Project 2 - Speed Control of a Direct Current (DC) motor
% This is a motor modol M script file
Ra=1.0;
Kt=0.01;
Km=0.01;
Jm=0.01;
Bm=0.1;
%This is a pid controller M script file
% this file contains parameters for DC motor design
J=0.01; % Inertia
B=0.1; % friction
Km=0.01; %back emf
Kt=0.01; % torque
Ra=1; %resistnace
La=0.5; %inductance
%% Design of PID controller
A=[-B/J Kt/J; -Km/La -Ra/La];
B=[0 ; 1/La];
%% Placement of Poles
fn=1;
wn=2*pi*fn;
zeta=0.5;
p1=-zeta*wn+wn*sqrt(zeta^2-1);
p2=-zeta*wn-wn*sqrt(zeta^2-1);
P=[p1;p2]
K=place(A,B,P)
Kp = 3.86;
Kd = 628.32;
Ki = 0.0;
