Professional Documents
Culture Documents
2011
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Table of Contents
I- Introduction: .................................................................................................................. 4
II- Modeling of DC Motor .................................................................................................. 4
2.1 Modeling and Block diagram of DC motor. ................................................................. 4
2.1.1Operation at no-load: ............................................................................................. 4
2.1.2 Operation at load: ................................................................................................. 5
III- Simulation of the model on Matlab-Simulink.............................................................. 6
IV- Three phase fully controlled bridge rectifier - modeling on Matlab Simulink ............ 11
4.1 Summary featuring the principle of operation of a 3-phase thyristor bridge ................ 11
4.2 Schematic of a 3-phase thyristor bridge on Matlab-Simulink ..................................... 14
4.3 Command of the 3-phase Thyristor bridge on Matlab-Simulink ................................. 15
4.5 Simulation of the command – Thyristor bridge .......................................................... 16
V- Simulation of the complete system: DC motor and inverter. ........................................ 19
VI- Control System ......................................................................................................... 22
6.1 Cascade controller ..................................................................................................... 22
6.2 Design objectives ...................................................................................................... 24
6.3 Loop tuning steps ...................................................................................................... 24
6.4 Study of the current Loop .......................................................................................... 25
6.5 Study of the angular velocity Loop ............................................................................ 31
6.5.1 Block diagram, closed loop transfer function and applying a proportional gain ... 31
6.5.2 Applying a proportional - Integral (PI) controller ................................................ 32
6.5.2 Simulation results ............................................................................................... 34
6.5.2 Summary of final results ..................................................................................... 38
Appendix ............................................................................................................................ 40
Numerical application of the project: ............................................................................... 40
Matlab: ............................................................................................................................ 40
List of used subsystems: .................................................................................................. 40
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I- Introduction:
This project aims to study the control of a separately-excited DC motor with variable speed.
The DC motor is powered through a controlled rectifier bridge.
We seek in this work to manage two parameters of the machine: the current consumption
which should not exceed in any case the maximum current supported by the machine as well
as the variable speed.
The speed control of this machine is achieved by manipulating the voltage applied at the
armature coils.
The field coils are separately excited by a constant current.
The excitation flux is considered constant and equal to the maximum flux.
2.1.1Operation at no-load:
The two fundamental equations of a DC motor are given by:
E k max .
eq 2.1
Ce k max . Ia eq 2.2
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dI a
Va E Ra I a La eq 2.3
dt
La: Armature inductance [H]
Ra: Armature resistance [Ω]
Va: Armature applied voltage [V]
The Block diagram of the motor at no load is displayed in the following figure:
f: friction
J Inertia of motor and load
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Using equations 2.4, 2.5, 2.6, 2.7 and 2.8 we get the closed loop block diagram of the DC
motor:
Figure 2.3: Block diagram of separately excited DC motor (closed Loop) – Matlab Simulink
In the simulation, the input voltage is an echelon or a step that increases from 0 to 260V.
Figure 3.1: Block diagram of Figure 2.3 prepared for simulation on Matlab Simulink.
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In figure 3.1:
- Step1block is the step input armature Voltage (echelon input).
- Step block is the step input resistive torque (load torque)
- I: the armature current taken as an output for visualization.
- C: the torque which is proportional to the current by the gain Kmax.
- W is the output angular velocity at the rotor’s shaft.
Note: during simulation in Simulink, the outputs are stored in variables of type “table” in the
workplane of Matlab. The variables hold the same name as the output block, for example t for
the clock time.
Plotting the variables is done by simple Matlab commands, for example to plot the current in
function of time, simply type plot(t,I).
If after plot, the figures or waveforms are not clear or don’t make much sense then proceed as
follows:
- Check if simulation time is well adjusted. Simulation time is not set automatically and
needs to be adjusted manually. The default value of Matlab simulation time is usually
10s.
For example the simulation time in figure 3.2 is 2s. If it has been set to 100s, then the
starting curve will hardly be readable and the entire graph will appear as to be a
straight line similar to the line between 0.4s and 2s in figure 3.2.
- Check if sampling time or sampling type is also adjusted. Usually it’s better leaving it
to default or auto-adjust.
- Check if your system is well connected and studied. And make sure that the functions,
variables and constants are correctly inserted.
