2021 International Electrical Engineering Congress (iEECON2021) (Full Manuscript)

March 10-12, 2021, Pattaya, THAILAND

Mathematical model construction of DC Motor

by closed-loop system Identification technique
Using Matlab/Simulink
Natthapon Donjaroennon Suphatchakan Nuchkum Uthen Leeton
2021 9th International Electrical Engineering Congress (iEECON) | 978-1-7281-9584-1/20/$31.00 ©2021 IEEE | DOI: 10.1109/iEECON51072.2021.9440305

Department of Mechanical Department of Mechanical Department of Electrical

Engineering, Institute of Engineering Engineering, Institute of Engineering Engineering, Institute of Engineering
Suranaree University of Technology Suranaree University of Technology Suranaree University of Technology
Nakhon Ratchasima, Thailand Nakhon Ratchasima, Thailand Nakhon Ratchasima, Thailand
PreNatthapon@[Link] [Link]@[Link] [Link]@[Link]

Abstract— Process Identification and PID Control II. PROCESS ANALYSIS

enables students and engineers to understand the
essential concepts of feedback control, process Speed input (u1)-output(y1) data at 800-1000 rpm of
identification, auto-tuning, and design of real feedback DC motor
controllers, especially PID controllers. And related to In this paper, the closed-loop input-output speed
research, in this paper, the DC-Motor has a speed of 3000 was collected to be designed to be able to control.
rpm. This paper shows how to design speed 800-1000
Following Fig. 1
rpm. by collect input-output signal information to be
analyzed for mathematical equations (Plant-DC Motor)
in a system identification toolbox MATLAB/SIMULINK
to aid the reader in solving real problems. Readers will
be able to design their own controllers, implement them,
and confirm performance in real-time using real-time
virtual processes. The system of interest is a closed-loop
control system with a feedback controller and displays
the results with a mathematical model. (Mathematical
model identification) of a system that can be designed
and implemented.
Keywords—Process Identification, PID Control,
Mathematical model

I. INTRODUCTION
Motor speed control is generally controlled by
supplying voltage and current to achieve different
speeds. In this article, we will discuss 800-1000 rpm Fig. [Link] input (u1)–output (y1) data of DC motor
speed control with signal data acquisition method. The
input-output is analyzed for closed-loop transfer
function. Once the function's transfer was known, the Data collection from the MATLAB/SIMULINK
mathematical model or the motor proportional value at
this speed rating was obtained by means of a matrix- The PID controller design optimization for DC
assisted analysis program[1]. System Identification It motor speed represented by the block diagram in
can assist in estimating system transfer by collecting Fig. 2. We need to find plat for control speed at 800-
input-output data regardless of elements such as 1000 rpm.
frequency [3]. When looking for a transfer function,
there should not be a large width, suitable for the lesser
systems to be controlled. This document describes the
DC-Motor control method at rated speed as a
mathematical modeling method based on MATLAb's
System Identification technique [4-5].
This paper is organized into five sections. The
process analysis is presented in Section 2. The
parameter identification in MATLAB software is
Fig. 2. A PID controlled DC motor speed system.
described in Section 3. Simulation result and
discussions are placed in Section 4. Also, Finally, the
conclusion of this work is located in Section 5.

978-1-7281-9584-1/21/$31.00 ©2021 IEEE 289

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 2021 International Electrical Engineering Congress (iEECON2021) (Full Manuscript)
March 10-12, 2021, Pattaya, THAILAND

III. METHODOLOGY
Nowadays, In industrial applications, fault
detection and identification is one of the most
important techniques [6-10]. In this paper, The DC-
Motor has a speed of 3000 rpm. that how to design
PLANT of DC Motor at speed 800-1000 rpm. for
collect input-output signal information to be analyzed
for mathematical equations (Plant-DC Motor) in a
system identification toolbox MATLAB/SIMULINK
This paper describes the way in which MATLAB
and Microsoft Excel are connected. Measurements are
made with a digital oscilloscope. Input and output
signal processing is examined before testing and Fig. 4. Design pole, zero in Time-domain
parameter identification of transfer functions of the
system is calculated via Matlab's System Identification
Toolbox.
The implementation of MATLAB/SIMULINK
Close-Loop Control System Design Procedures
Find the Transfer function from MATLAB's System
Identification Toolbox as a method for capturing
system input and output data. This paper shows the
process of finding the transfer function of a DC motor
at 800-1000 RPM. It shows a 6-step finding procedure
as follows.:
I) Using Matlab's System Identification Toolbox Fig. 5. Choose the best fit (95.1%)
(Fig.3). II) Design a time-domain input/output system
that stores DC motor data of 800-1000 RPM to find the
transfer function of the system (Fig.4). III) Design the
Pole, Zero of the system to find the best fits of the graph
as much as possible so that the transfer function
estimation system has the precision of the controlled
speed range(Fig.5). IV) From Best fits, show the
transfer function of the system in the range of 800-1000
RPM. (Fig6). V) Mathematical methods were applied
from Close-Loop to Open-Loop separate blocks of the
system to find the Plant of DC Motor at the Controlled
Range of RPM.(Fig.7). VI) Once the parameters of the
DC motor are obtained, design a new control system by
using PID-Tuner to help design the system at the Fig. 6. At best fit 95.1%,
designed speed range. Thus, Depend on the designer,
the system needs a slow or fast response.

