Mathcad - DC Motor Velocity

DC Motor Speed Control
The original problem is on these web pages.

http://www.engin.umich.edu/group/ctm/examples/motor/PID2.html
http://www.engin.umich.edu/group/ctm/examples/motor2/motor.html
ω( s) K
Gm( s) = = Transfer function for a DC Motor
V( s) 2
( J⋅ s + b ) ⋅ ( L⋅ s + R) + K
Ki A simple PID controller

Gc( s) = + Kp + Kd⋅ s
s
 Ki + Kp + Kd⋅ s ⋅ K
 s  Closed loop transfer function
  ( J⋅ s + b ) ⋅ ( L⋅ s + R) + K2 Gc( s) ⋅ Gm( s)
T( s) = T( s) =
1 +  + Kp + Kd⋅ s ⋅
Ki K 1 + Gc( s) ⋅ Gm( s)
 s  ( J⋅ s + b ) ⋅ ( L⋅ s + R) + K2
T( s) =
(Ki + Kp⋅s + Kd⋅s2)⋅K
J⋅ s ⋅ L + ( J⋅ R + b ⋅ L + K⋅ Kd) ⋅ s + ( K + K⋅ Kp + b ⋅ R) ⋅ s + K⋅ Ki
3 2 2
( Ki+Kp⋅ s+Kd⋅ s2) ⋅ K

J⋅ L
T( s) =
2
3J⋅ R + b ⋅ L + K⋅ Kd 2 K + K⋅ Kp + b ⋅ R K⋅ Ki
s + ⋅s + ⋅s +
J⋅ L J⋅ L J⋅ L
Desired characteristic
( s + λ )3 equation. In this case a
critically damped response is
desired with 3 poles at -λ.
Find the difference between the system characteristic equation and the desired
characteristic equation and the solve for the gains.
2
J⋅ R + b ⋅ L + K⋅ Kd 2 K + K⋅ Kp + b ⋅ R K⋅ Ki
− (s + λ )
3 3
DiffCE := s + ⋅s + ⋅s +
J⋅ L J⋅ L J⋅ L
coeffs , s
DiffCE

 Ki → λ 3⋅ J⋅ L
(−K2) − b⋅R + 3⋅λ 2⋅J⋅L ( −J) ⋅ R − b ⋅ L + 3 ⋅ λ ⋅ J⋅ L 

solve ,  Kp   K K K 
 
 Kd 
(c) 2009 Delta Computer Systems, Inc. 1/34 4/30/2013 11:10 AM

DC Motor Parameters
See http://www.engin.umich.edu/group/ctm/examples/motor/motor.html
J := 0.01 J = 0.01 kg*m2
b := 0.1 b = 0.1 N*m*s
K := 0.01 K = 0.01 V/rad/sec
R := 1 R=1 Ohm
L := 0.5 L = 0.5 Henrys
Find the DC gain. It is about 0.1 radians per second per volt. Therefore the
motor has a maximum speed of 1 radian per second which is very slow.
Obviously this is not a realistic example.
K
lim float , 2 → .10
s → 0 ( J⋅ s + b ) ⋅ ( L⋅ s + R) + K2
Calculate the PID gains. Place the three closed loop poles at -λ radians to get a critically
damped response. Making λ bigger moves the closed loop poles farther to the left and
makes the response faster.
λ := 2 ⋅ π ⋅ 3 λ = 18.849556
3 L
Ki := λ ⋅ J⋅ Ki = 3348.677881
K
Kp :=
(−K2) − b⋅R + 3⋅λ 2⋅J⋅L Kp = 522.948638
K
( −J) ⋅ R − b ⋅ L + 3 ⋅ λ ⋅ J⋅ L
Kd := Kd = 22.274334
K

Simulate modeling errors

The rnorm function generates a number with a mean of 1 and a standard deviation of σ. These
numbers multiplied by the model parameters to generate simulated 'true' systems parameters.
σ := 0.1
K := K⋅ rnorm( 1 , 1 , σ ) 0 K = 0.01
J := J⋅ rnorm( 1 , 1 , σ ) 0 J = 0.01
b := b ⋅ rnorm( 1 , 1 , σ ) 0 b = 0.1
R := R ⋅ rnorm( 1 , 1 , σ ) 0 R=1
L := L⋅ rnorm( 1 , 1 , σ ) 0 L = 0.5
The DC Motor Velocity Model in State Space

 −b K 
 J J  0 
Ac := 
 −10 1  B c :=  1 
0 
 Ac =   Bc =  
−K −R   −0.02 −2    2 
L
 L L
I := identity( 2 )
Τ := .001
Calculate arrays for use in discrete time.

