Motor DC Control System Using PID Controller
Motor DC Control System Using PID Controller
And when 𝑉𝑎 = 0.
𝑉𝑎(𝑡) = 𝑅𝑎𝑖𝑎 + 𝐿𝑎 𝑑𝑖𝑎 /𝑑𝑡 + 𝐾𝑏 𝜔(𝑡) (5) Fig.4 Block diagram DC motor model when Va = 0
𝐾𝑡 𝑖𝑎 (𝑡) = 𝑗𝑚 𝑑𝜔(𝑡)/𝑑𝑡 + 𝐵𝑚 𝜔(𝑡) (6) Figure 4 shows the DC motor model when supply
voltage (𝑉𝑎 ) is 0 and the transfer function of 𝜔(𝑠) is
with respect to 𝑇𝐿 (𝑠). Here, the relation between
motor speed and load torque is given by transfer
Taking Laplace transform of equation (6) and (5),
function,
𝑉𝑎 (𝑠) = 𝑅𝑎 𝑖𝑎 (𝑠) + 𝑠𝐿𝑠 𝐼𝑎 (𝑠) + 𝐾𝑏 𝜔𝑠 (7) 𝜔(𝑠) −(𝐿𝑎 𝑠+𝑅𝑎 )
= (10)
𝑇𝐿 (𝑠) 𝐿𝑎 𝐽𝑚 𝑠 2 +(𝑅𝑎 𝐽𝑚+𝐿𝑎 𝐵𝑚 )𝑠+(𝑅𝑎 𝐵𝑚 +𝐾𝑏 𝐾𝑡 )
𝐾𝑡 𝐼𝑎 (𝑠) = 𝑠𝐽𝑚 𝜔(𝑠) + 𝐵𝑚 𝜔(𝑠) (8)
For,
𝑃 = 𝐾𝑝 , 𝐼 = 𝐾𝑖 /𝑠, and 𝐷 = 𝐾𝑑 𝑠
𝐾𝑖
𝐺𝑐 (𝑠) = 𝑃 + 𝐼 + 𝐷 = 𝐾𝑃 + + 𝐾𝑑 𝑠 (11)
𝑠
1
𝐺𝑐 (𝑠) = 𝐾𝑝 (1 + + 𝑇𝑑 𝑠) (12)
𝑇𝑖 𝑠
VI. CONCLUSION