Practical 4

Dynamic Modeling of DC Motor System

Objective:

• To learn the modeling of a Modular Servo System using MATLAB and Simulink

Tools/Software Requirement
• Modular Servo Workshop
• MATLAB
• Servo Toolbox
• Simulink
Recommended Books:
• Feedback Control Systems by Charles L. Phillips & Royce D. Harbor
• Control Systems by Norman Nise
Activity Time Boxing

Task No. Activity Name Activity Time

Lecture and overview by instructor
1 15 ~ 20 mins
2 Performing Experiment 120 ~140 mins
3 Results & Evaluation (signed by the instructor) 15 ~ 20 mins
Total Time: 180

Theory
Modular Servo System is a unique equipment designed to study theory and practice of automatic control
systems. The servomechanism is connected to a computer where a control algorithm is realized based on
measurements of angle and angular velocity. This servo system is designed to teach about systems like open
loop, closed loop, speed and position control systems and PID Controller systems.
The MSS setup (Fig. 4.1) consists of several modules mounted at the metal rail and coupled with small
clutches. The modules are arranged in the chain. The DC motor together with the tachogenerator opens the
chain. The gearbox with the output disk closes the chain. The potentiometer module is located outside the
chain.
If and when the DC motor drive activates the following modules: inertia, backlash, encoder module,
magnetic brake and the gearbox with the output disk. The rotation angle of the DC motor shaft is measured
using an incremental encoder. Anywhere the rotational angle measurement is required we can place the
encoder. A tachogenerator is connected directly to the DC motor and generates a voltage signal proportional
to the angular velocity.

Page 1 of 26
 Figure 4.1 Modular Servo Workshop (MSW)

Figure 4.1(a) Parts of MSW

Figure 4.1(b) Inertial Load and Backlash on MSW

Figure 4.1(c) Generator and DC Motor of MSW

The servomechanism is connected to a computer where a control algorithm is realized based on

measurements of angle and angular velocity. The system has no inner feedback for dead zone
compensation. The accuracy of measurement of velocity is 5% while the accuracy of angle measurement

Page 2 of 26
is 0.1%. The armature voltage of the DC motor is controlled by PWM signal. For this reason the
dimensionless control signal is the scaled input voltage,
𝑣(𝑡)⁄
𝑢(𝑡) = 𝑣𝑚𝑎𝑥 Eq. (4.1)

The admissible controls satisfy | 𝑢(𝑡) | ≤ 1 𝑎𝑛𝑑 𝑣𝑚𝑎𝑥 = 12 [𝑉]

Mathematical model of the servo system

1. Linear Model

Figure 4.2 Schematic Diagram of a DC motor

is described by two classical equations:

electrical
𝑣(𝑡) = 𝑅 𝑖(𝑡) + 𝐾𝑒 𝜔(𝑡) Eq. (4.2)

and mechanical
𝐽𝜔̇ (𝑡) = 𝐾𝑚 𝑖(𝑡) − 𝛽𝜔(𝑡) Eq. (4.3)

where:
𝑣(𝑡) - is the input voltage,
𝑖(𝑡) - is the armature current,
𝜔(𝑡) - is the angular velocity of the rotor,
𝑅 - is the resistance of armature winding,

Page 3 of 26
𝐽 - is the moment of inertia of the moving parts
𝛽 - is the damping coefficient due to viscous friction
𝐾𝑒 𝜔(𝑡) – is the back EMF and
𝜏 = 𝐾𝑚 𝑖(𝑡) is the electromechanical torque
This model is linear because the static and dry kinetic frictions, as well as the saturation are neglected. By
combining the electrical and mechanical equations we obtain the equation of the first order inertial system

𝑇𝑠 𝜔̇ (𝑡) = −𝜔(𝑡) + 𝐾𝑠𝑚 𝑣(𝑡) Eq. (4.4)

