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DC Motor Control and Simulation Exercises

1) The document describes various control strategies for controlling the angular velocity and position of a DC motor, including modeling the motor and building state-space and transfer function models. 2) It discusses synthesizing controllers using pole assignment, minimal prototype, and dead-beat control methods and simulating the closed-loop systems. 3) Exercises are provided to design controllers using these methods for discrete-time control of the motor's angular velocity and position, with sampling times of 0.1 seconds.

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Marco Torres
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15 views3 pages

DC Motor Control and Simulation Exercises

1) The document describes various control strategies for controlling the angular velocity and position of a DC motor, including modeling the motor and building state-space and transfer function models. 2) It discusses synthesizing controllers using pole assignment, minimal prototype, and dead-beat control methods and simulating the closed-loop systems. 3) Exercises are provided to design controllers using these methods for discrete-time control of the motor's angular velocity and position, with sampling times of 0.1 seconds.

Uploaded by

Marco Torres
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Umeå University 2006-06-19

Applied Physics and Electronics


Staffan Grundberg

DC-motor control
Model
A DC motor can be modelled by an electric circuit with one resistance R, one inductance L,
and one voltage source vm (t ) connected in series, see figure 1. Kirchhoff’s second law yields
that the applied voltage can be written as
di
vapp = Ri + L + vm , (1.)
dt
where i denotes the current and
vm = K bω . (2.)
Newton’s laws yield that the angular velocity ω of the motor obeys
dω
J = ∑ τ ext = K mi − K f ω , (3.)
dt
where J is the moment of inertia of the rotor, K m is the armature constant, and K f is the
friction constant.

i L

+ +
vapp DC vm

Figure 1. Model of a DC motor. The box symbolizes the DC motor.

Exercise 1
Build a state-space model of the DC-motor where the external voltage is the input and the
angular velocity ω is the output. Determine also the transfer function.

Exercise 2
Use pole assignment to synthesize a controller for controlling the angular velocity of the DC-
motor. Use the following values of the parameters:
J = 0.01 kg m 2
K f = 0.1 kg m 2 / s
K b = K m = 0.01 Nm/A (4.)
R = 1Ω
L =1H
Simulate the closed loop system.

Exercise 3
Use pole assignment to synthesize a controller for controlling the angular position of the rotor.
Simulate the closed loop system.

Discrete time control


Consider a time discrete control system for controlling the angular velocity of the motor. The
sampling time is to be 0.1 s.

Exercise 4
Calculate the sampled transfer function of the DC motor
B ( z)
H ( z) = 0 . (5.)
A0 ( z )

Minimal prototype method


By using the so called minimal prototype method and choosing the controller as
C ( z ) = (H ( z ) ) n −m
−1 1
, (6.)
z −1
where n and m are the orders of A0 ( z ) and B0 ( z ) respectively, the complementary sensitivity
function becomes
1
T ( z ) = n−m . (7.)
z
This means that the response settles in n − m sampling intervals. The drawback of this type of
discrete controllers is the intersample ripple.

Exercise 5
Synthesize a minimal prototype controller for controlling the angular velocity of a DC motor.
Observe the considerable oscillations between the sampling intervals.

Dead-Beat control
When using the dead-beat control strategy, the controller is chosen such as the output and the
control signal settles after a finite time. By choosing the controller as
αA ( z )
C ( z) = n 0 , (8.)
z − αB0 ( z )
where α = 1 / B0 (1) , the output and the control signals become
αB ( z )
Y ( z ) = 0n R( z ) (9.)
z
and
αA0 ( z )
U ( z) = R( z ) . (10.)
zn

Exercise 6
Simulate a servo system in closed loop with a dead-beat controller. The angular position of
the rotor is the output of the control system. Use a sampling interval of 0.1 s.

Pole assignment
The dead-beat control strategy yields a maximally fast controller at the expense of a large and
rapidly fluctuating control signal. This problem can be remedied by moving the poles of the
closed loop from the origin. This can be achieved by pole assignment.

Exercise 7
Use pole assignment to design a controller with a smaller and less fluctuating control signal.
Let the controller cancel the poles of the process and move the other closed-loop poles from
the origin.

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