1

Splices
Jimsop Santiago Pucha Aldaz. Student of EIECRI, ESPOCH

 Using the MATLAB software, the previous data is replaced.

Abstract—This document presents the steps to design the engine equation and the following function is obtained
speed control of a DC motor and build it using operational transfer
amplifiers and electronic elements that are easy to use and
inexpensive. The PID controller is applicable to any process of an
input and an output whose output signal is in the range of 0 to 5
volts of cd and the input signal to the plant can be a signal of -12
to +12 volts DC.

Keywords—Amplifier, control, signal, PID and power.

Equation 2.F.T to implement a DC motor
I. INTRODUCTION

A PID controller (Proportional-Integral-Derivative) is a PID CONTROL

generic control mechanism over a feedback of
closed loop, widely used in industry for control It is considered that 90% of control applications
of systems. The PID is a system in which an error enters Processes can be solved with a PID controller
calculated from the desired output minus the obtained output (Proportional-Integral-Derivative). Currently, the
and its output is used as input in the system that most PID controllers are digital type, without
we want to control. The controller tries to minimize the error embargo, an analog implementation can be much more
adjusting the system input. economic and equally effective. Therefore, it is important
The application of analog electronics allows for this type to resume the design line of analog controllers and it is the
of the controls, in this case it was done with amplifiers reason for this development.
operational, resistors and capacitors, before sending the
output to the load a power stage was designed, the same that Figure 1 shows a block diagram of a
is made up of transistors. parallel PID controller which meets the following
transfer function.
II. DESCRIPTION
MOTOR CD
The system to be controlled will be the transfer function of a
12 V DC motor described by the following
equation:

(s) Km
G(s)
Va(s)s[(R a Las)(Js  K bK m]
Equation 1. F.T of a DC motor

Where based on experimental data extracted from

Fig 1. PID Controller Diagram for Motor Speed
PID CONTROL FOR SPEED CONTROL OF
A DC MOTOR” [4], the following data was obtained: When you want to control the speed of a DC motor, the most
It is customary to establish a standard control loop.
Moment of inertia of the motor: J=0.023 H The signal that enters the controller is the measurement we want.
Friction coefficient: 0.011125 Nm s which is the reach of the plant minus the output measurement of the plant or,
Electromotive force constant: Km=Kb=0.02515 [Nm/A] what is the same, the error. The goal of the controller will be
Armature resistance: Ra=0.54Ω always minimize the absolute value of the error (tending to zero)
Armature inductance: 0.4022 H acting on the plant's input.
 2

The characteristic transfer function of the PID used B. Integral Stage

for the motor speed control will be: The integrative stage adds processing capacity.
temporal to the controller. Essentially, it is a stage
Gc(s) that will hold a story of the magnitude of the mistake and will contribute
to reduce steady-state error to zero.
Equation 3. F.T of a PID controller Figure 3 shows the diagram of an integrative stage.
Once we have the transfer function of the motor and the transfer function of the PID, we proceedbased
to on A.O. The capacitor in the feedback loop is
create the following control diagram: the element that acts as the "memory" of the history of the error
in the system.

Fig1.1. Control plant

The unknowns of the plant in figure 1.1 that need to be found.

the control constants are Kp, Ki, Kd.
In the following section, the following will be equalized.
equations will be solved at each control stage: Fig 3. Integrating amplifier
R13
= His profit is given by:
R7
-1
∆=
Ki = R2 * C2 R2 * C2

Kd = R11 * C1 -1
∆= = 10
1kOhm * 100uF
STAGES OF SPEED CONTROL
C. Derivative Stage
A. Proportional Stage Although the integrating stage helps to reduce the steady-state error
The proportional stage of a controller is the simplest stage, stationary, it has the disadvantage of reducing speed
since it consists of an amplifier with a gain (Kp)
system response. Adding a deriving stage to the
adjustable. Its function is to increase the response speed and controller allows for improving the damping of the system
reduce the steady-state error of the system. [2] This stage which allows to increase the proportional action and with it to return
it can be easily implemented through a configuration to increase the response speed. [2] To implement this
inverter like the one shown in figure 2. the circuit of figure 4 is proposed.

