Title
Design for Speed control of DC Motor
1
, Table of Contents
Table of Contents
Title .............................................................................................................................................................. 1
Design for Speed control of DC Motor...................................................................................................... 1
Table of Contents ........................................................................................................................................ 2
Introduction ................................................................................................................................................. 3
DC Motor ............................................................................................................................................. 3
Physical Parameters and Description ............................................................................................... 3
Model Derivation ................................................................................................................................ 4
Transfer Function of the system ........................................................................................................ 4
1.1 System parameters expressed in the plant ................................................................................ 6
DC motor subsystem ............................................................................................................................. 6
1.2 Transfer function .............................................................................................................................. 6
Step input is having amplitude A=3.25................................................................................................. 7
1.3 Comparison between input and output signal ................................................................................ 8
Part 2 ............................................................................................................................................................ 9
2.1 Value of feed forward gain ............................................................................................................... 9
2.2 Inverse of final value of P(s) ............................................................................................................. 9
2.3 Value of Kff ....................................................................................................................................... 9
PART 3....................................................................................................................................................... 10
3.1 Without controller .......................................................................................................................... 10
3.2 Transfer Function using MATLAB............................................................................................... 11
3.3 Zeigler-Nichols (Z-N) Method........................................................................................................ 12
3.4 Tyreus-Luyben (T-L) Method........................................................................................................ 13
3.5 Comparison of tuning methods...................................................................................................... 14
3.6 Reaching a better result.................................................................................................................. 14
Appendix .................................................................................................................................................... 16
MATLAB Code ..................................................................................................................................... 16
References .................................................................................................................................................. 17
2
, Introduction
DC Motor
Figure 1
The DC motor is a widely used actuator in control systems. It is capable of producing rotary motion
directly and, when combined with wheels, drums, or cables, can also generate translational motion.
The electric equivalent circuit of the motor's armature and the free-body diagram of the rotor are
depicted in the accompanying Figure 1.
Physical Parameters and Description
Figure 2
3
Design for Speed control of DC Motor
1
, Table of Contents
Table of Contents
Title .............................................................................................................................................................. 1
Design for Speed control of DC Motor...................................................................................................... 1
Table of Contents ........................................................................................................................................ 2
Introduction ................................................................................................................................................. 3
DC Motor ............................................................................................................................................. 3
Physical Parameters and Description ............................................................................................... 3
Model Derivation ................................................................................................................................ 4
Transfer Function of the system ........................................................................................................ 4
1.1 System parameters expressed in the plant ................................................................................ 6
DC motor subsystem ............................................................................................................................. 6
1.2 Transfer function .............................................................................................................................. 6
Step input is having amplitude A=3.25................................................................................................. 7
1.3 Comparison between input and output signal ................................................................................ 8
Part 2 ............................................................................................................................................................ 9
2.1 Value of feed forward gain ............................................................................................................... 9
2.2 Inverse of final value of P(s) ............................................................................................................. 9
2.3 Value of Kff ....................................................................................................................................... 9
PART 3....................................................................................................................................................... 10
3.1 Without controller .......................................................................................................................... 10
3.2 Transfer Function using MATLAB............................................................................................... 11
3.3 Zeigler-Nichols (Z-N) Method........................................................................................................ 12
3.4 Tyreus-Luyben (T-L) Method........................................................................................................ 13
3.5 Comparison of tuning methods...................................................................................................... 14
3.6 Reaching a better result.................................................................................................................. 14
Appendix .................................................................................................................................................... 16
MATLAB Code ..................................................................................................................................... 16
References .................................................................................................................................................. 17
2
, Introduction
DC Motor
Figure 1
The DC motor is a widely used actuator in control systems. It is capable of producing rotary motion
directly and, when combined with wheels, drums, or cables, can also generate translational motion.
The electric equivalent circuit of the motor's armature and the free-body diagram of the rotor are
depicted in the accompanying Figure 1.
Physical Parameters and Description
Figure 2
3