 Ac⋅ Τ ) 
7
(Ac⋅ Τ )n B := I +
7
( n
⋅B ⋅Τ
A := I +
∑ n!  ∑( n + 1 )!  c
n =1  n =1 
 0.99005 0.000994   9.960103 × 10− 7 

A=  B= 
 −0.00002 0.998002   0.001998 
 Τ 0

0
1 −1
Kzi := ( Ki Kp Kd ) ⋅  
0
Convert the PID gains to
1 2 1  coefficients for the PID
 Τ −Τ 
 Τ difference equation.
Kzi = ( 22800.631198 −45071.616402 22274.333882 )

PID Critically Damped Control. Graph the response of the DC Motor

0 
0 
x :=   u := 0 err :=  0 
0 0  0 0  
0 
 r − x0  Shift the error history

PID( r , x , u , err) := err ←  err0 
 
 err1 
  Update state
 A⋅ x + B ⋅ u

 ( ( ) )
max min u + Kz ⋅ err , 10 , −10 Calculate control output
i
 
 err  Return the error history too
Simulate 10 seconds in increments of Τ seconds

10
N := N = 10000 n := 0 .. N
Τ
r := 0 if n < 10
n
 0.5 + 0.0  −  0.5 − 0.0  ⋅ cosπ ⋅  n − 10  if 10 ≤ n < 1010 r(n) is the target or
 2   2    0.1⋅ N 
       reference velocity.
0.5 if n ≥ 1010 ∧ n < 0.3⋅ N
 0.5 − 0.8  −  −0.8 − 0.5  ⋅ cosπ ⋅  n − 0.3⋅ N  if 0.3⋅ N ≤ n < 0.4⋅ N
 2      0.1⋅ N 
   2    
−0.8 if n ≥ 0.4⋅ N ∧ n < 0.7⋅ N
 −0.8 − 0.25  −  −0.25 − −0.8  ⋅ cosπ ⋅  n − 0.7⋅ N  if 0.7⋅ N ≤ n < 0.8⋅ N
      0.1⋅ N 
 2   2    
−0.25 otherwise
 xn+1 
u  := PID r , x , u , err Call the PID routine
 n+1  ( n n n n) for each time period.
 errn+1 
 

PID Velocity Control of DC Motor

0.6 10
0.4
0.2 5
Motor Current and Control Output

Target and Actual Velocity
0.2 0
0.4
0.6 5
0.8
1 10
0 2 4 6 8 10
Time
Target Velocity
Actual Velocity
Motor Current
Control Output
K = 0.01 J = 0.01 R=1 L = 0.5 Motor

λ = 18.849556 Ki = 3348.677881 Kp = 522.948638 Kd = 22.274334 Inner Loop
The actual velocity tracks the target velocity almost perfectly execet where the control output
saturates at about 3.3 seconds. A less radical velocity change or reducing the bandwidth by
reducing λ wouls avoid the output saturation.

Open Loop Bode Plot Calculations
T( s) :=  Ki + Kp + Kd⋅ s ⋅ K
 
 s  ( J⋅ s + b ) ⋅ ( L⋅ s + R) + K2
n := 0 .. 320 Iterate the frequency from .01 HZ to 1000 HZ

using 64 steps per decade for a total of 256
n iterations.
−2
64
Hz := 10 Closed loop magnitude of transfer function as a
n
function of frequency
 Mn 
:= r ← Tj ⋅ ( 2 ⋅ π ) ⋅ Hz 
 φn   n
 
arg( r)
a←
deg
a ← a − 360 if n > 0 ∧ a − φ n− 1 > 100
 20⋅ log( r ) 
 
 a 
Open Loop Bode Plot

100 80
100
50
Magnitude db
Phase deg
120
0
140
50 160
1 .10
3
0.01 0.1 1 10 100
Frequency Hz
Magnitude
Phase

Closed Loop Bode Plot Calculations
T( s) :=
3 2 2 2 2
J⋅ s ⋅ L + J⋅ s ⋅ R + b ⋅ L⋅ s + s⋅ b ⋅ R + s⋅ K + K⋅ Ki + K⋅ Kp⋅ s + K⋅ Kd⋅ s
n := 0 .. 320 Iterate the frequency from .01 HZ to 1000 HZ

using 64 steps per decade for a total of 256
n iterations.
−2
64
Hz := 10 Closed loop magnitude of transfer function as a
n
function of frequency
 Mn 
:= r ← Tj ⋅ ( 2 ⋅ π ) ⋅ Hz 
 φn   n
 
arg( r)
a←
deg
a ← a − 360 if n > 0 ∧ a − φ n− 1 > 100
 20⋅ log( r ) 
 
 a 
Closed Loop Bode Plot

10 0
0
20
10
Magnitude db
40
Phase deg
20
60
30
80
40
50 100
1 .10
3
0.01 0.1 1 10 100
Frequency Hz
Magnitude
Phase

Poles and Zeros
T( s) :=
J⋅ s ⋅ L + ( J⋅ R + b ⋅ L + K⋅ Kd) ⋅ s + ( K + K⋅ Kp + b ⋅ R) ⋅ s + K⋅ Ki
3 2 2
 K⋅ Ki 
 2 
3 2 2
( )
J⋅ s ⋅ L + ( J⋅ R + b ⋅ L + K⋅ Kd) ⋅ s + K + K⋅ Kp + b ⋅ R ⋅ s + K⋅ Ki
coeffs , s
explicit
→
K + K⋅ Kp + b ⋅ R 
 J⋅ R + b ⋅ L + K⋅ Kd 
 