Fig 2. Inverting amplifier Fig 4. Derivative amplifier

The profit at this stage is calculated using the formula: The profit at this stage is calculated using the formula:

R1
∆=
R3 D. Summing stage
According to the block diagram of the control system
10Kohm shown in figure 1, two sum points are required. For
∆= =
1Kohm determining the error in the system requires calculating the
difference between the input (reference value) and the output of
 3

system. This can be implemented through a

differential amplifier configuration like that of the circuit
shown in figure 5.

Fig 5. Summing amplifier 1

The profit at this stage is calculated using the formula:

= − ó

The second point added is where the ...

error signals, the integral of the error, and the derivative of the error.
For this, an inverting summing amplifier can be used.
as shown in figure 6.
Fig 6. Power amplifier.

III. EXPERIMENTATION

The execution of the practice was carried out with the following
materials:
5 resistencias (1k,10k,10, 220)
1 Mosfet IRF540
4 capacitores (10uf, 100uf)
10 Opamp lm741
1 potentiometer 10k
1 DC Motor

IV. RESULTS
In this section, the results obtained will be presented.
to carry out the practice, the ELVIS tool was used,
where three types of signals were visualized: transconductance,
disturbance curve.
Fig 6. Summing amplifier 2

His profit is given by:

Voutput = -R9 ( + + )
R8 R4 R10

E. Plant
Once the PID control has been implemented, it is necessary to implement a
power amplifier since the signal will not have the power
necessary to move the CD motor, which in this case is
it will be implemented with two PNP and NPN transistors. It is necessary
that the output voltage of the operational amplifier will not be able to
be greater than that of the source that feeds them, these transistors
are powered with +12V and -12V respectively, the
The diagram is shown in figure 7.
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Fig.7 Perturbation curve of the output signal with a Set Fig9. Signal in transient state with a Set Point input
of 2.87
Point of 3.749 and RMSE=1,6272625

Fig8. Output signal disturbance curve with a Set

Point of 2.684 and RMSE=0.1150015

Fig10. Signal in transient state with a Set Point input

of 1.943
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V. CONCLUSIONS
It is possible to carry out control through implementation.
of analog electronics, in fact, that was the way in which
was done before microprocessors and software
control.
By varying the resistance, the output of the opamp changes, giving
more or less profit.
The PID control detects the change in speed and corrects it for
achieve a desired behavior of the system.
It can be concluded that each stage of the PID system is independent.
from one another, since each stage depends on the error signal
what is desired to be corrected.
The output voltage of the PID control will vary depending on the
potentiometer value, therefore to calculate the gain of the
The controller decided to use 50% of the value of
potentiometer
It is very important before carrying out the implementation of the
PID analog control study the concepts in depth
fundamentals that govern it, in this case mainly in the
areas of "Control Systems" and "Analog Electronics". This
allows us to have the necessary tools to understand
its functioning and being able to design it

VI. REFERENCES
K. Åström, T. Hägglund. PID controllers: theory, design,
and tuning. (Ed. Instrument Society of America), (2nd edition,
Fig11. Signal in steady state with a Set Point of 1.189 and
1995).
RMSE=0.024292
Migel Angel Bañuelos S., Technical Report Analysis of a
Analog PID Controller, CCADET 1999.
Juan Antonio Contreras Monter, introduction to the
Implementation of analog PID controllers, Automata,
2006.

Fig12. Steady state signal with a Set Point of 2.684

y RMSE=0.077432
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AMEXO1 TABLE1 OF DISTURBANCES IN THE