It is important to realize that it is up to the user to verify the reliability, suitability and
accuracy of the simulation. In other words, a good engineer anticipates simulation results.
Simulation Results:
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Figure 3.4: Open-loop response at no-load operation, angular velocity in function of time.
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Figure 3.7: closed-loop response - load operation, angular velocity in function of time.
In the following, the model of the machine given by figure 2.3 or 3.1, will be simplified in a
subsystem shown in figure 3.8.
Outputs :
Ce: electromagnetic torque.
Ia: armature current.
N: angular velocity
Figure 3.8: closed-loop response - load operation, angular velocity in function of time.
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𝑉𝐿𝑚𝑎𝑥 = 3 × 𝑉𝑝ℎ
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Same as for the DC motor model, the Thyristor bridge will be simplified by a subsystem.
In figure 4.5:
- R, S and T (French indications) are the 3 phase voltage input supply also can be
referred to as R, Y and B (red, yellow, blue) or Va, Vb and Vc.
- V-, V+ is the output voltage of the bridge. (V- is to be connected to neutral/earth).
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The control of the 3-phase Thyristor bridge on Matlab-Simulink is done using a special block
called synchronized 6-pulse generator.
The synchronized 6-pulse generator takes as inputs the phase to phase voltages and the firing
delay α. The output is a vector that contains the six pulse signals.
In figure 4.7, the purpose of wiring is to create a 6-pulse generator subsystem that will take
the 3-phase line voltages and the firing delay α as inputs and generating the 6 pulses
separately as outputs.
The subsystem is displayed in figure 4.8.
Notes:
- Input “block” allows blocking the operation of the generator. The pulses are disabled
when the applied signal is greater than zero
- Frequency and pulse width are two parameters of the pulse generator that are to be
adjusted by double clocking on the block and modifying the corresponding values.
- P1, P2, P3, P4, P5 and P6 are Matlab selector blocks used to select the specified pulse
from the vector of pulses.
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Figure 4.10: The 6 pulses triggering the Thyristor bridge (firing delay α=0).
Figure 4.11: waveforms (firing delay α=0) of the phase to phase voltages (Vab, Vbc, Vca)
and the output voltage of the Thyristor bridge (Vload at the resistance in this case).
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To simplify the system, in the following a “Triggered Thyristor Bridge” subsystem will be
used in the following. This subsystem (figure 4.12) combines the 6-Pulse generator
subsystem of figure 4.8 and the 3-phase Thyristor bridge subsystem of figure 4.6.
This subsystem takes the 3-phase voltages (Va, Vb, Vc) and the firing delay α as inputs and
gives V+, V- as the output voltage of the Thyristor bridge.
The pulses are combined in one Vector output for display use only.
The simulation results are shown in figure 5.3 and figure 5.4.
By comparing these results to figure 3.5, figure 3.6 and figure 3.7, we notice that the curves
are the same except for the ripples in the curves of figure 5.3.
This phenomenon is caused by rippled output of the Thyristor bridge. Filtering has reduced
the ripples but not to total elimination. In paragraph 3, the DC motor was directly fed from a
DC supply. The comparison of input waveforms is shown figure 5.5
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Figure 5.3: closed-loop response - load operation, Torque and current in function of time.
Figure 5.4: closed-loop response - load operation, angular velocity in function of time.
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Figure 5.5: comparison of the input armature voltage between simulations in paragraph 3 and
paragraph 5.
In order to control the current and angular velocity, therefore two loops, a cascade controlled
will fit the application.
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Important Note:
Inverters of type chopper or Thyristor bridge are usually used with DC motors. Such type of
inverters is usually treated as a first approach to a constant gain called instantaneous
average when modeling the system. For further explanation, the output voltage is assimilated
to a mean value over a period of operation of the inverter.
This type of modeling is satisfactory only if the frequency chopping frequency of the inverter
is a lot greater than the frequency of the supply source. Otherwise, a different modeling
method should be applied where the sampling operation of the inverter is taken into
consideration and if necessary delays can be brought into the control.
Notes :
i- It is possible to take 1/τ < c /10, but in this case the settling time will increase
significantly and the response will be similar to the curve shown in figure 6.3.
