MOTION CONTROL ENGINEERING

Author: Tran Cau

https://www.youtube.com/watch?v=y7fVuVfTPmU
AET - HUST
Content
• Introduce for DC motor
• Modelling DC motor
• Understand for PID controller
• Introduce the current sensor and position sensors.
• Design the speed and torque controller.
• Practice on Simulink - Matlab

3/9/2021 2

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 Electric motor Classification

• DC motor:

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 Electric motor Classification

• AC motor:

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 Power Quadrants

Motor operates in quadrant 1 or 3

 Motor spin in one direction and deliver power to the load
Motor operates in quadrant 2 or 4
 Like a generator and the power is delivery from load to electric store

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 DC motor
1. Introduction
A DC motor is a rotating electric machine
Where
• The stator of a permanent magnet DC
motor is composed of two or more
permanent magnet pole pieces
• The rotor is composed of windings
which are connected to a mechanical
commutator

https://www.youtube.com/watch?v=CWulQ1ZSE3c

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 DC motor
1. Introduction

 The opposite polarities of the energized

winding and the stator magnet attract and
the rotor will rotate until it is aligned with
the stator.

 Just as the rotor reaches alignment, the brushes move across the commutator contacts
and energize the next winding

 The commutator is staggered from the rotor poles. If the connections of a DC motor
are reversed, the motor will change directions.

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 DC motor
2. Modeling

 The torque generated by a DC

motor is proportional to the
armature current and the strength of
the magnetic field

𝑇 = 𝑘𝑚 𝐼
𝑘𝑚 : motor torque constant (Nm/A)

 The back emf, e, is proportional to the angular

velocity of the shaft by a constant factor ke.

𝑒 = 𝑘𝑣 ∗ 𝜔
𝑘𝑣 - electromotive force constant (v/rad/s)

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 DC motor
2. Modeling

• DC motor with mechanical load

and realistic electrical
properties ( R, L )

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 DC motor
Brush DC Motor Speed-Torque Curves

 The graph shows a torque/speed curve

of a typical D.C. motor.

• At a constant torque, increasing voltage on the motor terminals, the speed will go
up proportionally

• At a constant speed, increasing current on the motor terminals, the torque will go
up proportionally

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 DC motor
2. Modeling

𝜔 𝐾
𝑃𝑥 = =
𝑉 𝐽𝑠 + 𝑏 𝐿𝑠 + 𝑅 + 𝐾 2

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 DC motor
The physical parameters for our example are:
(J) moment of inertia of the rotor 0.01 kg.m^2
(b) motor viscous friction constant 0.1 N.m.s
(Kv) electromotive force constant 0.01 V/rad/sec
(Km) motor torque constant 0.01 N.m/Amp
(R) electric resistance 1 Ohm
(L) electric inductance 0.5 H

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MATLAB representation
We can represent the above open-loop transfer function of the motor in MATLAB
by defining the parameters and transfer function as follows. Running this code in
the command window produces the output shown below.

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Building the model with Simulink

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 Control Structure
• Feed-Forward approach

• Feedback Approach

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 Control Structure
• Cascaded Control Structures

 Cascade control involves the use of two controllers with the output of the first
controller providing the set point for the second controller, the feedback loop for one
controller nestling inside the other (Figure 13.19). Such a system can give a improved
response to disturbances.

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 Control Structure
• Parallel PI Controller • Series PI Controller

k  
G  k p
 i
G  k p 1  k i 
s  s 

• The proportional term —providing an overall control action proportional to the error
signal through the all-pass gain factor.
• The integral term —reducing steady-state errors through low-frequency compensation
by an integrator

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 Control Structure
• Anti-Windup

 During a transition on the

commanded input, the
integrator output can become
quite large in an attempt to
correct for the difference
between the commanded and
output values.

• Simple Static Integrator Clamping

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 Control Structure
Assess the quality of control for a system at time domain:
• When apply the unit step signal to the system:

There are number of common terms in transient

response characteristics and which are

Steady-state error (e ss ) is the difference

between actual output and desired output at the
infinite range of time.

•Settling time (ts) is the time required for a response to become steady. It is
defined as the time required by the response to reach and steady within specified
range of 2 % to 5 % of its final value.

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 Control Structure

• Overshoot straight way difference

between the magnitude of the highest
peak of time response and magnitude
of its steady state

• Delay time (td) is the time required to reach at 50% of its final value by a time
response signal during its first cycle of oscillation.

