Modern PID Controller Parameter Design for DC Motor

Abstract

DC motor is widely applied in industry practices. The speed control is a key procedure of the design, where PID controller is still the main stream. Stability and transient response are two significant design requirements for the DC motor control system. To decrease overshoot and rising time, a lot of tuning methods were invented, which were used in DC motor design. However, most of rules are based on empirical observation and experiment experience.

The purpose of this thesis is to theoretically design PID parameter sets which can guarantee both system stability and performance. The thesis starts from theoretical signature PID stabilizing sets design method and finds all PID parameters for DC motor control system. Then the thesis proposes a modified characteristic ratio assignment criterion to optimize previous stabilizing sets. Utilizing the parameter from new sets, better transient response performance can be reached. To demonstrate the method, a PID controller and PD controller design are integrated into the DC motor velocity control and DC motor position control problems separately.

Next, the DC motor system is discretized. The digital PI and PID stabilizing sets are designed by using root counting algorithm.

To sum up, the thesis gives a completed theoretical procedure to design PID controller parameters for DC motor system. The optimized parameter sets can not only satisfy stability criterion, but also achieve better transient performance.