Comparison Study of PI Controller Tuning Method to Regulate the DC Motor Speed

Direct current (DC) Motors have been widely utilized in many applications such as industrial automation, home appliances, and robot manipulators due to their advantages e.g. inexpensive, reliability, adaptability, high efficiency, a wide range of torque, and speed control, and less electrical noise. One of the most controllers that have been commonly employed for several decades in industrial processes is Proportional Integral Derivative (PID) controller. In the literature, there are many methods used to obtain the parameters of PID namely Ziegler Nichols, Cohen-coon, CHR, etc. As each method produces different PID parameter quantities so that the output of the system will provide a different response. In this paper, the performance of the PI controllers using different tuning methods will be compared. Each tuning method is tested with several conditions to investigate the performance of the controller. The results show that the Cohen-coon method provides good performance and has the fastest settling time $\boldsymbol{t}_{s}(\mathbf{5}\%)=\mathbf{0. 3 3}$ compared with the Ziegler Nichols tuning $t_{s}(5\%)=2.92$ and CHR tuning $t_{s}(5\%)=3.12$. Furthermore, Cohen-Coon has a lower overshoot and the response of cohen-coon is always following the setpoint.