Phase-Controlled DC

Machines Drives
Feedback Controllers Design

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DC machines for drives:
Analysis and modelling
• DC motor drive: transfer functions of subsystems
• Current TF Approximation
• Current Controller Design
• Current Loop Approximation
• Speed Controller Design

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DC Motor: Decoupled Block Diagram

𝐼𝑎(𝑠) 1 + 𝑠𝑇𝑚
= 𝐾1
𝑉𝑎(𝑠) 1 + 𝑠𝑇1 1 + 𝑠𝑇2

2
1 1 1 𝐵𝑡 𝑅𝑎 1 𝐵𝑡 𝑅𝑎 𝐾𝑏2 + 𝑅𝑎 𝐵𝑡
− ,− = − + ± + −
𝑇1 𝑇2 2 𝐽 𝐿𝑎 4 𝐽 𝐿𝑎 𝐽𝐿𝑎

𝐵𝑡
𝐾1 = 2
𝐾𝑏 + 𝑅𝑎 𝐵𝑡

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 Transfer Functions of Subsystems
Converter

Current and speed controllers

Current feedback : Hc

Speed feedback:

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Current Controller
current controller converter motor

current sensor

𝐾𝐼 𝐾𝑐 (1+𝑠𝑇𝑐 )
The current controller of PI type, 𝐺𝑐 = 𝐾𝑝 + =
𝑠 𝑠𝑇𝑐
where Kp=Kc and KI =Kc/Tc

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PI Controller Implementation options
𝐾𝑐 1 + 𝑠𝑇𝑐 𝐾𝑐 Zero at 1/Tc
= + 𝐾𝑐
𝑠𝑇𝑐 𝑠𝑇𝑐

Parallel Series

Kc

Kc 1/Tc 1/s S
S

Kc/Tc 1/s

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 sTm

The current loop gain GHi:

𝐾(1 + 𝑠𝑇𝑐 )
𝐺𝐻𝑖 𝑠 =
1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇𝑟
where
𝐾𝑐 𝐾𝑟 𝐾1 𝑇𝑚 𝐻𝑐
𝐾=
𝑇𝑐
since
𝑇1 > 𝑇2 > 𝑇𝑟
To simplify the controller design, we use the zero of the controller to eliminate the pole at 1/T2, choose Tc=T2,
gives:
𝐾
𝐺𝐻𝑖 𝑠 =
1 + 𝑠𝑇1 1 + 𝑠𝑇𝑟
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Current Controller Design…
𝐾
𝐺𝐻𝑖 𝑠 =
1 + 𝑠𝑇1 1 + 𝑠𝑇𝑟
The corresponding loop gain :
𝐺 𝐾/𝐻𝑐
=
1 + 𝐺𝐻 1 + 𝑠𝑇1 1 + 𝑠𝑇𝑟 + 𝐾

The corresponding characteristic equation:

𝑇1 +𝑇𝑟 𝐾+1
1 + 𝑠𝑇1 1 + 𝑠𝑇𝑟 + 𝐾 = 𝑇1 𝑇𝑟 𝑠2 + 𝑠+
𝑇1 𝑇𝑟 𝑇1 𝑇𝑟

𝑇1 +𝑇𝑟 𝐾+1
Compare The characteristic equation 𝑇1 𝑇𝑟 𝑠 2 + 𝑠 + to the standard form of the
𝑇1 𝑇𝑟 𝑇1 𝑇𝑟
second order: 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2

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the corresponding characteristic equation:

𝑇1 +𝑇𝑟 𝐾+1
Compare The characteristic equation 𝑇1 𝑇𝑟 𝑠 2 + 𝑠 + to the standard form of the
𝑇1 𝑇𝑟 𝑇1 𝑇𝑟
second order: 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 , gives

𝐾+1 𝑇1 +𝑇𝑟
𝜔𝑛 = ;𝜁 =
𝑇1 𝑇𝑟 2 𝑇1 𝑇𝑟 (𝑘 + 1)

