December/2012
Journal of Science and Technology Vol. 13, No. 2
ISSN 1605 – 427X
Engineering and Computer Sciences (ECS)
www.sustech.edu
Performance Comparison of Sliding Mode Control and Conventional PI
Controller for Speed Control of Separately Excited Direct Current Motors
Aamir Hashim Obeid Ahmed
Control Engineering Department, Sudan University of Science and Technology (SUST)
aamirahmed@sustech.edu
Abstract- Direct Current (DC) motors have been used extensively in industry mainly
because of the simple strategies required to achieve good performance in speed or position
control applications. This paper addresses controlling of speed of a separately excited DC
motor which remains among the vital issues. A separately excited DC motor is generally
controlled by Proportional plus Integral (PI) controller. PI controller is simple but sensitive
to parameter variations and external disturbance. Due to the robustness of Sliding Mode
Control (SMC), especially against parameters variations and external disturbances, and also
its ability in controlling linear and nonlinear systems; a separately excited DC motor sliding
mode speed controller technique is proposed in this paper. Performance of these controllers
has been verified through simulation results using MATLAB/SIMULINK software. The
simulation results showed that SMC was a superior controller than PI controller for speed
control of a separately excited DC motor.
Keywords: Direct Current Motors, Speed Control, Proportional plus Integral Controller, Sliding Mode
Control
.
(DC)
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123 /04(PI)&-5
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Introduction
Direct current motors have been widely used
in many industrial applications such as
electric vehicles, steel rolling mills, electric
cranes, robotic manipulators, and home
appliances due to precise, wide, simple, and
continuous control characteristics. Therefore,
the control of speed of a DC motor is an
important issue and has been studied since
the early decades in the last century
(1)
. DC
motors are generally controlled by
conventional Proportional plus Integral
controllers, since they designed easily, have
low cost, inexpensive maintenance and
effectiveness.
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