Project - Speed Control of a Direct Current (DC) motor
motor characteristics;
j = 0.00208;moment of inertia
B=0.011;friction
Km=0.1;
Kt=0.1238;torque constant
Ra=1;resistance
La=0.01; inductance of armature:
the speed torque current are plotted .
the formula used for the torque=Km*Ia
dIa/dt=1/La(Vs-Vb-Ra*Ia);
And from the derivative current is intergrated to find the current.
And from the Ia and Ra
power is derived.
power= Vb+Ia^2*Ra;
the reference paper is attached;
the kp kd gains are founde by the
K=place(A,B,P)
the denominator of the equation is
0.0000208S2 + 0.00219s + 0.01348
the poles are found in the left half of the s plane and its attached for refrence
p1=-98.72392380431
p2=-6.5645377341519;
p2=-6.5645377341519;
References;