Meng Chen(z3249436) & Kaiyi Ding(z3294330)

Lab 3: Control System Design

ELEC4123 Electrical/Telecommunications Design Proficiency

Part 1: Introduction and Objectives

Introduction

Power generation utilities must maintain the supply voltage within the prescribed tolerance about the
nominal level. As loads are switched on and off the system, the supply voltage changes and the
generators must respond by varying their speed to mitigate those changes. Therefore, the control of
the supply voltage is very important for ensuring the supply’s integrity. In this task, you have a dc
power generation plant consisting of a motor (that you will drive) and an attached generator. You are
required to design an analogue control system to control the speed of the motor/generator plant under
various load conditions.

Objectives
You will learn how to develop a linear model for the plant and controller, how to analyze the model
under MATLAB (poles, zeros, frequency response, time domain response, etc.), and how to design a
controller, and how to simulate the open-loop and closed-loop system under SIMULINK.

Components

For this laboratory exercise, you will need

2x Bread-board
4x LM348
2x 10nf, 15nf, 22nf, 33nf, 68nf, 220nf Capacitors
10x 1K, 1.5K, 1.8K, 2.2K Resistors
Components can be purchased in the EE stores; please do so before your laboratory session.

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Part 2: Requirements
Hard requirements:
 Design an analogue control system to control the speed of the motor/generator plant under
various load conditions.
 Maintain constant output voltage.
 Minimize the rise and settling times of the speed as a result of a step change in the input or load
subject to a maximum overshoot of 5%.

Soft requirements:
 Displaying the various output parameters (speed, output voltage) in Matlab.
 Setting the desired point from Matlab.
 Optimize power consumption and enforce the reliable of circuit design by high power rating
electronics.
 The response of control circuit of changing load resistor should be settled down in a short period
of time.

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Part 3: Detailed Design and Testing Plan

Measure motor parameters
The approximate motor model can be described by the graph below:

Fig.1 Schematic representation of the considered DC motor.

The rotor and the shaft are assumed to be rigid; you need to measure the value of R and L. To do this, you

may want to write down the obvious voltage relationship first.

By Kirchhoff’s Law

To calculate R, you need apply a voltage to motor but manually hold it standstill, so the goes

to 0, since there is no angular movement, and I is a constant so that voltage induced by inductor is
also eliminated, then you use multimeter to measure currents for different voltages, fill in the table
with experimental measurement values and plot it in excel and display the best fit line, then you find
the value of resistance.
Table 1 Input Voltage Vs Current

Input voltage(V) I(A)

1.3
1.5
1.7
2
2.2
2.4
2.5
The value of R should be slightly less than 1Ώ.
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To calculate inductance, the method we are going to use is finding the time constant of step response,
then derive the value of inductor. To do this, you need to connected a 10 Ώ power resistor as the load
of motor (protect the circuit from exceeding current). And then change the CRO mode to single, and
then connect the motor to 3V voltage supply and remove it very fast. Try several times until you
obtain a nice display of step response. As long as you have the time constant value, then according to

the formula , the impedance of inductor can be obtained.

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The back electromotive force (emf), Vb, is related to the angular velocity by:

To measure the electromotive force constant K, you need to apply varies voltage to motor and also
measure the current. Use the speed measurement circuit shown below to measure its angular velocity
ω. An angular speed measurement mechanism is attached to the axle connecting the motor and
generator. This mechanism consists of a disk with a single hole in it, and a lamp and phototransistor
aligned on opposite sides of the disk. Each time the hole passes the light/phototransistor pair, the
latter “sees” the light and turns on producing a narrow pulse in a suitably designed circuit. A diagram
of the speed sensing circuit is shown below: The light is rated at 9V.

Fig.3 Speed measurement circuit

At the speed measurement output you will observe the similar graph as below

Fig. 4 Speed Measurement Output

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From the graph, you can get the frequency of the above wave, since every time the light turn on
photo transistor, the output voltage will drag to ground, then you can get the angular speed of motor,
try to fill in the table below and plot it in EXCEL to find the best fit line.
Table 2 values for calculate Km
V f(Hz) W(rad/s) I(A) Vm = V- I*R
1.2000 14.0000 87.9646 0.8700 0.5536
1.5000 25.5000 160.2212 0.9300 0.8090
1.8000 34.7200 218.1522 0.9900 1.0644
2.1000 43.8600 275.5805 1.0400 1.3273
2.5000 56.8200 357.0106 1.1300 1.6604
2.9000 68.4900 430.3354 1.2300 1.9861

Then K can be viewed on the graph.

