Speed control on DC Motor

𝑇𝑇𝐿𝐿

𝑉𝑉𝑎𝑎
+ 𝑇𝑇𝑚𝑚 - 1 𝜔𝜔𝑜𝑜𝑜𝑜𝑜𝑜
𝜔𝜔𝑟𝑟𝑟𝑟𝑟𝑟
PI
1 𝐼𝐼𝑎𝑎
Km +
+ 𝐿𝐿𝑎𝑎 𝑠𝑠 + 𝑅𝑅𝑎𝑎 𝐽𝐽𝑠𝑠 + 𝐵𝐵

- -
𝑒𝑒𝑏𝑏

Kb

• Model parameters:

Ra=0.2Ω, La is negligible, Km=Kb=0.55, J=0.054, B=0.04

• Required:
 Case (1): Don’t use PI controller, and insert reference speed and load
torque(disturbance) as shown below.Then, display output speed and
reference speed on the same graph.

𝑇𝑇𝐿𝐿
𝜔𝜔𝑟𝑟𝑟𝑟𝑟𝑟
15
100

50

t t
0 1 2 3 4 5 6 0 4 6

 Case (2): Use PI controller, and insert reference speed and load
torque(disturbance) as shown above.Then, display output speed and
reference speed on the same graph. Design PI controller to obtain the
desired specifications [trise=0.01sec, tsettling=0.05sec, and Mp ≤ 5%].
 Comment on all results and take screenshots of your model and PI
controller parameters.