⚙️ DC Motor Speed Control using PID (C-programming)

📌 Overview

This project simulates a DC motor speed control system using a PID (Proportional–Integral–Derivative) controller implemented in C. It demonstrates how feedback control is used in embedded systems to achieve stable and accurate motor speed.

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📊 System Response

Figure: Motor speed response showing rise time, overshoot, and settling to the desired setpoint.

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🎯 Features

• Closed-loop motor speed control
• PID controller implementation (Kp, Ki, Kd tuning)
• Anti-windup mechanism for integral control
• PWM-like control signal limiting
• CSV data logging for analysis
• Graph visualization using Python

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🧠 Concepts Covered

• Feedback control systems

• PID tuning (Proportional, Integral, Derivative)

• System performance analysis:

  • Rise time
  • Overshoot
  • Settling time
  • Steady-state error

• Embedded-style modular programming in C

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📁 Project Structure

motor_control_project/
│── main.c        # Main simulation loop
│── motor.c       # Motor model
│── motor.h
│── pid.c         # PID controller
│── pid.h
│── plot.py       # Graph visualization
│── output.csv    # Generated data
│── graph.png     # Output graph

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⚙️ How It Works

1. The motor model simulates speed based on input voltage.

2. PID controller calculates control signal:

   error = setpoint - actual_speed
   

3. Anti-windup prevents integral saturation.

4. Control signal is limited (similar to PWM in embedded systems).

5. Motor speed updates iteratively.

6. Data is stored in output.csv for visualization.

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▶️ How to Run

1. Compile C Code

gcc main.c motor.c pid.c -o motor

2. Run Simulation

./motor

This generates:

output.csv

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📈 Visualization

Install Python Library

pip install matplotlib

Run Plot Script

python plot.py

This generates and displays the graph (graph.png).

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🔧 PID Parameters

Kp = 2.0
Ki = 0.5
Kd = 1.0

These values can be tuned to observe different system behaviors.

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🚀 Improvements Implemented

• Integral anti-windup to prevent saturation
• Modular code design using header and source files
• Data logging and visualization for performance evaluation

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💡 Future Enhancements

• Real-time plotting (live graph)
• Sensor noise simulation and filtering
• RTOS-based control loop
• Embedded hardware implementation (ARM/NXP boards)
• PWM duty cycle modeling

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📝 Resume Description

Simulated DC motor speed control using PID in C, implementing closed-loop feedback with anti-windup and analyzing system performance through CSV-based data logging and graphical visualization.

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📌 Author

• Ashish Yadav NIT Jamshedpur

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