 J⋅ L 
 K⋅ Ki 
 2   −18.849556  Right where we
poles := polyroots  K + K⋅ Kp + b ⋅ R  
poles =  −18.849556  wanted them to be!
  J⋅ R + b⋅ L + K⋅ Kd    
   −18.849555 
 J⋅ L 
K⋅ Ki 
coeffs , s 
(Ki + Kp⋅s + Kd⋅s )⋅K 2
explicit
→ K⋅ Kp 

 
 K⋅ Kd 
  K⋅ Ki  
zeros := polyroots  K⋅ Kp  
  −11.738817 − 3.540924i 
 
zeros =  
 −11.738817 + 3.540924i 
  K⋅ Kd  
Poles and Zeros
20
Imaginary Axis
20 0 20
20
Real Axis
Poles
Zeros

Add Outer Position Loop

Use i subscripts for inner loop
λ := λ Kii := Ki Kpi := Kp Kdi := Kd
parameters and i subscripts for
outer loop parameters.
3
 Kio  λ
 + Kpo + Kdo ⋅ s ⋅
 s  s⋅ ( s + λ ) 3
To =
3
 Kio  λ
1+  + Kpo + Kdo ⋅ s ⋅
 s  s⋅ ( s + λ ) 3
 Ki + Kp ⋅ s + Kd ⋅ s2 ⋅ λ 3
To =
 o o o 
s + 3 ⋅ s ⋅ λ + 3 ⋅ s ⋅ λ +  λ ⋅ Kdo + λ  ⋅ s + λ ⋅ Kpo ⋅ s + λ ⋅ Kio

5 4 3 2 3 3 2 3 3
 
DiffCE := s + 3 ⋅ s ⋅ λ + 3 ⋅ s ⋅ λ +  λ ⋅ Kdo + λ
3 2
5 4 3 2

3 3 3
( )3 ( )(
 ⋅ s + λ ⋅ Kpo ⋅ s + λ ⋅ Kio − s + µ ⋅ s + α ⋅ s + β
)


coeffs , s 2 2
3 ⋅ µ 3⋅ λ − 3 ⋅ µ ⋅ λ + 2 ⋅ µ 3 ⋅ µ 2⋅ ( −8 ) ⋅ µ ⋅ λ
2
+ 5⋅ µ + 3⋅ λ
2 ( 3 2
− λ + 18⋅ µ ⋅ λ − 10
 Kio   3 3 3
   λ λ λ
DiffCE  Kpo → 
solve ,  Kd  
 o   3 λ 2 − 3⋅ µ⋅ λ + 2⋅ µ2 2 ( −8 ) ⋅ µ ⋅ λ
2
+ 5⋅ µ + 3⋅ λ
2 ( 3 2
− λ + 18⋅ µ ⋅ λ − 10
 α  3 ⋅ µ ⋅ 3
3⋅ µ ⋅
3 3
   λ λ λ
 β 
 2
3 λ − 3⋅ µ⋅ λ + 2⋅ µ
2  The symbolic equations for the
 3⋅ µ ⋅  outer loop gains as a function of
 λ
3  the inner loop poles and the outer
  loop poles. If the relationship
 2
2 5 ⋅ µ − 8 ⋅ µ ⋅ λ + 3⋅ λ
2  between the outer loop poles, µ,
 3⋅ µ ⋅  and the inner loop poles, λ, is not
 Kio   λ
3
 right the outer loop gains will be
    negative or the unplaced poles, α
3 2 3 2
 Kpo   10⋅ µ − 18⋅ µ ⋅ λ − λ + 9 ⋅ µ ⋅ λ  and β, will be in the right hand
 Kd  =  3  plane.
 o  λ 
 α   1
   
 β  3 3 1  2
2
2 
 2 ⋅ λ − 2 ⋅ µ − 2 ⋅ ( −3) ⋅ λ + 18⋅ µ ⋅ λ − 15⋅ µ  
 
 1
3 2
 ⋅ λ − ⋅ µ + ⋅ ( −3 ) ⋅ λ + 18⋅ µ ⋅ λ − 15⋅ µ  
3 1 2 2
2 2 2 

Graphs the outer loop gains and α and β as a function of the ratio of the
outer loop pole location to the inner loop pole locations. This is
backwards from a root locus plot.
µ := 0 , 0.01λ .. 1λ
Ki,Kp,Kd,alpha & beta as a function of mu

40
20
Ki,Kp,Kd,alpha & beta as a function of mu
20
40
60
80
0 0.2 0.4 0.6 0.8
mu / lambda
Ki
Kp
Kd
alpha
beta
µ is only valid where Ki, Kp, Kd, α and β are positive and this is only a small fractional range of λ.
Kd is negative if µ/λ is too low and α and β are negative if µ/λ is greater than 1.
Ki, Kp and Kd are maximum at 0.355λ:

µ := µ
Find µ for max Ki
 0   0 
 0   0 
 1   1   0 
 3 λ 2 − 3⋅ µ⋅ λ + 2⋅ µ2   
 3 1 2    3 1 2  
d 
3⋅ µ ⋅  solve , µ →  + ⋅6 ⋅λ  + ⋅ 6   =  0 
dµ    0.844949 
 λ
3
  5 10    5 10  
 1   1
 0.355051 
 
