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State Space Model for DC Motor Control

The document outlines the study and analysis of a state variable model for a DC motor speed control system, focusing on stability, controllability, and observability. It details the derivation of the state model, the design of a controller using the pole-placement technique, and the implementation in MATLAB. The results include eigenvalue analysis and verification of the closed-loop system through simulation.

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JAYAKRISHNAN KS
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133 views4 pages

State Space Model for DC Motor Control

The document outlines the study and analysis of a state variable model for a DC motor speed control system, focusing on stability, controllability, and observability. It details the derivation of the state model, the design of a controller using the pole-placement technique, and the implementation in MATLAB. The results include eigenvalue analysis and verification of the closed-loop system through simulation.

Uploaded by

JAYAKRISHNAN KS
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

7.

State space model for analysis and Design

Aim: Study and analysis of state variable model of a given system (eg. DC Motor speed
control/ Servo motor/etc) and design a controller by pole-placement technique using
MATLAB based tool boxes.

A. Determine the open loop stability, controllability and observability.


B. Analyse the effect of system parameters on eigen values and system performance.
C. Design a controller by pole-placement technique.

A. State space of Armature Controlled DC Motor


Theory:
A very useful application of DC motors are in speed and position control system. For speed
control, the plant model is derived. The electric circuit of the armature and the free body
diagram of the rotor are shown in Fig. 1.

Notation:
𝑅 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒(0.45Ω)
𝐿 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 𝑖𝑛𝑑𝑢𝑐𝑡𝑎𝑛𝑐𝑒(1𝐻)
𝑖 = 𝑓𝑖𝑒𝑙𝑑 𝑐𝑢𝑟𝑟𝑒𝑛𝑡(𝐴)ℎ𝑒𝑙𝑑 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑖 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑢𝑟𝑟𝑒𝑛𝑡(𝐴)
𝑒 = 𝑎𝑝𝑝𝑙𝑖𝑒𝑑 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑣𝑜𝑙𝑡𝑎𝑔𝑒(𝑉)
𝑒 = 𝑏𝑎𝑐𝑘 𝑒𝑚𝑓(𝑉)
𝜔 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑚𝑜𝑡𝑜𝑟 𝑟𝑜𝑡𝑜𝑟(𝑟𝑎𝑑/𝑠𝑒𝑐)
𝑇 = 𝑡𝑜𝑟𝑞𝑢𝑒 𝑑𝑒𝑣𝑜𝑙𝑝𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟(𝑁𝑚)
𝑁𝑚
𝐽 = 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝑜𝑓 𝑚𝑜𝑡𝑜𝑟 (1.13 × 10 )
𝑟𝑎𝑑/𝑠𝑒𝑐
𝑁𝑚
𝐵 = 𝑣𝑖𝑠𝑐𝑜𝑢𝑠 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑓 𝑚𝑜𝑡𝑜𝑟(0.028 )
𝑟𝑎𝑑/𝑠𝑒𝑐
𝑇 = 𝑑𝑖𝑠𝑡𝑢𝑟𝑏𝑎𝑛𝑐𝑒 𝑙𝑜𝑎𝑑 𝑡𝑜𝑟𝑞𝑢𝑒 (𝑁𝑚)
𝐾 ≜ 𝑡𝑜𝑟𝑞𝑢𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡(0.067)
𝐾 ≜ 𝑏𝑎𝑐𝑘 𝑒𝑚𝑓 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡(0.067)
Fig 1

Since field is constant

𝑇 =𝐾 𝑖
𝑒 =𝐾 𝜔
The difference equation of armature circuit is
𝑑𝑖
𝐿 +𝑅 𝑖 +𝑒 = 𝑒
𝑑𝑡
The torque equation is
𝑑𝜔
𝐽 + 𝐵𝜔 = 𝑇
𝑑𝑡
To derive the state model,
Control input 𝑢(𝑡) = 𝑒 (𝑡)
The state variables are 𝑥 (𝑡) = 𝜔(𝑡), 𝑥 (𝑡) = 𝑖 (𝑡)
Output variable 𝑦(𝑡) = 𝜔(𝑡)
The plant model of speed control system is as below.
𝐵 𝐾
⎡− ⎤ 0
𝑥̇ (𝑡) 𝐽 𝐽 ⎥ 𝑥 (𝑡)
= ⎢ + 1 𝑢(𝑡)
𝑥̇ (𝑡) ⎢− 𝐾 − 𝑅 ⎥ 𝑥 (𝑡) 𝐿
⎣ 𝐿 𝐿 ⎦
𝑦(𝑡) = 𝑥 (𝑡)

Substituting numerical values to system parameters, the model becomes


𝑥̇ (𝑡) = 𝐴𝑥(𝑡) + 𝐵𝑢(𝑡)
𝑦(𝑡) = 𝐶𝑥(𝑡)
−2.478 5.31
where 𝐴 =
−0.067 −0.45
0
𝐵=
1
𝐶 = [1 0]
B. Design of controller by pole-placement technique
Theory: The state space model of the DC motor is formed. It is required to control the speed
of the motor by introduction of reference input 𝑟 corresponding to the desired speed. This
method of obtaining the controller is called the servo design (When reference input is zero , it
becomes a regulator problem)
For the open loop plant
𝑥̇ (𝑡) = 𝐴𝑥(𝑡) + 𝐵𝑢(𝑡)
𝑦(𝑡) = 𝐶𝑥(𝑡)
The control law is of the form 𝑢(𝑡) = −𝐾𝑥(𝑡) + 𝑁𝑟
The state feedback gain matrix 𝐾 can be found by pole placement
 |𝑠𝐼 − 𝐴 + 𝐵𝐾|=desired characteristic equation.

