Optimal control based PID tuning for control of four quadrant chopper fed DC motor

This paper explores the method of tuning PID controller for closed-loop control of four-quadrant chopper fed DC motor. The tracking of the speed of DC motor in the forward motoring mode is done using the controller. The novelty of this paper lies in the tuning of PID controller using Linear Quadratic Regulator(LQR). The controller parameters are obtained through time domain analysis that includes satisfying the performance specifications in the form of desired overshoot and settling time. The effectiveness of this optimal solution based PID tuning is tested through comparative simulation results with the other conventional methods of PID tuning. The comparative study has been done to find the effective and the best possible result obtained for the closed-loop control of DC Motor in both time domain and frequency domain analysis. The transient performance obtained by the two methods of tuning the PID controller in both cases 1) unloaded and 2) loaded is compared and the result is demonstrated through simulation in MATLAB. The above simulated closed loop control system for dc motor can be implemented in Hybrid Electric Vehicles(HEV).