 3 1 2    3 1 2  
 5 − 10 ⋅ 6  ⋅ λ   5 − 10 ⋅ 6  
Find µ for max Kp

 0   0 
   

1

1
     0 
 2 5 ⋅ µ 2 − 8 ⋅ µ ⋅ λ + 3⋅ λ 2   3 + 1 ⋅ 6 2  ⋅ λ   3 + 1 ⋅ 6 2  ⋅ λ 
 3⋅ µ ⋅  = 15.926913 

d
solve , µ →  5 10    5 10  
dµ  3    
 λ  1   1   6.692554 
 3 1 2    3 1 2  
 − ⋅ 6  ⋅ λ   − ⋅ 6  ⋅ λ 
 5 10    5 10  
Find µ for max Kd
 1 
 3 1 2  
 10⋅ µ 3 − 18⋅ µ 2⋅ λ − λ 3 + 9 ⋅ µ ⋅ λ 2   + ⋅ 6  ⋅ λ 
 5 10  
 3⋅  solve , µ → 
d
dµ  3   1 
 λ   3 1 2  
 − ⋅ 6  ⋅ λ 
 5 10  
The maximum outer loop gains will all happen at the same ratio of µ to λ.
 1
 3 1 2
µ :=  − ⋅ 6  ⋅ λ or about 0.355*λ
 5 10 
 1
 3 1 2
µ :=  − ⋅6  ⋅λ µ = 6.692554
 5 10 

Substitute the optimal value of µ in terms of λ

Now all tuning can be done in terms of the inner loop poles position using λ alone.



 2
3 λ − 3⋅ µ⋅ λ + 2⋅ µ
2  
 3⋅ µ ⋅ 

 3 

λ
 

 2 2 

2 5 ⋅ µ − 8 ⋅ µ ⋅ λ + 3⋅ λ
3⋅ µ ⋅  
 1

 Kio   λ
3
  3 1 2  Kio 
    substitute , µ =  − ⋅6 ⋅λ   
3 2 3 2  5 10  
 Kpo   10⋅ µ − 18⋅ µ ⋅ λ − λ + 9 ⋅ µ ⋅ λ   Kpo  
 Kd  =  3  expand
→  Kd  =
 o  λ  simplfy  o 
 α   1  α  
    collect , λ  
 β  2  β  
3 3 1  2 2 

 2 ⋅ λ − 2 ⋅ µ − 2 ⋅ ( −3) ⋅ λ + 18⋅ µ ⋅ λ − 15⋅ µ   
  
 1

3 2

 ⋅ λ − ⋅ µ + ⋅ ( −3 ) ⋅ λ + 18⋅ µ ⋅ λ − 15⋅ µ  
3 1 2 2
2 2 2  




The formulas for outer loop gains and unplaced poles in terms of λ alone
 1 
3
1 
2 
  1  
 3 1 2   −4 3 2  3 1 2  2
 3⋅  − ⋅6  ⋅ + ⋅ 6 + 2⋅  − ⋅6   ⋅λ 
  5 10   5 10  5 10  
 
1   1
2 2
  1 
  3 1 2    3 1 2  9 4 2 
 3⋅  − ⋅ 6  ⋅ 5 ⋅  − ⋅6  − + ⋅6  ⋅λ 
 5 10    5 10  5 5 
 
 Kio   3 2 
   1  1 1
  3 1 2  3 1 2 
 Kpo   10⋅  − ⋅ 6  − 18⋅  − ⋅6  +
22
−
9 2
⋅6 
 Kd  =  5 10   5 10  5 10
 o 
 α   1
   2
 β   1  2  
  1  1
 3 3 2  1   3 1 2 2  3 1 2  2 
 + ⋅ 6  ⋅ λ − ⋅ ( −3 ) ⋅ λ + 18⋅  − ⋅ 6  ⋅ λ − 15⋅  − ⋅ 6  ⋅ λ  
2
 5 20  2   5 10   5 10   
 1
 2
 1   1  1
2  
 3 3        
 + ⋅ 6 2  ⋅ λ + 1 ⋅ ( −3 ) ⋅ λ 2 + 18⋅  3 − 1 ⋅ 6 2  ⋅ λ 2 − 15⋅  3 − 1 ⋅ 6 2  ⋅ λ 2 
 5 20  2   5 10   5 10   

Calculate numerical values for the outer loop gains
λ = 18.849556 Three Inner loop poles at −λ

Enable to override optimum
µ := 0.45⋅ λ
outer loop gains.
µ = 6.692554 Three Outer loop poles at -µ
 2
3 λ − 3⋅ µ⋅ λ + 2⋅ µ
2 
 3⋅ µ ⋅ 
 λ
3 
 
 2
2 5 ⋅ µ − 8 ⋅ µ ⋅ λ + 3⋅ λ
2 
 3⋅ µ ⋅ 
 o
Ki  λ
3

   
3 2 3 2
 Kpo   10⋅ µ − 18⋅ µ ⋅ λ − λ + 9 ⋅ µ ⋅ λ 
  :=  3 
 Kdo   λ 
 α   1
   
 β  3 3 1  2
2
2 
 2 ⋅ λ − 2 ⋅ µ − 2 ⋅ ( −3) ⋅ λ + 18⋅ µ ⋅ λ − 15⋅ µ  
 
 1
3 3 1  2 2
2
 ⋅ λ − ⋅ µ + ⋅ ( −3 ) ⋅ λ + 18⋅ µ ⋅ λ − 15⋅ µ  
2 2 2 
 Kio   8.92003 
 
 Kpo   5.630862 
  = 0.373939
 Kdo   
 α  6.692554 
   29.778451 

 β 
α is the same as µ so there are four outer loop poles at µ and one at β. The pole at β is always
farther to the left so it doesn't affect the response much.

