Open-Loop Speed Control of a DC Motor

Abidur Rahman Sagor Towfiq Mahmud Mridul Enamul Haque Emon

18-38599-2 18-37866-2 18-38107-2
Department of EEE,
American Department of EEE, American Department of EEE, American
International University- International University- International University-
Bangladesh Bangladesh Bangladesh
Dhaka, Bangladesh Dhaka, Bangladesh Dhaka, Bangladesh
abidsagor83@ieee.org mridulmahmud55@gmail.com enamulemon32@gmail.com

Moniruzzaman MD.Nahid Hasan Niloy Gourab Deb

18-38213-2 18-37894-2 18-37309-1
Department of EEE, American Department of EEE, American Department of EEE, American
International University- International University- International University-
Bangladesh Bangladesh Bangladesh
Dhaka, Bangladesh Dhaka, Bangladesh Dhaka, Bangladesh
monshovon123@gmail.com niloypbt@gmail.com gourabdeb66@gmail.com

where the magnitude of Zc is greater than the

Abstract -
I. INTRODUCTION
The purpose of compensator design generally is to
satisfy steady-state specifications. In the root locus
design approach presented here, these tasks are
approached separately. Once that is accomplished,
the steady-state error can be dealt with if necessary.
The design procedure presented here is graphical in
nature. Only very simple calculations are needed to
design the special lag compensator, and the
procedure can be easily automated in MATLAB
along compensator design functions.
II. THEORY AND METHODOLOGY
A system which has one zero and one dominating
pole (the pole which is closer to origin that all other
magnitude of Pc. A phase-lag compensator tends to
shift the root locus to the right, which is undesirable.
For this reason, the pole and zero of a lag
compensator must be placed close together (usually
near the origin) so they do not appreciably change the
transient response or stability characteristics of the
system.
When a lag compensator is added to a system,
the value of this intersection will be a smaller
negative number than it was before. The net
number of zeros and poles will be the same
(one zero and one pole are added), but the
added pole is a smaller negative number than
the added zero. Thus, the result of a lag
compensator is that the asymptotes'
intersection is moved closer to the right half
plane, and the entire root locus will be shifted
to the right.

poles are known as dominating pole) is known as lag
network. If we want to add a dominating pole for
compensation in control system then, we have to
select a lag compensation network.
A first-order lag compensator can be designed using
the root locus. A lag compensator in root locus form
is given by
𝑮𝑪(s) =
III. Problem Statement
A unity negative feedback system which is operating
with a damping ratio of 0.195 has the following
transfer function:
(a) Find the steady state error for a unit step input.
(b) Design a lag compensator to improve the steady
state error by a factor of 15.
(c) Evaluate the steady state error for a unit step input
to your compensated system

III. SIMULUTION

%%Lag compensator Design

Design Process: %%Root Locus for Uncompensated system%%
Gu=zpk([],[-1 -3 -8],1);
figure(1)
It is a type – 0 system, 𝑂𝑙𝑑 𝑜𝑟 𝑝𝑟𝑒𝑣𝑖𝑜𝑢𝑠 = rlocus(Gu)
grid off
= 6.583 [K = 158 which was sgrid(0.195,0)
title('Root Locus for Un-compensated system')
extracted from the Root Locus of Uncompensated Output:
System]
Root Locus for Un-compensated system
20
0.195
System: Gu

Thus, 𝑒𝑜𝑙𝑑 (∞) = = 0.132 15 Gain: 158

Pole: -0.843 + 4.11i
Damping: 0.201
10

)
-1
Overshoot (%): 52.5
Frequency (rad/s): 4.2
5

Imaginary Axis (seconds

But, 𝑒new (∞) 0

-5

-10
= 0.008
-15

0.195
-20
-25 -20 -15 -10 -5 0 5 10
-1
Real Axis (seconds )

= 124 Fig.: Root Locus for Uncompensated System

Arbitrarily selecting, − = − 0.01 %%Root Locus for lag Compensated system%%

Gc=zpk([-0.168],[-0.01],1);
Gce=Gu*Gc;
The improvement in 𝐾𝑃 from the uncompensated figure(2)
system to the compensated system is the required
rlocus(Gce)
ratio of the compensator zero to the compensator grid off
pole,
sgrid(0.195,0)
title('Root Locus for Compensated system')