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1
I(p) Ra + Lap f + Jp
C p = = =
U(p) 1 1 2
1 + Ra + Lap × f + Jp × Kmax 2 (Ra + Lap) × f + Jp + Kmax
f
1 +Jp
=
La. Jp2 + Ra. J + La. f p + Ra. f + Kmax 2
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p
I(p) 1+w
1
C p = = K0. p p
U(p) 1+w . 1+w
4 3
eq 6.1
Where
1 f
W1 = = = 0.5 rd/s
τm J
W3 + W4 Raf
W2 = = Kmax 2 + = 44 rd/s
2 LaJ
1 Ra
W3 = = = 37 rd/s
τe La
1 Kmax 2
W4 = = = 52.5 rd/s
τem RJ
f
K0 = = 7.56e − 3
Kmax 2
U: armature voltage
I: armature current
Bode diagram asymptotes of the transfer function C(p) will take the following form:
Figure 6.5: Bode diagram asymptotes of the current loop transfer function.
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To get the bode diagram of the transfer function on Matlab, the following command will give
as a result the diagrams in figure 6.6:
Transfer function:
0.01512 s + 0.00756
----------------------------------
0.000515 s^2 + 0.046 s + 1
>> bode(H)
Bode Diagram
0
-10
Magnitude (dB)
-20
-30
-40
-50
90
45
Phase (deg)
-45
-90
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/sec)
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Figure 6.7: The block diagram of the current loop after applying a current controller.
I(p) 1
H p = =
Ic(p) w1 p
1+
Kbo. (w2 )2
eq 6.2
Where
Kbo = Kp × Go × Ko
The closed loop transfer function H(p) is a first order function of the form:
I(p) 1
H p = =
Ic(p) 1 + τp
To get a rising time tm= 0.35ms the cutoff frequency must be Wc = π/ tm = 8.8Krd/s.
This cutoff frequency is achieved when Kp.Go = 300.
The open loop gain is then Kbo = 2.268 (= 7.11dB).
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Bode Diagram
40
30 Kbo =
Magnitude (dB)
7.11dB
20
Cutoff
frequency
Wc
10 System: untitled1
Frequency (rad/sec): 8.8e+003
Magnitude (dB): 0.00421
0
90
45
Phase (deg)
-45
-90
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/sec)
Figure 6.8: Bode diagram of the closed loop transfer function of current
The simulation in figure 6.10 verify the calculations where tm = 0.35s and the steady-state
error is 0%.
Note: without PI, the steady-state error is 2% which is very acceptable. Therefore a
proportional controller can be used without the need to add and integral gain.
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Figure 6.9: Bode diagram of the closed loop transfer function of current after a PI controller
is introduced.
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6.5.1 Block diagram, closed loop transfer function and applying a proportional
gain
I(p) 1 1
H p = = =
Ic(p) w1 p 1 + τ′e p
1+
Kbo. (w2 )2
1
- The mechanical model is given by
f+Jp
By replacing the blocks of figure 6.11 by these values, the result is shown in the following
figure:
Figure 6.12: Block diagram of the angular velocity closed loop with proportional gain Kp.
eq 6.3
Kbo′ 1
HΩ p = = k.
1+ Kbo ′ + τ′ e + τm p + τ′ e . τm p 2 p p2
1 + 2. z. w + 2
0 w0
eq 6.4
Where
Kbo′
k=
1 + Kbo′
1 + Kbo′
w0 =
τ′ e . τm
τ′ e + τm 1 + Kbo′ τ′ e + τm
2. z = →z=
1 + Kbo′ τ′ e . τm 2 1 + Kbo′ τ′ e . τm
Returning to the open-loop transfer function of angular velocity given by equation 6.3:
Ω(p) 1 1
= =
Ωc(p) f + fτ′e + J p + τ′e Jp2 0.01 + 0.02𝑝 + (7.378𝑒 − 006)𝑝2
pour réduire le temps de monté qui est 0.05s a 0.02s par exemple on peut ajoute
un correcteur proportionnel qu’on peut encore calculer graphiquement :
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Bode Diagram
50
System: G
Frequency (rad/sec): 49.9
Magnitude (dB): 0.0125
Magnitude (dB)
-50
-100
0
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2 3 4 5
10 10 10 10 10 10 10 10
Frequency (rad/sec)
Figure 6.13: Bode diagram of the open-loop transfer function of angular velocity
To reduce the rise time from 0.05s to 0.02s for example, a proportional gain Kp is added in
order to make 157rd/s the new cut-off frequency.