The DC Motor Velocity Model in State Space
0 1 0 
   0 
0 −b K  0 1 0  0 
Ac = 0 −10 1 
 B c :=   Bc =  0 
0
Ac :=  J J 
  1   
 R  0 −0.02 −2  2 
K
0 −L −   L 
 L
I := identity( 3 )
Calculate arrays for use in discrete time.

 Ac⋅ Τ ) 
7
(Ac⋅ Τ )n 
7
( n
⋅B ⋅Τ
A := I +
∑ n!
B := I +
 ∑
( n + 1 )!  c
n =1  n =1 
 1 0.000995 4.980052 × 10− 7   3.323354 × 10− 10 

   
A =  0 0.99005 0.000994  B= −7 
9.960103 × 10
 0 −0.00002   
 0.998002   0.001998 

Cascade Control
The Cascaded loop controller and system simulator.
An outer loop closed loop generates a reference velocity. The inner loop tries to
follow the velocity generated by the outer loop.
Note the outer and inner loop is really using I-PD control where only the integrator
term is in the forward path. This makes the inner loop less susceptible to the
noise in the set point from the outer loop.
The second line computes the control output using the error between velocity
generated from the outer loop and the feed back or estimated velocity. The control
output is limited to -10 to +10 volts
10
N := n := 0 .. N Simulate 10
Τ seconds
r := x if n < 0.01⋅ N Calculate the target positions
n 0
and velocities. In this case
 0.2  the target velocities are 0
  if 0.01⋅ N ≤ n ∧ n < 0.2⋅ N since that target positions are
0 
changing only in step jumps.
 0.1  if 0.2⋅ N ≤ n ∧ n < 0.4⋅ N
 
0 
 0.05  if 0.4⋅ N ≤ n ∧ n < 0.65⋅ N
 
 0 
 0.35  otherwise
 
 0 

0 
Cascade( r) := x ←  0 
0  
0 
v ←0
0
vi ← 0
u ←0
0
ui ← 0
for n ∈ 0 .. N − 1
x ← A⋅ x + B⋅ u
n+ 1 n n
 Kdo 
vpd ← −Kpo ⋅ x

n+ 1
0
(
+ ) ( ) − (xn)0
Τ  n+ 1 0
⋅ x
vi ← maxminvi + Kio ⋅ Τ ⋅ ( r ) − ( x )  , 1.0 − vpd , −1.0 − vpd

   n+1 0 n+ 1
0  
v ← vi + vpd
n+ 1
 Kdi 
u pd ← −Kpi ⋅ x

( n+1)1 + ( ) − (xn)1
Τ  n+ 1 1
⋅ x
u i ← maxminu i + Kii ⋅ Τ ⋅ v − ( x )  , 10 − u pd , −10 − u pd

   n+1 n+ 1 1
  
u ← u i + u pd
n+ 1
x 
u 
 
v 
x 
 u  := Cascade( r) Compute the system response
  and control output
v 

Verify By Simulating and Graphing the Results.
Outer Loop Control
0.35 0.5
0.3 0.4
Target and Actual Position
0.25 0.3
Inner Target Velocity

0.2 0.2
0.15 0.1
0.1 0
0.05 0.1
0 0.2
0 2 4 6 8 10
Time
Target Position
Actual Position
K = 0.01 J = 0.01 R=1 L = 0.5 Motor
λ = 18.849556 Kii = 3348.677881 Kpi = 522.948638 Kdi = 22.274334 Inner Loop
µ = 6.692554 Kio = 8.92003 Kpo = 5.630862 Kdo = 0.373939 Outer Loop

Inner Loop Control

10
0.5
0.4 5
Innter Target and Actual Velocity
0.3
Control Output, volts

0.2 0
0.1
0 5
0.1
0.2 10
0 2 4 6 8 10
Time
Actual Velocity
Control Output
Motor Current
K = 0.01 J = 0.01 R=1 L = 0.5 Motor

Cascade Control of a Type 1 Single Pole System Following a Sine Wave

Amp := 0.5 Hz := 0.25 Amplitude and frequency of
target generator.
Initial state of position and velocity
 Amp⋅ sin( 2⋅ π ⋅ Hz⋅ n ⋅ Τ ) 

r :=   Sinusoidal motion generator.
n
 2⋅ π ⋅ Hz⋅ Amp⋅ cos( 2 ⋅ π ⋅ Hz⋅ n⋅ Τ )  Generates target position, velocity
and acceleration.
x 
 u  := Cascade( r) Compute the system response
  and control output
v 
Outer Loop Control
0.6 0.8
0.6
0.4
0.4
0.2
Target and Actual Position
0.2

0 0
0.2
0.2
0.4
0.4
0.6
0.6 0.8
0 2 4 6 8 10
Time
Target Position
Actual Position
Output Velocity

