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AA Bature1, Mustapha Muhammad2,Auwalu M. Abdullahi3

1

(Department, Electrical Engineering/ Bayero University Kano,Nigeria)

2,3

(Department, Mechatronics Engineering/ Bayero University Kano,Nigeria)

Abstract: This paper presents identification and control of a DC motor. The dynamic model of the DC motor

was first developed through system identification using least square parametric estimation method. Based on the

developed dynamic model a state feedback tracking controller was then designed using optimal linear quadratic

regulator for speed and position control of the DC motor. The developed dynamic model of the DC motor was

validated via simulations and experiments. The performance of the controller was also verified through

experiment.

Keywords:DC Motor, Linear Quadratic Reqgulator (LQR), Parametric Estimation Method (PEM)

I. INTRODUCTION

DC motors speed and position are easy control and have adjustable range to follow a particular speed

or position under load. DC motors are preferred over ac motors in applications because they have lower

manufacturing costs and ease of controller implementations, since their mathematical model is simpler [1]. To

control the position and speed of a DC motor,an accurate model of the system is required. The specifications

given by manufactures may not be accurate; also some motors are produced with coupling gears from

manufacturing which add some inertia and viscous damping coefficient to the original motors, therefore

changing the original values specified by the manufacturer. Several methods have been employed for parameter

identifications of a DC motor [2-4]. Accuracy and adequacy are two major modelling problems that always has

to be dealt with [5]. System identification is the best means of obtaining mathematical models of most physical

systems, because most systems are so complex, that there is no simple way to derive their models based on

physical laws [5].

System identification methods can be applied for DC motor model identification which will give more

concise estimate of the DC motor model than mathematical modelling [1, 6, 7]. In [1] the use of artificial neural

network was employed to identify the DC motor model, in [6] multilayer perceptron network was used to fit the

structure of the model Non-Linear Auto-Regressive Moving Average with Exogeneous Input (NARMAX). Also

in [7] the identification was done by direct measurement of input and output signals and the use of the

mathematical model was done to estimate the DC motor parameters.

This paper presents identification of DC motor model using Parametric Estimation Method (PEM), and

based on the model an LQR optimal controller is design to control the position and speed of the motor. The

validity of the model and the controller performance will be demonstrated through simulations and experiments.

The rest of the paper is organized as follows; section two describes the experimental setup and data

measurement procedures, also it discuss the modelling process of the motor, section three discuss the controller

design, while section four elaborate on the results. Finally, Section five concludes the findings of this work.

2.1 Experimental setup and data measurement

Fig. 1 illustrates the block diagram of the experimental setup used in this work. It consist of FIO STD

development board [8] and a personal computer which serves as the data acquisition system, a rotary encoder

[9] as the sensors for measuring the motor speed, the motor driver [10] which is served as the servo-amplifier

and the DC motor itself.

www.iosrjournals.org 54 | Page

Identification and Real Time Control of a DC Motor

COMPUTER

DRIVER MOTOR (Data Acquisition

Device)

ENCODER

Fig. 1 Experimental block diagram

The Fio Std board is used to read the input voltage to the motor and MATLAB software and Simulink

environment was used to measure the voltage which is been adjusted randomly using variable resistor as the

control input to the motor driver.

2.2Modelling Process

The Parametric Estimation Method (PEM) is used in system identification when a model is already

known for a system [11], therefore from the general position-voltage transfer function of a DC motor is given by

equation (1) [12]:

𝐾𝑡

𝜃𝑚 𝑠 𝑅𝑎 𝐽𝑚

= 1 𝐾 𝐾

………………………………… 1

𝐸𝑎 𝑠 𝑠 𝑠 + (𝐷𝑚 + 𝑡 𝑏 )

𝐽𝑚 𝑅𝑎

where 𝜃𝑚 is the anglular position in radians, 𝐸𝑎 is input voltage in volts, 𝐾𝑡 is torque constant in Nm/A, 𝐾𝑏 is

back e.m.f constant in Vs/rad, 𝐽𝑚 is motor inertia in kg-m2, 𝐷𝑚 is motor damping in N-m s/rad, 𝑅𝑎 is armature

resistance in ohms.

Equation (1) can be written as:

𝜃𝑚 𝑠 𝐾

= …………………………………….…………… 2

𝐸𝑎 𝑠 𝑠(𝑠 + 𝛼)

based on which the speed-voltage transfer function can be written as:

𝜃𝑚 𝑠 𝐾

= ………………………………………………….…… 3

𝐸𝑎 𝑠 𝑠+𝛼

The two general parameters of interest are 𝐾 and 𝛼, which the least square prediction method [11] is

used to estimate using MATLAB pem function. The input data is the voltage driving the motor, while the speed

is the measured output. The best outfit curve was achieved for values 𝐾 = 2390.5and 𝛼 = 1000.

