Speed Control of PMDC Motor using PID Controller

Reference:
Power Electronics by M H Rashid
Chapter No. 14: DC Drives
Example No. : 14.14
Pictures of Reference example:
Page No 01:

Page No 02:

Parameters and Values:

Parameters Values Parameters Values
Vdc 220V Idc 6.4A
F 60Hz Rated speed (N) 1570rpm
G𝜔(s) 0.074 La 67mH
1 + 0.002𝑠
Ra 6.5Ω J 0.06kgm2
Kb 1.24N.m/A Bt 0.087N.m/rad/sec
Kw 0.074 Power (P) 1408 W =1.88 hP
Tw 0.002sec Speed in radians/sec 164.41
Vcm 10 V Ia(max) 20
Solution:
a) Converter transfer function:
The phase Voltage is
𝑉𝐿 220
𝑉𝑠 = = = 127.02V
√3 √3

1.35 × 𝑉𝑟𝑚𝑠
𝐾𝑟 =
𝑉𝑐𝑚
𝐾𝑟 = 29.7
𝑉𝑑𝑐(𝑚𝑎𝑥) = 𝐾𝑟 𝑉𝑐𝑚 = 29.7 × 10 = 297 𝑉
3
𝑉𝑑𝑐(𝑚𝑎𝑥) = 𝑉
𝜋 𝑝𝑒𝑒𝑘

𝑉𝑝𝑒𝑒𝑘 = √2 × 220 = 311.1298

3
𝑉𝑑𝑐(𝑚𝑎𝑥) = × 311.1298 = 297.10
𝜋
As,
60⁄2
𝑇𝑟 = × (𝑡𝑖𝑚𝑒 𝑝𝑒𝑟𝑖𝑜𝑑 𝑜𝑓 𝑜𝑛𝑒 𝑐𝑦𝑐𝑙𝑒)
360
1 1
𝑇𝑟 = ×
12 𝑓
𝑇𝑟 = 0.0013888𝑠𝑒𝑐
Converter transfer function is:
𝐾𝑟
𝐺𝑟 (𝑠) = 𝑇. 𝐹 =
1 + 𝑇𝑟 𝑠
29.7
𝐺𝑟 (𝑠) = 𝑇. 𝐹 =
1 + 0.001388𝑠
b) Current feedback gain:
The maximum safe control voltage is 7.405 V and this has to correspond to the maximum current error:
𝑖𝑚𝑎𝑥 = 20𝐴
3
𝑉𝑑𝑐(𝑚𝑎𝑥) = × 𝑉𝑝𝑒𝑎𝑘(𝐿−𝐿)
π
𝑉𝑑𝑐(𝑚𝑎𝑥) = 297.10𝑉

Now,
𝑉𝑑𝑐 𝑉𝑑𝑐(𝑚𝑎𝑥)
=
𝑉𝑐 𝑉𝑐𝑚
220 297.10
=
𝑉𝑐 10

𝑉𝑐 = 7.405𝑉
 𝑉𝑐
𝐻𝑐 =
𝑖𝑚𝑎𝑥

𝐻𝑐 = 0.37025 𝑉⁄𝐴

c) Motor designing and Transfer function:

𝐼𝑎 𝐾1 (1 + 𝑠𝑇𝑚 )
𝑇. 𝐹 = =
𝑉𝑎 (1 + 𝑠𝑇1 )(1 + 𝑠𝑇2 )

1 1 1 𝐵1 𝑅𝑎 1 𝐵1 𝑅𝑎 2 𝐾𝑏 2 − 𝑅𝑎 𝐵𝑡
− ,− = − [ + ] ± √ ( + ) − ( )
𝑇1 𝑇2 2 𝐽 𝐿𝑎 4 𝐽 𝐿𝑎 𝐽𝐿𝑎

1 1 1 0.087 6.5 1 0.087 6.5 2 1.242 − (6.5)(0.087)

− ,− = − [ + ]±√ ( + ) −( )
𝑇1 𝑇2 2 0.06 0.067 4 0.06 0.067 (0.06)(0.067)

Therefore,
1
− = −49 + 43.5967
𝑇1
𝑇1 = 0.1774𝑠𝑒𝑐
1
− = −49 − 43.5967
𝑇2
𝑇2 = 0.0107𝑠𝑒𝑐
Now,
𝐽 0.06
𝑇𝑚 = =
𝐵𝑡 0.087
𝑇𝑚 = 0.68sec
Also,
𝐵𝑡 0.087
𝐾1 = 2 =
𝐾𝑏 + 𝑅𝑎 𝐵𝑡 1.242 + 6.5 × 0.087

𝐾1 = 0.041
So, the motor transfer function will be:
𝐼𝑎 (𝑠) 𝐾1 (1 + 𝑠𝑇𝑚 )
𝑇. 𝐹 = =
𝑉𝑎 (𝑠) (1 + 𝑠𝑇1 )(1 + 𝑠𝑇2 )
𝐼𝑎 0.02788s + 0.041
𝑇. 𝐹 = =
𝑉𝑎 0.0189818𝑠 2 + 0.1881𝑠 + 1

d) Load Transfer Faction:

