!

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+*,-.

0 -1 ! 0 2(- 31 4 5 0 ,2- 6 ,7 8 9 (

/
:#

# 1 ' 0 7(, & # 1 :

0 87:1 :

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"0 ,7 6,7 8 & #

= ( , 1
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9 0,

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=

= (

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PID
Step

-1

0 2:1 0 ;;93<

PID

PID Controller1

0.2

Input PointPID Controller

60

1/Vt

Vd

Va

speed
T

Tl

Step1

Output Point

Ia

Subsystem

Bode Diagram
From: dc m2linear small/Sum1 (pt. 1) To: Subsystem (pt. 2)

Magnitude (dB)

-10
-20
-30
-40
-50
-60
90

Phase (deg)

45
0
-45
-90

-3

-2

10

-1

10

10

10

10

10

10

10

Frequency (rad/sec)

Pole-Zero Map

1
0.8
0.6

;?+

Imaginary Axis

0.4

;8

0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-350

-300

-250

-200

-150

-100

-50

Real Axis

= (,

>

(
<

"

%! &'
<

;(; 93<(
;; 93<( =
;?+
#(

5
= ( ,

;8

.
@

#<

)
<

(
<

-77

9 0 , 1
(
"

#1

9 #9 0 -77
,#-77( &
= (-

#(
9

*<

Bode Diagram

From: dc m2linearsmall/Sum1 (pt. 1) To: Subsystem (pt. 2)

20

0
Magnitude (dB)

-20

-40
-60
-80
-100
90

Phase (deg)

45
0
-45
-90

-3

10

-2

10

-1

10

10

10

10

10

10

10

Frequency (rad/sec)

= (- >
=

9 0,

= (<

5
-77

9 0 ,#-77

(
#1

1 9
$
"( =
( ( -77

19
# 1

9
<

;(;93< 0 ,(7A 6 ,7?

,7 AB#-7 0 +(B 6 ,7;( "
(

(
-77

# 1
<
= ( ;(

(
AB(;

Bode Diagram
From: dc m2linearsmall/Sum1 (pt. 1) To: Subsystem (pt. 2)

100

9 0 +B(; 6 ,7;

Magnitude (dB)

50

-50

-100
90

Phase (deg)

45
0
-45
-90

-3

-2

10

-1

10

10

10

10

10

10

10

10

Frequency (rad/sec)

+B(; 6 ,7;

= (; '

,(7A 6 ,7?

#(

!
5
1 ( (

;77 3<( "

( %
4(

= (?

"
5

( =
1

5
(
5

PID

PID

speed controller

current controller

0.2

60

1/Vt

Vd

Va

speed
T

Tl

Step1

PID
speed_controller

In1 Out1

torque-loop
1/(sJ +B)

"

In1 Out1

Ia

Subsystem

1/(sJ +B)1

1
"
(= (?

Bode Diagram

100

Magnitude (dB)

50

-50

-100
0

Phase (deg)

-45
-90
-135
-180

-2

-1

10

10

10

10

10

10

10

10

10

Frequency (rad/sec)

= (? $

6
7(788

"

#(
;? "

<

5
-9
#

"

= (2

;? "(

<

(
Bode Diagram
From: Sum4 (pt. 1) To: dc m2linearsmall/Transfer Fcn (pt. 1)

150

Magnitude (dB)

100

50

"#!

Phase (deg)

-50
0

-45

-90

-135

-2

10

-1

10

10

10

10

Frequency (rad/sec)

10

10

10

10

1
= (2

Bode Diagram
From: Sum4 (pt. 1) To: dc 2 inear mall/Transfer Fcn (pt. 1)
m l

150

Magnitude (dB)

100
50
0
-50
-100
0

Phase (deg)

-45
-90
-135
-180
-2
10

-1

10

10

10

10

10

10

10

10

Frequency (rad/sec)

= (2

<
;? "

7(788

<

9
??(2
7(;7;

(
(

%! &'

( %
27

5
-& (

+ 3<

= (

vtri
T o Workspace2
torque
PID
Signal
Generator

PID

PID Controller1

Saturation1

T o Workspace1

PID Controller

Relay

speed

speed
Va
T
Tl

Out1

T o Workspace

Ia

Subsystem

Subsystem1
Step1

-1
Gain

Rel ay1
vc
T o Workspace3

vc_m
To Workspace4

100
50
0
-50
-100

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.05

0.1

0.15

0.2

0.25

0.3

0.35

4
2
0
-2
-4

9
+B777
7(7-

= (8
5
8 (

9
-9

= (8 !
5