International Journal of Engineering, Applied and Management Sciences Paradigms, Vol.

42, Issue 01
Publishing Month: December 2016
An Indexed and Referred Journal
ISSN (Online): 2320-6608
www.ijeam.com

Control of Servo System of CNC Machine using PID

Ahmed Musa Ahmed Mohamed1 and Dr. Eltahir Mohamed Hussein2

1
Control Engineering, Al- Neelain University, Khartoum, Sudan
ahmedmosa892009@gmail.com
2
Biomedical Engineering Department, Sudan University of Science and Technology (SUST) and Faculty of
Engineering, Al-Neelain University, Khartoum, Sudan
altahir_33@yahoo.com

Publishing Date: December 12, 2016

Abstract increasing demand to manufacture complicated

This research concentrates on computer numerical control
(CNC) as one of the modern control system which has a
great benefits and Reduced the problems and errors of the
traditional machines that depend on operators the main
problems of traditional machines are waste of time and
effort beside that CNC machines have the capability of
producing the complicate pieces in a mass production
form in a very limited time as any other machines the
CNC machine faces some problem such as technical
errors due to high temperature the actuator deviation and
finally the error produced by the motor used as motion
source one of the CNC error is tracking error from the
servo motor using PID controller for position and speed
control minimizes this error hence improving the motor
performance and increased the quality of the product as
desire by the designers.
Keywords: PID Controller, DC Servo Motor, CNC
Machines and Matlab Program.
1. Introduction
Mechatronics are the synergistic integration of
sensors, actuators, signal conditioning, power
electronics, decision and control algorithms, and
computer hardware and software to manage
complexity, uncertainty, and communication in
engineered systems[2]. Mechatronics are including
40% electricity, 30% mechanics, 20% electronics
and 10% programming so CNC machines are
department for applications of mechatronics
engineering. The present day computer can be
considered as a direct consequence of the progress
in the field of numerical control of machine tools. A
real break-through was achieved around 1965 when
numerical control machines were fitted with
minicomputers which introduced the name
Computer Numerical Control. The first step in the
process of implementing automation in any industry
is to manufacture parts or components through
automation using machines and machine tools with
little human intervention. In order to meet the
components of high accuracy in large quantities,
sophisticated technological equipment and
machinery have been developed. Production of
these components calls for machine tools which can
be set up fairly rapidly without much attention [3].
The design and construction of Computer
Numerically Controlled (CNC) machines differs
greatly from that of conventional machine tools.
This difference arises from the requirements of
higher performance levels. The CNC machines can
be operated automatically using computers. A CNC
is specifically defined as “The numerical control
system where a dedicated, stored program computer
is used to perform some or all of the basic
numerical control functions in accordance with
control programs stored in read & write memory of
the computer” by Electronic Industries Association
(EIA) [4]. CNC is a microprocessor based control
system that accepts a set of program instructions,
processes and sends output control information to a
machine tool, accepts feedback information
acquired from a transducer placed on the machine
tool and based on the instructions and feedback,
assures that proper motion, speed and operation
occur. Some of the important parts of CNC
machines are Machine structure, guide ways, feed
drives, spindle and Spindle bearings, measuring
systems, controls, software and operator interface,
gauging, tool monitoring .The information stored in
the computer can be read by automatic means and
converted into electrical signals, which operate the
electrically controlled servo systems. Electrically
controlled servo systems permits the slides of a
machine tool to be driven simultaneously and at the
appropriate feeds and direction so that complex
shapes can be cut, often with a single operation and
without the need to reorient the work piece.
Computer Numerically Control can be applied to
milling machines, Lathe machines, Grinding
machines, Boring machines, Flame cutters, Drilling
machines etc .PID ( Proportional (P), the integral

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 International Journal of Engineering, Applied and Management Sciences Paradigms, Vol. 42, Issue 01
Publishing Month: December 2016
An Indexed and Referred Journal
ISSN (Online): 2320-6608
www.ijeam.com

(I), and the derivative (D)) controllers are
everywhere due to its simplicity , robustness, and
excellent if not Optimal performance in many
applications, PID controllers are used in More than
95% of closed-loop industrial processes [5] .
1.1 The Proposed System:
This signal (u) will be sent to the plant, and the new
output (Y) will be obtained. The new output (Y)
will be sent back to the sensor again to find the new
error signal (e). The controller takes this new error
signal and computes its derivative and it’s integral
again. This process goes on and on.

Figure 1: The Block Diagram of the Proposed System

1.2 Steps for Design PID Controller:
1 - Determine what characteristics of the system
need to be improved.
2 - Use K p to decrease the rise time.
3 - Use K d to reduce the overshoot and settling
time.
4 - Use K i to eliminate the steady- state error.

1.3 Open loop step response in dc servo motor modeling in equation:

Step Res pons e Sy s tem: g

80 Ris e Time: N/A
g
70 Sy s tem: g
Peak amplitude >= 75
Ov ers hoot (%): NaN
60 A t time (s ec ) > 1.5e+003

50
Amplitude

40

30

20

10

0
0 500 1000 1500
Time (s ec )

Figure 2: Step Response for Open Loop of dc Servo Motor

Normally PID controllers are used to improve the
transient response of DC servo motors.
1.4 DC servo motor by using PID controller:
Servomotors use feedback controller to control the
position or the speed, or both. The basic continuous
feedback controller is PID controller which
possesses good performance.