MOTOR

time[0] Ch0 time[1] Gen RMSE

38:30,2 7 38:30.2 1.6272625
38:30,2 3,727070E+0 38:30.2 3.781547E+0 =D7-E8B7
38:30,2 3,738503E+0 38:30,2 3,717616E+0 =D7-E8B8
38:30.2 3.767490E+0 38:30.2 3.569786E+0 =D7-E8B9
38:30,2 3,738986E+0 38:30,2 3,599094E+0 =D7-E8B10
38:30.2 3.735121E+0 38:30.2 3.663991E+0 =D7-E8B11
38:30,2 3.761048E+0 38:30,2 3,676713E+0 =D7-E8B12
38:30.2 3.750903E+0 38:30,2 3,685892E+0 =D7-E8B13
38:30,2 3.730290E+0 38:30,2 3,725346E+0 =D7-E8B14
38:30.2 3.751386E+0 38:30,2 3,744670E+0 =D7-E8B15
38:30.2 3.763464E+0 38:30,2 3,738068E+0 =D7-E8B16
38:30.2 3.729807E+0 38:30,2 3,681222E+0 =D7-E8B17
38:30,2 3.746877E+0 38:30,2 3,590237E+0 =D7-E8B18
38:30,2 3,760726E+0 38:30,2 3,629369E+0 =D7-E8B19
38:30.2 3.749454E+0 38:30,2 3.666890E+0 =D7-E8B20
38:30,2 3.731740E+0 38:30,2 3,715362E+0 =D7-E8B21
38:30.2 3.751225E+0 38:30,2 3,737907E+0 =D7-E8B22
38:30,2 3.763625E+0 38:30,2 3.730499E+0 =D7-E8B23
38:30.2 3.732867E+0 38:30,2 3,720354E+0 =D7-E8B24
38:30,2 3.746877E+0 38:30,2 3.607146E+0 =D7-E8B25
38:30,2 3.758149E+0 38:30.2 3.626631E+0 = D7 - E8B26
38:30.2 3.749937E+0 38:30,2 3.671560E+0 =D7-E8B27
38:30.2 38:30,2 3,728084E+0 =D7-E8B28
38:30,2 3.752674E+0 38:30,2 3,741289E+0 =D7-E8B29
38:30.2 3.757022E+0 38:30,2 3.726634E+0 =D7-E8B30
38:30.2 3.734316E+0 38:30,2 3,652075E+0 =D7-E8B31
38:30.2 3.750903E+0 38:30,2 3,611977E+0 =D7-E8B32
38:30.2 3.759116E+0 38:30.2 3.654651E+0 =D7-E8B33
38:30,2 3.747199E+0 38:30.2 3.690562E+0 =D7-E8B34
38:30.2 3.735927 38:30,2 3.732593E+0 =D7-E8B35
38:30,2 3.757183E+0 38:30.2 3.744509E+0 =D7-E8B36
38:30.2 3.751386E+0 38:30,2 3,713268E+0 =D7-E8B37
38:30,2 3,737537E+0 38:30,2 3.625504E+0 =D7-E8B38
38:30.2 3.748648E+0 38:30,2 3,644989E+0 =D7-E8B39
38:30.2 3.760565E+0 38:30,2 3,674620E+0 =D7-E8B40
38:30.2 3.745428E+0 38:30,2 3,707471E+0 =D7-E8B41
38:30,2 3,735766E+0 38:30,2 3,749823E+0 =D7-E8B42
38:30.2 3.755412E+0 38:30.2 3.735169E+0 =D7-E8B43
38:30.2 3.755090E+0 38:30,2 3,622766E+0 =D7-E8B44
38:30.2 3.740275E+0 38:30,2 3,622927E+0 =D7-E8B45
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ANNEX 2 STEADY STATE RESPONSE TABLE

