Project - Speed Control of a Direct Current (DC) motor
ANSWER 1: model
%design parameter
m=100; % mass of the spring mass system
k=3944.0; %stiffness constant of spring of spring mass system
% design parameter
fn=1.0;
wn=6.2832;
zeta=0.5; % under damped system design
% desired poles
p1=-zeta*wn+wn*sqrt(zeta^2-1);
p2=-zeta*wn-wn*sqrt(zeta^2-1);
P=[p1;p2];
% A&B matries
A=[0 1;-k/m 0];
B=[0;1/m];
k=place(A,B,P)
kp=k(1);
kd=k(2);
ki=3;
%motor parameter
%PID design of speed control of DC motor
J=0.01; %moment of inertia of motor
v=0.1; %motor viscos friction constant
Km=0.01;%back emf constant
Kt=0.01; %motor torque constant
Ra=1.0;%armature resistance
La=0.5;%armature inductance
plotting :
subplot(321);plot(out.time,out.vs);grid;title('supply voltage');
subplot(321);plot(out.time,out.vb);grid;title('back emf');
subplot(323);plot(out.time,out.ia);grid;title('armature current');
subplot(324);plot(out.time,out.t);grid;title('motor torque');
subplot(325);plot(out.time,out.w);grid;title('speed');
results:
conclusion :
speed of the dc motor has been maintained under different conditions.