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CTMS Example - Motor Position Control Modeling

This document describes the modeling of a DC motor position control system. It presents the physical setup of the motor, the system equations relating torque, back EMF and position. It also provides the transfer function and state space representations. The document specifies design requirements for settling time, overshoot and steady state error. It demonstrates the open loop step response in MATLAB, showing it does not meet specifications.

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Kartik Detroja
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© Attribution Non-Commercial (BY-NC)
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Download as PDF, TXT or read online on Scribd
192 views

CTMS Example - Motor Position Control Modeling

This document describes the modeling of a DC motor position control system. It presents the physical setup of the motor, the system equations relating torque, back EMF and position. It also provides the transfer function and state space representations. The document specifies design requirements for settling time, overshoot and steady state error. It demonstrates the open loop step response in MATLAB, showing it does not meet specifications.

Uploaded by

Kartik Detroja
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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CTMS Example: Motor Position Control Modeling http://www.engin.umich.edu/class/ctms/examples/motor2/motor.

htm

Example: Modeling DC Motor Position


Physical Setup
System Equations
Design Requirements
MATLAB Representation and Open-Loop Response

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 transitional motion. The electric
circuit of the armature and the free body diagram of the rotor are
shown in the following figure:

For this example, we will assume the following values for the physical parameters. These values were
derived by experiment from an actual motor in Carnegie Mellon's undergraduate controls lab.

* moment of inertia of the rotor (J) = 3.2284E-6 kg.m^2/s^2


* damping ratio of the mechanical system (b) = 3.5077E-6 Nms
* electromotive force constant (K=Ke=Kt) = 0.0274 Nm/Amp
* electric resistance (R) = 4 ohm
* electric inductance (L) = 2.75E-6 H
* input (V): Source Voltage
* output (theta): position of shaft
* The rotor and shaft are assumed to be rigid

System Equations
The motor torque, T, is related to the armature current, i, by a constant factor Kt. The back emf, e, is
related to the rotational velocity by the following equations:

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CTMS Example: Motor Position Control Modeling http://www.engin.umich.edu/class/ctms/examples/motor2/motor.htm

In SI units (which we will use), Kt (armature constant) is equal to Ke (motor constant).

From the figure above we can write the following equations based on Newton's law combined with
Kirchhoff's law:

1. Transfer Function

Using Laplace Transforms the above equations can be expressed in terms of s.

By eliminating I(s) we can get the following transfer function, where the rotating speed is the output and
the voltage is an input.

However during this example we will be looking at the position, as being the output. We can obtain the
position by integrating Theta Dot, therefore we just need to divide the transfer function by s.

2. State Space

These equations can also be represented in state-space form. If we choose motor position, motor speed,
and armature current as our state variab, we can write the equations as follows:

Design requirements
We will want to be able to position the motor very precisely, thus the steady-state error of the motor
position should be zero. We will also want the steady-state error due to a disturbance, to be zero as well.
The other performance requirement is that the motor reaches its final position very quickly. In this case,
we want it to have a settling time of 40ms. We also want to have an overshoot smaller than 16%.

If we simulate the reference input (R) by a unit step input, then the motor speed output should have:

Settling time less than 40 milliseconds


Overshoot less than 16%

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CTMS Example: Motor Position Control Modeling http://www.engin.umich.edu/class/ctms/examples/motor2/motor.htm

No steady-state error
No steady-state error due to a disturbance

MATLAB representation and open-loop response


1. Transfer Function

We can put the transfer function into MATLAB by defining the numerator and denominator as vectors:

Create a new m-file and enter the following commands:


J=3.2284E-6;
b=3.5077E-6;
K=0.0274;
R=4;
L=2.75E-6;
num=K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2) 0];
motor=tf(num,den);

Now let's see how the original open-loop system performs. Add the following command onto the end of
the m-file and run it in the MATLAB command window:
step(motor,0:0.001:0.2)

You should get the following plot:

From the plot we see that when 1 volt is applied to the system, the motor position changes by 6 radians,
six times greater than our desired position. For a 1 volt step input the motor should spin through 1 radian.
Also, the motor doesn't reach a steady state which does not satisfy our design criteria

2. State Space

We can put the state space equations into MATLAB by defining the system's matrices as follows:
J=3.2284E-6;
b=3.5077E-6;
K=0.0274;
R=4;
L=2.75E-6;

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CTMS Example: Motor Position Control Modeling http://www.engin.umich.edu/class/ctms/examples/motor2/motor.htm

A=[0 1 0
0 -b/J K/J
0 -K/L -R/L];
B=[0 ; 0 ; 1/L];
C=[1 0 0];
D=[0];
motor=ss(A,B,C,D);

The step response is obtained using the command


step(motor)

Modeling Examples
Cruise Control | Motor Speed | Motor Position | Bus Suspension | Inverted Pendulum | Pitch
Controller | Ball and Beam

Motor Position Examples


Modeling | PID | Root Locus | Frequency Response | State Space | Digital Control:RL| Simulink

Tutorials
MATLAB Basics | MATLAB Modeling | PID Control | Root Locus | Frequency Response | State Space
| Digital Control | Simulink Basics | Simulink Modeling | Examples

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