time[0] Ch0 time[1] Gen RMSE
35:15,7 1.94 35:15,7 1.89 0.0486 0.024292
35:15,7 1.95 35:15,7 1.90 0.0428
35:15,7 1.94 35:15,7 1.93 0.00978
35:15,7 1.94 35:15,7 1.92 0.0204
35:15,7 1.95 35:15,7 1.91 0.042
35:15,7 1.93 35:15,7 1.92 0.0154
35:15,7 1.95 35:15,7 1.89 0.0645
35:15,7 1.94 35:15,7 1.92 0.0151
35:15,7 1.94 35:15,7 1.88 0.0591
35:15,7 1.95 35:15,7 1.94 0.0114
35:15,7 1.93 35:15,7 1.92 0.0172
35:15,7 1.95 35:15,7 1.89 0.0549
35:15,7 1.94 35:15,7 1.93 9.61E-03
35:15,7 1.94 35:15,7 1.90 0.038
35:15,7 1.95 35:15.7 1.90 0.0541
35:15,7 1.94 35:15,7 1.91 0.0241
35:15,7 1.95 35:15,7 1.91 0.0351
35:15,7 1.94 35:15,7 1.93 0.0146
35:15,7 1.93 35:15,7 1.88 0.0582
35:15,7 1.95 35:15,7 1.93 0.0212
35:15,7 1.93 35:15,7 1.92 0.019
35:15,7 1.94 35:15,7 1.89 0.0518
35:15.7 1.95 35:15,7 1.93 0.0138
35:15,7 1.93 35:15,7 1.88 5.34E-02
35:15,7 1.95 35:15.7 1.92 0.0267
35:15,7 1.94 35:15,7 1.86 0.0726
35:15,7 1.94 35:15,7 1.87 0.0727
35:15,7 1.95 35:15,7 1.92 0.0257
35:15,7 1.93 35:15,7 1.91 0.0243
35:15,7 1.95 35:15.7 1.88 0.0658
35:15,7 1.94 35:15,7 1.93 0.00333
35:15,7 1.94 35:15,7 1.88 0.061
35:15,7 1.95 35:15,7 1.93 0.0162
35:15,7 1.94 35:15,7 1.90 0.0344
35:15,7 1.95 35:15,7 1.91 0.04
35:15,7 1.94 35:15,7 1.92 0.0157
35:15,7 1.95 35:15,7 1.91 0.0326
35:15,7 1.94 35:15,7 1.90 0.041
35:15,7 1.94 35:15,7 1.89 0.0462
35:15,7 1.95 35:15,7 1.89 0.0553

ANNEX 3 RESPONSE IN TRANSITIONAL STATE

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time[0] Ch0 1 Gen RMSE

30:06.8 0.912 30:06.8 0.0102 0.901
30:06.8 1.26 30:06.8 4.30E+00 -3.03E+00
30:06,8 1.26 30:06.8 1.49 -0.229
30:06,8 1.27 30:06.8 0.708 5.63E-01
30:06,8 1.26 30:06,8 0.876 0.387
30:06.8 1.27 30:06.8 0.868 0.398
30:06.8 1.28 30:06.8 0.893 0.383
30:06.8 1.27 30:06,8 0.877 0.391
30:06.8 1.26 30:06,8 8.37E-01 0.425
30:06.8 1.28 30:06,8 0.859 0.417
30:06.8 1.27 30:06.8 0.878 0.397
30:06.8 1.26 30:06.8 0.859 0.401
30:06.8 1.27 30:06.8 0.851 0.419
30:06,8 1.27 30:06.8 0.863 0.407
30:06.8 1.26 30:06.8 0.86 0.401
30:06,8 1.27 30:06,8 0.855 0.413
30:06.8 1.27 30:06.8 0.864 0.407
30:06.8 1.26 30:06.8 0.854 0.407
30:06.8 1.27 30:06.8 0.856 0.412
30:06.8 1.27 30:06,8 0.865 0.407
30:06.8 1.26 30:06.8 0.855 0.406
30:06.8 1.27 30:06.8 0.86 0.405
30:06,8 1.28 30:06.8 0.874 4.02E-01
30:06.8 1.27 30:06.8 0.865 0.408
30:06.8 1.27 30:06.8 0.868 0.402
30:06.8 1.27 30:06.8 0.854 0.419
30:06,8 1.27 30:06,8 0.858 0.408
30:06.8 1.27 30:06,8 8.65E-01 0.406
30:06.8 1.27 30:06.8 0.868 0.4
30:06.8 1.27 30:06,8 0.868 0.404
30:06.8 1.26 30:06.8 0.865 0.398
30:06.8 1.27 30:06.8 0.866 0.401
30:06.8 1.27 30:06,8 0.868 0.404
30:06.8 1.26 30:06,8 0.869 0.394
30:06.8 1.26 30:06.8 0.861 0.403
30:06.8 1.27 30:06.8 0.867 0.406
30:06.8 1.27 30:06.8 0.871 0.394
30:06.8 1.26 30:06,8 0.849 0.413
30:06,8 1.27 30:06,8 0.872 0.399
30:06.8 1.27 30:06.8 0.876 0.394
30:06.8 1.26 30:06.8 0.862 0.403
30:06.8 1.28 30:06.8 0.875 0.4
30:06,8 1.27 30:06,8 0.855 0.412
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