Report on Assignment

In the course

MODEL BASED REAL TIME CONTROL SYSTEMS

Course code: 17EEEE401

Department of Electrical and Electronics

2019-2020

Submitted by
Sl.no Name USN Roll no
1 Aishwarya R Pattar 01FE16BEE004 04
2 Anushka Shivalli 01FE16BEE012 12
3 Naveen Chikkmath 01FE16BEE0
4 Niranjan Namadevakar 01FE16BEE061 56

Date: 29/11/2019
Closed loop control of a PMDC motor:
Steps involved:
1. Drawing of the open loop root locus.
2. Finding the loop gain
3. Adding the lag compensator
4. Finding the loop gain with lag compensator

Loop gain and the step response for open loop configuration:

Loop Gain Step Response

Since the steady state error criterion has not met, a lag compensator which is known
to be able to reduce steady-state error has to be introduced. However, the settling time
is kept constant.
The lag compensator used has the following transfer function:

The loop gain and the step response with lag compensator:

Loop gain Step Response

 The above results have been obtained by using the control system designer which
enables very easy tuning of the controller and immediately gives the effect on the
root locus and various analysis plots, like the closed-loop step response.
 If the satisfactory response is not obtained by tuning the loop gain, the poles and
zeros of the lag compensators can be moved by trial and error method to achieve
the desired result.
Hardware in loop control of PMDC motor:
Controller used: Ardiuno Mega 2560
Controller used in simulation: PI controller

Mathematical representation of the PMDC motor:

Modelling equations of PMDC motor:

EMF equation:

.……………………………….(1)

Where,

Torque Equation:

.……………………………….(2)

Where,
Simulink Model of PMDC motor:

Subsystem 1:
Subsystem 2:

Results Obtained:
Learning Outcomes:
1. Closed loop and the open loop control of a DC motor drive.
2. Designing of the PI controller for the motor drive control and hence to model the
permanent magnet dc motor in simulink environment.
3. Installation of the hardware support package of Ardiuno for the successful
compilation of the built simulink model.
4. Interfacing of the microcontroller(Ardiuno Mega 2560) with the MATLAB
simulink software.
5. To understand the HIL (Hardware In Loop) simulation methodology.