2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

Intelligent Adaptive Controller for DC Servo

Motor Position Control in LabVIEW
Bhavana Pillai , Krishnapriya.T.Nair,
Department of ECE, Department of ECE,
Rajadhani Institute of Engineering & Technology, Rajadhani Institute of Engineering & Technology,
Trivandrum ,India Trivandrum,India
bhavanapillai001@gmail.com krishnapriyatnr@gmail.com

Abstract—Servo Motors play vital role in Industries. In the field of

robotics servo motor act as actuators in robotic control arm,
conveyor belts which carry products, Robotic vehicle, Solar
tracking system, Metal cutting and Metal forming machines, etc.
Usually PID control Strategy is used to control the motor. In this
work, Fuzzy based adaptive controller technology is proposed.
Classical controls are not flexible for the parameter changes of the
system when it comes to adaptive controllers as the name says it
can modify its behavior in response to change in dynamics of
process. Fuzzy being intelligent controller provide stable output
with low overshoot. Simulation is done on LabVIEW.
Index Terms—Servo Motor, PID, Fuzzy
II. MATHEMATICAL MODEL OF DC SERVO
MOTOR
Separately excited DC Motor is used as servo. The Speed of
DC motor can be controlled by two ways by varying armature
voltage or by varying the field. Here armature controlled
separately Excited DC motor is considered, where the field
current is kept constant and armature current is varied for
control action. Armature is energized by amplified error signal.
Fig.1 shows electrical equivalent circuit of DC motor.

I. INTRODUCTION

S ERVO motors has wide variety of industrial applications.

In the field of robotics, where every joint of robots to
actuate movement servo motors are used, to move conveyer
belts for carrying product along various stages in packaging,
labelling etc. In cameras to sharpen out of focus images, Robotic
vehicles for military purposes, adjust angles of solar panels,
antenna positioning etc. For all these applications précised
position control is necessary. Commonly used control strategy
is using classical Proportional Integral Derivative Controller
(PID). Limitation of these classical controllers are they are not
flexible for the parametric changes. Some system may have
varying parameters. Robot manipulators may carry large object
with unknown inertial parameters. For such systems, adaptive
controller is an approach. Adaptive controller is any control
system that monitors its performance and make adjustment to Fig.1. Electrical Equivalent Circuit Diagram of DC Servo motor.
improve its performance. There are four main ways for adaptive
controlling Gain scheduling, Model Reference adaptive TABLE I PARAMETERS OF DC SERVO MOTOR
controller, Dual control, Self-Tuning regulators. In this work, Symbol Parameter Unit
Fuzzy based Model Reference Adaptive controller is designed. Ω
Ra Armature Resistance
Which is Intelligent and can respond to disturbances better than
Eb Back emf V
other type of controllers.
Angular displacement of rad
Here firstly PID controller is designed for the system. Then Shaft
Model Reference Fuzzy Adaptive Controller is designed. La Armature Inductance H
Simulation of both are done on LabVIEW & performance of V
Va Armature Voltage
both are compared.
Rf Field resistance Ω

