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Modeling in control system using MATLAB to get simulations
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sanarore Control Tutorials for MATLAB and Simulink - Motor Poston: System Modeling
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DC Motor Position: System
Modeling
Key MATLAB commands used inthis tutorial are: °F
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Contents
Physical sotup
‘System equations
Design requirements
MATLAB representation
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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
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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
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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
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