In second order systems minimum, minimum settling time is reached when =0.707, gives:

1 𝑇1 +𝑇𝑟 2 𝑇1 +𝑇𝑟 2
= → 𝐾+1 =
2 4𝑇1 𝑇𝑟 (𝐾 + 1) 2𝑇1 𝑇𝑟
𝑇1 +𝑇𝑟 2
since K>>1: K=
2𝑇1 𝑇𝑟
𝑻𝟏 𝑇𝑐 𝑇1
since T1>>Tr  𝑲≅ gives 𝐾𝑐 =
𝟐𝑻𝒓 2𝑇𝑟 𝐾𝑟 𝐾1 𝑇𝑚 𝐻𝑐

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 Example 1: Current Controller Design
For minimum step response settling time, design a DC motor current controller considering the following parameters:
The motor: 220V, 1500rpm, 50A, Ra=0.5, La=50mH, J=2kg-m2 and B1=0.05N.m/(rad/sec.), Kb=1.45N.m/A
The Load: Frictional with Bl=0.45N.m /(rad/sec.),
The converter : 6-pulse fully controlled connected to a 170V, 60Hz supply with linearization circuit and maximum
control voltage vcm=10V
The current sensor: 0.01 Ω resistor in the armature circuit

Answer
1.35𝑉 1.35∗170 1
the rectifier TF: 𝐾𝑟 = 𝑉 = 10 = 22.95; 𝑇𝑟 = 12𝑓 = 1.388𝑚𝑠
𝑐𝑚
The current sensor: Hc=0.01
𝐽 2 1 1 1 𝐵 𝑅𝑎 1 𝐵𝑡 𝑅𝑎 2 𝐾𝑏2 +𝑅𝑎 𝐵𝑡
The motor: 𝑇𝑚 = 𝐵𝑡
= (0.45+0.05)
= 4 sec ;−𝑇 ,−𝑇 = − 2 𝐽𝑡 + 𝐿𝑎
± 4 𝐽
+𝐿 − 𝐽𝐿𝑎
1 2 𝑎
gives 𝑇1 = 0.294𝑠; 𝑇2 = 0.147 𝑠
𝐵𝑡
𝐾1 = 2 = 0.2125
(𝐵𝑡 𝑅𝑎 + 𝐾𝑏 )
𝑇 𝐾 𝐾 𝐾 𝐻 𝑇
The time constant of the controller, Tc=T2=0.147, 𝐾 = 2𝑇1 = 105.84 = 1 𝑐 𝑇𝑟 𝑐 𝑚 → 𝑲𝒄 ≈ 𝟖𝟎
𝑟 𝑐
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 Current Loop Approximation
To use the current controlled drive as an inner loop of an outer speed control loop, it is desirable to approximate the
second order system with a first order one. The approximate time constant of the first order system is the sum of T1
and Tr as shown:

where T3=T1+Tr

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 Current Loop 1st order approximation

𝐼𝑎 (𝑠) 𝐾𝑖
=
𝐼𝑎∗ (𝑠) 1 + 𝑠𝑇𝑖
where … Drill calculate and draw the response of the current
𝑇3 control DC drive designed in example 1 if
𝑇𝑖 = 𝑖𝑎∗ 𝑡 = 50𝑢(𝑡)
1 + 𝐾𝑓𝑖
𝐾𝑓𝑖 1
𝐾𝑖 =
𝐻𝑐 (1 + 𝐾𝑓𝑖 )
𝐾𝑐 𝐾𝑟 𝐾1 𝑇𝑚 𝐻𝑐
𝐾𝑓𝑖 =
𝑇𝑐
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Speed Control Drive

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Closed Loop Gain of the Speed Control Drive

Two approximations to simplify the TF of the speed loop:

