Project - Speed Control of a Direct Current (DC) motor
ANS NO. -1
PROJECT-DC MOTOR CONTROLLER SYSTEMS
A BASIC PARAMETER OF DC MOTOR
1 Moment of inertia (J) .UNIT - Kgm^2
2.Motor viscous friction constant (B) .unit=Nms
3.Back EMF constant (Km) .unit=v/rad
4.Motor torque constant (Kt) .unit=Nm/amper
5.Armature constant (Ra) .unit=ohm
6.Armature inductance (La) .unit=henry
CODING OF DC MOTOR CONTROLLER
%this file contain parameters for DC Motor design
j=0.01; %moment if inertia of the motor kgm^2
b=0.1; %motor viscous constant Nms
km=0.01;%back EMF constant v/radian
kt=0.01; %motor torque constant Nm/ampere
ra=1; %armature resistance ohm
la=0.5; %armature inductance henry
%%design of PID Controller
A=[-b/j kt/j;-km/la -ra/la];
B=[0;1/la];
%% placement of pole
f=1; %frequency in hz
wn=2*pi*f; %wn in rad/s
zeta=0.5; %under damped 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);
%their the values of kp and kd in using the gain in design for place
%cammands K
kp=K(1);
kd=K(2);
ki=0.01;
%when we chance the value of Ki the plot of simulations are also changed
%lets i take the value of ki=0.01; in first valus the plot are drawing the overshoot and decresing the continously
then
%ki=35; the plot are after oveshoot and undershoot than the stable and constant move to the constant valus
%ki=10; the plot are going to the overshoot than the continously decresing the plot
%ki=100; when i take the high value the plot are fully unstable only overshoot and undershoot and that process only going to decresing