Measure generator parameters
Repeat the measurement procedure for generator, you will find that they resemble each other that
because the motor and generator are the same type of motor.
Table 2 values for calculate Kg
V f(Hz) W(rad/s) I(A) Vm = V- I*R
1.1000 11.9000 74.7699 0.9300 0.4090
1.3000 19.2300 120.8257 0.9800 0.5719
1.5000 24.5100 154.0009 1.0200 0.7421
1.8000 35.2100 221.2310 1.1000 0.9827
2.1000 42.3700 266.2186 1.1500 1.2456
2.5000 56.8200 357.0106 1.2700 1.5564
2.9000 68.4900 430.3354 1.3500 1.8970

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Formula derivation

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PID controller design

Controller is the device that can control the behavior of other device or system.
PID controller

Fig. 5 conceptual PID configuration

Proportional-integral-derivative controller is the method to correct the error between the processing
point and the desired point in the system. As shown in the picture above, there are three parameters,
the proportional, and the integral and derivative values. The proportional value determines the
reaction to the current error, the integral value determines the reaction based on the sum of recent
errors, and the derivative value determines the reaction based on the rate at which the error has been
changing. The system is controlled by changing the parameter of proportional, integral, and
derivative of the controller to get the desired system response. The response of the controller can be
described in terms of the responsiveness of the controller to an error, the degree to which the
controller overshoots the set point and the degree of system oscillation.
Proportional gain, Kp
Larger values typically mean faster response since the larger the error, the larger the
Proportional term compensation. An excessively large proportional gain will lead to process
instability and oscillation.
Integral gain, Ki
Larger values imply steady state errors are eliminated more quickly. The trade-off is larger
overshoot: any negative error integrated during transient response must be integrated away by
positive error before we reach steady state.
Derivative gain, Kd
Larger values decrease overshoot, but slows down transient response and may lead to instability
due to signal noise amplification in the differentiation of the error.
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Modeling PID in Matlab

Fig.6 Closed-loop system with a PID controller.

Let us design a PID feedback controller to control the velocity of the DC motor. Recall that the transfer

function of a PID controller is:

To model the whole feedback system, we can either simulate it by SIMULINK or doing direct
implementation in Matlab code.

Fig.7 SIMULINK block diagram of the DC motor with a PID controller.

Or alternatively write Matlab code as follows.
close all
clear all
km=…;kg=…; %%enter calculated value

Rl=10;
Rm=…;Rg=…; %%enter calculated value

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Lm=…;Lg=…; %%enter calculated value

J=…;b=…; %%enter calculated value
%%Plant transfer function with load
numP=km*kg*Rl;
A(1)=J*Lm*Lg;
A(2)=J*Lm*(Rg+Rl)+Lg*(b*Lm+J*Rm);
A(3)=(b*Rm+km^2)*Lg+(Rg+Rl)*(b*Lm+J*Rm)+Lm*kg^2;
A(4)=(Rg+Rl)*(b*Rm+km^2)+Rm*kg^2;
plant=tf(numP,A);
step(plant,0:0.01:1)
title('Plant Step Response')

%%PID
P=…;I=…;D=…; %%enter calculated value
PID=tf([P I D],[1 0]);
CL_PID=feedback(PID,1);
figure(2)
step(CL_PID)
title('Performance of PID’)

%%Closed-loop
CL=feedback(plant*PID,1);
figure(3)
step(CL,0:0.00001:0.0005)
title('Closed-loop Step Response')

Fig.8 Simulation output of Matlab code, step response of close loop

We also use sisotool to determine poles and zeros compensation.

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Fig.8 Simulation by sisotool, step response of close loop

Fig.8 Simulation by sisotool, root locus of close loop and open loop poles and zeros

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Fig.8 poles and zeros positon

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