Stability Analysis of DC Motor Speed Control System with PID Controller

• Main Author: Keane, Edrick
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/35339
• Institution: Institut Teknologi Bandung

The DC Motor Speed Control Practicum has been provided by the Mechanical Engineering Major of Institut Teknologi Bandung to fulfill the demands that its alumni understand the application of control theory. However, the discussion in this practicum is only focused on the performance criterion. In fact, the stability criterion is also an important topic for students to understand. Therefore, it is crucial to introduce the relationship between performance and stability of a control system with PID controller in the practicum. This research began by measuring the open-loop step response of the DC motor. The result is utilized to model the system as a first-order system with time delay. This model is then used in the designing of the DC motor speed control system with PID controller. This control system model is then analyzed with the root locus method to determine its stability boundary. After that, the Ziegler-Nichols tuning method is used to obtain good controller gain value. The relationship between the result obtained with the Ziegler-Nichols tuning method and the analysis done with the root locus method is observed from the root locus plot. The main result obtained in this research is the stability boundary of the DC motor speed control system with PID controller. In this research it was also revealed that the time delay causes changes in the stability boundary of the control system. Meanwhile, the root locus plot of the control system tuned with the Ziegler-Nichols method shows that the controller gain value is far from the stability boundary.