Project 2 - Speed Control of a Direct Current (DC) motor

DC Motor Parameters :

Jm=0.01; Moment of Inertia of Rotor

Bm=0.1; Motor Viscous friction constant

Km=0.01; Back EMF constant

Kt=0.01; Motor torque constant

Ra=1.0; Resistance of armature

La=0.5; Inductance of armature

PID Controller Parmeters:

A=[-Bm/Jm Kt/Jm; -Km/La -Ra/La]

B=[0; 1/La]

f=1

wn=2*pi*f

zeta=0.5( Underdamped Case)

p1=-zeta*wn+wn*sqrt(zeta^2-1)

p2=-zeta*wn-wn*sqrt(zeta^2-1)

P=[p1;p2]

K=place(A,B,P)

Gains Obtained,

K1=38.66 (Kp)

K2=-2.65 (Kd)

Assumed Ki= 50

ouput result for stepped command

speed controll output

DC motor Design

 other outputs and concerned files have been attached below.