the motor speed

The PID control scheme is named after its three correcting terms, whose

sum constitutes the manipulated variable (MV). Hence:

(2.1)

where Pout, Iout, and Dout are the contributions to the output from the PID

controller from each of the three terms, as defined below.[3]

i. Proportional

The proportional term makes a change to the output that is

proportional to the current error value. The proportional response can

be adjusted by multiplying the error by a constant Kp, called the

proportional gain. The proportional term is given by:

Pout = Kp e(t) (2.2)



Where

Pout: Proportional term of output

Kp: Proportional gain, a tuning parameter

e: Error = SP − PV

t: Time or instantaneous time (the present)

ii. Integration

The contribution from the integral term is proportional to both the

magnitude of the error and the duration of the error. Summing the

instantaneous error over time (integrating the error) gives the

accumulated offset that should have been corrected previously. The

accumulated error is then multiplied by the integral gain and added to

the controller output. The magnitude of the contribution of the

integral term to the overall control action is determined by the integral

gain, Ki. The integral term is given by:

Where

Iout: Integral term of output

Ki: Integral gain, a tuning parameter

e: Error = SP − PV

τ: Time in the past contributing to the integral response

Iout= Ki ∫ e(τ) dτ (2.3)

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