Inner Loop Control

0.8 10
0.6
0.4 5
Inner Target and Actual Velocity
0.2
Control Output, volts

0 0
0.2
0.4 5
0.6
0.8 10
0 2 4 6 8 10
Time
Actual Velocity
Control Output
Motor Current
K = 0.01 J = 0.01 R=1 L = 0.5 Actuator

Calculate Bandwidths
Calculate Inner Loop Bandwidth

 Kii  K
 ⋅
 j ⋅ ω  J⋅ ( j ⋅ ω) + b ⋅ L⋅ ( j ⋅ ω) + R + K2
f( ω) :=
 Kii 
+ Kpi + Kdi ⋅ ( j ⋅ ω) ⋅
K
1+
j ⋅ω  J⋅ ( j ⋅ ω) + b ⋅ L⋅ ( j ⋅ ω) + R + K2
ωi := 0.7⋅ λ ωi = 13.194689 The initial guess for the inner

loop bandwidth
ωi := root f ωi −
( ) , ωi
1
ωi = 9.609966 Inner loop bandwidth in radians
 2  per second
ωi
= 1.529474 Inner loop bandwidth in Hz
2⋅ π
Calculate Outer Loop Bandwidth

 Kii  K
 ⋅
 Kio  1  j ⋅ ω  J⋅ ( j ⋅ ω) + b ⋅ L⋅ ( j ⋅ ω) + R + K2
 ⋅ ⋅
 j ⋅ω  j ⋅ω  Kii 
+ Kpi + Kdi ⋅ ( j ⋅ ω) ⋅
K
1+
j ⋅ω  J⋅ ( j ⋅ ω) + b ⋅ L⋅ ( j ⋅ ω) + R + K2
f( ω) :=
 Kii  K
 ⋅
 Kio  1  j ⋅ ω  J⋅ ( j ⋅ ω) + b ⋅ L⋅ ( j ⋅ ω) + R + K2
1+ + Kpo + Kdo ⋅ ( j ⋅ ω) ⋅ ⋅
 j ⋅ω  j ⋅ω  Kii 
+ Kpi + Kdi ⋅ ( j ⋅ ω) ⋅
K
1+
j ⋅ω  J⋅ ( j ⋅ ω) + b ⋅ L⋅ ( j ⋅ ω) + R +
ωo := 0.2λ ωo = 3.769911 Initial guess for the outer loop

band width
ωo := root f ωo −
( ) , ωo  ωo = 2.889634
1
Outer loop bandwidth in
 2  radians per second
ωo outer loop bandwidth in Hz

= 0.459899
2⋅ π
ωi Ratio of the inner loop to outer

= 3.325669 loop bandwidth. This ratio is
ωo fixed

Inner Loop Bode Plot Calculations

 Kii  K Kpi and Kd i are in the feed
 ⋅ back path only. This makes
 s  ( J⋅ s + b ) ⋅ ( L⋅ s + R) + K2
T( s) := the inner loop less susceptible
 Kii  K to the noisy target velocities
1+ + Kpi + Kdi ⋅ s ⋅ generated by the outer loop.
 s  ( J⋅ s + b ) ⋅ ( L⋅ s + R) + K2
n := 0 .. 320 Iterate the frequency from .01 HZ
to 1000 HZ using 64 steps per
n decade for a total of 320
−2 iterations.
64
hz := 10
n
 Mn 
:= r ← Tj ⋅ ( 2 ⋅ π ) ⋅ hz 
 φn   n
 
arg( r)
a← Closed loop magnitude and phase
deg as a function of frequency
a ← a − 360 if n > 0 ∧ a − φ n− 1 > 100
 20⋅ log( r ) 
 
 a 
Inner Closed Loop Bode Plot

0 0
50
100
Phase deg
Gain db
100
200
150
200 300
1 .10
3
0.01 0.1 1 10 100
Frequency Hz
Gain
Phase

Outer Loop Bode Plot Calculations

3
 Kio  λ
 ⋅ The outer loop gains are in the
 s  s⋅ ( s + λ ) 3 forward and feedback path. This
T( s) := help makes the outer loop faster
3
 Kio  λ than the inner loop.
1+ + Kpo + Kdo ⋅ s ⋅
 s  s⋅ ( s + λ ) 3
n := 0 .. 320 Iterate the frequency from .01 HZ

to 1000 HZ using 64 steps per
n decade for a total of 320
−2 iterations.
64
hz := 10
n
 Mn 
:= r ← Tj ⋅ ( 2 ⋅ π ) ⋅ hz 
 φn   n
 
arg( r)
a← Closed loop magnitude and phase
deg as a function of frequency
a ← a − 360 if n > 0 ∧ a − φ n− 1 > 100
 20⋅ log( r ) 
 
 a 
Outer Closed Loop Bode Plot

0 0
100
100
200
Phase deg
Gain db
300
200
400
300 500
1 .10
3
0.01 0.1 1 10 100
Frequency Hz
Gain
Phase