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 International Journal of Engineering, Applied and Management Sciences Paradigms, Vol. 42, Issue 01
Publishing Month: December 2016
An Indexed and Referred Journal
ISSN (Online): 2320-6608
www.ijeam.com

1.5 Position Control:

Figure 3: Using PID controller to control the position of dc servo motor

1.6 PID Controller:

For the general PID controller transfer function of the closed loop system dc servo motor its written as :

G ( S) = K*[Kd S^2 + Kp S + Ki] / J S^3 + ( Kd + B ) S^2 + Kp S + Ki

Using matlab program :

Step Response
1.4
g
System: g
1.2 Peak amplitude: 1.01
Overshoot (%): 1.34 System: g
A t time (sec): 0.47 Final Value: 1
System: g
1
Rise Time (sec): 0.138
System: g
Settling Time (sec): 0.225
0.8
Amplitude

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8
Time (sec)

Figure 4: Step response for PID controller

1.7 Velocity control:

Speed

Figure 5: Using PID controller to control the velocity of dc servo motor

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 International Journal of Engineering, Applied and Management Sciences Paradigms, Vol. 42, Issue 01
Publishing Month: December 2016
An Indexed and Referred Journal
ISSN (Online): 2320-6608
www.ijeam.com

2. Matlab Simulink Technology represent systems the useful from this system
research and user perform to tests needed to build a
We are used Matlab simulink technology because it model or take older model and applied tests or
considers the best method to modeling and additions.

Scope

e u u y

Step
PID Control l er Pl ant

450

Proporti onal

1
1 100 1
s
e Integral Integrator u
Sum

100 du/dt

Deri vati ve Deri vati ve1

(a)

1
1 1
10s2 +20s
u y
Identi fi ed Pl ant Model

(b)

Figure 6: Simulink Technique in Matlab Program (a) PID controller (b) Transfer Function of dc servo
motor.

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 International Journal of Engineering, Applied and Management Sciences Paradigms, Vol. 42, Issue 01
Publishing Month: December 2016
An Indexed and Referred Journal
ISSN (Online): 2320-6608
www.ijeam.com

3. Results of error sources can be reduced by improving the

mechanical hardware or utilizing compensation
Geometric errors of machine components and techniques, but cannot be reduced by the control
structures and Errors induced by the distortions and techniques discussed in this search.
Deflection errors caused by cutting forces in this set

3.1 Results of Simulation

Table 1: Results of PID Controller Parameters

Close Loop Rise Time Settling Overshoot (%) Peak Steady

Response (sec) Time Amplitude State
(sec)

P controller 0.281 3.78 48.5 1.48 1

PD controller 0.189 0.85 10.6 1.11 1

PI controller 0.119 0.34 7.42 1.07 1

PID controller 0.138 0.225 1.34 1.01 1

3.1.1 P Controller 3.1.5 P-PI Controller

In this control method reducing the rise time but
never eliminates the steady state error and present
overshoot.
3.1.2 PD Controller
In this method control of dc servo motor reduce rise
time and eliminate the steady state error
3.1.3 PI Controller
In this method control of dc servo motor increasing
the stability of the system because reduce rise time
and reduce the overshoot
3.1.4 PID Controller
Enhancement stability of Dc servo motor in CNC
machines system using this method control because
reduce rise time and reduce the overshoot and
eliminate the steady state error so that reduce the
tracing error caused by point - to - point path
position system .The position error (X-axis and Y-
axis) is the linear distance between the actual tool
position and the reference point .The purpose of
tracking control (point - to – point path system) is
to minimize the position errors of each axis .PID
controller decrease the position errors of each axis
so that more accuracy for machine tool in CNC
machine and enhancement for tracking control
method by dc servo motor which is decrease the
error in final product by CNC machines.
In this method using to control the velocity of dc
servo motor so that increasing the stability of the
system because reduce rise time and reduce the
overshoot.
4. Conclusion
Finally in this research and according to the
simulations and experimental results, a comparison
of these servo controllers is summarized in Table
3.Based on the comparison, the selection of servo-
controllers for different machine tool contouring
applications and cutting conditions is suggested in
the following:
The P controller works well only when cutting a
contour on a machine with small friction, small
cutting loads, small mismatch in axial parameters,
and conventional feed rates (e.g., 0.25 m/min ~ 10 I
p m).The PID controller has a good disturbance
rejection ability and is more robust to mismatched
axial parameters. Its drawbacks are poor tracking
ability of nonlinear contours and sharp corners, and
in addition, it may result in an overshoot at
stopping. Therefore, the PID controller is preferred
on low-speed machines. Usually, a deceleration is
needed at the end of every contour segment in order
to avoid the overshooting problem .However, these
increases the total cutting time. A special algorithm
can be utilized to perform corner tracking: the I
component of the PID controller can be turned off
before the corner. This, however, can cause

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Publishing Month: December 2016
An Indexed and Referred Journal
ISSN (Online): 2320-6608
www.ijeam.com

undercut and contour errors because of the friction

and other disturbances.

References
[1] www.cnccookbook.com/MTCNCSoftware.htm
/Accessed on 15/6/2013.
[2] Industrial centre, “computer numerical control
(CNC)”, IC Professional training series, the
Hong Kong polytechnic university, August
2009.
[3] www.jvalentino@qcc.cuny.edu/ Accessed on
12/7/2013.
[4] Suk-Hwan Suh , Seong-Kyoon Kang , Dae-
Hyuk Chung , Ian Stroud ,“Theory and design
of CNC systems”, British Library , March
2008.
[5] Jinghua Zhong, “PID Controller Tuning: A
Short Tutorial”, Mechanical Engineering,
Purdue University, spring, 2006.
[6] Parker Hannifin– Electromechanical
Automation Div. /800-358-9070
www.parkermotion.com, 2007.
[7] Banu Akar , Neşe Kaynak , Duygu Gökçe ,
Meltem Erdi, “Computer Numerical
Control(CNC)”, Hacettepe University
Chemical Engineering Department, 22.12.2010
.

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