Performance Evaluation of a Fractional Order PID Controller Applied to Separately Excited Direct Current Motor Speed Control

Abstract

At the present time, Direct Current (DC) motors have been widely used in many industrial applications. The main reason for their popularity is the ability to control their torque and flux easily and independently. The most commonly used controller for the speed control of DC motor is conventional Proportional-Integral-Derivative (PID) controller. However, the conventional PID controller has some disadvantages. To overcome these disadvantages, various types of modified conventional PID controllers such as Fractional Order PID (FOPID) controllers were developed. This paper presents a comparison of time response specifications between FOPID and conventional PID controllers for a speed control of DC motor. Performance of two controllers has been verified through simulation results using MATLAB/SIMULINK software. Simulation results show that the FOPID controller performs better performance and more robustness than a conventional PID controller.