978-1-5090-6106-8/17/$31.00 ©2017 IEEE 981

 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

Lf Field Inductance H
Vf Field Voltage V
rad/sec
Angular Velocity

T Torque N-m
Moment of Inertia of Kg-m2/rad
J
Motor & Load
Frictional Coefficient of N-m/(rad/sec) Fig. 2. Mathematical Model of DC Servo motor.
B .
Motor & Load
Kt Torque constant V/(rad/sec)
TABLE II PARAMETERS AND VALUES OF DC SERVO
Kb Back emf constant N-m/A MOTOR
Symbol Parameter Value
Considering the electrical equivalent circuit of armature and
Ra Armature Resistance 2Ω
by applying Kirchhoff’s voltage law the armature voltage can
La Armature Inductance 0.23H
be written as:
Moment of Inertia of 0.00052Kg-m2
+ + = (1) J
Motor & Load
Frictional Coefficient of 0.01N-m
B
Motor & Load
∝ (2) Kt Torque constant 0.235 V/(rad/sec)
Kb Back emf constant 0.235N-m/A
Back emf of DC Machine is proportional to angular velocity of
the shaft. Applying this to equation (1) it can be modified as: By substituting the parameter in table II, the Transfer function
obtained for DC Servo Motor position is given below.
+ + = (3)
( ) = (9)
The differential equation for the mechanical system of motor
is given by:
III. PID CONTROLLERS
Commonly used Conventional controllers are P, PI, PID. P is
+ = (4) the proportional controller which produces the output signal
which is proportional to error. P controller increase the Steady
∝ (5) State tracking accuracy by increasing gain. PI is the proportional
plus Integral controller. Advantage of both modes can be
+ = (6) obtained in this controller. The Integral term will reduce the
steady state error. Proportional–Integral–Derivative controller
(PID controller) is a control loop feedback mechanism. Mainly
Equations (1) to (6) shows the derivation of transfer function
used in industrial control systems. PID controller correct the
of a DC Servo Motor by considering the electrical and
error between a measured process variable and a desired set
mechanical equivalent circuits. Torque of DC Motor is
point. It is done by calculating and then outputting a corrective
proportional to the product of flux and current. Here since the
action that can adjust the process accordingly. The PID
flux is constant, so the torque is proportional to armature current
controller calculation has three separate parameters; the
alone. By taking Laplace transform and rearranging the
Proportional, the Integral and Derivative values. Proportional
equation we get transfer function of motor speed as:
value determines the reaction to the current error. Integral
determines the reaction based on the sum of recent errors.
( ) =( (7) Derivative determines the reaction to the rate at which the error
)( )
has been changing. The derivative part will reduce the rate of
Transfer Function of motor position can be obtained by change in error. The implementation of PID controller to system
is show in Fig.6.
multiplying equation (7) by
IV. ADAPTIVE CONTROLLER
( ) = (( (8) In Adaptive Controllers, their behavior is adjusted on-line per
)( ) )
the property change of controlled process. The factor that make
Block Diagram of DC Servo motor is shown in fig 2. an Adaptive controller different from the conventional
controller is the presence of adjustment mechanism. In order to
maintain the system stability proper adaptation mechanism has

978-1-5090-6106-8/17/$31.00 ©2017 IEEE 982

 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

to be synthesized. In Model Reference Adaptive Controller as

the name says the model output will be the desired performance
of the system. Degree of stability of the system is determined by
the model.
Block diagram of Fig 5 shows the MRFAC scheme block.
The output of the Plant is compared with a reference model
output which is the desired output. The error and the change in
error is fed to the fuzzy logic controller. [4] Fuzzy controller
using the fuzzy rules designed generate the control signal and
controls the plant.

VI. LABVIEW
LabVIEW is a graphical Programming Language. They are not
single line code syntax, the icons for variable applications are
available. Dragging them and connecting properly they will
work satisfactorily. Moreover, Graphical user interface can be
easily created and adapted in LabVIEW.
Fig. 3. Block diagram of MRAC

Model Reference Adaptive Controller block diagram

representation shown in Fig.3. MRAC is normally a closed loop
feedback system which has two loops an inner loop and an outer
loop. [5] In ordinary feedback loop, there is a plant and a
controller. Other loop is for changing the control parameter. In
a typical Model Reference Adaptive Controller, the model
output and plant output are compared and the error between
them is used to calculate the control parameter. To make the
plant output follow the model output and attain desire response
the parameters are controlled. For tuning the control parameters
MIT Rule is used.
Fig. 6. LabVIEW implementation of PID controller for DC Servo motor
V. FUZZY BASED ADAPTIVE CONTROLLER
LabVIEW implementation of PID controlled DC Servomotor
In Fuzzy based Adaptive Controller technique, the control as shown in fig 6.
mechanism used is fuzzy logic. Fuzzy logic maps input space to
output space, using if-then rules.

Fig. 4. Block diagram of Fuzzy Logic Controller

Basic block diagram of a Fuzzy Logic Controller in Fig.4.

shows a fuzzification block which convert the crisp input to
fuzzy value, rule base which contain control rules, Fuzzy
Inference, performs fuzzy logic action based on the input given
and a defuzzification block which converts fuzzy value back to
crisp value.
Fig. 7. LabVIEW implementation of MRFAC for DC Servo motor
Model reference fuzzy adaptive controller is implemented
using LabVIEW as shown in fig 7, a stable system with poles -
6 and -4 is used as reference model which will give the desired
output and compared with plant output. Transfer function of
reference model is given in equation 10.

