University of Tehran Electrical Machines I Computer Assignment 2 (DC Motors)

MATLAB/SIMULINK Modeling of Speed Control Methods for DC Motors

I. Introduction The speed of a DC motor can be varied by controlling the field flux, the armature resistance or the terminal voltage applied to the armature circuit. The three most common speed control methods are field resistance control, armature voltage control, and armature resistance control [1]. In this section, modeling procedure of these three methods and feedback control method [2] for DC motor drives for dynamic analysis are presented. A. Field Resistance Control In the field resistance control method, a series resistance is inserted in the shunt-field circuit of the motor in order to change the flux by controlling the field current. It is theoretically expected that an increase in the field resistance will result in an increase in the no-load speed of the motor and in the slope of the torquespeed curve [1]. Figure 1 shows the Simulink implementation of the field resistance control method. A DC motor block of SimPowerSystems toolbox is used. The DC motor block implements a separately excited DC motor. An access is provided to the field connections (F+, F-) so that the motor model can be used as a shunt-connected. The field circuit is represented by an RL circuit (Rf and Lf in series) and is connected between the ports (F+, F-). The armature circuit consists of an inductor La and resistor Ra in series with an electromotive force EA and is connected between the ports (A+, A-). The load torque is specified by the input port TL. The electrical and mechanical parameters of the motor could be specified using its dialog box. Observe that 240 V DC source is applied to the armature and field circuits. An external resistance Rf1 is inserted in series with the field circuit to realize the field resistance speed control. The output port (port m) allows for the measurement of several variables, such as rotor speed, armature and field currents, and electromechanical torque developed by the motor. Through the scope and display block, the waveform and steady-state value of the rotor speed can be easily measured in radian per second (rad/s), or the corresponding data can be written to MATLAB/workspace using the data box to make use of other graphical tools available in MATLAB. B. Armature Voltage Control In the armature voltage control method, the voltage applied to the armature circuit, Va is varied without changing the voltage applied to the field circuit of the motor. Therefore, the motor must be separately excited to use armature voltage control. When the armature voltage is increased, the no-load speed of the motor increases while the slope of the torque-speed curve remains unchanged since the flux is kept constant [1]. Figure 2 shows the Simulink realization of the armature voltage speed control method. This simulation model is similar to that of the field resistance control method shown in Figure 1. The main difference is that the armature and field circuit are supplied from two different DC sources to have a separately excited connection. Moreover, the external resistance Rf1 in Figure 1 is removed in this model. C. Armature Resistance Control The armature resistance control is the less commonly used method for speed control in which an external resistance is inserted in series with the armature circuit. An increase in the armature resistance results in a significant increase in the slope of the torque-speed characteristic of the motor while the no-load speed remains constant [1]. Simulink model of this method is not shown here since it is almost the same as that of the field resistance control method shown in Figure 1. The only difference is that Rf1 resistance in Figure 1 is removed and an external resistance Ra1 is inserted in series with the armature circuit between the ports (A+, A-) to vary the armature resistance. I

University of Tehran Electrical Machines I Computer Assignment 2 (DC Motors)

Figure 1 Simulink implementation of field resistance speed control method.

Figure 2 Simulink implementation of armature voltage speed control method.

D. Feedback Control Mode The block diagram of feedback speed control system for DC motor drives is shown in Figure 3a. The control objective is to make the motor speed follow the reference input speed change by designing an appropriate controller. The proportional-integral (PI) controller is used to reduce or eliminate the steadystate error between the measured motor speed (m) and the reference speed (ref) to be tracked. The transfer function of PI controller is given by [2] () = + where KP and KI are the proportional and integral gains, respectively. In the feedback control system, the dynamics of the DC motor can be described either by a transfer function or by the state-space equations. = +

= +

= =

+ , II

+ +

University of Tehran Electrical Machines I Computer Assignment 2 (DC Motors)

ia and m are the armature current and motor speed in rad/s, respectively; Vt is the voltage input applied to armature circuit, TL is the load torque, J is the combined moment of inertia of the load and the rotor; Bm is the equivalent viscous friction constant of the load and the motor, and Te is the generated electrical torque. Figure 3b shows the Simulink model of feedback control system. The Simulink representation of the DC motor drive system can give you a clear vision of the block diagram representation of an electric machine control system, the transfer functions of the controller, and dynamic models of DC motors. You can easily evaluate the performance of a chosen controller to check if the desired control goal for the motor speed is achieved.

Figure 3 Feedback control system for DC motor speed control: (a) block diagram; (b) Simulink model.

