FIELD CONTROLLED DC MOTOR

Description:
We can control the dc motor, that is vary its speed by varying the field flux. The method of control is generally used when the motor has to run above its rated speed. To understand the operation of field control suppose that the dc motor running at a constant speed. If the field current is reduced by reducing the voltage across the field coil, the flux density will be reduced. This will reduce the back emf instantaneously and will cause armature current to increase resulting in the motor speed increasing. Consequently the back emf will increase and a new equilibrium will be established at a higher speed. With field control one can achieve as high a speed as five time the rated speed. The armature current, ia, is kept constant and the flux density B is varied by varying if.

TRANFER FUNCTION:
T(S)=(S)/Vf(S)=Kt/(J*S^2 + F*S)(Rf + Lf*S)

Circuit Diagram

Requirements:
We must meet following requirements: 1. 2. 3. 4. 5. 6. Step response of system %overshoot Settling time Values of Z and Wn Design a controller( kp) at Z=0.707 Understanding

Case No.1
Transfer function:

4 ------------------------------0.006 s^3 + 4.02 s^2 + 10 s + 4 Code without contrroler:

num=[4] den=[.006 4.02 10 4] sys=tf(num,den) [p,z]=pzmap(sys) subplot(2,2,1) pzmap(sys) subplot(2,2,2) step(sys) subplot(2,2,3) impulse(sys) subplot(2,2,4) rlocus(sys)

Without controller(kp) none

overshoot none

Settling time(sec) undefined

Z -1

Wn 0

Figure#1 (without controller)

Case No.2
Transfer function: 8 ------------------------------0.006 s^3 + 4.02 s^2 + 10 s + 8

Kp 2

Settling time 3.1933

%overshoot Z .2772 .8823

Wn 1.8133

Figure#2(kp=2)

Case No.3
Transfer function: 16 ------------------------------0.006 s^3 + 4.02 s^2 + 10 s + 16 Kp 4 Settling time(sec) 2.99 %overshoot Z 8.183 0.6231 Wn 1.9987

Figure#3(kp=4)

Case No.4
Transfer function: 14 ------------------------------0.006 s^3 + 4.02 s^2 + 10 s + 14 Kp
3.5

Settling time(sec)
3.2169

%overshoot Z
6.0326 0.6663

Wn
1.8696

Figure#4(kp=3.5)

Case No.5
Transfer function: 12.44 ------------------------------0.006 s^3 + 4.02 s^2 + 10 s + 12.44

code:
num=[12.44] den=[.006 4.02 10 12.44] sys=tf(num,den) [p,z]=pzmap(sys) subplot(2,2,1) pzmap(sys) subplot(2,2,2) step(sys) subplot(2,2,3) impulse(sys) subplot(2,2,4) rlocus(sys) [Wn,Z,p]=damp(sys)

Kp 3.11

Settling time(sec) 3.3849

%overshoot Z 4.3237 0.707

Wn 1.7624

Figure#5(kp=3.11)

Understandings:
we take a third order system (field controlled dc motor system) . Applying a step input we observed that the result is uncontrolled increasing. After designing proportional controller (kp) the output is somewhat controlled. At Z=0.707 kp is 3.11. At higher values of kp settling time decreases, %overshoot increases , zeta decreases Wn increase And Vice versa We encounter some new commands of mat lab e.g. * damp * . by this command we can find Zeta, Wn and poles of system at different values of kp.