Autotuning and Measurement of PI Controllers for Low-Power DC Motors: A Microcontroller-Based Implementation Using the Relay Method and Python GUI

This paper presents a solution for tuning the parameters of a PI controller for low-power DC motors, integrating an autotuning method based on the relay test. The system provides a practical approach to automatically adjusting control parameters, improving the system's dynamic response and stability. The proposed method was compared with the traditional Ziegler-Nichols closed-loop method, showing superior speed of response but with a higher steady-state error when using the relay test. A custom Graphical User Interface (GUI) was developed in Python for user interaction, enabling real-time tuning and parameter visualization. The system also features an integrated microcontroller-based platform for motor control, with a focus on ease of integration into real-world applications. The results indicate the effectiveness of this system for controlling DC motors, with potential applications in robotics, automation, and other areas requiring precise motor control.