Where
𝑇𝑠 is time constant and 𝐾𝑠𝑚 is the motor gain given by,
𝑅𝐽
𝑇𝑠 = Eq. (4.5)
𝛽𝑅+ 𝐾𝑒 𝐾𝑚

The transfer function has the form

𝜔(𝑠) 𝑠𝑚 𝐾
G(s) = 𝑣(𝑠) = (𝑇 𝑠+1) Eq. (4.6)
𝑠

The transfer function of the motor position has the form

𝛼(𝑠) 𝐾
G(s) = 𝑣(𝑠) = 𝑠(𝑇 𝑠𝑚
𝑠+1)
Eq. (4.7)
𝑠

The control applied to the system has the form of a PWM signal. Thus, we assume the dimensionless
𝑣(𝑡)⁄
control signal as the scaled input voltage, 𝑢(𝑡) = 𝑣𝑚𝑎𝑥 . The admissible control satisfies |𝑢(𝑡)≤| 1.
With respect to 𝐾𝑠 = 𝐾𝑠𝑚 𝑣𝑚𝑎𝑥 , we obtain transfer functions in the form

Velocity transfer function Angular transfer function

𝜔(𝑠) 𝑠 𝐾 𝛼(𝑠) 𝑠 𝐾
G(s) = 𝑢(𝑠) = (𝑇 𝑠+1) G(s) = 𝑢(𝑠) = (𝑇 𝑠+1)
𝑠 𝑠

Procedure
1. The simplest way to create a Simulink model of the control system is to use as a template one of the
models available at Servo Control Window. For example, click on the Basic Measurements button and
save it as MySystem.mdl name. The MySystem Simulink model is shown in Fig. 03.

Page 4 of 26
 Figure 4.3 Simulink Model of MSW

2. Now, you can modify the model catering to your own requirements. Remember to leave the Servo
driver block open in the window. This is necessary to work in real-time environment.
3. Double click on the servo block in the Simulink model. Following window will appear.

Figure 4.4 Simulink diagram of Servo mechanism

Note that they limit currents to DC motor for safety reasons. However they are not visible for the user.
Other blocks remaining in the window are not necessary for our new project. Creating your own
model on the basis of an old example ensures that all internal options of the model are set properly.
4. Now, manipulate the input signals to the servo system by using Ramp, Step input, Impulse signal.
And check their output responses. You can apply most of the blocks from the Simulink library.

Page 5 of 26
 However, some of them cannot be used. Runtime of the the Simulink program can also be altered
from the menu bar.
5. When the Simulink model is ready and inputs values have been given, save and build the model.
Make sure, the model is saved anywhere outside of the MATLAB installed folder.
6. This can be done by MATLAB’s current folder to one’s own specified folder.
7. After building the model click on connect to target folder and click on OK for the new pop-up
window.
8. One can observe the real- time velocity scope plotting of the values on the screen for the entire run-
time of the Simulink program.

Figure 4.5 Velocity Scope graph

Page 6 of 26
 TASK 1
a. For Step Response with upper limit one and gain of 200, run the Simulink model, paste its picture
and plot its graph.

Figure 4.6 Simulink model for step response with gain 200

Page 7 of 26
Graph 4.1
Attach step response graph of your readings

Page 8 of 26
b. For Step Response with upper limit one and gain of 150, run the Simulink model, paste its picture
and plot its graph.

Figure 4.7 Simulink model for step response with gain 150

Page 9 of 26
Graph 4.2
Attach step response graph of your readings

Page 10 of 26
c. For impulse Response, plot the graph and paste Simulink model picture.

Figure 4.8 Simulink model for impulse response of gain 200

Page 11 of 26
Graph 4.3
Attach impulse response graph of your readings

Page 12 of 26
Simulink model for impulse response of gain 150

Page 13 of 26
Graph 4.4
Attach impulse response graph of your readings

Page 14 of 26
d. For ramp response, paste the Simulink model and plot its graph.

