Real Time Speed Control of a DC Motor Based on its Integer and Non-Integer Models Using PWM Signal

  • A. W. Nasir Electrical and Electronics Engineering Department, National Institute of Technology, Jamshedpur, India
  • I. Kasireddy Electrical and Electronics Engineering Department, National Institute of Technology, Jamshedpur, India
  • A. K. Singh Electrical and Electronics Engineering Department, National Institute of Technology, Jamshedpur, India
Keywords: DC motor speed, fractional order system, PID, internal model control, LabVIEW


This paper exploits the advantage of non-integer order modeling of a process over integer order, in those cases where the process model is required for control purpose. The present case deals with speed control of a DC motor. Based on the real time open loop response, DC motor is being modeled as integer and non-integer order first order plus delay system. Both these models are then separately used for determining two sets of Proportional-Integral-Derivative (PID) controller parameters through Ziegler Nichols (ZN) closed loop tuning method. In addition to this, a model based control technique i.e. Internal Model Control (IMC) is also implemented using both integer and non-integer model respectively. For carrying out the real time speed control of DC motor, LabVIEW platform has been used. After going through the results, it is observed that the controller performance considerably improves, if non-integer order model is used for controller design rather than integer order model.


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