Modeling

dc
.

.
.
:

= 3.228 10

C = 3.5 10 Nm. s:
1

= K = K = 0.0274

= 4:
= 2.75 10 H:
): (V
:
.
= k i .
e = k = EMF.

SI = K = K
) (1-4:



.
.
)

(
) ( . . (s) = ( ) + .

=) (
(s) +
). (s

)+

)( +

( +

)(s
=
) (
((

). (s

(s) +

)+

)( +

= )(s

) (
=
( ) (

. :

=
)x(t
= )y(t



.
1rad
:
__ .
__ .
__
settling time < 40
40ms :
__ 16%Overshoot < 16% :

Num=K
)

)(R+Ls)+

den=s((Js+
=

 m-file :
;J=3.2284E-6
;b=3.5077E-6
;K=0.0274
;R=4
;L=2.75E-6
;num=K
;]den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2) 0
)step(num,den,0:0.001:0.1

. 1 1 3
5

 3
.

matlab :
A=[0 1 0
0 -b/J K/J
;]0 -K/L -R/L
;]B=[0 ; 0 ; 1/L
;]C=[1 0 0
;]D=[0
)step(A,B,C,D

PID

.
PID :

.

= 1.7

Kp=1.7;
numcf=[Kp];
dencf=[1];
numf=conv(numcf,num);
denf=conv(dencf,den);
[numc,denc]=cloop(numf,denf);
t=0:0.001:0.2;
step(numc,denc,t)

.
m-file
numdcl=conv(numc,1);
dendcl=conv(denc,Kp);
step(numdcl,dendcl,t);

.
.

. PI
.

Kp=1.7;
Ki=20;
numcf=[Kp Ki];
dencf=[1 0];
numf=conv(numcf,num);
denf=conv(dencf,den);
[numc,denc]=cloop(numf,denf,-1);
t=0:0.001:0.4;
step(numc,denc,t)

figure
numdcl=conv(numc,dencf);
dendcl=conv(denc,numcf);
step(numdcl,dendcl,t);
10

:
.

.

11

Kp=17
Ki=200

12



.
kp=17;
ki=200;
kd=0.15;
numco=[kd kp ki];
denco=[1 0];
numa1=conv(num,numco);
dena1=conv(den,denco);
[numcl,dencl]=cloop(numa1,dena1);
sys_pid=tf(numcl,dencl);
figure (4)
t=0:0.001:0.4;
step(sys_pid,t)
title('response to step input kp=17 ki=200 kd=1')
numdcl2=conv(numcl,denco);
dendcl2=conv(dencl,numco);
sys_dis2=tf(numdcl2,dendcl2);
figure (5)
step(sys_dis2,t);
title('response to step disturbance kp=17 ki=200 kd=1')

13

 PID

PID

14

 . m-
file :
;kp=17
;ki=600
;kd=0.15

PID

15

 PID

40ms
16%
. PID
Kp=17,
Ki=600,
Kd=.15,

16

Root locus

.
m-file
;J=3.2284E-6
;b=3.5077E-6
;K=0.0274
;R=4
;L=2.75E-6
;num=K
;]den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2) 0

:
)rlocus(num,den
)sgrid(.5,0
)sigrid(100

Sigrid,sgrid Sgrid . matlab

Sigrid . sgrid : =0.5
16% = 0

( . Sigrid ) 100
17

.
.

.(

 . matlab Sigrid
. Sigrid.m Functions
function[ ] = sigrid(sig)
%SIGRID Generate s-plane grid lines for a root locus or
pole-zero map.
%
%
SIGRID generates a grid over an existing continuous
s-plane root
%
locus or pole-zero map. Lines of constant sigma
are drawn in.
%
To be used with SGRID if sigma, zeta, and Wn
requirements are required
%
simultaneously. Can also be used by itself.
%
%
See also: RLOCUS, ZGRID, SGRID, JGRID, and PZMAP.
error(nargchk(1,1,nargin));
hold on
%Plot sigma line
limits = axis;
mx=limits(1,4);
mn=limits(1,3);
stz=abs(mx)+abs(mn);
st=stz/50;
im=mn:st:mx;
lim=length(im);
for i=1:lim
re(i)=-sig;
end
re(:);
plot(re,im,'.')
hold off
return

18

 Sigrid mtalab
.

) ( 10
.
.
. m-file :
)]axis([-400 100 -200 200

19

.
) 100 (.

.

