A Comparative Velocity Control Study of Permanent

Magnet Tubular Linear DC Motor by Using PID and

Fuzzy-PID Controllers
Memnun Demir
Ezgi Guney Gerze Voc. High School, Dept. of
Vocational High School, Department Computer Technologies
of Electrical and Energy, Sinop University
Sinop University Sinop, Turkey
Sinop, Turkey mdemir@sinop.edu.tr
eguney@sinop.edu.tr

Abstract— This paper presents, PID and Fuzzy-PID (FPID) systems [4]. A mathematical model and the system must be
controller to control frequency of Permanent Magnet Tubular provided in order to ensure the control of linear structure. The
Linear Direct Current Motor (PMTLDCM). In the study firstly, inability to succeed in control of nonlinear systems is one of
a PMTLDCM’s velocity was released by motor frequency can be the disadvantages of this controller. To overcome these
controlled using PID and FPID controller. There are 27 fuzzy difficulties, various types of modified conventional PID
rules for FPID of each parameter of PID controller. FPID controllers were developed lately [5-8]. And a class of
controller has two inputs as error and change of error and has nonconventional type of PID controller by using fuzzy logic
output signal. After all, the control program was loaded to has been designed and simulated for this purpose [9]. Fuzzy
LPC1768FBD100 ARM microcontroller, the rotor frequency
logic method, due to its ability to provide quick and easy
regulation system PID controller and FPID controller is applied
and experimental results have been transferred to PC by
adaptation to changing conditions in the control algorithms
MATLAB. Consequently, PID and FPID control based have recently been used widely [1]. This paper aims to
simulation and experimental results examined and the simulation manage real-time frequency control of PMTLDCM with PID
demonstrate that the FPID controller has a better behavior of the and Fuzzy- PID control.
PMTLDCM motor, an excellent frequency tracking with
minimum overshoot and minimum steady state error and give
better performance compared to conventional PID controller. II. PMTLDCM’S Construction and
Keywords—Linear Motor; Permanent Magnet Tubular DC Running
Motor; PID; FPID; Real Time Control In Figure 1 the general mechanical construction was given
of simple a Tubular Motor (TM). As can be seen from this
figure, these motors are the easiest ones to manufacture among
I. Introduction the linear motors (LM). Even in some applications do this
In recent years, linear motor’s usage is much more motors do not contain even a primary iron core. Because of
widespread due to the significant advantages such as the mechanic reasons tubular motors are generally used for
reliability, efficiency, safety control, position accuracy etc. short-distance movements and strokes [10].
[1]. The energy loses is impeded and productivity is increased
by usage of DC motors in propulsion of linear motion systems
with no need of mechanical means such as V-belts, rack and
pinion, screw, cylinder or crank [2]. In such systems failure
rate is less thanks to the use of fewer elements. The usage of
linear motion systems in train escalators, printers, elevators,
photocopiers, some product processing, sorting and packing
machines is becoming increasingly common. Demand for this
type of engine has been increasing due to the advantages like;
high sensitivity, low cost, high response speed, more efficient
functioning, the reduction of accident rates due to reduced
mechanical elements and long-lasting [3].
The proportional – integral – derivative (PID) control
method is often used in industrial applications due to its
simple structure, simplicity of operation, inexpensive
maintenance, low cost, and effectiveness for most linear Fig. 1. General Mechanical Construction of a Simple Tubular Motor [10].
 In a PMTLDCM, the rotor is moving and the stator is fixed Rotor position is determined by the coil triggered via
parts or vice versa. Construction can be changes depend on the driver circuit. System was operated in open loop to show the
user’s requirements. As it is known to stimulate the motor is position reached by the rotor according to the activated coil.
provided by permanent magnets. The stator of tubular linear Obtained open loop rotor-position graph is given in Figure 3.
motor is cylindrical. The windings of such motors composed
of circular (disk) coil.
Transverse or longitudinal flux types of PMTLDCM are
available. Because of that PMTLDCMs are generally used in
low speeds, dynamic-end-effect can be ignored and static-end-
effects can be minimized with proper design. Due to the
cylindrical body, transverse-end-effect does not occur.
The complete block diagram of frequency control of three
phases PMTLDCM is given in the Figure 2. The stator of
PMTLDCM is the coil and the rotor is the permanent magnet.
Phases windings are produce the induced magnetic field and Fig. 3. Open Loop Rotor – Position Control
this magnetic field causes the induced current paths in the
movable portion of the motor. The thrust in TYDHAM’s Fuzzy logic rules of sequence were generated with the help
moving part emerges from the interaction between the eddy of the data depending on the rotor position and direction
currents formed on the steel tube induced from this unstable obtained rotor position control. Fuzzy logic rules of sequence
magnetic field [11]. are seen in Figure 4.