• Rise time (tr) is the time required to reach at final value by a under damped time
response signal during its first cycle of oscillation. If the signal is over damped, then
rise time is counted as the time required by the response to rise from 10% to 90% of its
final value.
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 DC motor
• Design Torque Controller

Using the Laplace transfer:

v  LsI  RI  E
I 1 1/ R
P  
V Ls  R ( L / R ) s  1
Using parallel PI:

ki
G  kp 
s

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 DC motor
Design the torque control:

 k 
i  1/ R 
k p   
 s   Ts  1 
H 
  1/ R 
1  k p  k i  
 s   Ts  1 
 
 T pis  1  1/ R 
  

s
  Ts  1 
H   ki  
k p

 
with T pi

 T pis  1   1 / R 
k i
1   

s
  Ts  1 
 ki 

1 1
Set H G  
 s  1 0.001s  1
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 DC motor
Design the torque control:


k  L
p
T pi
ki R
k i
 5*R / 

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 DC motor
Design the speed control

i
*
 Assuming that torque control is designed successful. It means that i

With torque equation, we have the function T T

e load
 k m I  T load  J s
The transfer function:
 1
P 
T e  T load Js
The structure of system:

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 DC motor
Design the speed control

 k  1
k p  i
k m
 s  Js
H close 
 
When k 0i

1  k p  k i  k m
1
 s  Js

1
k p k m Js k k 1 J
   With  
p m
H close  s 1
1  k pk m
1 Js  k k p m
k k
Js p m

J
kp   0.01s
k m
Choosing the

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Design the speed control

Motor speed at no load condition

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 Design control DC motor
• Current Sensor

 Motor current is used as a

control variable in motor
drives
 Therefore, current sensing is of
great importance to digitally
controlled ac motor drives

There are two kind of methods which is popular

to measure current.
 Shunt resistance
𝑣𝑐
 LEM- based on Hall effect
Generally, the relationship between current
of motor and voltage is: 𝑣𝑏
𝑖 = 𝑘. 𝑣 𝑣𝑎

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 Design control DC motor
• Position Sensor
Encoder is no absolute position
sensor

Quadrature encoder sensor

• consists of a disk with two tracks or channels that are coded 90

electrical degrees out of phase.
• This creates two pulses (A and B) that have a phase difference
of 90 degrees and an index pulse (I)

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 Design control DC motor
PWM- Pulse Width Modulation
Pulse-width modulation uses a rectangular pulse
wave whose pulse width is modulated resulting in the
variation of the average value of the waveform

• PWM frequency (Hz) = 1 / PWM period

• Duty cycle = Pulsewidth / PWM period

• PWM frequencies typically range from 100Hz into MHz

• Applications include: lamp dimmers, motor speed control,

power supplies,…
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PWM- Pulse Width Modulation

Pulse Width Modulation, or PWM, is a

technique which generates output waveforms be simply turning transistors on
and off, resulting in the motor voltage being high or low at
any given time. This waveform is then filtered by the inductance in the motor to
essentially average the output waveform

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 Design control DC motor
• H-bridge motor driver circuit
Half-bridge – When two transistors are connected in a totem-pole arrangement as
shown below, they are said to be in a half bridge configuration.

 By turning each transistor on and off in a complimentary

fashion, the half-bridge can drive the load voltage
alternately high and low to produce a PWM waveform at the
motor terminal.

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 Design control DC motor
• H-bridge motor driver circuit

 We can design the circuit with MOSFET or transistor to control the

rotating of a motor

 H-Bridges are named after the “H” shape created by the transistors and load, and are
typically used with brush-DC motors to accommodate bi-direction speed control, since
you can reverse the voltage on the motor terminals without needing two power supply
voltages.

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 Design control DC motor
• Gate Drivers
The drive capability of these PWM outputs is not sufficient to handle the current
requirements or the isolation requirements of the transistors in the inverter.

 For this reason, a gate driver is inserted

between each processor PWM output
and each transistor’s input. The gate
drivers control the turn-on and turn-off
characteristics of the transistors by
regulating the charge and discharge
rates of the gate-to-source capacitor of
each transistor in the inverter

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 Design control DC motor
• Dead Time

With a half-bridge power structure, you must make sure that the bottom
transistor and the top transistor NEVER get turned on at the same time.
Doing so will result in large currents flowing through the transistor pair, as a
short is created across the DC bus. This condition is called shoot through.

 To prevent shoot-through, a dead-time period must exist between

the turn-off of one transistor, and the turn-on of the other

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Design control DC motor

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