EE 314: Control Systems

APCOMS, Rawalpindi

Assignment # 3
Class Assigned Due
TE-10 March 29, 2011 April 6, 2011 (Wednesday) @ 03:30 PM in Room F-21
EE-7 March 31, 2011 April 7 , 2011 (Thursday) @ 04:30 PM in Room F-21

 Find 2 research papers on mathematical modeling of any system/process, read them and
copy them in your assignment. You are not expected to understand each and every step
from the papers; you must know the basics of the work however. Your viva will be based
on this basic knowledge.
 Reading assignment:
Read carefully and try to understand the mathematical modeling of a DC motor (see next
few pages)

Rules:
Group work is encouraged.
Single assignment can be submitted by a group as VIVA is must for this assignment.
Electronic submission is highly encouraged.

You must appear groupwise for viva in office, at your

convenience but before 04:30 PM Friday, April 8, 2011.
 Mathematical Model of Speed Control of DC Motor

A common actuator in control systems is the DC motor. It directly provides rotary motion
and, coupled with wheels or drums and cables, can provide transitional motion.

Operation
A voltage is applied to its armature circuit and to the field winding. It can operate in two
ways:
1) Fixed field and varying armature voltage (armature controlled)
2) Varying field and fixed armature voltage (field controlled)

We will use armature controlled for our model.

A voltage is applied to the armature circuit while field is kept constant. A torque is
developed which is
T  K1I a
Where K is the motor torque constant and Ia is the armature current. When armature is
rotating a voltage proportional to the product of flux and speed of motor is induced in the
armature. For constant flux
Eb  K 2
Where Eb is the back emf, K2 is the back emf constant of the motor and θ is the angular
displacement of the shaft.
The electric circuit of the armature and the free body diagram of the rotor are shown in
the following figure:
The differential equation for the armature circuit is
La I a  Ra I a  Eb  Ea

or La I a  Ra I a  K2  Ea
Where La is the armature inductance, Ra is the armature resistance and Ea is the applied
voltage.
The equation for torque equilibrium is
J  b  T

or J  b  K1I a
Where J is the moment of inertia of the motor and b is the viscous friction coefficient of
the motor referred to motor shaft.

Transfer Function:
Transfer function can be found by taking Laplace transform and then eliminating the Ia
La sI a  Ra I a  K 2  Ea
Js  b  K1 I a
I a ( sLa  Ra )  Ea  K 2
Ea  K 2
Ia 
( sLa  Ra )
Now Js  b  K1 I a
Ea  K 2
 ( sJ  b)  K1
( sLa  Ra )
 ( sJ  b)( sLa  Ra )  K1Ea  K1K 2
 ( sJ  b)( sLa  Ra )  K1K 2  K1Ea

Transfer Function 
Ea
K1

( sJ  b)( sLa  Ra )  K1 K 2
State Space
La I a  Ra I a  K 2  Ea
J  b  K1 I a
Let   x1 ,   x2 , I a  x3
input U  Ea output Y  
The equations can be written as
x1  x2
Jx2  bx2  K1 x3
K1 b
x2  x3  x2
J J
La x3  Ra x3  K 2 x2  U
U Ra K
x3   x3  2 x2
La La La
The state space pair
X  AX  BU
Y  CX  DU
can be written as:

 x1  0 1 0   x1   0 
 x   0 b / J K1 / J   x2    0  U 
 2 
 x3  0  K 2 / La  Ra / La   x3  1/ La 
 x1 
Y   0 1 0  x2    0U 
 x3 
Simulink Model

The Simulink model for calculating the step response is as follows:

For this model we have used the following values of the different parameters

 Moment of inertia of the rotor (J) = 0.01 kg.m2/s2

 Damping ratio of the mechanical system (b) = 0.1 Nms
 Constants of the motor (K1=K2=K) = 0.01 Nm/Amp
 Armature electric resistance (Ra) = 1 ohm
 Armature electric inductance (L) = 0.5 H

The response obtained is

The same can be obtained by following the transfer function approach

Where transfer function is

K
T .F 
JLa s  ( JRa  Lab) s  (bRa  K 2 )
2

MATLAB Code
The MATLAB code to see the step response is given below:
%Step Response of Position Control of a DC Motor
clc
clear all
close all

J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
num=K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)];

step(num,den)

Step Response
0.1

0.09

0.08

0.07

0.06
Amplitude

0.05

0.04

0.03

0.02

0.01

0
0 0.5 1 1.5 2 2.5 3
Time (sec)