The scalar feedforward gain 𝑁 is given by

 𝑁 = [−𝐶(𝐴 − 𝐵𝐾) 𝐵]

Procedure:

% Problem: Design state feedback control(By pole placement) for


DC Motor
% Motor parameters
R=0.45; % Armature Resistance (ohm)
L=1; % Armature inductance (H)
Kt=0.067; % Torque Constant (Nm/Amp)
Kb=0.067; % Back emf Constant (V.s/rad)
J=0.0113; % Moment of inertia (kg.m^2)
b=0.028; % Friction Constant (Nm.s/rad)
%% State-model of DC motor (Physical variable form)
A=[-b/J Kt/J;-Kb/L -R/L]; % System matrix
B=[0;1/L] ; % Input matrix
C=[1 0]; % Output matrix
D=0; % Direct transmission matrix
%% Checking eigenvalues
eigenvalues=eig(A)
%% Define state space system
sys=ss(A,B,C,D);
%% Get the order of the system
sys_order=order(sys);
%% Calculate the rank of controllability matrix
sys_rank_controllability=rank(ctrb(A,B));
%% Calculate the rank of observability matrix
sys_rank_observability=rank(obsv(A,C));
%% Display results
disp("System Order:" + sys_order)
disp("Rank of Controllability Matrix:" +
sys_rank_controllability)
disp("rank of observability matrix:" + sys_rank_observability)
figure(1)
step(sys)
M=10; % Maximum overshoot(in %)
Ts=5; % Settling time
h=(-log(M/100))^2;
zeta=sqrt(h/(pi^2+h)); % Damping ratio
wn=4/(Ts*zeta); % Natural frequency
p=roots([1 2*zeta*wn wn^2]); % Denominator polynomial coefficients
%% State feedback by pole placement
K=place(A,B,p) % Feedback gain
N=[-C*(A-B*K)^-1*B]^-1 % Feddforward gain
sys1=ss(A-B*K, B*N, C, D); % Closed-loop system
figure(2)
step(sys1)
The closed loop system is verified in SIMULINK.

Resul and Inference:

Common questions

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The pole-placement technique designs a controller by defining desired locations for the closed-loop poles to achieve specific dynamics. In the state space model of a DC motor, a control law u(t) = -Kx(t) + Nr is used, where K is the state feedback gain matrix. The desired characteristic equation is obtained by adjusting the values of matrix K so that the eigenvalues of (A-BK) match the desired closed-loop poles. This process modifies the system's response to meet design specifications, such as improving speed and stability .

The choice of desired pole positions directly impacts the motor's dynamic performance, such as overshoot, settling time, and steady-state error. Placing poles farther left in the s-plane typically results in a faster response and reduced settling time, but may increase overshoot. Conversely, poles placed closer to the origin result in a slower response with potentially greater system stability. Proper placement ensures the control system meets performance criteria like damping ratio and natural frequency .

The damping ratio (ζ) and natural frequency (ωn) are pivotal in determining the poles of a control system, as they directly impact transient response characteristics. The damping ratio influences system behavior such as overshoot and oscillations, with higher ratios reducing overshoot. Natural frequency dictates how quickly the system can respond to changes or disturbances. Together, they define desired pole positions to meet specific performance criteria in the s-plane .

The feedforward gain N is calculated using the equation N = [-C(A-BK)^-1B]^-1 to ensure appropriate scaling of the reference input 'r' relative to the control input 'u'. It is necessary for eliminating steady-state errors and achieving the desired response, by compensating for the effects the system dynamics have on tracking performance. This gain is integral to achieving precise motor speed control .

Resistance (R) and inductance (L) affect the system matrix A in the state space model, influencing its eigenvalues. These eigenvalues dictate the dynamic response of the system, determining system stability and performance. Higher resistance generally increases damping, shifting eigenvalues towards the left in the complex plane, which may stabilize the system. Conversely, inductance affects the rate of change in current, impacting the system's transient response .

The critical system parameters include armature resistance (R), armature inductance (L), torque constant (Kt), back EMF constant (Kb), moment of inertia (J), and viscous friction coefficient (b). These parameters influence the state matrices A, B, which in turn affect the controllability and observability of the system. Proper tuning of these parameters ensures the accuracy and effectiveness of the control design .

Verifying the closed-loop system in SIMULINK ensures that theoretical designs translate effectively into practical performance. By modeling the system in SIMULINK, engineers can visualize the dynamic response, assess the impact of disturbances, and evaluate performance metrics like settling time and overshoot. This verification step confirms that the pole-placement control strategy achieves desired specifications under simulated realistic conditions .

The back EMF constant (Kb) is crucial in linking the rotor's angular velocity to the voltage generated in the armature circuit, represented by the equation eb = Kbω. In the state space form, Kb influences the system matrix A, affecting the rate of change of current in the armature winding. It provides feedback to the control system, impacting stability and response times .

Controllability is determined by calculating the rank of the controllability matrix, which ensures that the state variables can be controlled by the control input. Observability, on the other hand, is evaluated through the rank of the observability matrix, verifying that the state variables can be inferred from the output. Both properties are essential for the successful application of control strategies since a controllable and observable system can be accurately regulated and monitored .

In the state space model of a DC motor, the state variables represent physical components and behaviors: x1(t) = ω(t) reflects the angular velocity of the rotor, and x2(t) = ia(t) corresponds to the armature current. These variables are crucial for modeling the motor's dynamic behavior, as they relate to rotational speed control and the electrical dynamics of the armature circuit, respectively .

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