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Control Tutorials For MATLAB and Simulink - Motor Position

Modeling in control system using MATLAB to get simulations

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UmairRashid
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65 views6 pages

Control Tutorials For MATLAB and Simulink - Motor Position

Modeling in control system using MATLAB to get simulations

Uploaded by

UmairRashid
Copyright
© © All Rights Reserved
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sanarore Control Tutorials for MATLAB and Simulink - Motor Poston: System Modeling Tips (| [Effects (|| Search Contol Tutorials (DENY ETE ae ane & & oOo system << DC Motor Position: System Modeling Key MATLAB commands used inthis tutorial are: °F contROL << “y Related Tutorial Links = Into to Modeling = DC Motor SIMULINK << Aetivity Related External Links = system Rep in MATLAB Video = Modeling iy Video = DC Motor Video Contents Physical sotup ‘System equations Design requirements MATLAB representation hntp:lfcims.engin.unich edu/CTMSiindex.php?exampl 168 sanarore hitplcams.engin-umich edulCTMS\index.php?examph Control Tutorials for MATLAB and Simulink - Motor Peston: System Madeling Physical setup ‘A-common actuator in control systems is the DC motor. It directly provides rotary motion and, coupled with wheels or drums and cables, can provide translational motion. The electric equivalent circuit of the armature and the {ree-body diagram of the rotor are shown in the following figure. Fixed field R L WW » “car Alp awe G For this example, we will assume the following values for the physical parameters. These values were derived by experiment from an actual motor in Camegie Mellon's undergraduate controls lab. (2) moment of inertia of the rotor 3.2284E-6 kg.m"2 (b) motor viscous friction constant 3.5077E-6 N.n.s (Ko) electronotive force constant 0.0274 V/rad/sec (Kt) motor torque constant 0.0274 N.m/Amp (®) electric resistance 4 ohm (L) electric inductance 2.758-6H In this example, we assume thal the input of the system is the voltage source (V/) applied to the motor's armature, while the output is the position of the shaft (t/reta). The rotor and shaft are assumed to be rigid, We further assume a viscous friction model, that is, the friction torque is proportional to shaft angular velocity System equations In general, the torque generated by a DC motor is proportional to the armature current and the strength of the magnetic field. n this example we lotorPostonssecto systemMadeting sanarore hitplcams.engin-umich edulCTMS\index.php?examph Control Tulorals for MATLAB and Simulink - Motor Peston: System Modeling will assume that the magnetic field is constant and, therefore, that the motor torque is proportional to only the armature current i by a constant factor as shown in the equation below, This is referred to as an armature controlled motor. T=Kji ‘The back emf, €, is proportional to the angular velocity of the shaft by a constant factor Ki, e=Ki6 @ In SI units, the motor torque and back emf constants are equal, that is, Ky = Ki therefore, we will use IC represent both the motor constant and the back emf constant, From the figure above, we can derive the following governing equations based on Newton's 2nd law and Kirchhoff's voltage law. Jb +b Ki ey wey Rizv-Kb 4) “dt 4. Transfer Function Applying the Laplace transform, the above modeling equations can be expressed in terms of the Laplace variable s. (8+ b)O(s) = KI(s) 6) (Ls + R)I(s) = V(s) — Ks0(s) © We arrive at the folowing open-loop transfer function by eliminating ((s) between the two above equations, where the rotational speed is considered the output and the armature voltage is considered the input. K rad/sec _— rad/see | (7) ~ (Js +0)(Ls +R) + K I However, during this example we will be looking at the position as the ‘output. We can obtain the position by integrating the speed, therefore, we just need to divide the above transfer function by s. K Br era 6) s((Js + )(Ls + R) + Kk?) 2 State-Space The differential equations from above can also be expressed in state-space form by choosing the motor position, motor speed and armature current as lotorPostonssecto

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