Name: Zulfiqar Ali.

DEPARTMENT OF ELECTRONIC ENGINEERING

UNIVERSITY OF ENGINEERING AND TECHNOLOGY
ABBOTTABAD CAMPUS

Registration No: 17ABELT0736.

Subject: “Control System”
Date of Conduction:
Date of Submission:
Particulars Max. Marks Marks Obtained
Pre-Lab
Lab Performance
Post-Lab
Lab Report
Total

REPORT VERIFICATION

Date:

Instructor Name:

Signature:

LAB REPORT NO.03

 Modeling of DC Motor, Speed Control and Analysis in MATLAB/Simulink

1- Aim:

Upon completion of this lab, one will be able to understand:

 DC motor
 Modeling of DC motor
 Physical setup
 System equations
Design requirements  MATLAB representation

-1.2. In lab Tasks

MATLAB representation: 3-

1. Transfer Function:

We can represent the above open-loop transfer function of the motor in MATLAB by defining
the parameters and transfer function as follows. Running this code in the command window
produces the output shown below.
TASK 1:
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
s=tf('s')
pmotor=K/((J*s+b)*(L*s+R)+K^2)
RESULT:

pmotor =

0.01

---------------------------

0.005 s^2 + 0.06 s + 0.1001

Continuous-time transfer function.

TASK 2:
3-2. State Space:
A=[-b/J k/J

-K/L -R/L];
B=[0
1/L];
C=[1 0];
D=0;
motor_ss=ss(A,B,C,D)

RESULT:
motor_ss

= A =

x1 x2

x1 -10 1

x2 -0.02

-2 B =

u1

x1 0

x2

2 C

x1 x2

y1 1 0

D =

u1

y1 0

Continuous-time state-space model.

The above state-space model can also be generated by converting your existing transfer function
model into state-space form. This is again accomplished with the ss command as shown below.
TASK:
motor_ss=ss(P_motor);

s=tf('s');

I=eye(2);

m1=C*inv(s*I-A)*B

t=0:0.01:10;

step(m1,t)

The above state-space model can also be generated by converting your existing transfer function
model into state-space form. This is again accomplished with the ss command as shown below.

3-3. DC Motor Speed Control using PID Controller:

From the main problem, the dynamic equations in the Laplace domain and the open-loop
transfer function of the DC Motor are the following.

For the original problem setup and the derivation of the above equations, please refer to the DC
Motor Speed: System Modeling page.

For a 1-rad/sec step reference, the design criteria are the following.

• Settling time less than 2 seconds

• Overshoot less than 5%
• Steady-state error less than 1%
Control of DC Motor:
kp=50;
ki=200;
kd=10,
c=pid(kp,ki,kd);
sys1 =feedback(c*m1,1);
step(sys1,[0:0.1:10])

title('PID control with small ki and small kd')

RESULT:

PID control with small ki and small kd

1.001

0.999
Amplitude

0.998

0.997

0.996

0.995

0.994
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)

%now increase the value of kp

kp=100;
ki=200;
kd=10,
c=pid(kp,ki,kd);
sys1 =feedback(c*m1,1);
step(sys1,[0:0.01:10])

title('PID control with small ki and small kp')

RSEULT:
 PID control with small ki and small kp
1.0005

0.9995

0.999
Amplitude

0.9985

0.998

0.9975

0.997

0.9965

0.996
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)

TASK:
kp=100;
ctr=pid(kp);
f=feedback(ctr*intf,1)
step(f,t)
grid on
title('pid controll with bsmall kp')
RESULT:
TASK:
kp=100;
ki=200;
kd=10,
ctr=pid(kp,ki,kd);
f=feedback(ctr*intf,1)
step(f,t)
grid on
title('pid controll with bsmall kp'

Conclusion:

As the kp is increase the peak amplitude ,percent overshoot,and settling time are reduced.

3-4. Modeling and control in Simulink: 3-

4.1. DC motor model

TASK:
RESULT: