Dr.

Guernane IGEE:Spring-2014 1

EE352L Laboratory experiment N# 5 (Pre-Lab)

Objectives
• Study the transient performance of a 1st order speed control system
• Study the transient performance of a 2nd order speed control system

1 Proportional control of a DC motor

1.1 Pre-Lab
In the previous experient we have modeled the DC motor as a 1st order system relating its input
voltage va (t) and its output speed ω(t). Consider the following feedback speed control system with a
proportional controller.

Vd (s) Ea (s) Vc (s) Km

ωd (s) Kr KP τ s+1
b
ω(s)
−
P roportional M otor + load
controller
Vg (s)
Kg
tacho

ω(s)
Q1 : Compute the total transfer function T (s) = ωd (s) , What order it is?

Q2 : What is condition on KI such that the system is stable?

Q3 : What is the P O, rise time Tr and settling time Ts of the CL system as a function of its param-
eters?

Q4 : What is the effect of KP on P O and Tr ? how do you speed-up the control system’s response
using KP ?

2 Integral control of a DC motor

2.1 Pre-Lab
In this part we will examine a more sophisticated controller in the DC motor speed control system,
and examine its effect on the Transient response.

Vd (s) Ea (s) KI Vc (s) Km

ωd (s) Kr s τ s+1
b
ω(s)
−
Integral M otor + load
controller
Vg (s)
Kg
tacho
Dr. Guernane IGEE:Spring-2014 2

Where Kr = Kg

ω(s)
Q1 : Compute the Total transfer function T (s) = ωd (s) , What order it is?

Q2 : What is condition on KI such that the system is stable?

Q3 : What is condition on KI such that the system is under-damped?

Q4 : For the range of KI that satisfies the previous question, What is the system’s P O, rise time Tr
as a function of systems’ parameters?

Q5 : What is the effect of inreasing KI on the system’s relative stablity(P O), and the system’s
responsiveness (Tr )?