Project - Speed Control of a Direct Current (DC) motor
Ans - (Attachments - MATLAB mathematical model, Simulink Simulation, Output Plots)
Deliverable,
1. Matlab script to define modeling and control design parameters
% DC Motor Design Parameters,
J = 0.01;
B = 0.1;
Km = 0.01;
Kt = 0.01;
Ra = 1;
La = 0.5;
% Design of PID Controller
A = [-B/J Kt/J;-Km/La -Ra/La];
b = [0 ; 1/La];
% Pole Placement
fn = 1.0;
wn = 2*pi*fn;
wn = 6.2832
zeta = 1.0;
P1 = -zeta*wn+wn*sqrt(zeta^2-1);
P2 = -zeta*wn-wn*sqrt(zeta^2-1);
P = [P1;P2]
k = acker(A,b,P)
kp - k (1) = 6.8973
Kd - k(2) = 0.2832
Ki = 45
P =
-6.2832
-6.2832
% plot command
subplot(321); plot(out.time,out.speed);grid;hold;
subplot(322); plot(out.time,out.Ia);grid;hold;
subplot(323); plot(out.time,out.T);grid;hold;
subplot(324); plot(out.time,out.w);grid;hold;
subplot(325); plot(out.time,out.Vb);grid;hold;
subplot(326); plot(out.time,out.w2);grid;hold;
subplot(321);title('speed');
subplot(322);title('Armature current');
subplot(323);title('Torque');
subplot(324);title('Speed');
subplot(325);title('Back EMF');
subplot(326);title('output');
2. Simulink model to simulate and verify the design
Parameters design
Speed (Ref. Input) = 30
(Integral gain) Ki - 45 (manual data)
Transfer fcn block (armature and Inertia, friction)