Fig. 4. Fuzzy Logic Rules of Sequence for Coils Energized

Fig. 2. General Scheme of the System
An electronic control card consists of three separate units;
drive unit, LPC1768FBD100 ARM microcontroller unit and a
sensor unit, has been established to control the PMTLDCM.
This card can be governed by MATLAB software through
Universal Serial Bus (USB). The control of system is done
with closed loop PID and FPID Supervision. The system
generally ensures that the motor windings create the
reciprocating motion of the rotor in case of that it is activated
with given power by Pulse Width Modulation (PWM).
III. Controller Design
ARM based controllers offer a high processing speed,
complex control algorithms solution and hardware resources.
Therefore, the NXP Company’s LPC1768FBD100 ARM
based controller has been used for this study.
Propagation time between these rules steps vary according
to information from sensors. Both frequency and rotor position
working in close-loop so the control with feedback can be
managed. The voltage applied to the system is the most
effective factor for the frequency. PID and FPID is used to set
this voltage. It is tried to catch the frequency of rotor
movement by increasing or decreasing the PWM rate.
According to data obtained from the system sensors, which
coil to be activated is determined according to the rule
sequence which is given in Figure 4.
The amplitude of PWM signal to be applied to DC-DC
converter assigned according to information the frequency
sent by the model from the serial port created in the software.
Simultaneously the calculated frequency data is sent to the
computer. The frequency is calculated by dividing a second to
the time that passes for a full range of motion (forward and
backward directions).
A. PID Controller Design for Velocity Control In this study, the difference between position-frequency
PID controllers are frequently used in industrial control information from sensor and reference value is calculated and
systems form an audit. Due to simple structure, less variable found the e(t). The change for these values is calculated as
number to set and physical implementation, it is greatly derivative, total value in that time period is calculated as
preferred. PID control is a supervisory unit ensures that integral. Flow chart of the PID method is as seen in Figure 6.
system response reaches to the new steady state value as soon
as possible and in a stable way [12]. Block diagram and
transfer function of the PID type supervisory unit is given as
Figure 5.

Fig. 5. PID Velocity Control Diagram of PMTLDCM

PID controller output function;

d
u (t ) = K p e(t ) + K i  e(t )dt + K D e(t ) (1)
dt
Where;
u(t): PID controller output
e(t): Fault Fig. 6. PID Method Flow Chart

Kp: Proportional Impact Gain

Kd: Differential Impact Gain
Ki: Integral Impact Gain
and e(t) error value
e(t ) = r (t ) − y (t )
de(t) change of error value
de(t ) = e(t ) − e(t − 1)
B. FPID Controller Design for Velocity Control
Fuzzy controllers have a lot of difference inputs and
outputs that can be used for different systems. In this study,
controller two input variables are used for the control system
and one control output is produced [12-14].
The input to the FPID controller are error e(t) and change
(2)
of error de(t) as given in Eqn.2 and in Eqn.3. Using fuzzy
control rules, PID parameters Kp, Ki and Kd is adjusted,
which constitute FPID controller is shown in Figure 7. The
gains parameters Kp, Ki and Kd are finalized and optimized
(3) automatically instead of manual calculation of the gains.

Every PID parameters has a difference effect on the

operating performance. For this reason, PID controller
parameters must be selected properly. Effects on system
performance of each PID coefficient are shown in Table I.

TABLE I. EFFECT OF PID PARAMETERS TO SYSTEM RESPONSE

Percent
Percent
Rise time Settling Time Situation
Overshoot
Fault Fig. 7. FPID Control Block Diagram
Small
Kp Decrease Increase Decrease
Change The boundaries of the membership functions have been
KD Decrease Increase Increase Eliminate accepted as (-1, 1). Fuzzy membership function using
Small No triangular functions for input variable “Error” is shown in
Ki Decrease Decrease Figure 8; output signal for proportional gain is shown in
Change Change
Figure 9; output signal for integral gain is shown in Figure 10.
 Trial and error method has been used to improve the
controller performance. Flow chart of the FPID method is as
seen in Figure 12.

TABLE II. RULE BASE PARAMETERS FOR KP.

E (de/dt) Negative Zero Positive

Negative high low medium
Zero medium low medium
Positive low low high

Fig. 8. Membership function for input variable “Error” TABLE III. RULE BASE PARAMETERS FOR KI.

E / (de/dt) Negative Zero Positive

Negative medium very low very low
Zero low very low low
Positive very low very low low

TABLE IV. RULE BASE PARAMETERS FOR KD.

E / (de/dt) Negative Zero Positive

Negative very high medium medium
Zero high medium high
Positive medium medium very high
Fig. 9. Membership function for output variable “KP”

Fig. 10. Membership function for output variable “KI”

Fig. 12. FPID Flow Chart

Fig. 11. Membership function for output variable “KD”

Fuzzy logic controller rules table errors give the ratio of ki,
kp and kd changes according to the error and changing of
error. Rule base parameters for KP is shown in Table II; rule
base parameters for KI is shown in Table III; rule base
parameters for KD is shown in Table IV.
Rules table consists of 27 pieces’ separate rules for the
FPID controller. Triangular membership functions are
preferred for optimal results as membership functions.
IV. Simulation Results
PID values used in the obtained graphics data are
determined as Kp = 0.15, Ki = 0.251, Kd = 0.15 and the
graphics of the system operation with PID controller are given
for comparison between selected value and PID response in
Figure 13, the error which is obtained by difference with
frequency position information in Figure 14, The current is
applied to the system by PID in Figure 15.
Fig. 13. Comparison between Selected Value and PID Response in
Fig. 14. The Error which is obtained by Difference with Frequency - Position
Information
Fig. 15. The current is applied to the system by PID
The graphics of the system operated with FPID controller
are given for comparison between selected value and FPID
response in Figure 16, the error which is obtained by
difference with speed - position information in Figure 17, the
current is applied to the system by FPID in Figure 18.
Fig. 16. Comparison between Selected Value and FPID Response in
Fig. 17. The Error which is obtained by Difference with Speed - Position
Information
Fig. 18. The current is applied to the system by FPID
Comparison between PID and FPID controller response to
selected value is given in Figure 19 and between PID and
FPID controller step response specifications are given in Table
V.
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