Dc Motor Speed Control

T K t ia
Vb K e
 System Equations
J  b K t i a Tl
KVL and Newton’s 2’nd
law gives :  dia
K e  L  Ria va
dt
Let : Output : y = 
Input : u = va
Disturbance w = Tl
Laplace transforming, we
obtain :  JL JR  bL 
 2
s  s  1Y ( s ) 
 bR  K t K e bR  K t K e 
Kt 1
U ( s)  W ( s)
bR  K t K e bR  K t K e
ME 335
Boğaziçi University
 Transfer Functions
A B
Y (s)  U (s)  W (s)
( 1s  1)( 2 s  1) ( 1s  1)( 2 s  1)
Where:
Kt 1
A B
bR  K t K e bR  K t K e
RJ
1  : Mechanical time constant
Kt Ke
L
2  : Electrical time constant
R
(Assuming b 0 and L is small)
 System Parameters
For this example, the following values for the physical parameters will
be assumed.
•moment of inertia of the rotor (J) = 0.0001 kg.m2/s2
* damping ratio of the mechanical system (b) = 0.0 Nms
* electromotive force constant (K=Ke=Kt) = 0.01 Nm/Amp
* electric resistance (R) = 0.1 ohm
* electric inductance (L) = 0.0005 H
* input (V): Source Voltage
* output ( ): angular velocity of shaft
* disturbance (Tl) : Load torque
* The rotor and shaft are assumed to be rigid
Reference : http://www.engin.umich.edu/group/ctm/index.html
 Numerical Values
J=0.0001;
b=0.0;
Ke=0.01;
Kt=0.01;
R=0.1;
L=0.0005;

A=Kt/(b*R+Kt*Ke); A=100
B=1/(b*R+Kt*Ke); B=10000

den=[J*L/(b*R+Kt*Ke) (J*R+b*L)/(b*R+Kt*Ke) 1];

r = roots(den);
tau1= -1/r(1); tau2=-1/r(2); tau1 = 0.0947 s.: mech. time constant
tau2 = 0.0053 s.: electrical time constant.

100 10000
Y ( s)  U ( s)  W (s)
(0.095s  1)(0.005s  1) (0.095s  1)(0.005s  1)
 Open Loop Step Response
step(A,den,0:.05:1.5)
title('Step Response for the Open Loop System')
Step Response for the Open Loop System
From: U(1)
100

90

80

70

60
Amplitude
To: Y(1)

50

40

30

20

10

0
0 0.5 1 1.5

Time (sec.)
 Steady State Model

yss = 100 u + 10000 w where y is in rad/s,

u is in Volts
and w is in N/m.

For example, u = va = 1.5 Volts gives ss = 150 rad/s = 1432 rpm.

If w = Tl = -0.002 N m., then ss = 150 - 20 = 130 rad/s = 1241 rpm.

Result : Without control, the speed decreases (or increases)

proportional to w. Controller must increase (or decrease) u, to
compensate for the effect of disturbance.

ME 335
Boğaziçi University
 Feedback Control
100
4.2
Disturbance : Gain
Ref. Load Torque Tl
signal 1.5
(Volts)
Steady state
Voltage input x' = Ax+Bu
PID
y = Cx+Du
PID Controller Saturation DC MOTOR Motor
speed

Voltage input

0.028

TACHOMETER

Simulink block diagram

Input saturation : Input voltage va can be between 0 and 2.5
Measurement
volts : Tachometer gain : 0.028 Volts/rad/s
Reference signal : 150 rad/s * 0.028 Volts/rad/s = 4.2 Volts; is
compared with tachometer output.
 Proportional Control
yref is increased from 150 to 160 rad/s.
162

160 Kp = 5

158

(rad/s)
Kp = 0.5
156

154

152

150
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time (s)

There is ss. error, ss. error decreases as KP is increased

 Disturbance Rejection
A step torque disturbance of Tl = -0.002 Nm. is applied
Disturbance rejection with P-control
150

149 Kp = 5

148

147

(rad/s.)
146

145

144

143

Kp = 0.5
142

141
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time (s.)

Compared to no control (130 rad/s), there is improvement, still there

is ss. error.
 PID Controller

 1
t
de(t ) 
u (t ) K  e(t )  e(t )dt  Td 

 T i 0 dt 
1
K ( s ) K (1   Td s )
Ti s
Ki
or : K ( s ) K p   KDs
s
Control signal is a linear combination of error, integral of error
and time rate of change of error.
 PID Control of DC Motor
K p 5 K i 50 K d 0.005
PID control servo and disturbance rejection
162

 = 150 to 160 rad/s.

ref
160

158

(rad/s)
156

154

152

Tl = 0 to -0.002 Nm.
150

148
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time (s.)

No steady state error, good response.