Output:
Root Locus for Compensated system
20
18.836 = System: Gce 0.195
Gain: 207
15
Pole: -0.569 + 4.56i
Damping: 0.124
10
)

Overshoot (%): 67.6

-1

= 0.1883 5
Frequency (rad/s): 4.59
Imaginary Axis (seconds

Finally, transfer function of lag compensator, 𝑮𝑪(s) -5

-10

= -15

0.195
-20
-30 -25 -20 -15 -10 -5 0 5 10
-1
Real Axis (seconds )

= Fig.: Root Locus for Lag Compensated

System

Go(s)×Gc(s) = % Lag compensator Output Response

Gu=zpk([],[-1 -3 -8],158)
Gc=zpk([-0.168],[-0.01],1);
Gce=Gu*Gc; Finally, transfer function of PI compensator,
Tu=feedback(Gu,1,-1);
Tc=feedback(Gce,1,-1); Gc(s) =
figure(3)
step(Tu,'-r')
hold on =
step(Tc,'b')
legend('Uncompensated response','Compensated
response') =

Output:
Step Response =
1.5

Uncompensated response
Compensated response

=
1

𝑒new (∞) = =0
Amplitude

0.5

MATLAB Code:

%%PI Controller Design

0
0 5 10 15 20 25 %%Root Locus for Uncompensated system%%
Time (seconds)
Gu=zpk([],[-1 -3 -8],1);
Fig . Output Response of Uncompensated and Lag figure(1)
Compensated System rlocus(Gu)
1. DATA grid off
sgrid(0.195,0)
The different option PI Controller is used to improve title('Root Locus for Un-compensated system')
the performance of selected control system. %%Root Locus for PI Compensated system%%
Gc=zpk([-0.1],[0],1);
A unity negative feedback system which is operating Gce=Gu*Gc;
with a closed loop response that has 68% overshoot figure(2)
with again, K=158 has the following transfer rlocus(Gce)
function: grid off
sgrid(0.195,0)
title('Root Locus for Compensated system')
(a)Find the steady state error for a unit step input % PI Controller Output Response
(b)Design a PI controller to make the steady state Gu=zpk([],[-1 -3 -8],158)
error to zero. Gc=zpk([-0.1],[0],1);
(c)By using both theoretically and MATLAB codes Gce=Gu*Gc;
show that steady state error becomes zero? Tu=feedback(Gu,1,-1);
Tc=feedback(Gce,1,-1);
VII. DATA ANALYSIS figure(3)
step(Tu,'-r')
%OS= 68% hold on
It is a type – 0 system, 𝑂𝑙𝑑 𝑜𝑟 𝑝𝑟𝑒𝑣𝑖𝑜𝑢𝑠 step(Tc,'b')
legend('Uncompensated response','Compensated
=
response')

= 6.583 [K = 158 which was extracted Output:

from the Root Locus of Uncompensated System]

Thus, 𝑒𝑜𝑙𝑑 (∞) = = 0.132

Arbitrarily selecting, − a = − 0.1

 Root Locus for Un-compensated system
[2] Norman S. Nise, “Control Systems Engineering”,
20
System: Gu
0.195 available Edition, John Wiley & Sons Inc.
15 Gain: 158
Pole: -0.843 + 4.11i
Damping: 0.201
10
)
-1

Overshoot (%): 52.5

Frequency (rad/s): 4.2
5
Imaginary Axis (seconds

-5

-10

-15

0.195
-20
-25 -20 -15 -10 -5 0 5 10
-1
Real Axis (seconds )

Fig.5:

Root Locus for Compensated system

20
System: Gce 0.195

15 Gain: 201
Pole: -0.617 + 4.51i
Damping: 0.135
10
)

Overshoot (%): 65.1

-1

Frequency (rad/s): 4.56

5
Imaginary Axis (seconds

-5

-10

-15

0.195
-20
-30 -25 -20 -15 -10 -5 0 5 10
-1
Real Axis (seconds )

Fig.6:
Step Response
1.4

Uncompensated response
Compensated response
1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35
Time (seconds)

Fig.7:

V. DISCUSSION

VI. CONCLUSION

REFERENCES

[1] B.L. Theraja and A.K. Theraja, “A Text Book of

Electrical Technology”, Volume II, available Edition, S.
Chand & Co. Ltd.