Project 2 - Speed Control of a Direct Current (DC) motor
% design parms
jm=0.01;
bm=0.1;
km=0.01;
kt=0.01;
ra=1.0;
la=0.5;
%controller
run dc_motor.m;
a=[-bm/jm kt/jm; -km/la -ra/la];
b=[0; 1/la];
% pole placement
f=1;
w=2*pi*f;
zeta=0.5;
p1=-zeta*w+w*sqrt(zeta^2-1);
p2=-zeta*w-w*sqrt(zeta^2-1);
p=[p1;p2];
k=place(a,b,p);
%integraL GAIN
ki=10;
%plotting
subplot(321);plot(out.time,out.vs,'b-');hold;grid;title('supply voltage')
subplot(322);plot(out.time,out.ia,'b-');hold;grid;title('armature current')
subplot(323);plot(out.time,out.t,'b-');hold;grid;title('torque ');
subplot(324);plot(out.time,out.w,'b-');hold;grid;title('speed');
subplot(324);plot(out.time,out.wc,'b--');hold;grid;
subplot(325);plot(out.time,out.vb,'b-');hold;grid;title('back emf');