Figure 4.9 Simulink model for ramp response of gain 200

Page 15 of 26
Graph 4.5
Attach ramp response graph of your readings

Page 16 of 26
Simulink model for ramp response of gain 150

Page 17 of 26
Graph 4.6
Attach ramp response graph of your readings

Page 18 of 26
Observation/Analysis:
In conclusion, this study investigated the influence of different input signals, including step,
impulse, and ramp signals, on the behavior of a DC motor. Through careful analysis of the motor's
outputs for each input signal, the researchers observed that the motor's response varied depending
on the type of signal used, with distinct differences in transient and steady-state behavior.

The findings suggest that the selection of appropriate input signals can effectively control the
transient response of DC motors in industrial applications. Further research is recommended to
explore the effects of different input signals and gain values on DC motor behavior, providing
valuable insights for optimizing motor performance in various applications.

Precautions

1. Keep adequate distance from the modular servo system.

2. Check all the wires and connections before switching on the equipment.
3. Do not meddle with the wires while operational.
4. Do not remove any piece unless authorized to do so.
5. Do not leave equipment – while operational – unattended.

Page 19 of 26
Post Lab Activity

a. For ramp response, vary the gains and plot its graphs and comment your
observations.

➢ Simulink model for ramp response with gain 200:

Comments:
By adjusting the gain, we can modulate the frequency of the output signals, we can increase
or decrease the frequency of the signal.

Page 20 of 26
 ➢ Simulink model for ramp response with gain 150:

Comments:
By adjusting the gain, we can modulate the frequency of the output signals, we can increase
or decrease the frequency of the signal.

Page 21 of 26
 b. For step response, keep the values of gain as in ramp response and plot its graphs
and comment on your observations.

➢ Simulink model for step response with gain 200:

Comments:
By adjusting the gain, we can modulate the frequency of the output signals, we can increase
or decrease the frequency of the step signal.

Page 22 of 26
 ➢ Simulink model for step response with gain 150:

Comments:
By adjusting the gain, we can modulate the frequency of the output signals, we can increase
or decrease the frequency of the step signal.

Page 23 of 26
 c. For impulse response, keep the values of gain as in ramp response and plot its
graphs and comment on your observations.

➢ Simulink model for Impulse response with gain 200:

Comments:
In impulse signal there is a sudden spike which indicates the voltage given for a very short
period.

Page 24 of 26
 ➢ Simulink model for Impulse response with gain 150:

Comments:
In impulse signal there is a sudden spike which indicates the voltage given for a very short
period.

Page 25 of 26
 d. What did you observe in the output responses for the above three input signals as
the gain was kept same.

The dynamic behavior of a DC motor, when keeping the gain constant for all input
signals, varies significantly depending on the type of input signal applied. For step
and impulse inputs, the motor shows high overshoot and settling time in the transient
response, with a constant speed in the steady-state response. On the other hand, for a
ramp input, the motor exhibits a gradual increase in speed in the transient response
without overshoot, and a constant speed in the steady-state response. These findings
highlight the significant impact of input signal characteristics on the dynamic
behavior of DC motors, even when the gain remains unchanged.

Evaluation Criteria:

Performance Exemplary Satisfactory Developing Unsatisfactory Marks

Criteria
(5) (3-4) (1-2) (0)

Procedure Steps of Steps of Steps of Procedure is

experiments are experiments are experiments are missing.
clear, sequential present but incomplete and
Conclusion is
and in complete lacking procedure is
missing.
sentences. completeness. lacking.
Pictures of Conclusion is
Result &
Responses are incomplete.
Analysis is
included. Result
written in
& Analysis is
incomplete
written in a
sentence.
complete form.

Understanding Understands Understands Understands few Wasn’t able to

the Concept everything of majority of the things. understand
the topic. portion. anything.

Lab Instructor: Dr. Liaquat Ali Khan/Lab Engr. Wahaj Rafique

Page 26 of 26