𝐾𝑏
𝜔𝑚 (𝑠) ⁄𝐵
𝑡
𝑇. 𝐹 = =
𝐼𝑎 (𝑠) 1 + 𝑠𝑇𝑚
𝜔𝑚 (𝑠) 14.25
𝑇. 𝐹 = =
𝐼𝑎 (𝑠) 1 + 0.68𝑠
e) Design of Current controller:
𝑇𝑐 = 𝑇2 = 0.0107𝑠𝑒𝑐
As,
𝑇1 0.0107
𝐾= =
2𝑇𝑟 2(0.0013888)
𝐾 = 63.868

𝐾𝑇𝑐 63.868 × 0.0107

𝐾𝑐 = =
𝐾1 𝐻𝑐𝐾𝑟𝑇𝑚 0.041 × 0.37025 × 290.7 × 0.68
𝐾𝑐 = 2.229𝑠𝑒𝑐

f) Current loop approximation:

𝐼𝑎 (𝑠) 𝐾𝑖
𝑇. 𝐹 = ∗ =
𝐼𝑎 (𝑠) 1 + 𝑠𝑇𝑐
As,
𝐾𝑐 𝐾𝑟 𝐾1 𝑇𝑚 𝐻𝑐
𝐾𝑓𝑖 =
𝑇𝑐
2.229 × 29.7 × 0.041 × 0.68 × 0.37025
𝐾𝑓𝑖 =
0.0107
𝐾𝑓𝑖 = 63.886

Also,
𝐾𝑓𝑖 1
𝐾𝑖 = ×
𝐻𝑐 1 + 𝐾𝑓𝑖
63.886 1
𝐾𝑖 = ×
0.37025 1 + 63.886
𝐾𝑖 = 2.65925
Now,
𝑇3 = 𝑇1 + 𝑇𝑟
𝑇3 = 0.1774 + 0.0013888
𝑇3 = 0.1787𝑠𝑒𝑐
Also,
𝑇3
𝑇𝑖 =
1 + 𝐾𝑓𝑖
0.004754
𝑇𝑖 =
1 + 63.886
𝑇𝑖 = 0.002754sec
So, the transfer function is:
𝐼𝑎 (𝑠) 𝐾𝑖
𝑇. 𝐹 = ∗ =
𝐼𝑎 (𝑠) 1 + 𝑠𝑇𝑐
𝐼𝑎 (𝑠) 2.65925
𝑇. 𝐹 = ∗ =
𝐼𝑎 (𝑠) 0.002754𝑠 + 1

g) Speed controller design and transfer function:

𝑇4 = 𝑇𝑖 + 𝑇𝜔
𝑇4 = 0.002754 + 0.0013888
𝑇4 = 4.754msec
𝑇4 = 0.004754msec
And,
𝐾𝑖 𝐾𝑏 𝐻𝜔
𝐾2 =
𝐵𝑡 𝑇𝑚
2.65925 × 1.24 × 0.074
𝐾2 =
0.087 × 0.68
𝐾2 = 4.1246
And,
1
𝐾𝑠 =
2𝐾2 𝑇4
1
𝐾𝑠 =
2 × 4.1246 × 0.004754
𝐾𝑠 = 25.4993
Also,
𝑇𝑠 = 4𝑇4
𝑇𝑠 = 4(0.004754)
𝑇𝑠 = 0.0190𝑠𝑒𝑐
So, speed controller transfer function will be,
𝜔(𝑠) 𝐾𝑠 (1 + 𝑠𝑇𝑠 )
𝑇. 𝐹 = ∗
=
𝜔 (𝑠) 𝑠𝑇𝑠
0.4844867𝑠 + 25.4993
𝑇. 𝐹 =
0.0190𝑠

Simulation Results:
With limiter:
Model:
Parameters:
Parameters Values
Steady state error 0.21
Peek overshoot 24.6%
Settling time 5.5 sec
Peek time 1.9 sec
Rise time 1.25 sec
Peek undershoot 4.4 sec
Output waveform of Speed:

With PI Controller:
Parameters:
Parameters Values
Response Time 0.3314 sec
 Transient behavior 0.6
Peek overshoot 55.9%
Settling time 3.69 sec
Peek time 1.56 sec
Rise time 0.192 sec
Gain Margin 39.9 dB , 71.8 rad/s
Phase Margin 20.3 dB, 6.04 rad/s
Output waveform of Speed:

With PID Controller:

Model:
Parameters:
Parameters Values
Response Time 0.2545sec
Transient behavior 0.6
Peek overshoot 12.3%
Settling time 0.144sec
Peek time 1.12sec
Rise time 0.17sec
Gain Margin 30.1 dB , 1.22 rad/s
Phase Margin 69 deg, 7.86 rad/s
Output waveform of Speed:

Speed Control of PMDC Motor using PID Controller:

Reference:
Power Electronics by M H Rashid
Chapter No. 14: DC Drives
Example No. : 14.14
Pictures of Reference example:
Page No 01:

Page No 02:
Calculations:
By Hands: