Design of an adaptive fuzzy–PID controller for a DC motor-based railway barrier system

63 views

Authors

  • Pham Van Nam (Corresponding Author) School of Electrical and Electronics Engineering, Hanoi University of Industry
  • Nguyen Vu Thang School of Electrical and Electronics Engineering, Hanoi University of Industry
  • Tran Dinh Tri School of Electrical and Electronics Engineering, Hanoi University of Industry
  • Pham Tien Ngoc Hai School of Electrical and Electronics Engineering, Hanoi University of Industry
  • Nguyen Quy Nhat School of Electrical and Electronics Engineering, Hanoi University of Industry
  • Dinh Van Duc School of Electrical and Electronics Engineering, Hanoi University of Industry
  • Trieu Anh Tuan School of Electrical and Electronics Engineering, Hanoi University of Industry
  • Nguyen Thi Hang School of Electrical and Electronics Engineering, Hanoi University of Industry

DOI:

https://doi.org/10.54939/1859-1043.j.mst.113.2026.48-57

Keywords:

Fuzzy–PID control; Adaptive control; DC motor; Automatic railway barrier system; STM32.

Abstract

Railway level crossings require reliable barrier systems to operate safely under changing conditions. In practice, DC motor–driven barriers are influenced by load variations, disturbances, and nonlinear behavior, which can limit the performance of conventional PID control. In this study, an adaptive fuzzy–PID controller is developed, where fuzzy logic adjusts the PID parameters online based on the control error and its rate of change. The system is modeled and tested in MATLAB/Simulink, and then implemented on an STM32 microcontroller for real-time validation. The results show that the proposed controller reduces overshoot from 12.76% to 0.85% and provides a smoother response under load disturbances. A slightly longer settling time is observed, but the system remains stable and well-damped during operation. Experimental tests also show consistent behavior, suggesting that the approach can be applied in practical railway barrier systems.

References

[1]. Amune, S. Satte, S. Saswade, K. Sathe and R. Shende, “Enhanced Railway Safety System,” 2024 International Conference on Progressive Innovations in Intelligent Systems and Data Science (ICPIDS), Pattaya, Thailand, pp. 96-101, (2024). DOI: 10.1109/ICPIDS65698.2024.00024 DOI: https://doi.org/10.1109/ICPIDS65698.2024.00024

[2]. R. Mythili, D. Revathi, V. Dinesh, K. Udhaya Suriya and V. Ramanathan, “Automatic Railway Signalling System for Accident Prevention,” 2024 5th International Conference on Smart Electronics and Communication (ICOSEC), Trichy, India, pp. 695-699, (2024). DOI: 10.1109/ICOSEC61587.2024.10722485 DOI: https://doi.org/10.1109/ICOSEC61587.2024.10722485

[3]. S. K. Gupta and P. Varshney, “Fractional Fuzzy PID Controller for Speed Control of DC Motor,” 2013 Third International Conference on Advances in Computing and Communications, Cochin, India, pp. 1-4, (2013). DOI: 10.1109/ICACC.2013.7 DOI: https://doi.org/10.1109/ICACC.2013.7

[4]. Zhao and Z. Hua, “Design of Motor Speed Control System Based on STM32 Microcontroller,” 2022 International Conference on Computation, Big-Data and Engineering (ICCBE), Yunlin, Taiwan, pp. 274-276, (2022). DOI: 10.1109/ICCBE56101.2022.9888225 DOI: https://doi.org/10.1109/ICCBE56101.2022.9888225

[5]. M. Karahan, “Modeling of a DC Motor and Position Angle Control Using Optimized PID Controller,” 2024 11th International Conference on Electrical and Electronics Engineering (ICEEE), Marmaris, Turkiye, pp. 107-110, (2024). DOI: 10.1109/ICEEE62185.2024.10779219 DOI: https://doi.org/10.1109/ICEEE62185.2024.10779219

[6]. Lêe Na and H. Vu Quoc, “Research, design and manufacture of the new card integrated an adaptive PID controller for the daylight camera lens aperture drive system of the optoelectronic observatory”, J. Mil. Sci. Technol., no. 80, pp. 71–79, Jun. (2022). DOI: https://doi.org/10.54939/1859-1043.j.mst.80.2022.71-79