II.

Assignments

A. Phase I
Add a DC motor with the specified parameters in TABLE I into your model. 1- For the field resistance control, first, select the nominal value of the field resistance Rf =240 ohm and run the simulation for several values of load torque in the range of TL = 0-500 N.m to determine the steady-state value of the speed at each load level. In order to investigate the effect of an increase in the field resistance on the torque-speed characteristic, insert Rfc = 60 ohm external resistance in series with the field circuit as illustrated in Figure 1 and repeat the simulations for the same load levels. Sketch the torque-speed curves for both resistance values (Rfc = 0, 60). You should clearly see an increase in the slope of the curve as well as in the no-load speed of the motor with respect to an increase in the field resistance. It must also be noted that over the range from noload to full-load conditions (TL = 0-300 N. m), an increase in Rf causes an increase in the motor speed. On the other hand, at very slow speed (TL>300 N. m), an increase in Rf will decrease the speed of the motor [1]. Show this principle by reporting the two curves in one diagram and try to find an explanation for it. 2- For the armature voltage control, perform the simulations using the model shown in Figure 2 for three different armature voltages, Va = 180, 240, and 300 V while the voltage applied to the field circuit is kept constant at its nominal value 240 V. Compare the torque-speed characteristics. Illustrate that the torque-speed curve is shifted upward by increasing the armature voltage while the slope of the curve remains unchanged, as it is theoretically expected. 3- Finally, perform simulations for three different values of the armature resistance Ra = 0.6, 1.2, and 1.8 ohm in order to investigate the effect of armature resistance on the shape of the torque-speed curve. Report the simulation results. Observe that when the armature resistance is increased, the

III

University of Tehran Electrical Machines I Computer Assignment 2 (DC Motors)

slope of the motors torque-speed characteristic increases drastically, making it operate more slowly if loaded.

B. Phase II
Use the given equations for dynamic behavior of DC motors in the Introduction to derive a state-space model. You should build a model for the DC machine with the already-known equations. We have discussed this procedure in the tutorial classes. A lookup table is attached to this CA which should be used for converting the field current to the corresponding flux (This simulates the saturation effects). Dont use the available model in the SIMULINK! New parameters are given in TABLE II [3]. For the rest of the parameters, use the previous ones. Considering the block diagram shown in Figure 3, find the response of the motor speed to a step increase in the reference speed for different values of the proportional gain (Kp = 0.3, 0.5, and 0.9) while the integral gain is kept constant at KI = 1. With the help of simulation results, examine the controller performance and investigate quantitative effects of the PI controller gains (KP and KI) on the transient and steady-state behavior of the motor speed. These simulation results give you better opportunities to verify the theories learned from the lecture. For example, you can clearly see that the integral control eliminates the steadystate error while increase in the proportional gain adversely affects the transient behavior of the motor speed such as increasing the maximum overshoot and settling time.
TABLE I DC Motor Parameters

P Vt Vf r Rf Lf Ra La Laf Tf

Rated Power Rated Terminal Voltage Rated Field Voltage Rated Rotor Speed Field Resistance Field Inductance Armature Resistance Armature Inductance Field-Armature Mutual Inductance Coulomb Friction Torque

5 HP 240V 230V 1220 rpm 240 ohm 120 H 0.6 ohm 0.015 H 0.7 H 3 N.m

TABLE II DC Motor parameters for the feedback control method

La Ra

Optional Tasks
1- Obtain the plot of motor speed in rpm versus the field resistance (Rf) at a given load level, say TL = 100 N.m and using MATLAB curve fitting tool, find an equation that describes motor speed as a function of Rf. 2- Obtain the plot of motor speed in rpm versus the armature resistance (Ra) at a given load level, say TL = 100 N.m and using MATLAB curve fitting tool, find an equation that describes motor speed as a function of Ra. 3- Obtain the plot of motor speed in rpm versus the armature voltage (Va) at a given load level, say TL = 100 N.m and using MATLAB curve fitting tool, find an equation that describes motor speed as a function of Va.

References
[1] S. J. Chapman, Electric machinery fundamentals, 3rd ed., WCB/McGraw-Hill, New York, 1998. [2] J. J. DAzzo and C. H. Houpis, Linear control system analysis and design, McGraw-Hill, New York, 1995. [3] M.-Y. Chow and Y. Tipsuwan, Gain adaptation of networked DC motor controllers based on QOS variations, IEEE Trans Ind. Electron., Vol. 50, pp. 936-943, 2003.

IV