( ) = (10)

The error and change in error are given as input to fuzzy logic
controller where the membership functions for error, change in
error are shown in fig 8. Control output is generated according
Fig. 5. Block diagram of MRFAC Scheme

978-1-5090-6106-8/17/$31.00 ©2017 IEEE 983

 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

to the Fuzzy rules. The plant work as if a simple proportional

controller. If there occur any variation in output from the
reference the error will change, by sensing the variation in the
change in error and error fuzzy controller will choose suitable
rules from the rules designed and generate required control
signal to bring back the plant output to follow the reference
output which gives desired value thus adaptation is performed.

Fig. 9. Step Response of PID Controllers

Fig 10 indicates step response of proposed model reference

fuzzy adaptive controller where a stable system with desired
response is used as reference model.

Fig. 8. Membership Functions of error and change in error for LabVIEW

implementation of fuzzy logic controller

Using the fuzzy rules given in table III the controller generates
controlled output signal to attain the desired response as given
in the reference model.

TABLE III FUZZY RULE FOR CONTROLLED OUTPUT

Fig. 10. Step Response of MRFAC

Performance criteria of step response for both controllers are

given in table IV. Offset error is found to be zero for both. PID
controller output shows 20% overshoot when it comes to
MRFAC it is reduced to zero. Even though the rise time and
settling time are found to be greater for MRFAC, they found to
be same as that of the reference output. That is the step response
of MRFAC gives a clear picture that fuzzy based adaptive
controller strictly follow the reference output with zero
overshoot.

TABLE IV PERFOMANCE CRITERIA OF STEP RESPONSE

Controller Offset Rise Percentage Settling

VII. SIMULATION AND RESULTS used Time overshoot time
Simulation is done in LabVIEW software. The Results are
analyzed by giving a step input to the proposed system and PID 0 0.04s 20% .17s
analyzing the step responses MRFAC 0 0.6s 0 1s
Fig 9 shows the Step response of PID controller. The required
set point and the PID response are shown clearly. VIII. CONCLUSION
Model Reference Fuzzy based Adaptive controller has been
designed for the position Analysis of DC servo motor.
Comparing the response of both MRFAC and Conventional PID

978-1-5090-6106-8/17/$31.00 ©2017 IEEE 984

 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

controller it is found that the output of fuzzy based adaptive

controller follows the model reference output, which is the
required response better than the later. Fuzzy based controller
gives a stable output with low overshoot. Therefore, fuzzy based
controller can be considered enough good for DC servomotor
control. The work can be modified by using Neural Network,
Real time implementation of the model also can be done.

REFERENCES

[1] Faa-Jeng Lin, “Fuzzy Adaptive Model-Following Position Control

for Ultrasonic Motor”, IEEE Trans. on Power Electronics, Vol 38,
No. 2, pp. 261-268, March 1997.
[2] Sumit Kumar Sar, Lillie Dewan, “MRAC based PI Controller for
Speed Control of D.C Motor Using Lab View”, WSEAS Trans. on
Systems and Control, Vol. 9, pp. 10-15, 2014
[3] C. M. Liaw and S. Y. Cheng, “Fuzzy two-degrees-of-freedom speed
controller for motor drives,” IEEE Trans. Ind. Electron., vol. 42, no.
2, pp. 209–216, 1995.
[4] Ghazanfar Shahgholian, Mojtaba Maghsoodi, Mehdi Mahdavian,
Mohammadreza Janghorbani, Manijeh Azadeh, Saeed Farazpey,
“Analysis of Speed Control in DC Motor Drive by Using Fuzzy
Control Based on Model Reference Adaptive Control”, IEEE,2016.
[5] Tawanda Mushiri, Abigail Mahachi, Charles Mbohwa, “A Model
Reference Adaptive Control (MRAC) System for the Pneumatic
Valve of the Bottle Washer in Beverages Using Simulink”, Procedia
Manufacturing, pp.364-373, January 2017
[6] Munadi, M. Amirullah Akbar, “Simulation of Fuzzy Logic Control
for DC Servo Motor using Arduino based on Matlab/Simulink”

978-1-5090-6106-8/17/$31.00 ©2017 IEEE 985