DC MOTOR PID CONTROLLER WITH PWM FEEDBACK

Abstract

This paper proposes a DC Motor PID controller with PWM feedback. Angular position control of DC
motor using pulse width modulation (PWM) feedback mechanism and Arduino microcontroller model of DC Motor
are presented in this paper. To do this task, the followings are done. Firstly, a dynamic mathematical model of a
DC motor is derived. Secondly, designing a control system to be applied to the DC motor. Thirdly, implementing
the hardware and software. The programming code for PWM signal execution is written by using c code and
matrix laboratory for Arduino microcontroller. The instruction code is implemented by the Arduino
microcontroller to execute the control signal. Finally, the proposed DC Motor PID controller with PWM feedback
is proven by experimental. The experimental results show the effectiveness of a DC Motor PID controller with
PWM feedback. The output can track the 260 rpm setpoint properly. The experimental results are not smooth due
to the noise in the system.
Keyword: DC motor, PID controller, PWM, microcontroller