ADDIS ABABA SCIENCE & TECHENOLOGY

UNIVERSTY

COLLEGE OF ELECTRICAL AND MECHANICAL

ENGINERRING DEPARTMENT OF ELECTRICAL AND
COMPUTER ENGINEERING
Course Title: Modern Control System
Project : Dc motor speed control controller
Submitted by :Firaol Temesgen
ID number :0522/10
 Submission Date may 29,
2021
Abstract:
This paper is to design PID controller,pole placement and LDQ controller to supervise and control the
speed response of the DC motor. Industrial processes are subjected to variation in parameters and
parameter perturbations. We are choosing each method of control and discussed.
Key words: DC motor, PID controller, pole placement and LDQ controller

Introduction:
The DC motors have been popular in the industry control area for a long time, because they have many
good characteristics, for example: high start torque characteristic, high response performance, easier to
be linear control…etc.
The speed of a DC motor is given be the relationship

N= ( V- IaRa)/ kф

This Equation show that the speed is dependent on the supply voltage V, the armature circuit resistance
Ra, and field flux Ф, which is produced by the field current. This paper describes the MATLAB/ SIMULINK
of the DC motor speed control method namely field resistance, armature voltage, armature resistance
control method and feedback control system for DC motor drives. PID controller, pole placement , and
LDQ controller are the technique used to design speed control for the given motor.

Objective :
The objective dc motor speed control is to control the speed of the engine to conquer the issue in the
industry like to maintain a strategic distance from machines harms and to stay away from the moderate
ascent time and high overshoot. And also dc motor speed is objective whe the speed variation and
accuracy is very essential .on this project the main objective is to control the speed a motor using the
mentioned technique or method .

methodology :
A simple motor model is shown in Fig.1. The armature circuit consist of a resistance (Ra) connected in
series with an inductance (La), and a voltage source (eb) representing the back emf (back electromotive
force) induced in the armature when during rotation.
 Fig.1 DC-Motor Model
State space representation in matrix form for dc motor is given by

Th
e DC motor data taken for this work are
DESIGN OF THE LQR CONTROLLER:

LQR control that designed is classified as optimal control systems .This is an important
function of control engineering. The purpose of the design is to realize a system
with practical components that will provide the desired operating performance.
Then the design steps are as follows:
1- Determine the matrix P that satisfies

2- Minimize J by determining the minimum of equaction by adjusting one or more unspecified

system parameters

DESIGN OF THE POLE PLACEMENT CONTROLLER

1 Check the controllability of the system
2 Transform the given system into ccf
3 Obtain the characteristics desired eigen value
4 Compute the gain matrix k
PID controller design

POLE PLACEMENT AND LDQ CONTROLLER DESIGN

RESULT:

PID design output response

Pole placement design output response

 LQD controller design

Conclusion:
The obtained results showed that pole placement and LQD controllers have shorter settling time
and smaller overshoot than that of the traditional PID controller.