Graph the Outer Loop Poles and Zeros

λ = 18.849556 Kii = 3348.677881 Kpi = 522.948638 Kdi = 22.274334
µ = 6.692554 Kio = 8.92003 Kpo = 5.630862 Kdo = 0.373939
Ti ( s) :=
(Ki + Kp⋅s + Kd⋅s2)⋅K simplify
(
→ Ki + Kp⋅ s + Kd
3 2 2 2 2 explicit
 Ki + Kp ⋅ s + Kd ⋅ s2 ⋅ K
 Kio  1  i i i 
 ⋅ ⋅
 s  s J⋅ s3⋅ L + J⋅ R + b ⋅ L + K⋅ Kd ⋅ s2 +  K2 + K⋅ Kp + b ⋅ R ⋅ s + K⋅ Ki
( i)  i  i
To ( s) :=
 Ki + Kp ⋅ s + Kd ⋅ s  ⋅ K
2
 Kio  1  i i i 
1+ + Kpo + Kdo ⋅ s ⋅ ⋅
 s  s J⋅ s3⋅ L + J⋅ R + b ⋅ L + K⋅ Kd ⋅ s2 +  K2 + K⋅ Kp + b ⋅ R ⋅ s + K⋅ Ki
( i)  i 
 33.48679 
 
coeffs , s
Ai := denom ( Ti ( s) ) →  5.329588 
float , 7  .2827434 
 .5e-2 
 
 ( −.840693 ) ⋅ λ
5 
 
 5 4 
 ( −.1312876 ) ⋅ λ − 10.00339⋅ λ 
 4 5 3
coeffs , s ( −1.562186) ⋅ λ − .559203e-2⋅ λ − 46.00881⋅ λ 
Ao := denom ( To ( s) ) →
float , 7  3 4 
 ( −7.285097) ⋅ λ − .6653937e-1 ⋅ λ 
 3 
( −.3660357) ⋅ λ
 
 3 
 ( −.5e-2) ⋅ λ 
 ( −.84070) ⋅ λ 5 
 
coeffs , s
B o := numer( To ( s) ) → ( −.131287 ) ⋅ λ 5 

float , 6  
 5
( −.559199e-2) ⋅ λ 
poles i := polyroots Ai ( ) ( )
poles o := polyroots Ao
 −38.497281 
 −15.302026 − 2.312133i 
 −18.862727   
poles i =  −18.845535  poles o =  −15.302026 + 2.312133i 
 
 −18.840418   −2.052903 + 1.505003i 
 
 −2.052903 − 1.505003i 

S Plane
20
Imaginary Axis
20 0 20
20
Real Axis
Inner Loop Poles
Outer Loop Poles
K = 0.01 J = 0.01 R=1 L = 0.5 Motor

1
3
10⋅ µ − 9 ⋅ µ ⋅ λ
2 ) −3 3 1
⋅ ( −15) ⋅ µ + 18⋅ µ ⋅ λ − 3 ⋅ λ
2 2
2
−3 3 1
⋅ ( −15) ⋅ µ + 18⋅ µ ⋅ λ − 3
2
⋅µ + ⋅λ −  ⋅µ + ⋅λ +
2 2 2 2 2 2
1
3
10⋅ µ − 9 ⋅ µ ⋅ λ
2 ) −3 3 1
⋅ ( −15) ⋅ µ + 18⋅ µ ⋅ λ − 3 ⋅ λ
2 2
2
−3 3 1
⋅ ( −15) ⋅ µ + 18⋅ µ ⋅ λ − 3⋅
2
⋅µ + ⋅λ +  ⋅µ + ⋅λ −
2 2 2 2 2 2

 1 
3
1 
2 
  
1   
 3 1 2  −4 3 2  3 1 2 2
 3⋅  − ⋅6  ⋅  + ⋅ 6 + 2⋅  − ⋅6  ⋅λ 
  5 10   5 10  5 10   
 
1   1
2 2
  1 
  3 1 2    3 1 2  9 4 2 
 3⋅  − ⋅ 6  ⋅ 5 ⋅  − ⋅6  − + ⋅6 ⋅λ 
 5 10    5 10  5 5 
 
  1 
3
 1 
2
1 
  3 1 2  3 1 2 22 9 2 
 10⋅  − ⋅ 6  − 18⋅  − ⋅6  + − ⋅6 
  5 10   5 10  5 10 
 1
 2
 1   1   1 
2  
 3 3    3 1 2 2  3 1 2  2 
1 
 + ⋅ 6  ⋅ λ − ⋅ ( −3) ⋅ λ + 18⋅  − ⋅ 6  ⋅ λ − 15⋅  − ⋅ 6  ⋅ λ  
2 2
 5 20  2   5 10   5 10   
 1
 2
 1  2  
  1  1

3 3 2 1   3 1 2 2  3 1 2  2 
 + ⋅ 6  ⋅ λ + ⋅ ( −3 ) ⋅ λ + 18⋅  − ⋅ 6  ⋅ λ − 15⋅  − ⋅ 6  ⋅ λ  
2
 5 20  2   5 10   5 10   


2
K

)
2
Kd⋅ s ⋅
3 2 2
K
2 2
simplify

collect , s → K⋅  Kii + Kpi ⋅ s + Kdi ⋅ s
2
⋅
s ⋅ J⋅ L + K⋅ Kdi + J⋅ R + b ⋅ L + K⋅ Kdo ⋅ Kdi ⋅ s +  K⋅ Kdo ⋅ Kpi + K
( )
5 4
explicit 
Kii

1
2

2
⋅λ  

1
2
2 
⋅λ 



Kio
K⋅ Kpo ⋅ Kdi + K⋅ Kpi + b ⋅ R + K  ⋅ s + K⋅ Kio ⋅ Kdi + K⋅ Kpo ⋅ Kpi + K⋅ Kdo ⋅ Kii + K⋅ Kii ⋅ s + K⋅ Kio ⋅ Kpi + K
( ) (
2 3 2


)
K⋅ Kpo ⋅ Kii ⋅ s + K⋅ Kio ⋅ Kii

Mathcad - DC Motor Velocity

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Mathcad - DC Motor Velocity

Uploaded by

Copyright:

Available Formats

DC Motor Speed Control

The original problem is on these web pages.

