Designing and tuning of PID controllers for a digital DC position servo system

This paper presents a DC position servo system which has three closed loops: a current loop, speed loop and position loop. Both an analog PID controller and the improved PID control algorithm are used. Base on the controller designing approach in engineering, each of the controller structure is obtained. The practical method of tuning these controllers is discussed in detail. In the digital position loop, a flexible implementation of the improved PID control algorithm brings the desired location accuracy and limits the overshoot to an acceptable value. The PID normalized parameter tuning method, which significantly reduces the online tuning time, is also included.