Kp is calculated graphically:
At 157 rd/s the magnitude is -9.95 dB, thus 9.95dB must be added to make 157rd/s the new
cut-off frequency.
9.95
9.95 = 20 Log Kp ↔ Kp = 10 20 =3.14
1 Wc
= = 15.7 rd/s ↔ τv = 0.06
τv 10
1 1
C p = Kp(1 + ) = 3.14(1 + )
τvp 0.06p
eq 6.5
As shown in figure 6.14, 157rd/s is now the new cut-off frequency of the closed loop transfer
function.
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Bode Diagram
150
100
Magnitude (dB)
System:
System:untitled1
untitled1
50
Frequency
Frequency(rad/sec):
(rad/sec):136
157
Magnitude
Magnitude(dB):
(dB):1.27
0.0586
0
-50
-100
-90
Phase (deg)
-135
-180
-2 -1 0 1 2 3 4 5
10 10 10 10 10 10 10 10
Frequency (rad/sec)
Figure 6.14: Bode diagram of the closed-loop transfer function of angular velocity
1.4
1.2
Angular 1
velocity
Ωc
(rad/s) 0.8
Ω
0.6
0.4
0.2
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (s)
Figure 6.15: closed-loop response to an angular velocity step.
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2.5
Current 2
(A)
1.5
I
1 I*
0.5
-0.5
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (s)
Figure 6.16: Current at no-load
I*: current at the output of the speed regulator, this current is the input of the current loop
where the current regulator must make the output current I of the current loop follow I*.
I: armature current (the output of the current loop)
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4
I
3.5 I*
2.5
Courant en A
1.5
0.5
-0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Temps(s)
Time en s
1.4
N
N*
1.2
0.8
N en rd/s
0.6
0.4
0.2
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Temps en s
Time (s)
Figure 6.17: Current and angular velocity response after adding a load (torque) of 4 N.m
starting at 0.5s.
The behavior is logical: after adding load to the motor’s speed (N) will decrease then the
regulator will increase this speed back to input speed of the regulator (N*).
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At load operation the motor will absorb more current since the armature current is directly
proportional to the torque (equation 2.2).
Annotations:
N=Ω
N*=Ωc : input speed or the speed at which the motor is required to run
I=Ia
I*=Ic (as shown in figure 6.7)
In the following a saturation block is added to the current. The purpose of adding a saturation
block is to limit the current Ic between 0 and 13A.
If the input speed is Nc = 100 rd/s and at 2.5s a load of 4N.m is added then the simulation
results will be as follows:
200
N
Nc
Vitesse en rd/s
150
100
50
0
0 1 2 3 4 5
15
Ic
10 I
courant en A
-5
0 1 2 3 4 5
Temps(s)
Time en s
Figure 6.18: Current and angular velocity response after introducing a saturation block.
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Current:
- Rise time : 0.35s
- Steady-state error: 2% if proportional regulator and 0% if PI regulator.
- Percentage overshoot: D% = 0% (see figure 6.10)
- Current limitation by a saturation block.
Speed:
- Rise time :
0.02s without the current saturation block.
Between 0.02s and 0.25s with the current saturation block.
- Steady-state error: 0%
- Percentage overshoot: D% = 6% (see figure 6.15)
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I*
Figure 6.19: Matlab schematic of the controlled system - a detailed version of figure 6.2.
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Appendix
Motor characteristics:
Nominal armature voltage: Un=260V
Nominal angular velocity: Nn=2150 tr/min= 225 rad/s
Armature inductance: La=34 mH
Armature resistance: Ra=1.26 Ω
Nominal Torque: Cn=14 N.m
Armature nominal current: Ian=13.5 A
Friction : f = 0.01
Inertia : J = 0.02 kg.m2
Matlab:
MATLAB® is a high-level technical computing language and interactive environment for
algorithm development, data visualization, data analysis, and numeric computation.
Matlab 6.5 is used for simulations in this document.
1- DC motor model:
2- Thyristor bridge:
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4- Triggered Thyristor Bridge = Thyristor bridge + 6-Pulse generator with a firing delay
α:
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