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

In this project, a Simulink model for the DC motor will be first developed per the schematic shown in Figure 1.

Use the Proportional, Integral, and Derivative (PID) control design knowledge gained in the training to design, develop and test a controller to maintain a desired speed for the motor.

answer:

constant reference

as we can observed in the section we have used const reference and achieved a good response similar to what we have gone through the training

step reference

as we can observed in the section we have used step reference and achieved a good response similar to what we have gone through the training

pulse reference

as we can observed in the section we have used pulse reference and achieved a good response similar to what we have gone through the training

clc;
clear all;
close all;

m=100;
k=3994;

J=0.1; 
B=0.1;
km=0.01;
kt=0.01
ra=1;
la=0.5;

fn=1;
wn=2*pi*fn;
zeta= 0.5;% underdamped

%poles

p1=-zeta*wn+wn*sqrt(zeta^2-1);
p2=-zeta*wn-wn*sqrt(zeta^2-1);
p=[p1 p2];

%a and b matrix

a=[-B/j kt/j; -km/la ra/la];
b=[0; 1/la];

%poleplacement

kf=place(a,b,p);

kp=wn^2;
kd=2*zeta*wn;
ki=1;

%to obtain the pid controller step response the followwing steps are followed 

num=[1]
den=[1 3 1]
gp=tf(num,den)
h=[1]

ma=feedback(gp, h)
step(ma)
hold on

gc=pid(kp,ki,kd)
mc=feedback(gc*gp, h)
step(mc)
grid on

conclusion

In this project, a Simulink model for the DC motor will be first developed per the schematic shown in Figure 1.used the Proportional, Integral, and Derivative (PID) control design to develop and test a controller to maintain a desired speed for the motor.as we can observed in the first section we have used a const reference and achieved a good response similar to ehat we have gone through the training,as we can observed in the second section we have used a step reference and achieved a good response similar to what we have gone through the training,,as we can observed in the thrd section we have used pulse reference and achieved a good response similar to what we have gone through the training.the result obtained are promising