Chapter 1: Introduction

DC motor is one of the most important actuators in any production industry or mobile
devices. Due to its small size, low cost, and high power it is being used very commonly.
Various industries may require different speed applications. Sometimes, it is required to keep
some constant speed, or track the speed with respect to the load variation, or variation due to
environmental disturbances. For the past few decades, various industries have been
implementing different control methods for speed controlling. PID controller is the most
widely used feedback control that has been implemented successfully in various engineering
industrial processes due to simplicity. The objective of the method is to minimize the
transient specifications such as settling time, rise time, maximum overshoot. In the past years,
many advanced improvements in controlling the systems have been developed to meet the
requirements of users.

First major objective of this project is to analyse the stability, steady-state errors and
transient response of controlled system using appropriate methods. Second, to demonstrates
analysis and design of physical systems using time and frequency response methods to the
practical application in control systems. Last, to execute problem solving methods and verify
the concepts covered in basic control system via hand calculation and simulation in
computer-aided software in group project.

The project is principally concerned with the control of the Direct Current (DC) motor
speed. The scopes of this project are to construct the system by using MATLAB Simulink
software. Next, examine and investigate the open and closed-loop motor speed response and
the effect of loading on the speed.
 Chapter 2: Mathematical Modelling of the System

2.1 Mathematical Modelling Derivation

Figure 1
Input: Voltage applied to armature,
Output: Angular velocity,
Control variable: Current,

Armature circuit
( )
( ) ( ) ( ) ( )

Taking the Laplace transform, we get

( ) ( ) ( ) ( ) ( )

( ) ( ) ( )[ ( )]

( ) [ ( ) ( )]
( )
Motor relation

( ) ( )

Taking the Laplace transform, we get

( ) ( )

( ) ( )

Taking the Laplace transform, we get

( ) ( )

Mechanical response

( ) ( ) ( ) ( )

( ) ( ) ( ) ( )

( ) ( ) ( ) ( ) ( )

( )[ ( ) ] ( ) ( )

( ) ( )
( ) ( )
Block diagram DC-motor:
 Chapter 3: Theoretical Calculations Related to Transfer Function

3.1 Block Reduction

Assume ( )

For the series, we just have to multiply all the blocks in order to reduce it.

In order to reduce the block diagram above, we need to use the formula as stated as below:

( )
( )
( ) ( )
After using the formula that have given before, the equation we got from block reduction is:
( )
( ) ( )( )

Transfer Function:

( )
( ) ( ) ( )

Parameters Value Unit Descriptions

1.0 ( ) Electric resistance
0.5 ( ) Electric inductance
0.1 Motor torque
constant
0.1 Electromotive force
constant
0.01 Moment of inertia of
rotor
0.01 Motor viscous
friction constant
Table 3: Parameters for applied DC motor

After we substitute all the parameters for the transfer function, it will be like the equation
below:

( )
( )
Calculate the angular velocity using the formula:

( )

( )
( )

( )

Input voltage,
( )
( )
( )

( ) ( )( )
 Chapter 4: Computational Analysis using MATLAB

4.1.1 Open-loop Motor Speed Response

Figure show the main system of applied DC motor

Figure show the subsystem inside the DC motor

Physical parameters set into Matlab command:
Moment of inertia, J = 0.01 Kgm^2
Motor torque constant, b = 0.1 Nm/A
Motor viscous friction constant, K = 0.01 Nms
Electric resistance, R = 1 Ohm
Electric inductance, L = 0.5 H

Simulation is run, and after finished the scope will give out the result of and open-loop response.
4.1.2 Effect of Loading on the Speed

The same applied DC motor is used, only one perimeter is changed:

Motor torque constant, b = 0.2 Nm/A.

Simulation is run, and after finished the scope will give out the result of and open-loop response.
4.2.1 Closed-loop Motor Speed Response

The differential gain responds proportionally to the rate of change of error. It is provided
to add system dampening under transient conditions. For 99% of applications differential
gain is not required, as correct tuning of the proportional and integral gains will provide
sufficient performance.

The requirements for a unit step command in motor speed, the control system’s output are,
settling time less than 2 seconds, overshoot less than 5% and the steady-state error less than
1%.

First of all, we need to consider that our motor rotates at 0.1 rad/sec in steady state. Since
the basic requirement of the motor is that it should rotate at 60rpm (Clockwise / Positive), we
were required that the steady-state error of the motor speed be less than 1%. We also need the
motor to accelerate to its steady-state speed as soon it turns on. Moreover, we need to have a
settling time less than 2 seconds; we also need the step response with overshoot of less than
5% in order to make sure the motor preserve from any damage.
 Chapter 5: Conclusions and Recommendations

The objectives for this project are achieved. Throughout the completion of this group
project, it builds up teamwork among students completing the format report. Also, knowledge
learnt from this course is applied for better understandings. We consider closed-loop speed
controller as to stabilize the operation and it works. Last, we did analysis using MATLAB
Simulink software for this project.

From our theoretical calculation, the angular speed is 6.2831 rad/s while the velocity, V=
0.62831 m/s.

We could figure out some disadvantages from the system we studied. To avoid this
disadvantage, some recommendations can be made which is a closed-loop technique is
implemented where the output measured speed is fed back to the speed controller. In closed-
loop controller, the speed can be maintained by adjusting terminal voltage according the
speed difference caused by the load torque.
References

1) Y. Ma, Y. Liu and C. Wang Elissa, “Design of Parameters Self-tuning Fuzzy PID
Control for DC Motor,” in FroG. Of Second International Conference on Industrial
Mechatronics and Automation (ICIMA), vol. 2, pp. 345-348, 2010.
2) G. Haung and S. Lee,” PC Based PID speed control of DC motor,” in PrOG. Of
International Conference on Audio, Language and Image Processing (ICALIP-2008),
pp. 400-407, 2008.
3) K. A. Naik and P. Shrikant, “Stability Enhancement of DC Motor using IMC Tuned
PID Controller,” (lJAEST) International Journals of Advanced Engg. Science and
Technologies, vol. 4, Issue No. I, pp. 092- 096, 2011.