20


. m-file
:
;J=3.2284E-6
;b=3.5077E-6
;K=0.0274
;R=4
;L=2.75E-6
;num=K
;]den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2) 0
;)poles=roots(den
;)]den2=deconv(den,[1/max(abs(poles)) 1
;)motor=tf(num,den2
;)]contr=tf(1,[1 0
)rlocus(contr*motor
)sgrid(.5,0
)sigrid(100

21

PI
. s=-20
. m-file
:
22

;)]contr=tf([1 20],[1 0

:
+

PID

PID
23

 s=-60,s=-70
m=file
;)]numc=conv([1 60],[1 70
;]denc=[1 0
;)contr=tf(numc,denc

pid

. s=-59
s=-60
. .
24

 rlocfind


.

rlocfind
. m-file
)[k,poles] = rlocfind(contr*motor
;)sys_cl=feedback(k*contr*motor,1
;t=0:0.001:.1
)step(sys_cl,t

.
Select a point in the graphics window
= selected_point
-1.3400e+002 +2.4224e+001i
= k
0.1289
= poles
* 1.0e+002
-1.3659 + 0.2505i
-1.3659 - 0.2505i
-0.5957

25

 15%
0.04
.
m-file :
;)dist_cl=feedback(motor,k*contr
)step(dist_cl,t

26

27

Frequency Response

40ms %16
.

.
.
m-file
:

28

;J = 3.2284E-6
;b = 3.5077E-6
;K = 0.0274
;R = 4
;L = 2.75E-6
;num = K
;]den = [(J*L) ((J*R)+(L*b)) ((b*R)+K^2) 0
;)motor = tf(num,den
;)w=logspace(0,4,101
)bode(motor,w

. m-file

29

numi = 1;
deni = [1 0];
contr = tf(numi,deni);
bode(contr*motor,w)

30


%16
. 100 .
:
;)zeta = -log(.16)/sqrt(pi^2+(log(.16))^2
;PM = 100*zeta
wbw = (4/(0.04*zeta))*sqrt((1-2*zeta^2)+sqrt(4*zeta^4;))4*zeta^2+2

50
250rad/s -6~-7.5dB . 80
60dB 250rad/s .
60 rad/s
PI 60rad/s
.
;]numpi = [1 60
;]denpi = [1 0
;)contr = tf(numpi,denpi
)bode(contr*motor,w

31

 PI

50 250rad/s
lead 50
.
;))a = (1 - sin(PM*pi/180))/(1 + sin(PM*pi/180
;))T = 1/(wbw*sqrt(a
;)]contr2 = tf([T 1],[a*T 1
;)w = logspace(2,3,101
)bode(contr*contr2*motor,w

32

 lead

250rad/s
20dB

250rad/s

. 10 .

33

;Kp = 10
)bode(Kp*contr*contr2*motor,w

lead

34


;)sys_cl = feedback(Kp*contr*contr2*motor,1
;t = 0:0.001:0.1
)step(sys_cl,t

70 . m-file :
;PM = 70
;))a = (1 - sin(PM*pi/180))/(1 + sin(PM*pi/180
;))T = 1/(wbw*sqrt(a
;)]contr2 = tf([T 1],[a*T 1
;)w = logspace(2,3,101
)bode(contr*contr2*motor,w
35

 lead 70

250rad/s
14dB 5

;Kp=5
)bode(Kp*contr*contr2*motor,w

36

 lead

;)sys_cl = feedback(Kp*contr*contr2*motor,1
;t = 0:0.001:0.1
)step(sys_cl

37

8
.
;wbw = 300
;))a = (1 - sin(PM*pi/180))/(1 + sin(PM*pi/180
;))T = 1/(wbw*sqrt(a
;)]contr2 = tf([T 1],[a*T 1
;)w = logspace(2,3,101
)bode(contr*contr2*motor,w

38

 lead 300

250rad/s
18dB . 8
. m-file :
;kpid=8
;)bode(kpid*numpilol,denpilol,w

39


[numpilcl,denpilcl]=cloop(kpid*numpilol,denpilol,-1);
t=0:0.001:0.1;
step(numpilcl,denpilcl)

40

41

State Space

=
)x(t
= )y(t

m-file :
;J=3.2284E-6
;b=3.5077E-6
;K=0.0274
;R=4
;L=2.75E-6
A=[0 1 0
0 -b/J K/J
;]0 -K/L -R/L
;]B=[0 ; 0 ; 1/L
;]C=[1 0 0
;]D=[0

)
(
42

) + .