[7]. X. -G. Duan, H. -X. Li and H. Deng, “A simple tuning method for fuzzy PID control,” 2008 IEEE International Conference on Fuzzy Systems (IEEE World Congress on Computational Intelligence), Hong Kong, China, pp. 271-275, (2008). DOI: 10.1109/FUZZY.2008.4630376 DOI: https://doi.org/10.1109/FUZZY.2008.4630376

[8]. J. Velagic and A. Galijasevic, “Design of fuzzy logic control of permanent magnet DC motor under real constraints and disturbances,” 2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC), St. Petersburg, Russia, pp. 461-466, (2009). DOI: 10.1109/CCA.2009.5281099 DOI: https://doi.org/10.1109/CCA.2009.5281099

[9]. Ahmed M. Almawla, Marwan J. Hussein, and Afrah T. Abdullah, “A Comparative Study of DC Motor Speed Control Techniques Using Fuzzy, SMC and PID,” Journal Européen des Systèmes Automatisés, vol. 57, no. 2, pp. 397–406, (2024). DOI: 10.18280/jesa.570209 DOI: https://doi.org/10.18280/jesa.570209

[10]. W. -J. Tang and S. -Y. Cao, “A Fast Realization Method of Fuzzy PID Control for DC Motor,” 2018 37th Chinese Control Conference (CCC), Wuhan, China, pp. 5131-5135, (2018). DOI: 10.23919/ChiCC.2018.8483184 DOI: https://doi.org/10.23919/ChiCC.2018.8483184

[11]. A. Priyanka and R. S. R. Krishnam Naidu, “Analysis and Design of a Fuzzy-PID Controller for DC Motor,” International Journal of Engineering Research & Technology (IJERT), vol. 11, no. 2, (2022).

[12]. H. Chu, W. Tao, B. Gao, Q. Liu and H. Chen, “Speed control of the permanent-magnet DC motor subjected to uncertainty and disturbance,” 2016 35th Chinese Control Conference (CCC), Chengdu, China, pp. 4664-4669, (2016). DOI: 10.1109/ChiCC.2016.7554076 DOI: https://doi.org/10.1109/ChiCC.2016.7554076

[13]. X. Zhang, “Design and implementation of fuzzy PID DC motor control system based on STM32,” 2023 IEEE International Conference on Control, Electronics and Computer Technology (ICCECT), Jilin, China, pp. 1129-1131, (2023). DOI: 10.1109/ICCECT57938.2023.10141000 DOI: https://doi.org/10.1109/ICCECT57938.2023.10141000

[14]. A. H. Alasiry, H. H. Saidya and N. Tamami, “A Dual-Microcontroller IoT-Based Real-Time Monitoring System for Predictive Maintenance of Induction Motors,” 2025 International Electronics Symposium (IES), Surabaya, Indonesia, pp. 164-171, (2025). DOI: 10.1109/IES67184.2025.11160991 DOI: https://doi.org/10.1109/IES67184.2025.11160991

[15]. J. G. Ziegler and N. B. Nichols, “Optimum settings for automatic controllers,” Transactions of the ASME, vol. 64, pp. 759–768, (1942). DOI: https://doi.org/10.1115/1.4019264

[16]. Z. Li, X. Mi, M. V. Basin, and H. Z. Zeng, “Fuzzy-Based PID Motion Control for Inhalation-Type Floating Garbage Cleaning Robots,” IEEE Access, vol. 12, pp. 1–14, (2024). DOI: 10.1109/ACCESS.2024.3520629 DOI: https://doi.org/10.1109/ACCESS.2024.3520629

[17]. Y.-T. Juang, Y.-T. Chang and C.-P. Huang, “Design of fuzzy PID controllers using modified triangular membership functions,” Information Sciences, vol. 178, no. 5, pp. 1325–1333, (2008). DOI: 10.1016/j.ins.2007.10.020 DOI: https://doi.org/10.1016/j.ins.2007.10.020

Downloads

Published

25-08-2026

How to Cite

[1]
D. N. Pham Van, “Design of an adaptive fuzzy–PID controller for a DC motor-based railway barrier system”, J. Mil. Sci. Technol., vol. 113, no. 113, pp. 48–57, Aug. 2026.

Issue

Vol. 113 (2026)

Section

Electronics & Automation