DC Motor Speed Control For Goods Lifts Using Four Types Of PI Controller Tuning Methods With Sepic Converter As Supply

¹ Department of Electrical Engineering, Politeknik Elektronika Negeri Surabaya, 60111 Surabaya, Indonesia
² Department of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu 808-0196, Japan

^* Corresponding author: diahsepti@pens.ac.id

Abstract

Advances in automation technology and the growing demand for vertical transportation in industrial and high-rise applications have increased the use of DC motors as main actuators in freight elevators. Accurate and stable speed control of DC motors is crucial for efficiency and safety. Among various strategies, the Proportional Integral (PI) Controller is widely applied due to its simplicity and effectiveness. However, the performance of a PI Controller depends strongly on proper tuning of Kp and Ki parameters. This study evaluates and compares four PI tuning methods—Ziegler-Nichols, Chien Regulator, Chien Servo, and an analytical method—for DC motor speed control in a goods lift system using a SEPIC Converter. Performance was assessed through overshoot, rise time, settling time, steady-state error, steady-state speed, and disturbance recovery. Results indicate that the analytical method offers the most balanced performance, with rise time of 0.47 s, settling time of 1.27 s, zero overshoot, and disturbance recovery around 1.7 s. It also yields a small steady-state error (±1 rpm) and maintains speed at 22-23 rpm according to the setpoint. By contrast, Ziegler-Nichols provides the fastest rise time (0.45 s) but with longer settling time and high overshoot (~13.6%). Overall, the analytical method ensures better stability, accuracy, and disturbance resistance for the system.