=(
Y=CX

|)

| s

. A 3*3 B.K
3 .
.
-100+100i,-100-100i,-200 .
= 100

=0.5,

0.04s %16 .
= 0.5

= 0.16

43

= exp

= 100

= 0.04

4.6

K m-file
;p1 = -100+100i
;p2 = -100-100i
;p3 = -200
;)]Kc = place(A,B,[p1,p2,p3
;t = 0:0.001:.05
;)sys_cl=ss(A-B*Kc,B,C,D
)step(sys_cl,t

44



.

B
. m-file .
;)dist_cl=ss(A-B*Kc,[0;1/J;0],C,D
)step(dist_cl,t

45



.
.
.

.

46

. r

. K
r u .
u
.

. B
.

u=-K r

:
(=
=
-300
.
m-file
47

Aa = [0 1 0 0
0 0 1 0
0 0 -b/J K/J
;]0 0 -K/L -R/L
;]Ba = [ -1 ; 0 ; 0 ; 0
;] Bau = [0 ; 0 ; 0 ; 1/L
;]Ca = [0 1 0 0
;]Da = [0
;p4 = -300
;)]Kc = place(Aa,Bau,[p1,p2,p3,p4
;t = 0:0.001:.05
;)sys_cl = ss(Aa-Bau*Kc,Ba,Ca,Da
)step(sys_cl,t

48


;)dist_cl = ss(Aa-Bau*Kc,[0 ; 0 ; 1/J ; 0],Ca,Da
)step(dist_cl,t

49

Digital Control

dc
.

. c2dm .
0.001 . m-file
:
;4
;2.75E-6
;0.0274
;3.2284E-6
;3.5077E-6

=
=
=
=
=

R
L
K
J
b

;num = K
;]den = [(J*L) (J*R)+(L*b) (R*b)+(K^2) 0
)motor = tf(num,den
;Ts = 0.001
)'motor_d = c2d(motor, Ts, 'zoh
)'[numd,dend] = tfdata(motor_d,'v

50

Transfer function:
0.001039 z^2 + 0.001021 z + 9.454e-010
-------------------------------------z^3 - 1.942 z^2 + 0.9425 z
Sampling time: 0.001
= numd
0.0000

0.0010

0.0010

0.9425

-1.9425

1.0000

= dend

z=0
. .
m-file :
;)numd = numd(2:3
;)dend = dend(1:3
)motor_d = tf(numd,dend,Ts

.
Cloop .
dstep stairs .
m-file :
51

;)sys_cl = feedback(motor_d,1
;)[x1,t] = step(sys_cl,.5
)stairs(t,x1
)')xlabel('Time (seconds
)')ylabel('Position (rad
)'title('Stairstep Response:Original

.

52

)rlocus(motor_d
)'title('Root Locus of Original System
)zgrid(0,0
)]axis([-2,2,-2,2

. 1/s
s z z
.

53

= s

 1 . 1
1 .
.
1 .
s=0.95 . m-file :
;]numi = [1 -0.95
;]deni = [1 -1
;)icontr = tf(numi,deni,Ts

0.5 100rad/s .
zgrid
.

54

;)rlocus(icontr*motor_d
)zgrid(0.5,0.2
)'title('Root Locus of system with integral control
)]axis([-2,2,-2,2

.
. .
-0.98 .

.

55

 m-file . 0.76 0.61

.
numc = conv([1 -0.76],[1 -0.76]);
denc = conv([1 0.9831],[1 -0.61]);
contr = tf(numc,denc,Ts);
rlocus(icontr*contr*motor_d);
zgrid(0.5,0.2)
title('Root Locus of Compensated System')
axis([-2,2,-2,2])

-0.98 0.61

56


. k rlocfind
. m-file .
)K = rlocfind(icontr*contr*motor_d
;)sys_cl = feedback(K*icontr*contr*motor_d,1
;)[x2,t] = step(sys_cl,.05
)stairs(t,x2
)')xlabel('Time (seconds
)')ylabel('Position (rad
)'title('Stairstep Response of Compensated System

.
= selected_point
0.8673 + 0.1553i
= K
332.2214

332 :

57

 0.05s
. %22 .

.

. 0.7 0.85.
m-file .
;)]numc = conv([1 -0.85],[1 -0.85
;)]denc = conv([1 0.9831],[1 -0.7

58

 .
= selected_point
0.9052 + 0.0186i
= K
468.3049

0.04s
% 10

. m-file .
59

;)dist_cl=feedback(motor_d,K*icontr*contr
;)[x4,t] = step(dist_cl,.25
)stairs(t,x4
)')xlabel('Time (seconds
)')ylabel('Position (rad
)'title('Stairstep Response of Compensated System

0.04 %2 .
.
60