1) As Tm is the largest among all time constants, consider: near corner frequency 𝑠𝑇𝑚 ≫ 1 → (1 + 𝑠𝑇𝑚 ) ≈ 𝑠𝑇𝑚
1 1 1
2) In the loop gain equation, GH: (1+𝑠𝑇 ) (1+𝑠𝑇 ) ≈ 1+𝑠𝑇 ; 𝑤ℎ𝑒𝑟𝑒 𝑇4 = 𝑇𝑖 + 𝑇𝜔
𝜔 𝑖 4

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 Speed Loop TF
With the latest approximations, the TF of the speed loop becomes:

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Speed Controller Design
The gain amplitude of the speed loop as a function of frequency is given by:

The optimization method is known as

To optimize the TF, impose the two conditions:
symmetric optimum method, which
𝑎12 − 2𝑎𝑜 𝑎2 = 0, 𝑎22 − 2𝑎1 𝑎3 = 0 provides:
The two conditions determine Ts and Ks as follows: (1) maximum gain for fast response.
𝟏 (2) poles with negative reals to guarantee
𝑲𝒔 = ; 𝑻𝒔 = 𝟒𝑻𝟒 stability.
𝟐𝑲𝟐 𝑻𝟒 (3) disturbance immunity.

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Performance of Speed Control Drive
The TF of the drive designed following the above procedure is given by:

The corresponding step response is given by:

This implies a rise time of 3.14T4, maximum overshoot of 43.4% and settling time of 16.5 T4
This amount of overshoot is considered high and its due to the zero of the in the speed TF.

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 Compensated Speed Control Drive
To reduce overshoot, a pole may be added to eliminated the zero as shown

The resultant step response is :

The resultant step response has 7.6 T4 rise time, 8.1% overshoot and 13.3 T4 settling time.

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 Example 2: Current Drive Approximation
Consider the current control drive designed in Example 1.

1-Approximate the resultant drive to a 1st order system

𝐾𝑐 𝐾𝑟 𝐾1 𝑇𝑚 𝐻𝑐 80 ∗ 22.95 ∗ 0.2125 ∗ 4 ∗ 0.01
𝐾𝑓𝑖 = = = 106.16
𝑇𝑐 0.147
𝐾𝑓𝑖 1
𝐾𝑖 = = 99.07
𝐻𝑐 (1 + 𝐾𝑓𝑖 )
𝑇3 = 𝑇𝑟 + 𝑇1 = 0.295
𝑇3 𝐾𝑐 𝐾𝑟 = 4 × 0.2125
𝑇𝑖 = = 2.94𝑚𝑠 = 544.2
1 + 𝐾𝑓𝑖 𝑇𝑐 22.95 1 + 0.295𝑠
𝐼𝑎 99.07
=
𝐼𝑎∗ 1 + 0.00275𝑠

0.01
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 0.065
A speed loop is added with a speed sensor with a transfer function: 𝐺𝑤 𝑠 =
1+0.002𝑠

2-Use the optimum symmetric method to design the speed controller

𝐾𝑟 = 22.95
𝐾1 = 0.2125
𝐾𝑐 = 80
𝐾𝑖 =99.07
𝐾𝑖 𝐾𝑏 𝐻𝜔 99.07 ∗ 1.45 ∗ 0.065
𝐾2 = = = 4.67
𝐵𝑡 𝑇𝑚 0.5 ∗ 4

𝑇4 = 𝑇𝑖 + 𝑇𝜔 = 0.00275 + 0.002 = 0.00475

99.07
𝑻𝒔 = 𝟒𝑻𝟒 = 𝟎. 𝟎𝟏𝟗
1 + 0.00275𝑠
𝟏
𝑲𝒔 = = 𝟐𝟐. 𝟓𝟒
𝟐𝑲𝟐 𝑻𝟒

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What would be the speed control loop response time?

Ans. 16.5 T40.08sec

What is the equation of the compensator that reduce the overshot? what is response time after
compensation?

Ans.
The overshot can be reduced by cancelling the zero with a compensator :
1 1
=
1 + 4𝑇4 𝑠 1 + 0.019𝑠
The compensated system has a settling time of 13.3T40.06sec

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