| Modern industry has huge demands on motion control. One of the most widely used plants among all the available electrical systems is the DC motor. It is necessary to control the speed of the DC motor to meet desired specifications in various industrial applications. Proportional-Integral-Derivative (PID) controllers are widely used for industrial applications because they are simple in structure and easy to implement.; This thesis mainly focuses on designing a robust PID controller for speed control of a DC motor. At first, according to the DC motor transfer function, a model is designed using SIMULINK software. DC motor parameters such as armature inductance, armature resistance and load torque will never have fixed values. They usually have tolerance of +/- 15%. To achieve the speed irrespective of variations in DC motor parameters, two PID controllers are designed. These two designed controllers are connected to DC motor using the cascade method and output is analyzed using SIMULINK software. To achieve real-time operation, a dSPACE board and Motorsoft PMDC motor is used. Finally, simulation results and real-time results are compared. |
