Chapter6:TheControlLab

AutomaticControlSystems,9thEdition
FaridGolnaraghi,SimonFraserUniversity
BenjaminC.Kuo,UniversityofIllinois
ISBN:9780470048962

INTRODUCTION
Majority of undergraduate courses in control have labs dealing with time
response and control of dc motors. The focus of this chapter is therefore on
these lab problems namely, speed response, speed control, position
response, and position control of dc motors.
The focus of this chapter is therefore on these lab problems
namely, speed response, speed control, position response, and position
control of dc motors. In this chapter, using MATLAB and Simulink, we have
created a series of virtual lab experiments that are designed to help
students understand the concepts discussed in Chapters 4 and 5.
These virtual labs include experiments on speed and position control of dc
motors followed by two controller design projects, the first involving control
of a simple robotic system and the last one investigating the response of an
active suspension system.

Objectives
1.Toprovideanindepthdescriptionofdcmotorspeed
response,speedcontrol,and
positioncontrolconcepts.
2.Toprovidepreliminaryinstructiononhowtoidentifythe
parametersofasystem.
3.Toshowhowdifferentparametersandnonlineareffects
suchasfrictionandsaturationaffecttheresponseofthe
motor.
4.Togiveabetterfeelforcontrollerdesignthroughrealistic
examples.
5.TogetstartedusingtheSIMLabandVirtualLab.
6.TogainpracticalknowledgeoftheQuarterCarSim
software.

DC MOTORS IN CONTROL SYSTEMS

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

4-7-3 Mathematical Modeling of PM DC Motors

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571SpeedResponseandtheEffectsofInductanceandDisturbance
OpenLoopResponse

The ratio La=Ra is called the motor electric-time constant, which

makes the system speed response transfer function second order
and is denoted by e.

Figure 5-25 Block diagram of an armature-controlled dc motor.

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

SpeedResponseOpenLoopResponseCont.
As discussed in Chapter 4, because La in the armature circuit is very small, e is neglected,
resulting in the simplified transfer functions and the block diagram of the system.

AutomaticControlSystems,9thEdition
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572SpeedControlofDCMotors:ClosedLoopResponse

Figure 5-26 Feedback control of an armaturecontrolled dc motor with a load inertia

Figure 5-27 Block diagram of a speed-control, armature-controlled dc motor.

Because La in the armature circuit is very small, e is neglected.

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

573PositionControl

Figure 5-28 Block diagram of a position-control, armature-controlled dc

motor.

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EXAMPLE 4-11-3
Classically, the quarter-car model is used in the study of vehicle suspension
systems and the resulting dynamic response due to various road inputs.

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Open-Loop Base Excitation

a(t): base acc.

z(t): relative displacement

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Closed-Loop Position Control

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Reject disturbance torque input from

road input

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