Since our controller is used for speed and position control, the model is written in terms of equation (2)

as shown in equation (4):

𝜃𝑚 2390.5

= ………………………………………………….… 4

𝐸𝑎 𝑠(𝑠 + 1000)

In state-space form:

0 1 1

𝐴= ,𝐵= , 𝐶 = 1 0 , 𝐷 = 0 … … … … … . (5)

0 −1000 2390.5

A state feedback controller is used to control the position and speed of the DC motor. The controller

gain is computed using the system model in (5). [13]. A optimal linear quadratic regulator (LQR) is a type of

this class of controllers. The aim of the LQR is to minimize the cost function;

∞

𝐽= 𝒙 ∗ 𝑸𝒙 + 𝒖 ∗ 𝑹𝒖 𝑑𝑡 … … … … … … … … … … … … … … … . . . (6)

0

Where x is the state variable and u the input, Q is a positive-definite (or positive-semidefinite)

Hermitian or real symmetric matrix and R is a positive-definite Hermitian or real symmetric matrix [13]. The

matrices Q and R are the tuneable parameters that are tuned to desired system performance and are used to

calculate the controller’s gain that will be inserted in the system. After some experimental trials, the best values

of Q and R matrices are selected, the controllers gains are computed using MATLAB lqr function with the

parameters state-space model in equation (5). The block diagram of the controller is shown if Fig 2.

www.iosrjournals.org 55 | Page

Identification and Real Time Control of a DC Motor

IV. RESULT AND DISCUSSION

The validation of the model and the performance of the controller is presented in this section. After any

plant identification process some form of model validation is required. Figure 3 shows the simulated and the real

system speed response to random voltage input.

With regard to Figure 3 the curves simulated from the identification with the proposed technique are

almost identical and close to real measurement experimental curve.

The signal in figure 4 is used as the control signal for position control of the DC motor.

Figure 5 and 6 shows the performance of the LQR controller to step input and square wave input

respectively.

www.iosrjournals.org 56 | Page

Identification and Real Time Control of a DC Motor

Figure 7 shows the control signal for the velocity tracking of the controller, while figure 8 shows the

performance of the controller to track constant velocity

www.iosrjournals.org 57 | Page

Identification and Real Time Control of a DC Motor

Fig. 8. Velocity tracking for step input

V. CONCLUSION

A DC motor model is derived via system identification least square PEM method, after which LQR

state feedback controller is design based on the derived model for position and velocity control. The

identification and the controllers results were shown, and the results were successful.

REFERENCES

[1] A. Rubaai and R. Kotaru, "Online identification and control of a DC motor using learning adaptation of neural networks," Industry

Applications, IEEE Transactions on, vol. 36, pp. 935-942, 2000.

[2] S. S. Saab and R. A. Kaed-Bey, "Parameter identification of a DC motor: an experimental approach," in Electronics, Circuits and

Systems, 2001. ICECS 2001. The 8th IEEE International Conference on, 2001, pp. 981-984 vol.2.

[3] M. Dub, Jalovecky, x, and R., "DC motor experimental parameter identification using the Nelder-Mead simplex method," in Power

Electronics and Motion Control Conference (EPE/PEMC), 2010 14th International, 2010, pp. S4-9-S4-11.

[4] R. Article, "DC Motor Parameter Identification Using Speed Step Responses," Modelling and Simulation in Engineering vol. 2012, p.

5, 2012.

[5] M. R. M. Mounir HADEF, "Parameter identification of a separately excited dc motor via inverse problem methodology," Turk J Elec

Eng & Comp Sci, vol. 17, pp. 99-106, 2009.

[6] N. A. Rahim, M. N. Taib, and M. I. Yusof, "Nonlinear system identification for a Dc motor using NARMAX approach," in Sensors,

2003. AsiaSense 2003. Asian Conference on, 2003, pp. 305-311.

[7] O. Moseler and R. Isermann, "Application of model-based fault detection to a brushless DC motor," Industrial Electronics, IEEE

Transactions on, vol. 47, pp. 1015-1020, 2000.

[8] Microcontroller. (2010). FiO Std Datasheet Available: http://site.gravitech.us/DevelopmentTools/Matlab-Simulink/FiO-

Std/fiostdv20_datasheet.pdf

[9] Cytron. (2010). B016 Rotary Encoder. Available: www.cytron.com.my/viewProduct.php?pcode=B-106-23983

[10] Cytron. (2011). MDS40A SmartDrive40. Available: www.cytron.com.my/viewProduct.php?pcode=MDS40A

[11] L. Ljiung, System Identification: Theory for the User, 2 ed.: Prentice Hall, 1999.

[12] N. S. Nise, Control Systems Engineering, 6 ed.: John Wiley & Sons, Inc, 2011.

[13] K. Ogata, Modern Control Engineering, 5 ed.: Prentice Hall, 2010.

www.iosrjournals.org 58 | Page

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