Fig. 3. System Identification Toolbox

Fig. 7. Determine Mathematical model of DC Motor

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 2021 International Electrical Engineering Congress (iEECON2021) (Full Manuscript)
March 10-12, 2021, Pattaya, THAILAND

Show Close-loop Transfer function is - Equation of analysis is equation (3)

18.96s + 109.8
Kn
s + 5.511s + 35.8s 2 + 74.54 s + 109.8
4 3 (3)
s + 2n s + n 2
2

This block diagram, we know close-loop Transfer

function then we can find plant (DC Motor) in Fig.7 When K is gain
Consider the equation in Fig. 7. Use system  is damping ratio
identification for the estimate transfer function of plant
(DC Motor) to second-order show:
 n is natural frequency

Equation plant (DC Motor) is 71.43 -Steady-state error for unit-ramp and design
s 2 + 9.08s + 16.64 PID-controller shows in equation (4)
Now, we know transfer function of DC
motor at speed 800-1000 rpm, Use PID-Tuner for Kv new = k  Kv old
design the system. This Fig. 8. Show after design (4)
I new = k  I old
When K is constant
KvNew is velocity constant (Determine)
Kvold is velocity constant (1/error ramp
before design)
INew is the integral gain, a tuning
parameter (Determine)
Fig. 8. Mathematical model of DC Motor Iold is the integral gain, a tuning
parameter (before design)
After use PID-Tuner that show Kp is 0.02224, Ki
is 0.03848 and Kd is 0.003201
-Bandwidth frequency and corner frequency
Comparing with conventional methods, this (MATLAB Code)
identification process is faster and more accurate. For
identification, the correct type of transfer function
needs to be chosen according to the response. Accuracy
of chosen transfer function calculation needs to be
compared with input data given to MATLAB. Also, on
the basis of the transfer function, MATLAB can give
graphic results in the form of an output response,
impulse response, and Bode diagrams.
IV. RESULTS
Formula and Equation of Analysis in system
indentification System Identification It allows the design of the DC
motor control system to be easy to control the required
Parameter identification based on the real system speed, design when the transfer function of the DC
(DC Motor). As data processing, a model of DC motor motor can be designed as slow or fast response. It
is chosen. This type of motor is simply regulated and depends on the system designer, in the design of the
it has linear static characteristics, therefore it is slow response will result in a long setting time but the
suitable for educating purposes as the order element faster the response will result in overshoot.
with damping time response, it can estimate to second-
order when after design. COMPARATIVE RESULTS BEFORE DESIGN AND AFTER DESIGN. (STEP
-Its close-loop transfer function at 800-1000 RPM INPUT)

(Step input) is equation (1) Before After

Error Unit Ramp 0.5064 sec 0.1009 sec
18.96s + 109.8 Kv 1.9747 sec-1 9.91 sec-1
(1) P.O. 13.3% 14%
s + 5.511s + 35.8s 2 + 74.54 s + 109.8
4 3
Settling Time5% 2.291 sec 0.404 sec
Phase Margin 54.3 degree 57.1 degree
Gain Margin 18.6 dB infinity
-Open-loop plant (DC Motor) is equation (2)

71.43 From the design table of the speed control

(2) system of 800-1000 RPM, when the newly designed
s + 9.08s + 16.64
2
Kp, Ki, Kd values were tested, it was found that the
response was a graph as shown in the figure.

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 2021 International Electrical Engineering Congress (iEECON2021) (Full Manuscript)
March 10-12, 2021, Pattaya, THAILAND

[9] A.M. Stankovic, T. Aydin, Analysis of asymmetrical faults in

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Pseudomonas syringae hrp regulon, in: 52th IEEE Conference
on Decision and Control, Firenze, Italy, 2013.

APPENDIX

*Series1 = DC Motor is work (800-1000 rpm)

*Series2 = After Design
Fig. 9. Comparative results between after design and real DC
motor. (Step input)

V. CONCLUSION
System Identification This is one easy way to find
the desired response to the system's control. To control
motor speed, this relies on input-output data collection
to achieve system function transfer, then to
mathematical model (plant-DC motor) at that speed.
Once the motor proportions were obtained, a PID
controller could be designed to control the system to
optimize the design.. - MATLAB Code
From the experiment to collect data using the Step input (After design, PID-controller)
System Identification method for step input, it was
found that the methods of data collection were able to
design control for motor speed at 800-1000 RPM as
specified. Both methods of data acquisition yield
different control accuracy. Process Models gives the
opportunity to choose different types of transfer
functions.
ACKNOWLEDGMENT
This work was supported by the Suranaree
University of Technology. -Bode plot

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