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Lecture 7: Experiment 6
EE380 (Control Systems)

Manavaalan Arun Kant Ramprasad

Gunasekaran Singh Potluri
PhD student PhD student Associate Professor
manvaal@iitk.ac.in arunkant@iitk.ac.in potluri@iitk.ac.in
JJ
Department of Electrical Engineering II
Indian Institute of Technology Kanpur J
I
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September 23, 2011
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 2/21

Contents
1 Outline of the experiment 3

2 Background 4

3 Simulink demo 7

4 Practical results: PS at 12 V 8

5 Practical results: PS at 20 V & using string 10

6 Practical results: PS at 20 V & using wire 13

7 Homework (HW) vs. Lab work (LW) 21

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 3/21

Outline of the experiment

• Build two DOF controller with disturbance observer (DOB).
Part implemented in exp-t on “Control of armature current”
TL Inertia
ωd + id + + u+ 1 i T+ − 1 ω
Kω ( s ) Ki ( s ) sL+ RΣ Kt Js+ B
− −
− +
Kb
bi L Inverse inertia
Filter
y1 + b b
Js+ B
1
τs+1 bt (τs+1)
− y2 K

• First DOF provided by DOB in middle loop. JJ

• Second DOF provided by speed controller Kω (s) in outer loop. II
J
• Shaded portion of block diagram is implemented in dsPIC. I
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 4/21

Background
Two degree of freedom control
• Single DOF controller:

ωd + e i T + ω
C (s) G1 (s) G2 (s)
−
−
TL

• Two DOF controller

ωd + e u + i T + ω
Ca ( s ) G1 (s) G2 (s)
− − −
Cb (s) TL JJ
II
J
• Ca (s) provides one degree of freedom while Cb (s) provides the other. I
• Cb (s) helps reject TL , while Ca (s) helps track ωd . Back
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 5/21
Implementation of Cb (s): DOB
• Current control designed in previous experiment.
TL
id + u + 1 i T + − 1 ω
Ki ( s ) Kt
− − sL + RΣ Js + B

Kb

Plant: The part outside dsPIC30F4012

• Used bi ≈ isens /1.8 − 1/30. Seems a good approximation.

• Representation of motor unit with i well regulated at id .
TL
id T + − 1 ω JJ
Kt Js+ B
II
J
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DOB (continued) 6/21

• Open-loop DOB to estimate TL :

id = i T + 1 ω
Kt Js+ B
−
TL
+ b b
+
1 Js+ B
τs+1 b
− − iL
i[
Kt (τs+1) +n
bt bi L
K
bL
T
1
• Purpose of 1/(τs + 1):  to make inversion of Js+ B practically possible,  to improve
disturbance rejection.
• Closed-loop DOB to estimate TL :

id + T + 1 ω
Kt Js+ B
− JJ
+ TL
bi L + b b
+ II
1 Js+ B
τs+1 − b
Kt (τs+1) +n J
I
bt
K
bL Back
T
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 7/21

Simulink demo
• Larger the τ, poorer the disturbance rejection.
• Trade-off with τ: dist. rej. versus noise rej.
• Effect of noise.
• Effect of breaking feedback of bi L .
• Effect of moving node * to after filter.
Part implemented in exp-t on “Control of armature current”
TL Inertia
ωd + id + + u+ 1 i T + − 1 ω
Kω ( s ) Ki ( s ) sL+ RΣ Kt Js+ B
− −
− + * JJ
Kb
bi L
II
Filter Inverse inertia
y1 + b b
J
1 Js+ B
τs+1 − b
y2 Kt (τs+1) I
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 8/21

Practical results: PS at 12 V
Speed of the motor shaft in (rad/s) without ILhat as feedback
80

60

40

20

−20
0 2 4 6 8 10 12

controllers output in volts without ILhat as feedback

10

5 JJ
0
II
J
−5 I
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−10
0 2 4 6 8 10 12 Forward
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• But u is saturating. 9/21

Speed of the motor shaft in (rad/s) with ILhat as feedback

80

60

40

20

−20
0 2 4 6 8 10 12 14

Controllers Voltage in Nm with ILhat as feedback

10

0
JJ
−5 II
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−10
0 2 4 6 8 10 12 14 I
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• So, work with power supply providing 15 V to H-bridge. Forward
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 10/21

Practical results: PS at 20 V & using string

Speed of the motor shaft in (rad/s) with IL at as feedback
h
140

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9 10

−3 Load tarque in Nm with ILhat as feedback

x 10
5

2
JJ
1

0
II
−1 J
−2
0 1 2 3 4 5 6 7 8 9 10 I
Back
bL ≈ 0.004 Nm.
• Note that T Forward
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 Speed of the motor shaft in (rad/s) with ILhat as feedback 11/21
140

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8

Controllers output in volts with ILhat as feedback

20

15

10

−5

−10

−15
0 1 2 3 4 5 6 7 8 JJ
II
• Note that u is almost reaching 20 V, not saturating. Good! J
• But, ω deviates 20 rad/s from mean value after TL appears. Bad! I
Back
• Also, details of disturbance rejection blurred. Forward
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• Without DOB. 12/21

• But, cannot say how poorly disturbance is rejected.

bL ≈ 0.003 Nm, while with DOB it was 0.004.
• Also, T
Speed of the motor shaft in (rad/s) without ILhat as feedback
140

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9

−3 Load tarque in Nm without ILhat as feedback

x 10
4

3
JJ
2
II
1
J
0

−1
I
−2
Back
0 1 2 3 4 5 6 7 8 9
Forward
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 13/21

Practical results: PS at 20 V & using wire

ω(rad/s) with biL fed back
140

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9

x 10
−3 TbL (Nm) with biL fed back
3

2.5

1.5

1
JJ
0.5 II
0 J
−0.5
0 1 2 3 4 5 6 7 8 9 I
Back
• Deviation in ω after disturbance appears ≈ 10 rad/s. Improved! Forward
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• Results of terminal.log, filtered. 14/21

ω(rad/s) with biL fed back

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9

x 10
−3 TbL (Nm) with biL fed back
3

2.5

1.5

0.5

0 JJ
−0.5
0 1 2 3 4 5 6 7 8 9
II
J
bL ≈ 0.0025 Nm. Explanation: string was making the radius of
•T I
pully larger than wire is making. Back
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• More results with DOB. 15/21

ω(rad/s) with biL fed back

140

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9

u (V) with biL fed back

20

15

10

0
JJ
−5
0 1 2 3 4 5 6 7 8 9
II
J
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• And, filtered results of terminal.log. 16/21

ω(rad/s) with biL fed back

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9

u (V) with biL fed back

20

15

10

0 JJ
−5
0 1 2 3 4 5 6 7 8 9
II
J
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 ω(rad/s) without biL fed back
17/21
140

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8

x 10
−3 TbL (Nm) without biL fed back
3

2.5

1.5

0.5
JJ
0
II
−0.5
0 1 2 3 4 5 6 7 8 J
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 ω(rad/s) without biL fed back
18/21
120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8

x 10
−3 TbL (Nm) without biL fed back
3

2.5

1.5

0.5
JJ
0
II
−0.5
0 1 2 3 4 5 6 7 8 J
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 ω(rad/s) without biL fed back
19/21
140

120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9

u (V) without biL fed back

20

15

10

0
JJ
II
−5
0 1 2 3 4 5 6 7 8 9 J
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 ω(rad/s) without biL fed back
20/21
120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9

u (V) without biL fed back

20

15

10

0
JJ
II
−5
0 1 2 3 4 5 6 7 8 9 J
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 21/21

Homework (HW) vs. Lab work (LW)

See the lab manual.

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