Ki A simple PID controller

( Ki+Kp⋅ s+Kd⋅ s2) ⋅ K

(c) 2009 Delta Computer Systems, Inc. 1/34 4/30/2013 11:10 AM

J := 0.01 J = 0.01 kg*m2

b := 0.1 b = 0.1 N*m*s

K := 0.01 K = 0.01 V/rad/sec

L := 0.5 L = 0.5 Henrys

(c) 2009 Delta Computer Systems, Inc. 2/34 4/30/2013 11:10 AM

Simulate modeling errors

The DC Motor Velocity Model in State Space

Calculate arrays for use in discrete time.

 0.99005 0.000994   9.960103 × 10− 7 

Kzi = ( 22800.631198 −45071.616402 22274.333882 )

(c) 2009 Delta Computer Systems, Inc. 3/34 4/30/2013 11:10 AM

PID Critically Damped Control. Graph the response of the DC Motor

 r − x0  Shift the error history

Simulate 10 seconds in increments of Τ seconds

(c) 2009 Delta Computer Systems, Inc. 4/34 4/30/2013 11:10 AM

PID Velocity Control of DC Motor

Motor Current and Control Output

K = 0.01 J = 0.01 R=1 L = 0.5 Motor

(c) 2009 Delta Computer Systems, Inc. 5/34 4/30/2013 11:10 AM

Open Loop Bode Plot Calculations

n := 0 .. 320 Iterate the frequency from .01 HZ to 1000 HZ

Open Loop Bode Plot

(c) 2009 Delta Computer Systems, Inc. 6/34 4/30/2013 11:10 AM

Closed Loop Bode Plot Calculations

n := 0 .. 320 Iterate the frequency from .01 HZ to 1000 HZ

Closed Loop Bode Plot

(c) 2009 Delta Computer Systems, Inc. 7/34 4/30/2013 11:10 AM

Poles and Zeros

(c) 2009 Delta Computer Systems, Inc. 8/34 4/30/2013 11:10 AM

Add Outer Position Loop

s + 3 ⋅ s ⋅ λ + 3 ⋅ s ⋅ λ +  λ ⋅ Kdo + λ  ⋅ s + λ ⋅ Kpo ⋅ s + λ ⋅ Kio

(c) 2009 Delta Computer Systems, Inc. 9/34 4/30/2013 11:10 AM

Ki,Kp,Kd,alpha & beta as a function of mu

(c) 2009 Delta Computer Systems, Inc. 10/34 4/30/2013 11:10 AM

Find µ for max Ki

Find µ for max Kp

(c) 2009 Delta Computer Systems, Inc. 11/34 4/30/2013 11:10 AM

Substitute the optimal value of µ in terms of λ

(c) 2009 Delta Computer Systems, Inc. 12/34 4/30/2013 11:10 AM

(c) 2009 Delta Computer Systems, Inc. 13/34 4/30/2013 11:10 AM

Calculate numerical values for the outer loop gains

λ = 18.849556 Three Inner loop poles at −λ

µ = 6.692554 Three Outer loop poles at -µ

(c) 2009 Delta Computer Systems, Inc. 14/34 4/30/2013 11:10 AM

The DC Motor Velocity Model in State Space

Calculate arrays for use in discrete time.

 1 0.000995 4.980052 × 10− 7   3.323354 × 10− 10 

(c) 2009 Delta Computer Systems, Inc. 15/34 4/30/2013 11:10 AM

(c) 2009 Delta Computer Systems, Inc. 16/34 4/30/2013 11:10 AM

vi ← maxminvi + Kio ⋅ Τ ⋅ ( r ) − ( x )  , 1.0 − vpd , −1.0 − vpd

u i ← maxminu i + Kii ⋅ Τ ⋅ v − ( x )  , 10 − u pd , −10 − u pd

(c) 2009 Delta Computer Systems, Inc. 17/34 4/30/2013 11:10 AM

Verify By Simulating and Graphing the Results.

Outer Loop Control

Inner Target Velocity

K = 0.01 J = 0.01 R=1 L = 0.5 Motor

λ = 18.849556 Kii = 3348.677881 Kpi = 522.948638 Kdi = 22.274334 Inner Loop

µ = 6.692554 Kio = 8.92003 Kpo = 5.630862 Kdo = 0.373939 Outer Loop

(c) 2009 Delta Computer Systems, Inc. 18/34 4/30/2013 11:10 AM

b := 0.1 b = 0.1 Nms